package Domains.SoccerBots.teams;/* * b_BehindBall_r.java */import java.lang.*;import EDU.gatech.cc.is.clay.*;import EDU.gatech.cc.is.abstractrobot.*;import EDU.gatech.cc.is.util.Vec2;/** * Report if behind the ball or not. * This module is a node used in Clay to configure soccer behaviors. * <P> * For detailed information on how to configure behaviors, see the * <A HREF="../clay/docs/index.html">Clay page</A>. * <P> * <A HREF="../COPYRIGHT.html">Copyright</A> * (c)1997, 1998 Tucker Balch * * @author Tucker Balch * @version $Revision: 1.1 $ */public class b_BehindBall_r extends NodeBoolean	{	/** 	 * Turn debug printing on or off.	 */	public static final boolean DEBUG = Node.DEBUG;	private SocSmall abstract_robot;	/**	 * Instantiate a b_BehindBall_r schema.	 * @param ar SocSmall, the abstract_robot object 	 * that provides hardware support.	 */	public b_BehindBall_r(SocSmall ar)		{		if (DEBUG) System.out.println("b_BehindBall_r: instantiated");		abstract_robot = ar;		}	long	last_t = 0;	boolean	last_val = false;	/**	 * Return a boolean indicating if behind the ball or not.	 * @param timestamp long, only get new information 	 *        if timestamp > than last call or timestamp == -1.	 * @return true if behind the ball, false otherwise.	 */	public boolean Value(long timestamp)		{		if (DEBUG) System.out.println("b_BehindBall_r: Value()");		if ((timestamp > last_t) || (timestamp == -1))			{			if (timestamp != -1) last_t = timestamp;			Vec2 ball = abstract_robot.getBall(timestamp);			Vec2 goal = abstract_robot.getOpponentsGoal(timestamp);			last_val = false;			// check for same sign			if (((ball.x<0)&&(goal.x<0))||((ball.x>0)&&(goal.x>0)))				if (Math.abs(ball.x) >= 					(abstract_robot.RADIUS/2))					last_val = true;			}		return(last_val);		}        }