package Carmen;import IPC.*;/**  Carmen BumperHandler's message   */public class BumperMessage extends Message {    public int num_bumpers;   /** state of bumper */  public char bumper[];   /** robot pose at the center of the robot */  public Point robot_location;   /** commanded translational velocity (m/s) */  public double tv;  /** commanded rotational velocity (r/s) */  public double rv;  private static final String CARMEN_ROBOT_BUMPER_NAME =    "carmen_robot_bumper";  private static final String CARMEN_ROBOT_BUMPER_FMT =     "{int, <char:1>, {double,double,double}, double, double, double, string}";  public static void subscribe(BumperHandler handler) {    subscribe(CARMEN_ROBOT_BUMPER_NAME, CARMEN_ROBOT_BUMPER_FMT, handler,	      BumperMessage.class, "handle");  }}