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leJOS (pronounced like the Spanish word "lejos" for "far") is a tiny Java Virtual Machine. In 2013 it was ported to the LEGO EV3 brick.
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package lejos.robotics.localization;
import java.util.ArrayList;
/**
* A class that scans a room for beacons and identifies the angles to the beacons.
*
* @author BB
*
*/
public interface BeaconLocator {
/**
* This method performs a scan around the robot. The angle values are always relative to the robot, because it does
* not know which direction it is facing. 0 degrees is the forward direction the robot is facing. Angle increases
* counter-clockwise from 0. So 90 degrees is to the left of the robot, 180 is behind, and 270 is to the right.
*
* @return an ArrayList of double values indicating angles to the beacons
*/
public ArrayList locate();
}