def connect(self, host='localhost', port=1024):
"""
Connects to robot soccer match simulator.
"""
self.socket = Socket()
self.socket.connect((host, port))
self.robot_id = self.socket.recv_int()
self.socket.send_int(CMD_GET_WORLD)
self.robot_count = self.socket.recv_int()
self.robot_radius = self.socket.recv_float()
self.world_width = self.socket.recv_float()
self.world_height = self.socket.recv_float()
self.goal_length = self.socket.recv_float()
self.goal_deep = self.socket.recv_float()
self.goals[0].x = -self.world_width
self.goals[1].x = self.world_width
self.robots = [Robot() for i in xrange(self.robot_count)]
self.socket.send_int(CMD_GET_MATCH_STATUS)
self.__update_match()
