Main differences between SOAP and RESTful web services in Java [duplicate]

For now I have a slight idea about the differences between SOAP and RESTful services.

My question is when I should use SOAP, and when I should use RESTful; which one is “better” when it comes to performance/speed or request handling?

I’m implementing it for the first time in RESTful (Java) and I want know more about it; I’ve dealt with SOAP before.

_{This is a follow-up question to this post.}