Object analysis approach is used to determine the system components and functions, and the relations between them. The top-down approach is used starting from the main objects in the PE, then analyze each of these objects in more detail until the primitive data items are reached. Second, the functionality of the system has been analyzed and described using high level algorithms. Finally the corresponding member functions of the suggested classes has been implemented. Figure 35 shows the top view of the main components in the system, and Figure 36 shows one of these components in detail.
Figure 35: The main components of the robot prototyping environment.
Figure 36: Detailed analysis for the robot classes.