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Designing Autonomous Mobile Robots phần 2

ghi âm, hay nói cách khác, mà không cần sự cho phép trước bằng văn bản của nhà xuất bản. Quyền có thể được tìm kiếm trực tiếp từ Khoa học Elsevier & Quyền Cục Công nghệ tại Oxford, Anh Bạn cũng có thể hoàn thành yêu cầu của bạn trên mạng thông qua trang web của Elsevier (http://elsevier.com), bằng cách chọn "Hỗ trợ khách hàng" và sau đó "Lấy | Chapter 2 screen with smiley faces and arrows or worse yet displaying the dreaded blue screen of death. Methods Methods are nothing more than functions within an object that act on the properties or perform tasks as modified by the properties. A call to a method almost always requires arguments to determine the details of its execution. In many cases the arguments are not the value of variables but rather the addresses of the variables. In this case the argument is said to be by reference rather than by value. The method may manipulate the values of these arguments by reference or generate output in a myriad of other ways. In almost all cases a method will return a status value that lets the calling program know if the desired action was successful. Just as arrays of objects are possible objects may contain other objects. In one example I remember objects contained data types which in turn contained other objects which in turn possess arrays. The power of objects is that they allow us to build walls around well-tested blocks of code and to use this code over and over with the certainty that it will execute safely. As an additional advantage once an object has been created it makes envisioning the functioning of the whole module easier. Robots and robot subsystems as objects The important thing is to know when to use objects to represent something and when to use more conventional representations such as arrays. A true zealot of the cause will opt for making everything in sight into an object. The result may be more confusing than helpful. Generally the more complex a block of code becomes and the more variables and types of variables that act upon it the better candidate it is to become an object. If you are writing a robot control program to execute on a PC then you should give careful consideration to those items you wish to represent in this way. If you are expecting to allow third parties to access this code then placing it into an object such as an OCX will be