Robot Management

This guide is focused on explaining the purpose behind each game module. 
For a detailed documentation of the methods and attributes of the classes, 
check the doxygen documentation.

System Overview

The robot system is in charge of communicating with the robot and sending commands to control its movement.

RobotManager class

The RobotManager class defines the interface required for communication with a Robot Devastation robot.

The main functions of a RobotManager are:

• moveForward(): command the robot to move forward at the specified velocity.
• turnLeft(): command the robot to turn left at the specified velocity.
• stopMovement(): command the robot to stop.

• tiltDown(): command the robot to move the camera down at the specified velocity.
• panLeft() : command the robot to move the camera to the left at the specified velocity.
• stopCameraMovement(): command the camera to stop moving.

YarpRobotManager class

YarpRobotManager is an implementation of the RobotManager interface using YARP as middleware for communications with the robot.

MockRobotManager class

MockRobotManager is an implementation of the RobotManager for unit testing purposes.

The MockRobotManager adds the following methods for testing:

• isConnected(): checks if the game is connected to the robot.
• isEnabled(): checks if the robot is enabled.

• isMoving(): check if the robot is moving.
• getMovementDirection(): returns the direction in which the robot is currently moving.

• isCameraMoving(): check is the camera is moving.
• getCameraMovementDirection(): returns the direction in which the camera is currently moving.