Software Engineering for Experimental Robotics - Davide Brugali et al Part 3 ppsx

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ES ,`AG@,( =2 Y;, TE2Y_S, =T ),G@Ea,) EB Y;, G;aT=$@ ;S)_S,( Y;,B Y;,
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Y;,T, ),^=$,T _E]@) ]T, Y;,=S T=A]@Y,) $E]BY,SGSYTK
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YS=!]Y,) Y;SE]:;E]Y Y;, TaTY,A =B =YT ^S=E]T A=$SEGSE$,TTESTK ;, TYY, =B<
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BEY !, )=S,$Y@a $$,TT=!@,K
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E T]GGESY ;,Y,SE:,B,E]T SE!EY=$ G@Y2ESAT( TYY, =B2ESAY=EB T;E]@) !, ;B<
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@TE !, ;=)),B =B $@TT !TYS$Y=EBTK S,?=B: Y;=T ,B$GT]@Y=EB =BYSE)]$,T
TaTY,A TG,$=6$ ),G,B),B$=,T Y;Y S,)]$, Y;, =BY,SEG,S!=@=Ya E2 Y;, TE2Y_S,K
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Y,AT =T Y;, GS,T]AGY=EB Y;Y Y;,S, =T  @,^,@ E2 !TYS$Y=EB Y _;=$; Y;, :,B,S=$
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N483$ $ $! LB; M.$$3$! 36646G065
EBT=),S Y_E SE!EYT'  _;,,@,) SE^,S _=Y;  GTT=^, T]TG,BT=EB B)  @,::,)

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SE]:; Y,SS=BK E_,^,S( Y;, Y_E SE!EYT _=@@ AE^, )=3,S,BY@a @EB: Y;, GY;K
;, _;,,@,) SE^,S _=@@ $EB2ESA YE Y;, Y,SS=B _;=@, Y;, @,::,) SE!EY _=@@
SY=$]@Y, =YT @,:T YE AE^, =YT !E)a @EB: Y;, GY;K ;=@, !EY; SE!EYT 2E@@E_
Y;, TA, GY;( Y;,a $;=,^, Y;Y ]T=B: )=3,S,BY !E)a AEY=EBTK E Y Y;,
:,B,S=$ @E$EAEYES @,^,@( !EY; TaTY,AT S, $EAAB),) YE 2E@@E_  GY; ,^,B
Y;E]:; Y;,a $;=,^, Y;Y :E@ =B )=3,S,BY _aTK ;, $EAAEB TYY,T Y Y;,
@E$EAEYES @,^,@ S, Y;, SE!EYRT GET,( Y;, BEY=EB E2  GY;( B) Y;, BEY=EB E2
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@E_,S<@,^,@ TYY,T( =T $EAAEB YE !EY;K
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;, A>ES $;@@,B:, $EA,T 2SEA )=3,S,B$,T =B T,BTES $EB6:]SY=EBT Y;Y S,

EB T=A=@S G;aT=$@ SE!EYTK =A=@S SE!EYT Aa ]T, )=3,S,BY T,BTES $EB6:]S<
Y=EBT Y;Y GSE)]$, T=A=@S =B2ESAY=EBK E_,^,S( )=3,S,BY T,BTES $EB6:]S<
Y=EBT E2Y,B ;^, )=3,S,BY G;aT=$@ $EBTYS=BYTK
63KG065 B$ 4K3G0/3$L$3 -$5$A0 BGAG065B &6A G.$ B$5B6AB 05 G.$ BOBG$4
a GSE^=)=B: ^S=E]T @,^,@T E2 ),^=$, !TYS$Y=EBT( _, $B $EG, _=Y; Y;, ^S=<
!=@=Ya =B Y;, T,BTES $EB6:]SY=EBTK ;=T =T GSY=$]@S@a =AGESYBY T Y;,S,
S, A]@Y=G@, =AG@,A,BYY=EBT Y;Y Aa $;=,^, Y;, TA, S,T]@YK EA, Aa !,
^=@!@, =B ;S)_S, _;=@, EY;,ST Y;SE]:; TE2Y_S,K ;=T =T !,TY =@@]TYSY,)
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EBT=),S T,BTEST Y;Y :,B,SY, Y,SS=B )Y Y;Y =T S,GS,T,BY,) T Y;S,,<
)=A,BT=EB@ GE=BY $@E])TK E :,B,SY, Y;=T )Y( EB, $B ,=Y;,S ]T,  @=)S
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Y;,T, Y_E ),^=$,T EG,SY, _=Y; )=3,S,BY $EBTYS=BYT B) ;^, )=3,S,BY M]@=<
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Y;, ),GY; =B2ESAY=EB( _;=@, Y;, EGGET=Y, =T YS], 2ES TY,S,EK ;,T, !,;^=ES@
)=3,S,B$,T :,B,SY, $EBTYS=BYT EB Y;, EG,SY=EB E2 Y;, SE!EYK  TY,S,E GSE<
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Y;S,, )=A,BT=EB@ AG( Y;,B E]S @:ES=Y;AT T;E]@) BEY ),G,B) )=S,$Y@a EB
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TE]S$,K  Y;S,,<)=A,BT=EB@ GE=BY $@E]) $B @TE !, :,B,SY,) 2SEA  @=)SK
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E2 T,BTESTK 2  B^=:Y=EB @:ES=Y;A Y;Y ]T,T Y;=T )Y YE 6B) E!TY$@,T _T
=BY,S2$,) YE TY,S,E $A,ST T EGGET,) YE GE=BY $@E])T( Y;,B =Y _=@@ BEY !,
GETT=!@, YE ]T, Y;=T @:ES=Y;A EB SE^,ST Y;Y ]T,  @=)S T,BTES =B @=,] E2 TY,S,E
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