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no-ring dependency principle (ADP) The package dependency graph does not allow loops. N stable dependency principle (SDP) Dependency in a stable direction. N stable abstraction principle (SAP) The abstraction level of the package should be consistent with its stability. The concept of the above package is: the package can be used as a container to accommodate a group of classes. By organizing classes into packages, we can understand the

as:Myrobot.ptpmove (JF,P1);Myrobot.ptpmove (WF,P2);Myrobot.ptpmove (TF1,P3);Myrobot.ptpmove (TF2,P4);Myrobot.ptpmove (TF3,P5);}#include #include#includeusing namespacestd;classpoint{ Public: Point () {x=0; Y=0; } Point (DoubleXDoubley) { This->x =x; This->y =y; }Private: Doublex; Doubley;};classline{ Public: Line (point start, point end) { This->start =start; This->end =end; }Private: Point start; Point end;};classsolver{};classframe{ Public: Frame () {Delta_theta=0; Delta_x=0; Delta_y=0;