Write the following codes in c$++$ Programming language please.

Note$1$: Only standard C$++$ libraries are used.

Note$2$: Create two classes as given in uml diagram picture each class should have

heade$($className$.$h$),$ a cpp file$($className$.$cpp$)$ and a test program for each class.

Note$3$: The class Names are NaoRobotAPI and forceSansor as given in the uml diagram.

Class NaoRobotAPI: This class allows you to use and work with the simulator.

It is given so that you can develop the programs. Changing when you do not have the source code $.$cpp$$

you have no chance. However, what the member functions you will use do and the parameters they require

descriptions can be found in the NaoRobotAPI.h file.

Note$4$: The description for Class NaoRobotAPI is given at below.

Class ForceSensor: The robot has four force sensors under each foot sole. this sensor

The force calculated by using the values $$is taken as the force applied by the robot to the ground. this sensor

Provides data retention and management.

updateSensor$($force$)$: Loads the current sensor value of the robot into the force variable.

getForce$()$: Returns the force information of the sensor$.$

checkFall$()$: The force value measured while the robot is standing, when the robot falls to the ground, its base touches the ground.

Since it will not, it will decrease by a significant amount. Based on this, true if the robot is detected to fall, otherwise

will return false.

Note$5$: Class ForceSensor: Also should has a headerfile$($className$.$h$),$a cpp file

$($className$.$cpp$)$ and a test class.

Note $6$: NaoRobotAPI.h description and uml diagram is given at below.

class NaoRobotAPI$\{$

public:

$//$ Constructor

NaoRobotAPI$()$;

$//$ Connects to the simulated robot and makes initializations

void connect$()$;

$//$ Close the connection to the simulated robot

void disconnect$()$;

$//$The robot moves a few steps

$//$Move directions can be $\{$FORWARD$,$ BACKWARD, LEFT, RIGHT$\}$

void moveRobot$($DIRECTION$)$;

$//$ The robot turns

$//$ Move directions can be $\{$LEFT$,$ RIGHT$\}$

void turnRobot$($DIRECTION$)$;

$//$ The robot stops

void stopRobot$()$;

$//$ Returns the sonar range values which are located on the chest of the robot

$//$ in meters

void getSonarRange$($double &left, double &right$)$;

$//$ Returns the position of the robot on x$-$axis in meters

double getX$()$;

$//$ Returns the position of the robot on y$-$axis int meters

double getY$()$;

$//$ Returns the orientation of the robot about z$-$axis in degrees

double getTh$()$;

$//$ On the front of the foot of the robots, there are four bumper sensors

$//$ False if no touch, true if foot touch to an obstacle.

void getFootBumpers$($bool& leftFoot$\_$left, bool& leftFoot$\_$right,

bool& rightFoot$\_$left, bool& rightFoot$\_$right$)$;

$//$Returns the total force at the bottom of the foot in Kgf$.$

double getFootForce$()$;

$\}$;

#endif $//!$NAOROBOTAPI$\_$H

NaoRobotAPI

$+$connect$()$ : void

disconnect$()$ : void

$+$moveRobot$($dir : DIRECTION$)$ : void

$+$stopRobot$()$ : void

$+$tumRobot$($dir : DIRECTION$)$ : void

$+$getSonarRange$($left : double&$,$ right : double& $)$ : void

getX$()$ : double

getY$()$ : double

getTh : double

$+$getFootBumpers $($leftFoot$\_$left : bool&$,$ leftFoot$\_$right : bool&$,$ rightFoot$\_$left : bool&$,$ rightFoot$\_$right : bool& $)$ : void

$+$getFootForce$()$ : double

Note: Please write correct codes and make sure that codes are working.