myglobals.h

多机器人合作中的动态角色分配仿真算法是多机器人合作领域的一个比较著名的仿真软件

#if !defined(MYGLOBALS_H)
#define MYGLOBALS_H

#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000

// constants for the potential and collision functions

extern int Kc_ro;				// collision K robot-obstacle
extern int Cc_ro;				// collision C robot-obstacle	
extern int Kc_rr;				// collision K robot-robot
extern int Cc_rr;				// collision C robot-robot
extern int Kc_rb;				// collision K robot-box
extern int Cc_rb;				// collision C robot-box
extern int Kc_bo;				// collision K box-obstacle
extern int Cc_bo;				// collision C box-obstacle

extern int Ka_rb;				// Potential: attraction robot-box
extern int Ka_rg;				// Potential: attraction robot-goal
extern int Kr_rr;				// Potential: repulsion robot-robot 
extern int Kr_ro;				// Potential: repulsion robot-obstacle
extern BOOL boxAttraction;		// Box is attracted during transportantion

extern int Cb;					// Damping box
extern int Cr;					// Damping robot (linear velocity)
extern int Cbw;					// Damping robot (angular velocity)

extern double intStep;			// Integration step
extern int BoxMass;				// Box Mass

#endif