simulatordoc.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

//////////////////////////////////////////////////////////////////////
// MuRoS - Multi Robot Simulator
//
// Luiz Chaimowicz
// GRASP Lab. University of Pennsylvania
// VERLab - DCC - UFMG - Brasil
//
// simulatorDoc.h : interface of the CSimulatorDoc class
//
/////////////////////////////////////////////////////////////////////////////

#if !defined(SIMULATORDOC_H)
#define SIMULATORDOC_H

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

#include "Afxtempl.h"
#include "Robot.h"
#include "Box.h"
#include <afxmt.h>

class CSimulatorDoc : public CDocument
{
public:
	DECLARE_DYNCREATE(CSimulatorDoc)

	CSimulatorDoc();
	virtual ~CSimulatorDoc();

	void AddRobot(CRobot *);
	void AddObstacle(CObstacle *);

	void SerializeGlobals(CArchive& ar);
	void Initialize();

	// Overrides
	// ClassWizard generated virtual function overrides
	//{{AFX_VIRTUAL(CSimulatorDoc)
	public:
	virtual BOOL OnNewDocument();
	virtual void Serialize(CArchive& ar);
	virtual void DeleteContents();
	virtual BOOL OnOpenDocument(LPCTSTR lpszPathName);
	//}}AFX_VIRTUAL

#ifdef _DEBUG
	virtual void AssertValid() const;
	virtual void Dump(CDumpContext& dc) const;
#endif
	
	CArray<CRobot*, CRobot*> m_robots;		// array with all the robots
	CBox *m_box;							// box of the manipulation task

	double m_simTime;						// simulation time
	CWinThread *m_updateThread;				// update thread

	CMapPath *m_globalMap;					// global map structure of the application
	CMapView m_mapView;						// window to show the map

	CScrollView *m_view;					// pointer to the main window (view)

	int m_selectedButton;					// button that is selected in the toolbar

	BOOL m_drawErased;						// True if the erased obstacles should be drawn
	BOOL m_drawRange;						// True if the sensor range should be drawn
	BOOL m_drawPath;						// True if the robot trajectory should be drawn
	BOOL m_isRunning;						// True if the simulations is running

	BOOL m_threadIsCreated;					// True if the update thread is created


	int m_selectedRobot;					// -1 if no robot is selected. else contain the robot id
	int m_selectedObst;						// -1 if no obstacle is selected. else contain the obstacle id


// Generated message map functions
protected:
	//{{AFX_MSG(CSimulatorDoc)
	afx_msg void OnDrawRange();
	afx_msg void OnUpdateDrawRange(CCmdUI* pCmdUI);
	afx_msg void OnDrawErased();
	afx_msg void OnUpdateDrawErased(CCmdUI* pCmdUI);
	afx_msg void OnApplicationsForage();
	afx_msg void OnSelect();
	afx_msg void OnUpdateSelect(CCmdUI* pCmdUI);
	afx_msg void OnCreateObstacleCircle();
	afx_msg void OnUpdateCreateObstacleCircle(CCmdUI* pCmdUI);
	afx_msg void OnCreateObstacleRect();
	afx_msg void OnUpdateCreateObstacleRect(CCmdUI* pCmdUI);
	afx_msg void OnCreateObstaclePolygon();
	afx_msg void OnUpdateCreateObstaclePolygon(CCmdUI* pCmdUI);
	afx_msg void OnCreateBoxPolygon();
	afx_msg void OnUpdateCreateBoxPolygon(CCmdUI* pCmdUI);
	afx_msg void OnCreateBoxRect();
	afx_msg void OnUpdateCreateBoxRect(CCmdUI* pCmdUI);
	afx_msg void OnCreateLabmate();
	afx_msg void OnUpdateCreateLabmate(CCmdUI* pCmdUI);
	afx_msg void OnCreateBoxCircle();
	afx_msg void OnUpdateCreateBoxCircle(CCmdUI* pCmdUI);
	afx_msg void OnInitTimer();
	afx_msg void OnUpdateInitTimer(CCmdUI* pCmdUI);
	afx_msg void OnFinishTimer();
	afx_msg void OnUpdateFinishTimer(CCmdUI* pCmdUI);
	afx_msg void OnApplications100();
	afx_msg void OnDrawpath();
	afx_msg void OnUpdateDrawpath(CCmdUI* pCmdUI);
	afx_msg void OnCreaterobotholonomic();
	afx_msg void OnUpdateCreaterobotholonomic(CCmdUI* pCmdUI);
	afx_msg void OnCreaterobotnonholonomic();
	afx_msg void OnUpdateCreaterobotnonholonomic(CCmdUI* pCmdUI);
	//}}AFX_MSG
	DECLARE_MESSAGE_MAP()
};

/////////////////////////////////////////////////////////////////////////////

//{{AFX_INSERT_LOCATION}}
// Microsoft Visual C++ will insert additional declarations immediately before the previous line.

#endif