robotholonomic.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
//
// RobotHolonomic.h: interface for the CRobotHolonomic class.
//
//////////////////////////////////////////////////////////////////////

#if !defined(ROBOTHOLONOMIC_H)
#define ROBOTHOLONOMIC_H

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

#include "Robot.h"

class CRobotHolonomic : public CRobot  
{
public:
	DECLARE_SERIAL(CRobotHolonomic)
	CRobotHolonomic();
	CRobotHolonomic(double x, double y, double theta, short status, short id, CString name);
	virtual ~CRobotHolonomic();

	void Serialize(CArchive& archive );
	
	virtual void Draw(CDC* pDC);
	virtual void Update(CArray<CRobot*, CRobot*> *robots, double simTime, double dt, CBox* box,  CMapPath *mapPath);
	virtual void ForceFromObstacles(CObstacle *obst, double &fx, double &fy);
	virtual void ForceFromBoxes(CBox *box, double &fx, double &fy);
	virtual void ForceOnBoxes(CBox *box,double &fx, double &fy, double &ftheta);
	virtual void ForceFromRobots(CRobot *robot, double &fx, double &fy);

	double m_vx;	// velocity in the x direction
	double m_vy;	// velocity in the y direction

private:
	void Potential(CArray<CRobot*, CRobot*> *robots, double dt, CMapPath *map, CBox* box, double simTime);
};

#endif