obstacle.cpp

来自「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」· C++ 代码 · 共 94 行

//////////////////////////////////////////////////////////////////////
// MuRoS - Multi Robot Simulator
//
// Luiz Chaimowicz
// GRASP Lab. University of Pennsylvania
// VERLab - DCC - UFMG - Brasil
//
// Obstacle.cpp: implementation of the CObstacle class.
//
//////////////////////////////////////////////////////////////////////

#include "stdafx.h"
#include "simulator.h"
#include "Obstacle.h"
#include "const.h"
#include <math.h>

#ifdef _DEBUG
#undef THIS_FILE
static char THIS_FILE[]=__FILE__;
#define new DEBUG_NEW
#endif

IMPLEMENT_SERIAL( CObstacle, CObject, 1 )

//////////////////////////////////////////////////////////////////////
// Construction/Destruction
//////////////////////////////////////////////////////////////////////

CObstacle::CObstacle()
{
	m_erased = FALSE;
	m_inRange = FALSE;
	m_visited = TRUE;

	m_angle = 0;
	m_dist = 0;
}

// Function used by the copy constructors
void CObstacle::SetObstacle(const CObstacle *obst)
{
	m_rect = obst->m_rect;
	m_center = obst->m_center;
	m_radius = obst->m_radius;
	
	m_erased = obst->m_erased;
	m_inRange = FALSE;
	m_visited = FALSE;

	m_angle = 0;
	m_dist = 0;
}


CObstacle::~CObstacle()
{

}

void CObstacle::Serialize(CArchive& ar)
{
	CObject::Serialize(ar); // Base class method

	if (ar.IsStoring()) {
		ar << m_rect;
		ar << m_center;
		ar << m_radius;

		ar << m_erased;
		ar << m_inRange;
		ar << m_visited;

		ar << m_dist;
		ar << m_angle;
	}
	else {
		ar >> m_rect;
		ar >> m_center;
		ar >> m_radius;

		ar >> m_erased;
		ar >> m_inRange;
		ar >> m_visited;

		ar >> m_dist;
		ar >> m_angle;
	}
}

void CObstacle::Draw(CDC* pDC, BOOL drawErased)
{
}