robot.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
//
// Robot.h : header file
//
///////////////////////////////////////////////////////////////////////
#if !defined(ROBOT_H)
#define ROBOT_H

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

#include "Afxtempl.h"
#include "DataMsg.h" 
#include "ControlMsg.h"
#include "ObstacleInfo.h"
#include "MapPath.h"
#include "MapView.h"

// windows messages
#define WM_DATAMSG				WM_USER + 10
#define WM_CONTROLMSG			WM_USER + 11
#define WM_TESTEMSG				WM_USER + 12
#define WM_DATAMSGBUFFER		WM_USER + 13
#define WM_CONTROLMSGBUFFER		WM_USER + 14

// robot states (m_status)
#define LEAD		1
#define FOLLOW		2
#define DOCK		3
#define WAIT		4
#define PUSH		5
#define ERRO		6
#define BACKUP		7
#define TRANSPORT	8
#define ESCORT		9
#define STOPPED		10
#define WANDER		11
#define GETITEM		12
#define FPPATH		13
#define GOPOSITION	14

// control messages
#define LPASS		1
#define DOCKOK		2
#define LCHANGE		3
#define POOL		4
#define PUSHOK		5
#define BACKUPMSG	6
#define NEWLEADER	7
#define BOXLOCKED	8
#define NEWROBOT	9
#define LOSTBOX		10
#define TIMEOUT		11
#define NEWPOINT	12
#define WILLGET		13
#define GOFORIT		14
#define DELETEROBOT	15

class CBox;

/////////////////////////////////////////////////////////////////////////////
// CRobot window

class CRobot : public CWnd
{
    DECLARE_SERIAL(CRobot)

// Overrides
	// ClassWizard generated virtual function overrides
	//{{AFX_VIRTUAL(CRobot)
	//}}AFX_VIRTUAL


	// Generated message map functions
protected:
	//{{AFX_MSG(CRobot)
		// NOTE - the ClassWizard will add and remove member functions here.
	//}}AFX_MSG
	virtual afx_msg LRESULT OnControlMsg(WPARAM wParam, LPARAM lParam);
	virtual afx_msg LRESULT OnDataMsg(WPARAM wParam, LPARAM lParam);
	DECLARE_MESSAGE_MAP()

public:
	CRobot();
	CRobot(double x, double y, double theta, short status, short id, CString Name);
	virtual ~CRobot();

    virtual 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 Output(double simTime);
	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);

	virtual void SetOrientation(double angle);
	virtual CString GetInfo();

	void SendControlMsg(CControlMsg *msg);
	void PostControlMsg(CControlMsg *msg);
	void SendDataMsg(CDataMsg *msg);

	void Sensor(CMapPath *globalMap, CBox *box);
	virtual short DetectObstacles(CObstacle *obst, BOOL Erased);
	virtual void DetectBox(CBox *box);

	void CloseOutput();
	void OpenOutput();
	void DeleteContents();
	
	short m_controlMsgCount;	// count the number of control messages received by the robot

	short m_status;				// current robot state
	short m_id;					// robot id (set when the robot is created)
	CString m_name;				// robot "name" (for display and file output purposes)

	short m_leader;				// current leader (in a leader follower architecture)
	short m_numRobots;			// size of the robot team (each robot keeps track of the total number of robots)

	double m_x;					// robot pose
	double m_y;
	double m_theta;

	double m_radius;			// robot radius
	CRect m_rect;				// robot outside rectangle

	short m_controlType;		// Variables for the leader-follower 'bicycle controller)
	double m_beta;
	double m_r;
	
	double m_timer;				// timer to compute timeouts

	short m_sensorRange;		// range of sensor
	short m_numObstacles;		// number of obstacle currently detected

	BOOL m_inContactBox;		// True if in contact with the box
	CPoint m_contactPoint;		// contact point if the box
	double m_distBox;			// distance to the box
	double m_angleBox;			// angle to the box

	CMapPath *m_localMap;		// map
	CMapView m_localView;		// window to show the map

	CArray<CPoint, CPoint> m_path;	// keeps track of the robot trajectory for displaying

protected:
	FILE * m_out;	// output file (***** need to change to a stream object)
};


#include "Box.h"


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

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

#endif