robotlabmate.h

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头文件 代码 · 共 79 行

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

#if !defined(ROBOTLABMATE_H)
#define ROBOTLABMATE_H

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

#include "RobotNonHolonomic.h"
#include "RobotXR4000.h"
#include "MapPath.h"
#include "Polygon.h"


class CRobotLabmate : public CRobotNonHolonomic  
{
public:
	DECLARE_SERIAL(CRobotLabmate)


	CRobotLabmate();
	CRobotLabmate(double x, double y, double theta, short status, short id, CString name);
	virtual ~CRobotLabmate();

	virtual void Serialize(CArchive& archive );
	virtual void Draw(CDC* pDC);
	virtual void Output(double Simtime);
	virtual void Update(CArray<CRobot*, CRobot*> *robots, double simTime, double dt, CBox* box, CMapPath *mapPath);
	virtual void DetectBox(CBox *box);
	virtual void SetOrientation(double angle);
	virtual void ForceOnBoxes(CBox *box,double &fx, double &fy, double &ftheta);

	virtual afx_msg LRESULT OnControlMsg(WPARAM wParam, LPARAM lParam);
	virtual afx_msg LRESULT OnDataMsg(WPARAM wParam, LPARAM lParam);


private:
	void ComputeForces(CBox* box);
	void ComputeArmPos();
	void InitializeArmBox(CPoint, CBox* box, double theta);
	void ChangeLeader(short leader, double posX, double posY);
	void BackupManeuver(double simTime, double dt);

	double m_sizex;		// x dimension of the labmate
	double m_sizey;		// y dimension of the labmate
	
	double m_armB[3];	// arm position relative to the box
	double m_armW[3];	// arm position relative to the world
	double m_armR[3];	// arm position relative to the robot
	double m_armA[3];	// arm position relative to the arm frame

	double m_tA2R[3];	// conversion from the arm frame to the robot frame (x,y,theta)
	double m_tR2A[3];	// conversion from the robot frame to the arm frame (x,y,theta)

	double m_force[3];		// forces aplied in the object (robot coordinates)
	double m_force_w[3];	// forces aplied in the object (world coordinates)
	

	CControlMsg* m_controlMsgPoll[20];	// list of received control messages (***** change later)

	double m_backupAngle;				// variables for the backu maneuver
	double m_backupAngleFinal;
	double m_beginLead;

	CPolygon m_polygon;					// polygon used to draw the robot
};

#endif