interface.c

关于机器人路径规划的算法实现

  frame7 = gtk_frame_new (NULL);
  gtk_widget_show (frame7);
  gtk_fixed_put (GTK_FIXED (fixed2), frame7, 0, 16);
  gtk_widget_set_size_request (frame7, 248, 72);

  vbox2 = gtk_vbox_new (FALSE, 0);
  gtk_widget_show (vbox2);
  gtk_container_add (GTK_CONTAINER (frame7), vbox2);

  hbox5 = gtk_hbox_new (FALSE, 0);
  gtk_widget_show (hbox5);
  gtk_box_pack_start (GTK_BOX (vbox2), hbox5, TRUE, TRUE, 0);

  hbox7 = gtk_hbox_new (FALSE, 0);
  gtk_widget_show (hbox7);
  gtk_box_pack_start (GTK_BOX (hbox5), hbox7, TRUE, TRUE, 0);

  label1 = gtk_label_new (_("X(m):"));
  gtk_widget_show (label1);
  gtk_box_pack_start (GTK_BOX (hbox7), label1, FALSE, FALSE, 0);

  entry1 = gtk_entry_new ();
  gtk_widget_show (entry1);
  gtk_box_pack_start (GTK_BOX (hbox7), entry1, TRUE, TRUE, 0);
  gtk_widget_set_size_request (entry1, -1, 18);
  gtk_entry_set_text (GTK_ENTRY (entry1), _("0"));

  label2 = gtk_label_new (_("Y(m):"));
  gtk_widget_show (label2);
  gtk_box_pack_start (GTK_BOX (hbox7), label2, FALSE, FALSE, 0);

  entry2 = gtk_entry_new ();
  gtk_widget_show (entry2);
  gtk_box_pack_start (GTK_BOX (hbox7), entry2, TRUE, TRUE, 0);
  gtk_widget_set_size_request (entry2, -1, 18);
  gtk_entry_set_text (GTK_ENTRY (entry2), _("0"));

  label3 = gtk_label_new (_("T(deg):"));
  gtk_widget_show (label3);
  gtk_box_pack_start (GTK_BOX (hbox7), label3, FALSE, FALSE, 0);

  entry3 = gtk_entry_new ();
  gtk_widget_show (entry3);
  gtk_box_pack_start (GTK_BOX (hbox7), entry3, TRUE, TRUE, 0);
  gtk_widget_set_size_request (entry3, -1, 18);
  gtk_entry_set_text (GTK_ENTRY (entry3), _("180"));

  hbox6 = gtk_hbox_new (FALSE, 0);
  gtk_widget_show (hbox6);
  gtk_box_pack_start (GTK_BOX (vbox2), hbox6, TRUE, TRUE, 0);

  hbox8 = gtk_hbox_new (FALSE, 0);
  gtk_widget_show (hbox8);
  gtk_box_pack_start (GTK_BOX (hbox6), hbox8, TRUE, TRUE, 0);

  startx = gtk_hscale_new (GTK_ADJUSTMENT (gtk_adjustment_new (0, -20, 20, 0.01, 0, 0)));
  gtk_widget_show (startx);
  gtk_box_pack_start (GTK_BOX (hbox8), startx, TRUE, TRUE, 0);

  starty = gtk_hscale_new (GTK_ADJUSTMENT (gtk_adjustment_new (0, -20, 20, 0.01, 0, 0)));
  gtk_widget_show (starty);
  gtk_box_pack_start (GTK_BOX (hbox8), starty, TRUE, TRUE, 0);

  start_theta = gtk_hscale_new (GTK_ADJUSTMENT (gtk_adjustment_new (0, -20, 20, 0.01, 0, 0)));
  gtk_widget_show (start_theta);
  gtk_box_pack_start (GTK_BOX (hbox8), start_theta, TRUE, TRUE, 0);

  label15 = gtk_label_new (_("<b>Start Location</b>"));
  gtk_widget_show (label15);
  gtk_frame_set_label_widget (GTK_FRAME (frame7), label15);
  gtk_label_set_use_markup (GTK_LABEL (label15), TRUE);

  frame8 = gtk_frame_new (NULL);
  gtk_widget_show (frame8);
  gtk_fixed_put (GTK_FIXED (fixed2), frame8, 0, 96);
  gtk_widget_set_size_request (frame8, 248, 72);

  vbox3 = gtk_vbox_new (FALSE, 0);
  gtk_widget_show (vbox3);
  gtk_container_add (GTK_CONTAINER (frame8), vbox3);

  hbox10 = gtk_hbox_new (FALSE, 0);
  gtk_widget_show (hbox10);
  gtk_box_pack_start (GTK_BOX (vbox3), hbox10, TRUE, TRUE, 0);

  label4 = gtk_label_new (_("X(m):"));
  gtk_widget_show (label4);
  gtk_box_pack_start (GTK_BOX (hbox10), label4, FALSE, FALSE, 0);

  entry4 = gtk_entry_new ();
  gtk_widget_show (entry4);
  gtk_box_pack_start (GTK_BOX (hbox10), entry4, TRUE, TRUE, 0);
  gtk_widget_set_size_request (entry4, -1, 18);
  gtk_entry_set_text (GTK_ENTRY (entry4), _("0"));

  label5 = gtk_label_new (_("Y(m):"));
  gtk_widget_show (label5);
  gtk_box_pack_start (GTK_BOX (hbox10), label5, FALSE, FALSE, 0);

  entry5 = gtk_entry_new ();
  gtk_widget_show (entry5);
  gtk_box_pack_start (GTK_BOX (hbox10), entry5, TRUE, TRUE, 0);
  gtk_widget_set_size_request (entry5, -1, 18);
  gtk_entry_set_text (GTK_ENTRY (entry5), _("0"));

  label6 = gtk_label_new (_("T(deg):"));
  gtk_widget_show (label6);
  gtk_box_pack_start (GTK_BOX (hbox10), label6, FALSE, FALSE, 0);

  entry6 = gtk_entry_new ();
  gtk_widget_show (entry6);
  gtk_box_pack_start (GTK_BOX (hbox10), entry6, TRUE, TRUE, 0);
  gtk_widget_set_size_request (entry6, -1, 18);
  gtk_entry_set_text (GTK_ENTRY (entry6), _("0"));

  hbox11 = gtk_hbox_new (FALSE, 0);
  gtk_widget_show (hbox11);
  gtk_box_pack_start (GTK_BOX (vbox3), hbox11, TRUE, TRUE, 0);

  targetx = gtk_hscale_new (GTK_ADJUSTMENT (gtk_adjustment_new (0, -20, 20, 0.01, 0, 0)));
  gtk_widget_show (targetx);
  gtk_box_pack_start (GTK_BOX (hbox11), targetx, TRUE, TRUE, 0);

  targety = gtk_hscale_new (GTK_ADJUSTMENT (gtk_adjustment_new (0, -20, 20, 0.01, 0, 0)));
  gtk_widget_show (targety);
  gtk_box_pack_start (GTK_BOX (hbox11), targety, TRUE, TRUE, 0);

  target_theta = gtk_hscale_new (GTK_ADJUSTMENT (gtk_adjustment_new (0, -20, 20, 0.01, 0, 0)));
  gtk_widget_show (target_theta);
  gtk_box_pack_start (GTK_BOX (hbox11), target_theta, TRUE, TRUE, 0);

  label20 = gtk_label_new (_("<b>Target Location</b>"));
  gtk_widget_show (label20);
  gtk_frame_set_label_widget (GTK_FRAME (frame8), label20);
  gtk_label_set_use_markup (GTK_LABEL (label20), TRUE);

  frame9 = gtk_frame_new (NULL);
  gtk_widget_show (frame9);
  gtk_fixed_put (GTK_FIXED (fixed2), frame9, 0, 168);
  gtk_widget_set_size_request (frame9, 248, 136);

  alignment9 = gtk_alignment_new (0.5, 0.5, 1, 1);
  gtk_widget_show (alignment9);
  gtk_container_add (GTK_CONTAINER (frame9), alignment9);
  gtk_alignment_set_padding (GTK_ALIGNMENT (alignment9), 0, 0, 12, 0);

  vbox4 = gtk_vbox_new (FALSE, 0);
  gtk_widget_show (vbox4);
  gtk_container_add (GTK_CONTAINER (alignment9), vbox4);

  hbox12 = gtk_hbox_new (FALSE, 0);
  gtk_widget_show (hbox12);
  gtk_box_pack_start (GTK_BOX (vbox4), hbox12, TRUE, TRUE, 0);

  label31 = gtk_label_new (_("Pixel Size(m):"));
  gtk_widget_show (label31);
  gtk_box_pack_start (GTK_BOX (hbox12), label31, FALSE, FALSE, 0);

  pixel_size = gtk_entry_new ();
  gtk_widget_show (pixel_size);
  gtk_box_pack_start (GTK_BOX (hbox12), pixel_size, TRUE, TRUE, 0);
  gtk_entry_set_text (GTK_ENTRY (pixel_size), _("0.047"));

  label32 = gtk_label_new (_(" Pixels/Tile:"));
  gtk_widget_show (label32);
  gtk_box_pack_start (GTK_BOX (hbox12), label32, FALSE, FALSE, 0);

  pixels_per_tile = gtk_entry_new ();
  gtk_widget_show (pixels_per_tile);
  gtk_box_pack_start (GTK_BOX (hbox12), pixels_per_tile, TRUE, TRUE, 0);
  gtk_entry_set_text (GTK_ENTRY (pixels_per_tile), _("1"));

  hbox15 = gtk_hbox_new (FALSE, 0);
  gtk_widget_show (hbox15);
  gtk_box_pack_start (GTK_BOX (vbox4), hbox15, TRUE, TRUE, 0);

  label33 = gtk_label_new (_("Reg Grid d(m):"));
  gtk_widget_show (label33);
  gtk_box_pack_start (GTK_BOX (hbox15), label33, FALSE, FALSE, 0);

  reg_grid_dist = gtk_entry_new ();
  gtk_widget_show (reg_grid_dist);
  gtk_box_pack_start (GTK_BOX (hbox15), reg_grid_dist, TRUE, TRUE, 0);
  gtk_entry_set_text (GTK_ENTRY (reg_grid_dist), _("0.2"));

  label34 = gtk_label_new (_("Dist Nodes(m):"));
  gtk_widget_show (label34);
  gtk_box_pack_start (GTK_BOX (hbox15), label34, FALSE, FALSE, 0);

  nodes_connection_radius = gtk_entry_new ();
  gtk_widget_show (nodes_connection_radius);
  gtk_box_pack_start (GTK_BOX (hbox15), nodes_connection_radius, TRUE, TRUE, 0);
  gtk_entry_set_text (GTK_ENTRY (nodes_connection_radius), _("0.5"));

  hbox14 = gtk_hbox_new (FALSE, 0);
  gtk_widget_show (hbox14);
  gtk_box_pack_start (GTK_BOX (vbox4), hbox14, TRUE, TRUE, 0);

  label35 = gtk_label_new (_("Obstacle Expansion Radius(m):"));
  gtk_widget_show (label35);
  gtk_box_pack_start (GTK_BOX (hbox14), label35, FALSE, FALSE, 0);

  obstacle_radius = gtk_entry_new ();
  gtk_widget_show (obstacle_radius);
  gtk_box_pack_start (GTK_BOX (hbox14), obstacle_radius, TRUE, TRUE, 0);
  gtk_entry_set_text (GTK_ENTRY (obstacle_radius), _("0.2"));

  hbox21 = gtk_hbox_new (FALSE, 0);
  gtk_widget_show (hbox21);
  gtk_box_pack_start (GTK_BOX (vbox4), hbox21, TRUE, TRUE, 0);

  label46 = gtk_label_new (_("Bridge Test Length(m):"));
  gtk_widget_show (label46);
  gtk_box_pack_start (GTK_BOX (hbox21), label46, FALSE, FALSE, 0);

  bridge_length = gtk_entry_new ();
  gtk_widget_show (bridge_length);
  gtk_box_pack_start (GTK_BOX (hbox21), bridge_length, TRUE, TRUE, 0);
  gtk_entry_set_text (GTK_ENTRY (bridge_length), _("2"));

  label27 = gtk_label_new (_("<b>Path Planning</b>"));
  gtk_widget_show (label27);
  gtk_frame_set_label_widget (GTK_FRAME (frame9), label27);
  gtk_label_set_use_markup (GTK_LABEL (label27), TRUE);

  frame10 = gtk_frame_new (NULL);
  gtk_widget_show (frame10);
  gtk_fixed_put (GTK_FIXED (fixed2), frame10, 0, 304);
  gtk_widget_set_size_request (frame10, 248, 150);

  alignment10 = gtk_alignment_new (0.5, 0.5, 1, 1);
  gtk_widget_show (alignment10);
  gtk_container_add (GTK_CONTAINER (frame10), alignment10);
  gtk_alignment_set_padding (GTK_ALIGNMENT (alignment10), 0, 0, 12, 0);

  vbox6 = gtk_vbox_new (FALSE, 0);
  gtk_widget_show (vbox6);
  gtk_container_add (GTK_CONTAINER (alignment10), vbox6);

  hbox16 = gtk_hbox_new (FALSE, 0);
  gtk_widget_show (hbox16);
  gtk_box_pack_start (GTK_BOX (vbox6), hbox16, TRUE, TRUE, 0);

  label40 = gtk_label_new (_("K-Distance:"));
  gtk_widget_show (label40);
  gtk_box_pack_start (GTK_BOX (hbox16), label40, FALSE, FALSE, 0);

  k_distance = gtk_entry_new ();
  gtk_widget_show (k_distance);
  gtk_box_pack_start (GTK_BOX (hbox16), k_distance, TRUE, TRUE, 0);
  gtk_entry_set_text (GTK_ENTRY (k_distance), _("0.15"));

  label41 = gtk_label_new (_("  K-Theta:"));
  gtk_widget_show (label41);
  gtk_box_pack_start (GTK_BOX (hbox16), label41, FALSE, FALSE, 0);

  k_theta = gtk_entry_new ();
  gtk_widget_show (k_theta);
  gtk_box_pack_start (GTK_BOX (hbox16), k_theta, TRUE, TRUE, 0);
  gtk_entry_set_text (GTK_ENTRY (k_theta), _("0.28"));

  hbox17 = gtk_hbox_new (FALSE, 0);
  gtk_widget_show (hbox17);
  gtk_box_pack_start (GTK_BOX (vbox6), hbox17, TRUE, TRUE, 0);

  label42 = gtk_label_new (_("Tracking Distance(m):"));
  gtk_widget_show (label42);
  gtk_box_pack_start (GTK_BOX (hbox17), label42, FALSE, FALSE, 0);

  tracking_distance = gtk_hscale_new (GTK_ADJUSTMENT (gtk_adjustment_new (0, 0, 4, 0.1, 0, 0)));
  gtk_widget_show (tracking_distance);
  gtk_box_pack_start (GTK_BOX (hbox17), tracking_distance, TRUE, TRUE, 0);

  hbox18 = gtk_hbox_new (FALSE, 0);
  gtk_widget_show (hbox18);
  gtk_box_pack_start (GTK_BOX (vbox6), hbox18, TRUE, TRUE, 0);

  label43 = gtk_label_new (_("Linear Speed:"));
  gtk_widget_show (label43);
  gtk_box_pack_start (GTK_BOX (hbox18), label43, FALSE, FALSE, 0);

  Linea_speed = gtk_hscale_new (GTK_ADJUSTMENT (gtk_adjustment_new (0.1, 0, 3, 0.01, 0, 0)));
  gtk_widget_show (Linea_speed);
  gtk_box_pack_start (GTK_BOX (hbox18), Linea_speed, TRUE, TRUE, 0);

  hbox19 = gtk_hbox_new (FALSE, 0);
  gtk_widget_show (hbox19);
  gtk_box_pack_start (GTK_BOX (vbox6), hbox19, TRUE, TRUE, 0);

  label44 = gtk_label_new ("");
  gtk_widget_show (label44);
  gtk_box_pack_start (GTK_BOX (hbox19), label44, FALSE, FALSE, 0);

  hbox20 = gtk_hbox_new (FALSE, 0);
  gtk_widget_show (hbox20);
  gtk_box_pack_start (GTK_BOX (hbox19), hbox20, TRUE, TRUE, 0);

  label45 = gtk_label_new (_("Safety Distance(m):"));
  gtk_widget_show (label45);
  gtk_box_pack_start (GTK_BOX (hbox20), label45, FALSE, FALSE, 0);

  safety_distance = gtk_hscale_new (GTK_ADJUSTMENT (gtk_adjustment_new (0.1, 0, 1, 0.01, 0, 0)));
  gtk_widget_show (safety_distance);
  gtk_box_pack_start (GTK_BOX (hbox20), safety_distance, TRUE, TRUE, 0);

  label39 = gtk_label_new (_("<b>Path Following</b>"));
  gtk_widget_show (label39);
  gtk_frame_set_label_widget (GTK_FRAME (frame10), label39);
  gtk_label_set_use_markup (GTK_LABEL (label39), TRUE);

  follow_path = gtk_button_new_with_mnemonic (_("Follow Path"));
  gtk_widget_show (follow_path);
  gtk_fixed_put (GTK_FIXED (fixed2), follow_path, 0, 592);
  gtk_widget_set_size_request (follow_path, 120, 32);

  stop_following = gtk_button_new_with_mnemonic (_("Stop Following"));
  gtk_widget_show (stop_following);
  gtk_fixed_put (GTK_FIXED (fixed2), stop_following, 128, 592);
  gtk_widget_set_size_request (stop_following, 120, 32);

  connect_to_player = gtk_button_new_with_mnemonic (_("Show Tree"));