avoidlistview.h

智能移动机器人是一种在复杂的环境下工作的具有自规划、自组织、自适应能力的机器人。导航算法的研究是智能机器人研究领域的一个热点话题。智能导航的目的就是在没有人干预下使机器人有目的地移动并完成特定任务

// avoidlistView.h : interface of the CAvoidlistView class
//
/////////////////////////////////////////////////////////////////////////////
#include "avoidlistDoc.h"
#if !defined(AFX_AVOIDLISTVIEW_H__1770895B_9810_4C12_989F_1B03E1E8A81D__INCLUDED_)
#define AFX_AVOIDLISTVIEW_H__1770895B_9810_4C12_989F_1B03E1E8A81D__INCLUDED_

#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000
struct condition
{
	int x;
	int y;
	double r;
	double degree;
};

class CAvoidlistView : public CView
{
protected: // create from serialization only
	CAvoidlistView();
	DECLARE_DYNCREATE(CAvoidlistView)

// Attributes
public:
	CAvoidlistDoc* GetDocument();
obstaclelist *head;
obstaclelist *obstacle;
condition point[50];
condition lastpoint,nextpoint;
double angle,Rdegree;
double xr,yr,xt,yt,resultx,resulty;
double ks;
double degcommand[100];
//double deg;
int j;
double constant,constant1;
int idd;
CPoint startpoint,endpoint;
BOOL Isexisting;
int rmax;
// Operations
public:

// Overrides
	// ClassWizard generated virtual function overrides
	//{{AFX_VIRTUAL(CAvoidlistView)
	public:
	virtual void OnDraw(CDC* pDC);  // overridden to draw this view
	virtual BOOL PreCreateWindow(CREATESTRUCT& cs);
	protected:
	virtual BOOL OnPreparePrinting(CPrintInfo* pInfo);
	virtual void OnBeginPrinting(CDC* pDC, CPrintInfo* pInfo);
	virtual void OnEndPrinting(CDC* pDC, CPrintInfo* pInfo);
	//}}AFX_VIRTUAL

// Implementation
public:
	void attractforce();
	void repulforce();
	double computedeg(double x0,double y0);
void OnStop();
BOOL Searchd();
	void findnextpoint();
	virtual ~CAvoidlistView();
#ifdef _DEBUG
	virtual void AssertValid() const;
	virtual void Dump(CDumpContext& dc) const;
#endif

protected:

// Generated message map functions
protected:
	//{{AFX_MSG(CAvoidlistView)
	afx_msg void OnObstacle();
	afx_msg void OnObstacleAxis();
	afx_msg void OnLButtonDown(UINT nFlags, CPoint point);
	afx_msg void OnKillObstacle();
	afx_msg void OnTimer(UINT nIDEvent);
	afx_msg void OnPathplan();
	//}}AFX_MSG
	DECLARE_MESSAGE_MAP()
};

#ifndef _DEBUG  // debug version in avoidlistView.cpp
inline CAvoidlistDoc* CAvoidlistView::GetDocument()
   { return (CAvoidlistDoc*)m_pDocument; }
#endif

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

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

#endif // !defined(AFX_AVOIDLISTVIEW_H__1770895B_9810_4C12_989F_1B03E1E8A81D__INCLUDED_)