mrpathplanningview.h

在建立的仿真环境中

// MRpathPlanningView.h : interface of the CMRpathPlanningView class
//
/////////////////////////////////////////////////////////////////////////////

#if !defined(AFX_MRPATHPLANNINGVIEW_H__B2575D6C_5614_4904_9AD2_5B26B21478BC__INCLUDED_)
#define AFX_MRPATHPLANNINGVIEW_H__B2575D6C_5614_4904_9AD2_5B26B21478BC__INCLUDED_

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

#include "CDib.h"

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

// Attributes
public:
	CMRpathPlanningDoc* GetDocument();

// Operations
public:
	
// Overrides
	// ClassWizard generated virtual function overrides
	//{{AFX_VIRTUAL(CMRpathPlanningView)
	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 ShowMap(unsigned char * dataIn,int Width,int Height,CDC *pDC);
	void Binarization(unsigned char * dataIn,unsigned char * dataOut,int Width,int Height);
	void DrawMR(float robotX,float robotY,float robotA); //画机器人
	float MRx; //机器人位置的X坐标
	float MRy; //机器人位置的Y坐标
	float MRa; //机器人姿态角

	float MRu; //机器人线速度
	float MRw; //机器人角速度
	
	int Sx,Sy; //机器人起始点
	int Gx,Gy; //机器人目标点

	float PLa; //期望方向角（规划方向）
	float Ea; //机器人实际运动方向角与期望方向角之间的差异

	CDib tDib;
	unsigned char dataImg1[10000000];

	long fGpsr(int x, int y,int Width,int Height);
	long fGpsg(int x, int y,int Width,int Height);
	long fGpsb(int x, int y,int Width,int Height);


	virtual ~CMRpathPlanningView();
#ifdef _DEBUG
	virtual void AssertValid() const;
	virtual void Dump(CDumpContext& dc) const;
#endif

protected:

// Generated message map functions
protected:
	//{{AFX_MSG(CMRpathPlanningView)
	afx_msg int OnCreate(LPCREATESTRUCT lpCreateStruct);
	afx_msg void OnDestroy();
	afx_msg void OnTimer(UINT nIDEvent);
	afx_msg BOOL OnEraseBkgnd(CDC* pDC);
	afx_msg void OnLButtonDown(UINT nFlags, CPoint point);
	//}}AFX_MSG
	DECLARE_MESSAGE_MAP()
};

#ifndef _DEBUG  // debug version in MRpathPlanningView.cpp
inline CMRpathPlanningDoc* CMRpathPlanningView::GetDocument()
   { return (CMRpathPlanningDoc*)m_pDocument; }
#endif

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

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

#endif // !defined(AFX_MRPATHPLANNINGVIEW_H__B2575D6C_5614_4904_9AD2_5B26B21478BC__INCLUDED_)