avoidanceview.cpp

依各有關人工智慧 fuzzy的範例 我覺得還不瀨 請大家看看吧

// avoidanceView.cpp : implementation of the CAvoidanceView class
//

#include "stdafx.h"
#include "avoidance.h"

#include "avoidanceDoc.h"
#include "avoidanceView.h"
#include "Avoid.h"
#include "Velocity.h"


#include <math.h>
#include <stdlib.h>
#include <time.h>

#define	PI 3.14159

#ifdef _DEBUG
#define new DEBUG_NEW
#undef THIS_FILE
static char THIS_FILE[] = __FILE__;
#endif

/////////////////////////////////////////////////////////////////////////////
// CAvoidanceView

IMPLEMENT_DYNCREATE(CAvoidanceView, CView)

BEGIN_MESSAGE_MAP(CAvoidanceView, CView)
	//{{AFX_MSG_MAP(CAvoidanceView)
	ON_COMMAND(ID_LoadMap, OnLoadMap)
	ON_COMMAND(ID_GO, OnGo)
	ON_WM_TIMER()
	ON_COMMAND(ID_NEW, OnNew)
	ON_COMMAND(ID_STOP, OnStop)
	//}}AFX_MSG_MAP
	// Standard printing commands
	ON_COMMAND(ID_FILE_PRINT, CView::OnFilePrint)
	ON_COMMAND(ID_FILE_PRINT_DIRECT, CView::OnFilePrint)
	ON_COMMAND(ID_FILE_PRINT_PREVIEW, CView::OnFilePrintPreview)
END_MESSAGE_MAP()

/////////////////////////////////////////////////////////////////////////////
// CAvoidanceView construction/destruction

CAvoidanceView::CAvoidanceView()
{
	TC = 0;
	Vavg = 0;
	sensor = 75;
	veh_rad = 15;
	sen_ang = 0;
}

CAvoidanceView::~CAvoidanceView()
{
}

BOOL CAvoidanceView::PreCreateWindow(CREATESTRUCT& cs)
{
	// TODO: Modify the Window class or styles here by modifying
	//  the CREATESTRUCT cs

	return CView::PreCreateWindow(cs);
}

/////////////////////////////////////////////////////////////////////////////
// CAvoidanceView drawing

void CAvoidanceView::OnDraw(CDC* pDC)
{
	CAvoidanceDoc* pDoc = GetDocument();
	ASSERT_VALID(pDoc);

	m_dibFile.UsePalette(pDC); 
    CSize sizeFileDib = m_dibFile.GetDimensions();
    m_dibFile.Draw(pDC, CPoint(40, 15), sizeFileDib);

	CPen newpen(PS_SOLID, 20, RGB(150,150,150)); 
	CPen* pOldPen= pDC->SelectObject(&newpen);
	pDC->MoveTo(veh_x,veh_y);
	pDC->LineTo(veh_x,veh_y);

//	pDC->SelectStockObject(NULL_BRUSH);					э筁 .......
	pDC->SelectStockObject(LTGRAY_BRUSH);
	CPen newpen1(PS_SOLID, 1, RGB(50,50,50)); 
	CPen* pOldPen1= pDC->SelectObject(&newpen1);

	for(int i = 0; i <= track.GetUpperBound(); i++)
	{
		pDC->Ellipse(track[i].x-10, track[i].y-10, track[i].x+10, track[i].y+10);
	}

//  <------------------Robot セ砰 -------------------------->
	CPoint pntRobotBody[4];
	pntRobotBody[0] = CPoint(40,0);
	pntRobotBody[1] = CPoint(40,50);
	pntRobotBody[2] = CPoint(80,50);
	pntRobotBody[3] = CPoint(80,0);
//