pathview.h

本程序主要是设计了一个人工势能场机器人运动规划算法。并提出了一个新的斥力场函数。

// PathView.h : interface of the CPathView class
//
/////////////////////////////////////////////////////////////////////////////

#if !defined(AFX_PATHVIEW_H__42466631_8E24_493C_804C_6DCBEE698F9B__INCLUDED_)
#define AFX_PATHVIEW_H__42466631_8E24_493C_804C_6DCBEE698F9B__INCLUDED_

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


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

// Attributes
public:
	CPathDoc* GetDocument();

// Operations
public:
	void		DrawRectangle(int, int, CDC *, COLORREF);
	void		GoAlongWall(CPoint now);//沿墙走函数
	bool		flagUp ,flagDown ,flagLeft ,flagRight;
	void		CheckUpDown(CPoint now);
	void		CheckRightLeft(CPoint now);

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

// Implementation
public:
	virtual ~CPathView();
#ifdef _DEBUG
	virtual void AssertValid() const;
	virtual void Dump(CDumpContext& dc) const;
#endif

protected:
	bool		m_bDragging;//鼠标拖放
	UINT		m_uBrushType;//画刷颜色控制
	CPoint		m_cStart,m_cEnd;//寻径所需点信息
	CPoint		m_cNow;

	//***** 局部稳定点问题 ******
	int			m_iCount;//在局部区域徘徊7次，说明陷入局部稳定状态
	CPoint		m_cBefore;
	CPoint		m_cMiddle;//存储网格坐标，用于沿墙走的计算
	//***************************

	//***** 内部操作函数 *****
	void		MouseToPoint(CPoint, UINT);
	void		DrawRoute(CDC *);
	void		DrawCircle(int, int, CDC *, COLORREF,int radius);
	//************************
// Generated message map functions
protected:
	//{{AFX_MSG(CPathView)
	afx_msg void OnLButtonDown(UINT nFlags, CPoint point);
	afx_msg void OnMouseMove(UINT nFlags, CPoint point);
	afx_msg void OnLButtonUp(UINT nFlags, CPoint point);
	afx_msg void OnTimer(UINT nIDEvent);
	afx_msg BOOL OnEraseBkgnd(CDC* pDC);
	//}}AFX_MSG
	afx_msg void OnBrushType(UINT);
	afx_msg void OnUpdateUIBrushType(CCmdUI *);
	afx_msg void OnPathSearch();
	DECLARE_MESSAGE_MAP()
};

#ifndef _DEBUG  // debug version in PathView.cpp
inline CPathDoc* CPathView::GetDocument()
   { return (CPathDoc*)m_pDocument; }
#endif

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

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

#endif // !defined(AFX_PATHVIEW_H__42466631_8E24_493C_804C_6DCBEE698F9B__INCLUDED_)