myglobals.h

来自「基于vc 的环境下机器人自主避障的算法 图形处理 具有载物功能」· C头文件 代码 · 共 32 行

#if !defined(MYGLOBALS_H)
#define MYGLOBALS_H

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

// constants for the potential and collision functions

extern int Kc_ro;				// collision K robot-obstacle
extern int Cc_ro;				// collision C robot-obstacle	
extern int Kc_rr;				// collision K robot-robot
extern int Cc_rr;				// collision C robot-robot
extern int Kc_rb;				// collision K robot-box
extern int Cc_rb;				// collision C robot-box
extern int Kc_bo;				// collision K box-obstacle
extern int Cc_bo;				// collision C box-obstacle

extern int Ka_rb;				// Potential: attraction robot-box
extern int Ka_rg;				// Potential: attraction robot-goal
extern int Kr_rr;				// Potential: repulsion robot-robot 
extern int Kr_ro;				// Potential: repulsion robot-obstacle
extern BOOL boxAttraction;		// Box is attracted during transportantion

extern int Cb;					// Damping box
extern int Cr;					// Damping robot (linear velocity)
extern int Cbw;					// Damping robot (angular velocity)

extern double intStep;			// Integration step
extern int BoxMass;				// Box Mass

#endif