obstaclepolygon.h

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

//////////////////////////////////////////////////////////////////////
// MuRoS - Multi Robot Simulator
//
// Luiz Chaimowicz
// GRASP Lab. University of Pennsylvania
// VERLab - DCC - UFMG - Brasil
//
// ObstaclePolygon.h: interface for the CObstaclePolygon class.
//
//////////////////////////////////////////////////////////////////////

#if !defined(OBSTACLEPOLYGON_H)
#define OBSTACLEPOLYGON_H

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

#include "Obstacle.h"
#include "Polygon.h"

class CObstaclePolygon : public CObstacle  
{
public:
    DECLARE_SERIAL( CObstaclePolygon )

	CObstaclePolygon();
	CObstaclePolygon(CPolygon *polygon);
	virtual ~CObstaclePolygon();

	virtual void Serialize(CArchive& ar);
	virtual void Draw(CDC* pDC, BOOL drawErased);
	virtual void SetObstacle(const CObstacle *obst);

	CPolygon *m_polygon;

};

#endif