obstaclecircle.cpp

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
//
// ObstacleCircle.cpp: implementation of the CObstacleCircle class.
//
//////////////////////////////////////////////////////////////////////

#include "stdafx.h"
#include "simulator.h"
#include "ObstacleCircle.h"
#include "const.h"

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

IMPLEMENT_SERIAL( CObstacleCircle, CObstacle, 1 )

//////////////////////////////////////////////////////////////////////
// Construction/Destruction
//////////////////////////////////////////////////////////////////////

CObstacleCircle::CObstacleCircle() : CObstacle()
{

}


CObstacleCircle::CObstacleCircle(CRect rect) : CObstacle()
{
	m_rect = rect;
	m_center = rect.CenterPoint(); 
	m_radius = rect.Size().cx / 2;
}

CObstacleCircle::~CObstacleCircle()
{

}

void CObstacleCircle::Draw(CDC* pDC, BOOL drawErased)
{
	if (!m_erased) {
		pDC->SelectObject(&CYAN);
		pDC->SelectStockObject(BLACK_PEN);
		pDC->Ellipse(m_rect);
	}
	else if (drawErased) {
		pDC->SelectStockObject(NULL_BRUSH);
		pDC->SelectObject(&BLACK);
		pDC->Ellipse(m_rect);
	}
}