obstaclepolygon.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
//
// ObstaclePolygon.cpp: implementation of the CObstaclePolygon class.
//
//////////////////////////////////////////////////////////////////////

#include "stdafx.h"
#include "simulator.h"
#include "ObstaclePolygon.h"
#include "const.h"
#include <math.h>

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

IMPLEMENT_SERIAL( CObstaclePolygon, CObstacle, 1 )

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

CObstaclePolygon::CObstaclePolygon() : CObstacle()
{
	m_polygon = new CPolygon();
}

CObstaclePolygon::~CObstaclePolygon()
{

}

CObstaclePolygon::CObstaclePolygon(CPolygon *polygon) : CObstacle()
{
	m_polygon = new CPolygon(polygon);

	m_rect = m_polygon->m_rect;
	m_center = m_polygon->m_center;
	m_radius = 0;
}

void CObstaclePolygon::SetObstacle(const CObstacle *obst)
{
	CObstacle::SetObstacle(obst);

	CObstaclePolygon *obstPoly = (CObstaclePolygon *) obst;

	m_polygon = new CPolygon(obstPoly->m_polygon);
	m_rect = m_polygon->m_rect;
	m_center = m_polygon->m_center;
}

void CObstaclePolygon::Serialize(CArchive& ar)
{
	CObstacle::Serialize(ar); // Base class method
	m_polygon->Serialize(ar);
}

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

}