obstacle.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
//
// Obstacle.cpp: implementation of the CObstacle class.
//
//////////////////////////////////////////////////////////////////////

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

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

IMPLEMENT_SERIAL( CObstacle, CObject, 1 )

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

CObstacle::CObstacle()
{
	m_erased = FALSE;
	m_inRange = FALSE;
	m_visited = TRUE;

	m_angle = 0;
	m_dist = 0;
}

// Function used by the copy constructors
void CObstacle::SetObstacle(const CObstacle *obst)
{
	m_rect = obst->m_rect;
	m_center = obst->m_center;
	m_radius = obst->m_radius;
	
	m_erased = obst->m_erased;
	m_inRange = FALSE;
	m_visited = FALSE;

	m_angle = 0;
	m_dist = 0;
}


CObstacle::~CObstacle()
{

}

void CObstacle::Serialize(CArchive& ar)
{
	CObject::Serialize(ar); // Base class method

	if (ar.IsStoring()) {
		ar << m_rect;
		ar << m_center;
		ar << m_radius;

		ar << m_erased;
		ar << m_inRange;
		ar << m_visited;

		ar << m_dist;
		ar << m_angle;
	}
	else {
		ar >> m_rect;
		ar >> m_center;
		ar >> m_radius;

		ar >> m_erased;
		ar >> m_inRange;
		ar >> m_visited;

		ar >> m_dist;
		ar >> m_angle;
	}
}

void CObstacle::Draw(CDC* pDC, BOOL drawErased)
{
}