boxpolygon.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
//
// BoxPolygon.h: interface for the CBoxPolygon class.
//
//////////////////////////////////////////////////////////////////////

#if !defined(BOXPOLYGON_H)
#define BOXPOLYGON_H

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

#include "Box.h"
#include "Polygon.h"

class CBoxPolygon : public CBox  
{
public:
	DECLARE_SERIAL(CBoxPolygon)

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

	virtual void Serialize(CArchive& ar);
	virtual void Draw(CDC *pDC);
	virtual void Update(CArray<CRobot*, CRobot*> *robots, double dt, CMapPath *map);

	void ForceFromObstacles(CObstacle *obst, double &fx, double &fy);

	CPolygon *m_polygon;	// vertices of the polygon
};

#endif