simulatorview.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
//
// simulatorView.h : interface of the CSimulatorView class
//
/////////////////////////////////////////////////////////////////////////////


#if !defined(SIMULATORVIEW_H)
#define SIMULATORVIEW_H

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

#include "Afxtempl.h"
#include "Robot.h"
#include "Box.h"
#include "DlgInfo.h"

class CSimulatorView : public CScrollView
{
protected: // create from serialization only
	DECLARE_DYNCREATE(CSimulatorView);
	CSimulatorView();

// Attributes
public:
	CSimulatorDoc* GetDocument();

// Operations
public:

// Overrides
	// ClassWizard generated virtual function overrides
	//{{AFX_VIRTUAL(CSimulatorView)
	public:
	virtual void OnDraw(CDC* pDC);  // overridden to draw this view
	virtual BOOL PreCreateWindow(CREATESTRUCT& cs);
	protected:
	virtual void OnInitialUpdate(); // called first time after construct
	//}}AFX_VIRTUAL

// Implementation
public:
	virtual ~CSimulatorView();

	CRectTracker m_tracker;
	CArray<CRectTracker, CRectTracker> m_trackerArray;
	CDlgInfo m_info;

#ifdef _DEBUG
	virtual void AssertValid() const;
	virtual void Dump(CDumpContext& dc) const;
#endif

protected:

// Generated message map functions
protected:
	//{{AFX_MSG(CSimulatorView)
	afx_msg void OnLButtonDblClk(UINT nFlags, CPoint point);
	afx_msg void OnRobotInfo();
	afx_msg void OnLButtonDown(UINT nFlags, CPoint point);
	afx_msg void OnCreateMap();
	afx_msg void OnKeyDown(UINT nChar, UINT nRepCnt, UINT nFlags);
	afx_msg void OnHScroll(UINT nSBCode, UINT nPos, CScrollBar* pScrollBar);
	afx_msg void OnVScroll(UINT nSBCode, UINT nPos, CScrollBar* pScrollBar);
	afx_msg void OnOpenPconst();
	afx_msg void OnRButtonUp(UINT nFlags, CPoint point);
	afx_msg void OnMouseMove(UINT nFlags, CPoint point);
	afx_msg void OnSetOrientation();
	afx_msg void OnSetGoal();
	afx_msg void OnCreateHolonomic();
	afx_msg void OnCreateNonHolonomic();
	afx_msg void OnSetStatus();
	afx_msg void OnDeleteRobot();
	//}}AFX_MSG
	afx_msg LRESULT OnDataMsg(WPARAM wParam, LPARAM lParam);
	afx_msg LRESULT OnControlMsg(WPARAM wParam, LPARAM lParam);
	afx_msg BOOL OnEraseBkgnd(CDC* pDC);
	//Right buttom menu

	DECLARE_MESSAGE_MAP();

private:
	CPoint m_clickPoint;	// coordinates of the mouseclick
	CMenu *m_contextMenu;	// context menu (right-click menu)
	CBitmap m_bmpView; 
	void CreateViewBitmap();

public:
	afx_msg void OnSize(UINT nType, int cx, int cy);


};

#ifndef _DEBUG  // debug version in simulatorView.cpp
inline CSimulatorDoc* CSimulatorView::GetDocument()
   { return (CSimulatorDoc*)m_pDocument; }
#endif


/////////////////////////////////////////////////////////////////////////////

//{{AFX_INSERT_LOCATION}}
// Microsoft Visual C++ will insert additional declarations immediately before the previous line.

#endif