box.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
//
// Box.h: interface for the CBox class.
//
//////////////////////////////////////////////////////////////////////

#if !defined(BOX_H)
#define BOX_H

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

#include "Afxtempl.h"
#include "mappath.h"

class CRobot;

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

	CBox();
	CBox(CRect rect);
	virtual ~CBox();
	
	void Serialize(CArchive& archive );
	virtual void Draw(CDC *pDC);
	
	void Update(double Forces[3], double dt);
	virtual void Update(CArray<CRobot*, CRobot*> *robots, double dt, CMapPath *map);

	
	double m_x;			// Position and orientation
	double m_y;
	double m_theta;

	BOOL m_exist;		// True if there is a box in the application

	double m_v[3];		// Velocities: vx, vy, w
	CRect m_rect;		// Box rectangle (***** should put inside child class)
	double m_radius;	// Box radius (***** should put inside child class)


	double m_mass;		// Box Mass
	double m_f[3];		// Applied forces (x,y,theta)
	double m_a[3];		// Accelerations (x,y,theta)

	CArray<CPoint, CPoint> m_path;	// Array of points that keeps track of the box path
};

#endif

#include "robot.h"