learnview.h

机器人路径规划程序 机器人路径规划程序 机器人路径规划程序

// LearnView.h : interface of the CLearnView class
//
/////////////////////////////////////////////////////////////////////////////

#if !defined(AFX_LEARNVIEW_H__4C6E8BFF_CD01_4D96_B485_C41415180135__INCLUDED_)
#define AFX_LEARNVIEW_H__4C6E8BFF_CD01_4D96_B485_C41415180135__INCLUDED_

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



class CLearnView : public CView
{
protected: // create from serialization only
	CLearnView();
	DECLARE_DYNCREATE(CLearnView)

// Attributes
public:
	CLearnDoc* GetDocument();
	struct QValue
	{
		double Q[17][6];
	};
	int trd_numB,trd_numG,trd_numR;
	double Qsa[17][6];

// Operations
public:

// Overrides
	// ClassWizard generated virtual function overrides
	//{{AFX_VIRTUAL(CLearnView)
	public:
	virtual void OnDraw(CDC* pDC);  // overridden to draw this view
	virtual BOOL PreCreateWindow(CREATESTRUCT& cs);
	virtual void OnInitialUpdate();
	protected:
	virtual BOOL OnPreparePrinting(CPrintInfo* pInfo);
	virtual void OnBeginPrinting(CDC* pDC, CPrintInfo* pInfo);
	virtual void OnEndPrinting(CDC* pDC, CPrintInfo* pInfo);
	//}}AFX_VIRTUAL

// Implementation
public:
	int Blzm(double all,double qf);
	void StopTest();
	void Robot();
	void OnWall(int wall);
	void OnRead();
	void OnSave();
	double reward(double rwd);
	void Action(int A_num);
	void Sta2Action(int n);
//	CClientDC dc(this);

	double Qvamax;
	int qq;
	double Q[100];
	int test1,test2,test3,Bit_color,num0,flag0,flag1,first,flag_dis,flag_num,flag_Timer;
	unsigned int bushu0;
	double x,x0,xp1,xp2,yp1,yp2,y0,y,y2,R_Angle,x1,y1,x2,di,Pi,buchang;
	double Ang1,Ang2,R_z,R_k,R_s;         //R_z:机器人运动斜率,，R_k://斜率弧度值
	double MidValue,dis2;
	COLORREF   color1,color2,trd0,trd1,trd2,trd3,trd4,trd5,trd6;
	CString str,str_all;
	double sta[16][6];//状态存储
	int mapnum;//地图编号
	int ydsign;//向左向右障碍物的标志，1-按下向左按钮，2-按下向右按钮,3-向左移动定时器4-向右定时器
	CPoint ydGPoint1[50],ydGPoint2[50],ydRPoint1[50],ydRPoint2[50];//运动障碍物的对角点
	int ydGnum,ydRnum;
	int Robotvelocity;//机器人运动速度
	int ydvelocity; //运动障碍物运动速度
	int ColorSignB,ColorSignR,ColorSignG;//检测到的不同颜色的障碍物的标志
	int RedColor,GreenColor;
	int MouseDown;
	bool LeftEnable,RightEnable,StartEnable,PauseEnable;

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

protected:

// Generated message map functions
protected:
	//{{AFX_MSG(CLearnView)
	afx_msg void OnTimer(UINT nIDEvent);
	afx_msg void OnMap1();
	afx_msg void OnSP();
	afx_msg void OnButtonStart();
	afx_msg void OnButtonOk();
	afx_msg void OnButtonPause();
	afx_msg void OnButtonLeft();
	afx_msg void OnLButtonDown(UINT nFlags, CPoint point);
	afx_msg void OnLButtonUp(UINT nFlags, CPoint point);
	afx_msg void OnButtonRight();
	afx_msg void OnReleasedcaptureSliderYdvelocity(NMHDR* pNMHDR, LRESULT* pResult);
	afx_msg void OnReleasedcaptureSliderRobotvelocity(NMHDR* pNMHDR, LRESULT* pResult);
	afx_msg void OnSelchangeComboMap();
	afx_msg void OnChangeEditInitx();
	afx_msg void OnChangeEditInity();
	afx_msg void OnChangeEditGoalx();
	afx_msg void OnChangeEditGoaly();
	afx_msg void OnMouseMove(UINT nFlags, CPoint point);
    afx_msg void OnupdataLeftButton(CCmdUI *pCmdUI);	
    afx_msg void OnupdataRightButton(CCmdUI *pCmdUI);	
    afx_msg void OnupdataStartButton(CCmdUI *pCmdUI);	
    afx_msg void OnupdataPauseButton(CCmdUI *pCmdUI);	
	//}}AFX_MSG
	DECLARE_MESSAGE_MAP()
};

#ifndef _DEBUG  // debug version in LearnView.cpp
inline CLearnDoc* CLearnView::GetDocument()
   { return (CLearnDoc*)m_pDocument; }
#endif

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

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

#endif // !defined(AFX_LEARNVIEW_H__4C6E8BFF_CD01_4D96_B485_C41415180135__INCLUDED_)