//////////////////////////////////////////////////////////////////////
// MuRoS - Multi Robot Simulator
//
// Luiz Chaimowicz
// GRASP Lab. University of Pennsylvania
// VERLab - DCC - UFMG - Brasil
//
// RobotHolonomic.h: interface for the CRobotHolonomic class.
//
//////////////////////////////////////////////////////////////////////

#if !defined(ROBOTHOLONOMIC_H)
#define ROBOTHOLONOMIC_H

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

#include "Robot.h"

class CRobotHolonomic : public CRobot  
{
public:
	DECLARE_SERIAL(CRobotHolonomic)
	CRobotHolonomic();
	CRobotHolonomic(double x, double y, double theta, short status, short id, CString name);
	virtual ~CRobotHolonomic();

	void Serialize(CArchive& archive );
	
	virtual void Draw(CDC* pDC);
	virtual void Update(CArray<CRobot*, CRobot*> *robots, double simTime, double dt, CBox* box,  CMapPath *mapPath);
	virtual void ForceFromObstacles(CObstacle *obst, double &fx, double &fy);
	virtual void ForceFromBoxes(CBox *box, double &fx, double &fy);
	virtual void ForceOnBoxes(CBox *box,double &fx, double &fy, double &ftheta);
	virtual void ForceFromRobots(CRobot *robot, double &fx, double &fy);

	double m_vx;	// velocity in the x direction
	double m_vy;	// velocity in the y direction

private:
	void Potential(CArray<CRobot*, CRobot*> *robots, double dt, CMapPath *map, CBox* box, double simTime);
};

#endif