//////////////////////////////////////////////////////////////////////
// MuRoS - Multi Robot Simulator
//
// Luiz Chaimowicz
// GRASP Lab. University of Pennsylvania
// VERLab - DCC - UFMG - Brasil
//
// RobotXR4000.h: interface for the CRobotXR4000 class.
//
//////////////////////////////////////////////////////////////////////

#if !defined(ROBOTXR4000_H)
#define ROBOTXR4000_H

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

#include "RobotHolonomic.h"

class CRobotXR4000 : public CRobotHolonomic  
{
public:
	DECLARE_SERIAL(CRobotXR4000)

	CRobotXR4000();
	CRobotXR4000(double x, double y, double theta, short status, short id, CString name);
	virtual ~CRobotXR4000();

	void Serialize(CArchive& archive );
	
	virtual void Draw(CDC* pDC);
	virtual void Update(CArray<CRobot*, CRobot*> *robots, double simTime, double dt, CBox* box,  CMapPath *mapPath);

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

};

#endif