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用mfc寫的小程序,實現rrt(快速隨機樹)路徑規劃,可以直接運行

代碼片段和文件信息
//?rrt.cpp?:?Defines?the?class?behaviors?for?the?application.
//
#include?“stdafx.h“
#include?“rrt.h“
#include?“rrtDlg.h“
#ifdef?_DEBUG
#define?new?DEBUG_NEW
#undef?THIS_FILE
static?char?THIS_FILE[]?=?__FILE__;
#endif
/////////////////////////////////////////////////////////////////////////////
//?CRrtApp
BEGIN_MESSAGE_MAP(CRrtApp?CWinApp)
//{{AFX_MSG_MAP(CRrtApp)
//?NOTE?-?the?ClassWizard?will?add?and?remove?mapping?macros?here.
//????DO?NOT?EDIT?what?you?see?in?these?blocks?of?generated?code!
//}}AFX_MSG
ON_COMMAND(ID_HELP?CWinApp::onhelp)
END_MESSAGE_MAP()
/////////////////////////////////////////////////////////////////////////////
//?CRrtApp?construction
CRrtApp::CRrtApp()
{
//?TODO:?add?construction?code?here
//?Place?all?significant?initialization?in?InitInstance
}
/////////////////////////////////////////////////////////////////////////////
//?The?one?and?only?CRrtApp?object
CRrtApp?theApp;
/////////////////////////////////////////////////////////////////////////////
//?CRrtApp?initialization
BOOL?CRrtApp::InitInstance()
{
AfxEnableControlContainer();
//?Standard?initialization
//?If?you?are?not?using?these?features?and?wish?to?reduce?the?size
//??of?your?final?executable?you?should?remove?from?the?following
//??the?specific?initialization?routines?you?do?not?need.
#ifdef?_AFXDLL
Enable3dControls(); //?Call?this?when?using?MFC?in?a?shared?DLL
#else
Enable3dControlsStatic(); //?Call?this?when?linking?to?MFC?statically
#endif
CRrtDlg?dlg;
m_pMainWnd?=?&dlg;
int?nResponse?=?dlg.DoModal();
if?(nResponse?==?IDOK)
{
//?TODO:?Place?code?here?to?handle?when?the?dialog?is
//??dismissed?with?OK
}
else?if?(nResponse?==?IDCANCEL)
{
//?TODO:?Place?code?here?to?handle?when?the?dialog?is
//??dismissed?with?Cancel
}
//?Since?the?dialog?has?been?closed?return?FALSE?so?that?we?exit?the
//??application?rather?than?start?the?application‘s?message?pump.
return?FALSE;
}
?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件???????1929??2012-02-25?14:06??rrt\Debug\obstacle.obj
?????文件?????118833??2012-03-15?16:09??rrt\Debug\rrt.exe
?????文件?????328436??2012-03-15?16:09??rrt\Debug\rrt.ilk
?????文件??????12688??2012-02-25?15:41??rrt\Debug\rrt.obj
?????文件????5494424??2012-02-25?13:51??rrt\Debug\rrt.pch
?????文件?????435200??2012-02-28?15:53??rrt\Debug\rrt.pdb
?????文件???????2456??2012-02-25?15:41??rrt\Debug\rrt.res
?????文件??????53825??2012-03-15?16:09??rrt\Debug\RRT1.obj
?????文件??????43967??2012-02-28?15:30??rrt\Debug\rrtDlg.obj
?????文件?????105453??2012-02-25?13:51??rrt\Debug\StdAfx.obj
?????文件?????238592??2012-03-15?17:07??rrt\Debug\vc60.idb
?????文件?????405504??2012-02-28?15:53??rrt\Debug\vc60.pdb
?????文件????????378??2012-02-25?13:58??rrt\obstacle.h
?????文件???????3525??2012-02-25?13:51??rrt\ReadMe.txt
?????文件???????1078??2012-02-25?13:51??rrt\res\rrt.ico
?????文件????????395??2012-02-25?13:51??rrt\res\rrt.rc2
?????文件????????528??2012-02-25?13:51??rrt\Resource.h
?????文件??????35304??2012-02-25?15:34??rrt\rrt.aps
?????文件???????1040??2012-02-26?21:52??rrt\rrt.clw
?????文件???????2021??2012-02-25?13:51??rrt\rrt.cpp
?????文件???????4350??2012-02-25?15:34??rrt\rrt.dsp
?????文件????????531??2012-02-25?13:51??rrt\rrt.dsw
?????文件???????1291??2012-02-25?13:51??rrt\rrt.h
?????文件??????58368??2012-04-13?16:14??rrt\rrt.ncb
?????文件?????129024??2012-04-13?16:14??rrt\rrt.opt
?????文件????????647??2012-03-15?16:09??rrt\rrt.plg
?????文件???????5216??2012-02-25?15:34??rrt\rrt.rc
?????文件???????2572??2012-02-28?15:53??rrt\RRT1.cpp
?????文件????????617??2012-02-27?15:42??rrt\RRT1.h
?????文件???????7858??2012-02-28?15:30??rrt\rrtDlg.cpp
............此處省略9個文件信息
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