Initialize AD* VI

Owning Palette: Path Planning VIs

Requires: Robotics Module

Initializes a path planning session with which the AD* VI operates.

Details  Example

	map reference in is a reference to the map that represents the robot environment. You can use the Create Directed Graph Map VI or Create Occupancy Grid Map VI to generate this LabVIEW class object.
	start reference specifies the current position of the robot within the map. If this VI operates on a directed graph map or occupancy grid map, you can use the Get Node Reference VI or Get Cell Reference VI, respectively, to generate this LabVIEW class object.
	goal reference specifies the position to which the robot should navigate within the map. If this VI operates on a directed graph map or occupancy grid map, you can use the Get Node Reference VI or Get Cell Reference VI, respectively, to generate this LabVIEW class object.
	error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
	manual epsilon, if TRUE (default), requires you to specify a heuristic multiplier in the AD* VI that controls the optimality of the paths the VI plans. Otherwise, LabVIEW manages the multiplier automatically. Refer to the Details section for more information about the epsilon value.
	Anytime D* is an object on which the AD* VI operates to plan a dynamic path.
	error out contains error information. This output provides standard error out functionality.

Initialize AD* Details

The AD* path planning algorithm can be time-intensive if you want a highly optimal path. When you specify TRUE for manual epsilon to control the optimality of the paths the AD* VI calculates, you can balance the time required to plan with the accuracy of the path calculated.

Note  When LabVIEW automatically manages the epsilon value, the paths are not necessarily optimal. Refer to the description of the epsilon input in the AD* VI topic for more information about how LabVIEW manages and uses this value.

Example

Refer to the Anytime D Star on an Occupancy Grid.lvproj in the labview\examples\robotics\Path Planning\ADstar\ADstar on Occupancy Grid directory for an example of using the Initialize AD* VI.