Get Cell Reference VI

Owning Palette: Occupancy Grid Map VIs

Requires: Robotics Module

Returns a reference to the cell in the occupancy grid map at the position you specify.

You can wire the cell reference this VI returns to the Path Planning VIs to specify the current or goal position of a robot navigating through a map.

Details  Examples

	map reference in is a reference to the map that represents the robot environment. Use the Create Occupancy Grid Map VI to generate this LabVIEW class object.
	x specifies the x-coordinate of a cell in the occupancy grid map.
	y specifies the y-coordinate of a cell in the occupancy grid map.
	error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
	map reference out is a reference to the map that represents the robot environment. You can wire this output to other Path Planning VIs.
	cell reference contains a reference to the map cell at the coordinates you specify. You can wire this output to the Path Planning VIs.
	found? indicates whether the cell exists within the map. Valid cells are those whose coordinates fall within the array of occupancy grid cells you pass into the Create Occupancy Grid Map VI. If the cell is not found, LabVIEW does not return an error.
	error out contains error information. This output provides standard error out functionality.

Get Cell Reference Details

Note  In the Occupancy Grid Map VIs, (x, y) coordinates that define the locations of cells are relative to the origin of the map, which is the cell at the bottom-left corner of the map. Refer to the Details section in the Create Occupancy Grid Map VI topic for more information about how (x, y) coordinate pairs map to cells in occupancy grid maps.

Examples

Refer to the following VIs for examples of using the Get Cell Reference VI:

• labview\examples\robotics\Path Planning\ADstar\ADstar on Occupancy Grid\Anytime D Star on an Occupancy Grid.lvproj
• labview\examples\robotics\Path Planning\Astar\Astar on Occupancy Grid\Astar on Occupancy Grid.lvproj