Get Cells in Path VI

Owning Palette: Occupancy Grid Map VIs

Requires: Robotics Module

Returns the cell coordinates of the points along a path through an occupancy grid 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.
	path references contains references to points along a path through the map. Use the Path Planning VIs to calculate path references.
	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.
	x coordinates contains the x-coordinates of the cells along the path that path references represents.
	y coordinates contains the y-coordinates of the cells along the path that path references represents.
	error out contains error information. This output provides standard error out functionality.

Get Cells in Path 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 Cells in Path 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