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Add Node VI

LabVIEW 2013 Robotics Module Help

Edition Date: June 2013

Part Number: 372983D-01

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Owning Palette: Directed Graph Map VIs

Requires: Robotics Module

Adds a unique point, or node, to a map at the coordinates you specify.

If the map already contains a node with the same name as name, this VI does not add the node to the map.


map reference in is a reference to the map that represents the robot environment. Use the Create Directed Graph Map VI to generate this LabVIEW class object.
name assigns a name to the map node. For this VI to operate on a specific node, the node must have a unique name.
coordinates specifies the position of the node within the directed graph map. The number of elements in coordinates corresponds to the number of dimensions in the robot environment you want to represent. For example, most ground robots can move to a point at given x- and y-coordinates, in which case coordinates contains two elements.

As the number of dimensions you define within a map increases, so does the time required to calculate a path through the map. However, a path through a map with three dimensions might be more optimal than a path between the same points through a map with two dimensions because more movements are possible in the former 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.
already exists? returns TRUE if a node with the same name as the name you specify exists. If TRUE, this VI does not add the node to the map. LabVIEW does not return an error if already exists is TRUE.
error out contains error information. This output provides standard error out functionality.


Refer to the Astar on Voronoi.lvproj in the labview\examples\robotics\Path Planning\Astar\Astar on Voronoi Graph directory for an example of using the Add Node VI.


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