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# Create Directed Graph Map 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

Generates a map of the robot environment that consists of irregularly spaced points, or nodes.

Example

nodes defines points within the directed graph map.
 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.
heuristic function specifies the heuristic with which to calculate distances in the map.

 0 Euclidean Distance (default)—Defines the distance between two points as the square root of the sum of the squares of the differences between the corresponding coordinates of the points. 1 Manhattan Distance—Defines the distance between two points as the sum of the absolute differences of their coordinates. This option is useful when movement is possible only in the x and y directions.
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.
error out contains error information. This output provides standard error out functionality.

## Example

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 Create Directed Graph Map VI.

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