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Directed Graph Map VIs

LabVIEW 2013 Robotics Module Help

Edition Date: June 2013

Part Number: 372983D-01

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Owning Palette: Path Planning VIs

Requires: Robotics Module. This topic might not match its corresponding palette in LabVIEW depending on your operating system, licensed product(s), and target.

Use the Directed Graph Map VIs to create and control a map, implemented as a directed graph, through which a mobile robot can navigate.

Example

Directed graph maps are useful for representing large robot environments that are not completely defined because you must define only known points, or nodes, in the map rather than the entire map.

Note  The VIs on this palette cannot execute at the same time. Enforce data dependency between these VIs to ensure they do not run simultaneously.
Palette ObjectDescription
Add NodeAdds a unique point, or node, to a map at the coordinates you specify.
Close Directed Graph MapCloses an open reference to a directed graph map object.
Create Directed Graph MapGenerates a map of the robot environment that consists of irregularly spaced points, or nodes.
Enqueue Change to Edge CostRequests that LabVIEW set the cost of traversing the area of the directed graph map between start node and end node to the value you specify.
Get All NodesReturns the names and coordinates of all nodes defined in a map.
Get Edge CostReturns the cost of traversing the edge, or area, of the directed graph map between start node and end node.
Get NodeReturns the coordinates of a map node in map reference in. You can use this VI to verify that a particular node exists or to return node coordinates you can plot.
Get Node ReferenceReturns a reference to the map node you specify.
Get Nodes in PathReturns the names and coordinates of the nodes along a path through a directed graph map.

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 Directed Graph Map VIs.


 

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