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Enqueue Change to Cell Cost VI

LabVIEW 2013 Robotics Module Help

Edition Date: June 2013

Part Number: 372983D-01

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Owning Palette: Occupancy Grid Map VIs

Requires: Robotics Module

Requests that LabVIEW update the cost of entering the cell in the occupancy grid map at the x- and y-coordinates you specify.

LabVIEW queues the map updates you request in this VI until the map is available and then applies the updates. Refer to the Details section of the A* VI topic or AD* VI topic for more information about how LabVIEW applies map updates.

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.
cost is a positive number that specifies the new cost of entering the map cell. If you specify a cost of less than 0, LabVIEW returns error –310003.
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.

Enqueue Change to Cell Cost 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 Enqueue Change to Cell Cost 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

 

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