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Enqueue Change to Edge Cost 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

Requests 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.

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.

Example

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.
start node specifies the name of the node at which to begin defining an area of the map.
Note  LabVIEW ignores the request to change cost if start node and end node are the same string.
end node specifies the name of the last node in the area of the map you define.
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 traversing from start node to end node. 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.

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 Enqueue Change to Edge Cost VI.


 

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