Path planning dialog

The path planning dialog is part of the calculation module properties dialog, which is located at [Menu bar --> Tools --> Calculation module properties]. You can also open the dialog with a click on its toolbar button:

[Calculation module properties toolbar button]


In the calculation module properties dialog, click the Path planning button to display the path planning dialog:

[Path planning dialog]


  • Add new object: allows to add a new path planning object. The task can be holonomic or non-holonomic. Added objects are visualized in the list, where their name can be edited with a double-click. A selected path planning object can have its properties adjusted through the dialog items below.
  • Goal dummy: the dummy that should act as the goal dummy (i.e. the dummy that is at the final configuration).
  • Path object: the path that should be used to store a found path/trajectory.
  • Illegal configuration check: this section allows to specify what configurations are valid or not. You can check for collision (Check robot - obstacle collision, i.e. a configuration is invalid if collision occurs), for a minimum distance (Check robot - obstacle minimum distance, i.e. a configuration is invalid if objects are too close from each other), or for a minimum / maximum distance (Check robot - obstacle minimum & maximum distance, i.e. a configuration is invalid if objects are too close or too far from each other).
  • Adjust search parameters: allows to adjust the search parameters for the selected path planning object. Clicking the button will pop open the path planning search parameter dialog.
  • If no path was found, use a partial path: if selected and the path planning task didn't succeed, then a partial path will be generated instead.
  • Show searched configuration nodes: displays the searched area. Angular dimensions are ignored for display.
  • Maximum calculation time: the maximum time the path planning algorithm will search for a path.
  • Number of post-processing passes: a post-processing pass will try to simplify a found path.
  • Compute path: searches for a path between the start and goal dummy. Refer also to the related functions in the regular API.

  • Recommended topics

  • Path planning
  • Using the path planning module
  • Path planning search parameter dialog