
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
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