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<title xmlns:mml="http://www.w3.org/1998/Math/MathML">Path Planning Workshop</title>
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<a xmlns:mml="http://www.w3.org/1998/Math/MathML" name="hj-top"> </a><table xmlns:mml="http://www.w3.org/1998/Math/MathML" class="table1" id="table11"><tr><td><table class="DocHeader"><tr><td class="DocHeader1" colspan="2"><h1>Path Planning Workshop</h1></td></tr><tr><td class="DocHeader4" colspan="2"/></tr><tr><td class="DocHeader3" colspan="2"><table class="DocThemeIntro" id="table12"><tr><td class="Intro1Only"><p class="header"><p><span>
The Path Planning workshop computes collision-free paths between location keys of geometric actors. </span>
<p>Use path planning to create animations that manipulate tight-fitting parts for assembly or service instructions.</p><p>To display this workshop, click 
<span class="menucascade"><span class="uicontrol">Workshops</span> &gt; <span class="uicontrol">Geometry</span> &gt; <span class="uicontrol">Path Planning</span> &gt; <span class="uicontrol">  <img src="../Icons3DVIA/I_CPSWorkshopsPathPlanning.png"/> </span></span>.</p><p>
<p>Notes:
    	<ul><li>The Path Planning workshop is available in animation mode only.</li>
<li>Path Planning is a separately licensed feature.</li>
</ul>
</p>
</p><p>The following topics are discussed:</p></p>
<ul><li><a href="#r-Inputs" id="toc_rg" title="Define inputs for path planning.">Inputs

</a></li><li><a href="#r-Outputs" id="toc_rg" title="Define outputs for path planning.">Outputs

</a></li><li><a href="#r-Mainfunction" id="toc_rg" title="Use path planning main functions.">Main function

</a></li></ul>
</p></td></tr></table></td></tr></table>

<div class="nested1" id="r-Inputs"><h2 class="topictitle2">Inputs

</h2>
<div><p><span>Define inputs for path planning.</span>
</p>

<div class="tablenoborder"><table cellpadding="4" cellspacing="0" summary="" frame="void" border="1" rules="all"><thead align="left"><tr><th class="cellrowborder" valign="top" id="d192197e49">Command Name</th>
<th class="cellrowborder" valign="top" id="d192197e51">Description</th>
</tr>
</thead>
<tbody><tr><td class="cellrowborder" valign="top" headers="d192197e49 "><span class="uicontrol">Mobile set</span></td>
<td class="cellrowborder" valign="top" headers="d192197e51 ">Can be the current selection or a predefined one.
</td>
</tr>
<tr><td class="cellrowborder" valign="top" headers="d192197e49 "><span class="uicontrol">Environment</span></td>
<td class="cellrowborder" valign="top" headers="d192197e51 ">Can be all actors (default) or a predefined selection.</td>
</tr>
<tr><td class="cellrowborder" valign="top" headers="d192197e49 "><span class="uicontrol">On visible actors only</span></td>
<td class="cellrowborder" valign="top" headers="d192197e51 ">Performs the analysis using visible actors only.</td>
</tr>
<tr><td class="cellrowborder" valign="top" headers="d192197e49 "><span class="uicontrol">Highly constrained initial position</span></td>
<td class="cellrowborder" valign="top" headers="d192197e51 ">Specifies that the initial position is highly constrained. The path computation is more accurate around the more constrained position.</td>
</tr>
<tr><td class="cellrowborder" valign="top" headers="d192197e49 "><span class="uicontrol">Highly constrained final position</span></td>
<td class="cellrowborder" valign="top" headers="d192197e51 ">Specifies that the final position is highly constrained. The path computation is more accurate around the more constrained position.</td>
</tr>
<tr><td class="cellrowborder" valign="top" headers="d192197e49 "><span class="uicontrol">Collision detection tolerance</span></td>
<td class="cellrowborder" valign="top" headers="d192197e51 ">Specifies the geometrical offset for the geometry of the static elements.
</td>
</tr>
<tr><td class="cellrowborder" valign="top" headers="d192197e49 "><span class="uicontrol">Max dynamic penetration</span></td>
<td class="cellrowborder" valign="top" headers="d192197e51 ">Specifies the maximum penetration that can occur during the path computation.
effective clearance = static tolerance - dynamic penetration
</td>
</tr>
</tbody>
</table>
</div>
</div>
</div>
<div class="nested1" id="r-Outputs"><p><map name="FPMap1"><area href="#hj-top" title="Back to Top" shape="rect" coords="416, 0, 435, 10"/></map><img border="0" src="../IconsReference/butix_top_wline.png" width="436" height="11" usemap="#FPMap1"/></p><h2 class="topictitle2">Outputs

</h2>
<div><p><span>Define outputs for path planning.</span>
</p>

<div class="tablenoborder"><table cellpadding="4" cellspacing="0" summary="" frame="void" border="1" rules="all"><thead align="left"><tr><th class="cellrowborder" valign="top" id="d192197e109">Command Name</th>
<th class="cellrowborder" valign="top" id="d192197e111">Description</th>
</tr>
</thead>
<tbody><tr><td class="cellrowborder" valign="top" headers="d192197e109 "><span class="uicontrol">Display solver iterations
</span></td>
<td class="cellrowborder" valign="top" headers="d192197e111 ">Displays the nodes that are used to build the road map during its construction. (The path planner is based on random and iterative methods.) This option can degrade performance because it requires scene rendering during the computation.</td>
</tr>
<tr><td class="cellrowborder" valign="top" headers="d192197e109 "><span class="uicontrol">Adapt keys to path length (constant speed)</span></td>
<td class="cellrowborder" valign="top" headers="d192197e111 ">Sets keys according to the direct path length.
The path generated by the path planner is composed of a set of direct paths. A direct path is a collision-free interpolated path between two positions. For each extremity of the direct path, keys are set in the timeline (one key for each parent node of the mobile elements). By default, the global path duration is divided by the number of direct paths and keys are set at equal distance from each others.</td>
</tr>
<tr><td class="cellrowborder" valign="top" headers="d192197e109 "><span class="uicontrol">Max difficulty level</span></td>
<td class="cellrowborder" valign="top" headers="d192197e111 "><p>Lets you control the level of difficulty authorized when computing collision-free paths:</p><p>
<div class="tablenoborder"><table cellpadding="4" cellspacing="0" summary="" frame="border" border="1" rules="all"><thead align="left"><tr><th class="cellrowborder" valign="top" width="NaN" id="d192197e140">Enter...</th>
<th class="cellrowborder" valign="top" width="NaN" id="d192197e142">If you are ready to accept...</th>
</tr>
</thead>
<tbody><tr><td class="cellrowborder" valign="top" width="NaN" headers="d192197e140 ">0</td>
<td class="cellrowborder" valign="top" width="NaN" headers="d192197e142 ">No difficulty at all.<p>The computation remains quick and easy. However, the system may not find all possible paths.</p></td>
</tr>
<tr><td class="cellrowborder" valign="top" width="NaN" headers="d192197e140 ">A number between 0 and 100</td>
<td class="cellrowborder" valign="top" width="NaN" headers="d192197e142 ">Difficulty up to the specified level. <p>The computation stops if the difficulty is greater than the specified level. The computation's length and difficulty varies accordingly.</p></td>
</tr>
<tr><td class="cellrowborder" valign="top" width="NaN" headers="d192197e140 ">100</td>
<td class="cellrowborder" valign="top" width="NaN" headers="d192197e142 ">Maximum difficulty.<p>The computation may be extremely time-consuming and may adversely affect performance.</p></td>
</tr>
</tbody>
</table>
</div>
</p><p>This option enables you to find easy outputs for path planning. A higher difficulty level means that path planning is complicated (and the path may not be reproducible by man).</p><p>Keep in mind, however, that this value is rather subjective.</p></td>
</tr>
</tbody>
</table>
</div>
</div>
</div>
<div class="nested1" id="r-Mainfunction"><p><map name="FPMap1"><area href="#hj-top" title="Back to Top" shape="rect" coords="416, 0, 435, 10"/></map><img border="0" src="../IconsReference/butix_top_wline.png" width="436" height="11" usemap="#FPMap1"/></p><h2 class="topictitle2">Main function

</h2>
<div><p><span>Use path planning main functions.</span>
</p>

<div class="tablenoborder"><table cellpadding="4" cellspacing="0" summary="" frame="void" border="1" rules="all"><thead align="left"><tr><th class="cellrowborder" valign="top" id="d192197e184">Icon</th>
<th class="cellrowborder" valign="top" id="d192197e186">Command Name</th>
<th class="cellrowborder" valign="top" id="d192197e188">Description</th>
</tr>
</thead>
<tbody><tr><td class="cellrowborder" valign="top" headers="d192197e184 "><br/><img src="../Icons3DVIA/I_CPSPathPlanningSolve.png"/><br/></td>
<td class="cellrowborder" valign="top" headers="d192197e186 "><span class="uicontrol">Solve</span></td>
<td class="cellrowborder" valign="top" headers="d192197e188 ">Computes a collision-free path. When complete, Composer adds location keys to the timeline for the recommended path.
</td>
</tr>
<tr><td class="cellrowborder" valign="top" headers="d192197e184 "><br/><img src="../Icons3DVIA/I_CPSPathPlanningOptimize.png"/><br/></td>
<td class="cellrowborder" valign="top" headers="d192197e186 "><span class="uicontrol">Optimize Current Path
</span></td>
<td class="cellrowborder" valign="top" headers="d192197e188 ">Smooths the computed path to make it as direct as possible. The optimization process can add or remove keys to the original path.</td>
</tr>
<tr><td class="cellrowborder" valign="top" headers="d192197e184 "><br/><img src="../Icons3DVIA/I_CPSPathPlanningClear.png"/><br/></td>
<td class="cellrowborder" valign="top" headers="d192197e186 "><span class="uicontrol">Clear All Location Keys for Selection
</span></td>
<td class="cellrowborder" valign="top" headers="d192197e188 ">Clears all location keys for a selection.</td>
</tr>
</tbody>
</table>
</div>
</div>
</div>

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