PLM Batch for Path Planning Computation

The Batch Monitor/CATUtil can be used to compute Path Planning for a Track in the background, while you continue work in your session.

The tables below list the valid values for each parameter of the input XML, followed by an example:

This page discusses:

See Also
Using PLM Batch for Path Planning Computation

TrackName

XML Element XML Attribute Valid value(s) Note
TrackName - The name (string) of a Track available in Excitations. Mandatory
Quality Option Low or Medium or High or Very High -
Value - The floating point value, that must be greater than the SAG value displayed on moving objects. Valid only when the Enable attribute in Quality is specified to Very High.
MaxTime -

Enable

 Any positive integer

Y or N

 The maximum time allowed for the path planning computation in minutes. It can be enabled or disabled using the Enable attribute.

Example: In <MaxTime Enable='Y'>2</MaxTime>, the maximum time is enabled and specified as 2 minutes.
StateName - The name (string) of the simulation state in which the path must be computed for the given Track.

If no state name is specified, the state that is specified as Active is used for computation. If no Active state is specified, then the nominal state is used.

DomainLimits

XML Element XML Attribute Valid value(s) Note
DomainLimits Option No Limits, Translation, Guiding Path, Guiding Path 2D For Guiding Path specify Radius=XX.

For Guiding Path 2D specify Width=XX.
X

MinValue

MaxValue

 Lock

-

-

 Y or N

Any negative floating point value or zero

Any positive floating point value or zero

 Valid only when the DomainLimits Option is Translation.
Y

MinValue

MaxValue

 Lock

-

-

 Y or N

Any negative floating point value or zero

Any positive floating point value or zero

 Valid only when the DomainLimits Option is Translation.
Z

MinValue

MaxValue

 Lock

-

-

 Y or N

Any negative floating point value or zero

Any positive floating point value or zero

 Valid only when the DomainLimits Option is Translation.
Radius - Any floating point value Valid only when the DomainLimits Option is Guiding Path.

AngleLimits

XML Element XML Attribute Valid value(s) Note
AngleLimits Option No Limits, Bryant Angles, Swing and Twist -
Rx

MinValue

MaxValue

 Lock

-

-

 Y or N

Floating point value between -180° to 180°

Floating point value between -180° to 180°

Valid only when the AngleLimits Option is Bryant Angles. If a limit is locked (Lock=Y), min and max values are not taken into account.
Ry

MinValue

MaxValue

 Lock

-

-

 Y or N

Floating point value between -90° to 90°

Floating point value between -90° to 90°

Valid only when the AngleLimits Option is Bryant Angles. If a limit is locked (Lock=Y), min and max values are not taken into account.
Rz

MinValue

MaxValue

 Lock

-

-

 Y or N

Floating point value between -180° to 180°

Floating point value between -180° to 180°

Valid only when the AngleLimits Option is Bryant Angles. If a limit is locked (Lock=Y), min and max values are not taken into account.
MaxSwing -

Lock

 Floating point value between 0° to 180°

Y or N

 Valid only when the AngleLimits Option is Swing and Twist. If a limit is locked (Lock=Y), the values are not taken into account.
MaxTwist -

Lock

 Floating point value between 0° to 180°

Y or N

 Valid only when the AngleLimits Option is Swing and Twist. If a limit is locked (Lock=Y), the values are not taken into account.

GlobalClashLimits

XML Element XML Attribute Valid value(s) Note
GlobalClashLimits Option Contact allowed, Clearance required, Collision allowed -
Value - Any positive floating point value Valid only when the GlobalClashLimits Option is either Clearance required or Collision allowed.

TPointType

XML Element XML Attribute Valid value(s) Note
TPointType - - -
StartPointIndex - Integer value from 1 to the number of T-Points -
EndPointIndex - Integer value from 1 to the number of T-Points -
GuidingPoint - Integer value from 1 to the number of T-Points Can have multiple elements with different values. If the value is not between StartPointIndex and EndPointIndex, it is not taken into account by computation.
IntermediatePoint - Integer value from 1 to the number of T-Points Can have multiple elements with different values. If the value is not between StartPointIndex and EndPointIndex, it is not taken into account by computation.

The Single Run Method (Example)

The content of the input XML consists of one FindTrack element. The FindTrack element contains the parameters required for the Path Planning computation run.

Important: The batch utility allows only single PLM object selection.

<?xml version='1.0' encoding='utf-8' ?>
<Root>
<PathPlanning>


<TrackName>Track.initial</TrackName>
<Quality Option='Very High'>
    <Value>0.1</Value></Quality>
<MaxTime Enable='Y'>2</MaxTime>
  
  
<DomainLimits Option='Translation'>
    <X Lock='N'>
        <MinValue>-865</MinValue>
        <MaxValue>443</MaxValue></X>
    <Y Lock='N'>
        <MinValue>-138</MinValue>
        <MaxValue>1523</MaxValue></Y>
    <Z Lock='N'>
        <MinValue>-668</MinValue>
        <MaxValue>668</MaxValue></Z>
</DomainLimits>


<AngleLimits Option='Bryant Angles'>
     <Rx Lock='N'>
         <MinValue>-80</MinValue>
         <MaxValue>120</MaxValue></Rx>
     <Ry Lock='N'>
          <MinValue>-80</MinValue>
          <MaxValue>120</MaxValue></Ry>
     <Rz Lock='N'>
          <MinValue>-80</MinValue>
          <MaxValue>120</MaxValue></Rz>
</AngleLimits>


<GlobalClashLimits Option='Clearance required'>
     <Value>0.1</Value></GlobalClashLimits>

<TPointType>
     <StartPointIndex>1</StartPointIndex>
     <GuidingPoint>2</GuidingPoint>
     <GuidingPoint>3</GuidingPoint>
     <IntermediatePoint>6</IntermediatePoint>
     <IntermediatePoint>7</IntermediatePoint>
     <EndPointIndex>10</EndPointIndex>
</TPointType>


</PathPlanning>
</Root>

The Two Runs Method (Example)

The content of the input XML consists of two FindTrack elements, that is, one per run. Each FindTrack element contains different parameters, the second computation relies on the result of the first track. They are used in the order they are defined in the XML file.

Recommendation: Start the first run with the values specify as DomainLimits=“Translation” and Quality=“Low”. Refine the second run with the values specify as Quality=“High/Very High” and DomainLimits=“Guiding Path”.
Important: The batch utility allows only single PLM object selection and processes only one track present in that context with two runs.

<?xml version='1.0' encoding='utf-8' ?>
<Root>
  <PathPlanning>

    <FindTrack>
      <TrackName>Track.1 Regulator</TrackName>
      <Quality Option="Low"/>
      <DomainLimits Option="No Limits"> </DomainLimits>
      <DomainLimits Option="Translation">
        <X Lock="N">
          <MinValue>-110</MinValue>
          <MaxValue>410</MaxValue>
        </X>
        <Y Lock="N">
          <MinValue>-230</MinValue>
          <MaxValue>310</MaxValue>
        </Y>
        <Z Lock="N">
          <MinValue>-405</MinValue>
          <MaxValue>60</MaxValue>
        </Z>
      </DomainLimits>
      <AngleLimits Option="No Limits"/>
      <GlobalClashLimits Option="Contact allowed"/>
      <TPointType>
        <StartPointIndex>2</StartPointIndex>
        <EndPointIndex>4</EndPointIndex>
      </TPointType>
      <MaxTime Enable="Y">120</MaxTime>
    </FindTrack>

    <FindTrack>
      <TrackName>Track.1 Regulator</TrackName>
      <Quality Option="Low"/>
      <DomainLimits Option="Guiding Path">
        <Radius>35.64</Radius>
      </DomainLimits>
      <AngleLimits Option="No Limits"/>
      <GlobalClashLimits option="Contact allowed"/>
      <MaxTime Enable="Y">120</MaxTime>
    </FindTrack>

  </PathPlanning>
</Root>