The "query phase" of the motion planner is accessed when two targets or programs are linked together.

连接两个目标,第一个选择统计ion tree. There are two ways to select and link the targets:

1.With theCtrlkey:

a.Left click on the target which is to start the movement (in the example, the target named "Start Target").

b.Hold down the CTRL key.

c.Left click on the destination target (e.g. "End Target")

d.Right click on either of the two targets and selectLink selected targets. Alternatively, if theCollision-free motion plannerpanel is open, click on theLink selected targets/programsbutton.

2.With theShiftkey:

a.Arrange the two targets one above the other in the station tree, with the start target above the end target. A target can be moved around the tree by drag-and-dropping itusing the right mouse button. Dropping the target will reveal a menu to choose where the target should be located.

b.Left click on either target.

c.Hold down theShiftkey.

d.Left click on the other target.

e.Right click on either of the two targets and selectLink selected targets. Alternatively, if theCollision-free motion plannerpanel is open, click on theLink selected targets/programsbutton.

Both methods will generate a new program which links the two targets using the saved roadmap. To create a movement in the opposite direction, select the targets in the opposite order — i.e. by selecting End Target before Start Target using theCtrlmethod, or rearranging the targets in the station tree for the SHIFT method.