# occupancyMatrix

Convert occupancy map to matrix

Since R2019b

## Syntax

``mat = occupancyMatrix(map)``
``mat = occupancyMatrix(map,'ternary')``

## Description

example

````mat = occupancyMatrix(map)` returns probability values stored in the occupancy grid object as a matrix.```
````mat = occupancyMatrix(map,'ternary')` returns the occupancy status of each grid cell as a matrix. The `OccupiedThreshold` and `FreeThreshold` properties on the occupancy grid determine the obstacle free cells (0) and occupied cells (1). Unknown values are returned as –1.```

## Examples

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Create an empty occupancy map with a width and height of 10 meters.

`map = occupancyMap(10,10);`

Specify probability occupancy values as an 8-by-8 matrix.

`inputMatrix = repmat(0.2:0.1:0.9,8,1);`

Assign the probability occupancy values matrix to the map.

```setOccupancy(map,[1 1],inputMatrix) show(map)```

Convert occupancy map to probability occupancy values matrix.

`occupancyMatrix(map)`
```ans = 10×10 0.5000 0.5000 0.5000 0.5000 0.5000 0.5000 0.5000 0.5000 0.5000 0.5000 0.5000 0.2000 0.3000 0.4000 0.5000 0.6000 0.7000 0.8000 0.9000 0.5000 0.5000 0.2000 0.3000 0.4000 0.5000 0.6000 0.7000 0.8000 0.9000 0.5000 0.5000 0.2000 0.3000 0.4000 0.5000 0.6000 0.7000 0.8000 0.9000 0.5000 0.5000 0.2000 0.3000 0.4000 0.5000 0.6000 0.7000 0.8000 0.9000 0.5000 0.5000 0.2000 0.3000 0.4000 0.5000 0.6000 0.7000 0.8000 0.9000 0.5000 0.5000 0.2000 0.3000 0.4000 0.5000 0.6000 0.7000 0.8000 0.9000 0.5000 0.5000 0.2000 0.3000 0.4000 0.5000 0.6000 0.7000 0.8000 0.9000 0.5000 0.5000 0.2000 0.3000 0.4000 0.5000 0.6000 0.7000 0.8000 0.9000 0.5000 0.5000 0.5000 0.5000 0.5000 0.5000 0.5000 0.5000 0.5000 0.5000 0.5000 ```

Convert occupancy map to occupancy values matrix.

`occupancyMatrix(map,"ternary")`
```ans = 10×10 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 1 1 1 -1 -1 -1 -1 -1 -1 -1 1 1 1 -1 -1 -1 -1 -1 -1 -1 1 1 1 -1 -1 -1 -1 -1 -1 -1 1 1 1 -1 -1 -1 -1 -1 -1 -1 1 1 1 -1 -1 -1 -1 -1 -1 -1 1 1 1 -1 -1 -1 -1 -1 -1 -1 1 1 1 -1 -1 -1 -1 -1 -1 -1 1 1 1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 ```

## Input Arguments

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Map representation, specified as a `occupancyMap` object. This object represents the environment of the vehicle. The object contains a matrix grid with values representing the probability of the occupancy of that cell. Values close to 1 represent a high probability that the cell contains an obstacle. Values close to 0 represent a high probability that the cell is not occupied and obstacle free.

## Output Arguments

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Occupancy grid values, returned as an h-by-w matrix, where h and w are defined by the two elements of the `GridSize` property of the occupancy grid object.

Data Types: `double`

## Version History

Introduced in R2019b