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world2grid

Convert world coordinates to grid indices

Description

example

ij = world2grid(map,xy) converts an array of world coordinates, xy, to an array of grid indices, ij in [row col] format.

Examples

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Create an empty map of 10-by-10 meters in size.

map = occupancyMap(10,10,10);

Update the occupancy of specific world locations with new probability values and display the map.

x = [1.2; 2.3; 3.4; 4.5; 5.6];
y = [5.0; 4.0; 3.0; 2.0; 1.0];

pvalues = [0.2; 0.4; 0.6; 0.8; 1];

updateOccupancy(map,[x y],pvalues)
figure
show(map)

Figure contains an axes object. The axes object with title Occupancy Grid contains an object of type image.

Inflate the occupied areas by a radius of 0.5 m. The larger occupancy values overwrite the smaller values.

inflate(map,0.5)
figure
show(map)

Figure contains an axes object. The axes object with title Occupancy Grid contains an object of type image.

Get the grid locations from the world locations.

ij = world2grid(map,[x y]);

Set occupancy values for the grid locations.

setOccupancy(map,ij,ones(5,1),'grid')
figure
show(map)

Figure contains an axes object. The axes object with title Occupancy Grid contains an object of type image.

Input Arguments

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Map representation, specified as a occupancyMap, mapLayer, or multiLayerMap object.

World coordinates, specified as an n-by-2 matrix of [x y] pairs, where n is the number of world coordinates.

Data Types: double

Output Arguments

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Grid indices, returned as an n-by-2 matrix of [i j] pairs in [row col] format, where n is the number of grid positions. The grid cell locations are counted from the top left corner of the grid.

Data Types: double

Introduced in R2019b