occupancyMatrix
Convert occupancy grid to matrix
Description
Examples
Convert Binary Occupancy Map to Matrix
Generate a random 2-D maze map.
map = mapMaze(2,MapSize=[10 10],MapResolution=1); show(map)
Convert the binary occupancy map to occupancy values matrix.
occupancyMatrix(map)
ans = 10x10 logical array
1 1 1 1 1 1 1 1 1 1
1 0 0 0 0 0 0 0 0 1
1 0 0 0 0 0 0 0 0 1
1 1 1 1 1 1 1 0 0 1
1 0 0 0 0 0 0 0 0 1
1 0 0 0 0 0 0 0 0 1
1 0 0 1 1 1 1 1 1 1
1 0 0 0 0 0 0 0 0 1
1 0 0 0 0 0 0 0 0 1
1 1 1 1 1 1 1 1 1 1
Input Arguments
map
— Map representation
binaryOccupancyMap
object
Map representation, specified as a binaryOccupancyMap
object. This object represents the
environment of the robot. The object contains a matrix grid with binary
values indicating obstacles as true
(1
) and free locations as false
(0
).
Output Arguments
mat
— Occupancy values
matrix
Occupancy 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
Extended Capabilities
C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.
Version History
Introduced in R2016b
MATLAB Command
You clicked a link that corresponds to this MATLAB command:
Run the command by entering it in the MATLAB Command Window. Web browsers do not support MATLAB commands.
Select a Web Site
Choose a web site to get translated content where available and see local events and offers. Based on your location, we recommend that you select: .
You can also select a web site from the following list:
How to Get Best Site Performance
Select the China site (in Chinese or English) for best site performance. Other MathWorks country sites are not optimized for visits from your location.
Americas
- América Latina (Español)
- Canada (English)
- United States (English)
Europe
- Belgium (English)
- Denmark (English)
- Deutschland (Deutsch)
- España (Español)
- Finland (English)
- France (Français)
- Ireland (English)
- Italia (Italiano)
- Luxembourg (English)
- Netherlands (English)
- Norway (English)
- Österreich (Deutsch)
- Portugal (English)
- Sweden (English)
- Switzerland
- United Kingdom (English)