getOccupancy
Syntax
Description
returns the occupancy probabilities of all grid cells in the
pOccupancy
= getOccupancy(map
)map
.
returns the occupancy probabilities for points specified by the local
pOccupancy
= getOccupancy(map
,coordinates
,'local')coordinates
.
returns the occupancy probabilities for grid cells specified by the cell
pOccupancy
= getOccupancy(map
,indices
,'grid')indices
.
Examples
Get Occupancy Probabilities From Grid Map
Load an evidentialGridMap
object from a data file.
load gridMapData.mat
map
map = dynamicEvidentialGridMap with properties: NumStateVariables: 4 MotionModel: 'constant-velocity' GridLength: 100 GridWidth: 100 GridResolution: 1 GridOriginInLocal: [-50 -50]
Get estimated occupancy probabilities for the whole map, specific coordinates, and specific indices.
pOccupancy = getOccupancy(map)
pOccupancy = 100×100
0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024
0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024
0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024
0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024
0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024
0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024
0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024
0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024
0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024
0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0028 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024 0.0024
⋮
pOccupancy = getOccupancy(map,[10 10;20 20],'local')
pOccupancy = 2×1
0.0024
0.0024
pOccupancy = getOccupancy(map,[10 10; 72 8],'grid')
pOccupancy = 2×1
0.0028
0.0024
Input Arguments
map
— Dynamic evidential grid map
dynamicEvidentialGridMap
object
Dynamic evidential grid map, specified as a dynamicEvidentialGridMap
object.
coordinates
— Coordinates of local reference frame
N-by-2 real-valued matrix
Coordinates of local reference frame, specified as an N-by-2 real-valued matrix.
Example: [1 1;2.5 3]
indices
— Grid cell indices
N-by-2 matrix of positive integers
Grid cell indices, specified as an N-by-2 matrix of positive integers.
Example: [1 1;2 3]
Output Arguments
pOccupancy
— Occupancy probability
N-by-M matrix in range [0,1] | N-by-1 vector in range [0,1]
Occupancy probability of cells or points in the map, returned as an N-by-M matrix in range [0,1] or an N-by-1 vector in range [0,1].
If the input is the
map
only,pOccupancy
is returned as an N-by-M matrix, where N is the number of cells in the x-direction of the map and M is the number of cells in the y-direction of the map.If the input contains
coordinates
,pOccupancy
is returned as an N-by-1 vector, where N is the number of coordinates specified in thecoordinates
argument.If the input contains
indices
,pOccupancy
is returned as an N-by-1 vector, where N is the number of cells specified in theindices
argument.
Version History
Introduced in R2021a
See Also
dynamicEvidentialGridMap
| getEvidences
| getState
| getVelocity
| show
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