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world2grid

Convert world coordinates to grid indices

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Syntax

ij = world2grid(map,xy)

Description

ij = world2grid(map,xy) converts an array of world coordinates, xy, to a [rows cols] array of grid indices, ij.

example

Examples

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This example uses:

Open Live Script

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

map = binaryOccupancyMap(10,10);

Get grid indices from world coordinates.

[xWorld,yWorld] = meshgrid(0:0.5:2);
ij = world2grid(map,[xWorld(:) yWorld(:)]);
Open Live Script

Create a 10m x 10m empty map. 

map = binaryOccupancyMap(10,10,10);

Set occupancy of world locations and show map. 

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

setOccupancy(map, [x y], ones(5,1))
figure
show(map)

Figure contains an axes object. The axes object with title Binary Occupancy Grid, xlabel X [meters], ylabel Y [meters] contains an object of type image.

Inflate occupied locations by a given radius. 

inflate(map, 0.5)
figure
show(map)

Figure contains an axes object. The axes object with title Binary Occupancy Grid, xlabel X [meters], ylabel Y [meters] contains an object of type image.

Get grid locations from world locations. 

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

Set grid locations to free locations. 

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

Figure contains an axes object. The axes object with title Binary Occupancy Grid, xlabel X [meters], ylabel Y [meters] contains an object of type image.

Input Arguments

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Map representation, specified as a binaryOccupancyMap object.

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

Output Arguments

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Grid indices, specified as an n-by-2 vertical array of [i j] pairs in [rows cols] format, where n is the number of grid positions.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2015a

See Also

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