world2grid

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

map = occupancyMap(10,10);

Get grid indices from world coordinates.

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

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)

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)

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)