world2grid
Convert world coordinates to grid indices
Syntax
Description
Examples
Convert World Coordinates in Binary Occupancy Map to Grid Indices
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(:)]);
Create and Modify Binary Occupancy Grid
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)
Inflate occupied locations by a given radius.
inflate(map, 0.5) figure show(map)
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)
Input Arguments
map
— Map representation
binaryOccupancyMap
object
Map representation, specified as a binaryOccupancyMap
object.
xy
— World coordinates
n-by-2 vertical array
World coordinates, specified as an n-by-2 vertical array of [x
y]
pairs, where n is the number of world
coordinates.
Output Arguments
ij
— Grid indices
n-by-2 vertical array
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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