checkOccupancy

Check if locations are free or occupied

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Syntax

iOccval = checkOccupancy(map3D,xyz)

Description

iOccval = checkOccupancy(map3D,xyz) returns an array of occupancy values specified at the xyz locations using the OccupiedThreshold and FreeThreshold properties of the input occupancyMap3D object. Each row is a separate xyz location in the map to check the occupancy of. Occupancy values can be obstacle-free (0), occupied (1), or unknown (–1).

Input Arguments

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3-D occupancy map, specified as an occupancyMap3D object.

World coordinates, specified as an n-by-3 matrix of [x y z] points, where n is the number of world coordinates.

Output Arguments

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Interpreted occupancy values, returned as a column vector with the same length as xyz.

Occupancy values can be obstacle-free (0), occupied (1), or unknown (–1). These values are determined from the actual probability values and the OccupiedThreshold and FreeThreshold properties of the map3D object.

See Also

Classes

Functions

Introduced in R2019b

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