syncWith
Sync map with overlapping map
Description
mat = syncWith(map,sourcemap)map with data from another occupancyMap object,
sourcemap. Locations in map that
are also found in sourcemap are updated. All other cells in
map are set to
map.DefaultValue.
Examples
Move Local Map and Sync with World Map
This example shows how to move a local egocentric map and sync it with a larger world map. This process emulates a vehicle driving in an environment and getting updates on obstacles in the new areas.
Load example maps. Create an occupancy map from the ternaryMap.
load exampleMaps.mat
map = occupancyMap(ternaryMap);
show(map)
Create a smaller local map.
mapLocal = occupancyMap(ternaryMap(end-200:end,1:200)); show(mapLocal)
Follow a path planned in the world map and update the local map as you move your local frame.
Specify path locations and plot on the map.
path = [100 100
100 250
200 250
300 250];
show(map)
hold on
plot(path(:,1),path(:,2))
hold off
Create a loop for moving between points by the map resolution. Divide the difference between points by the map resolution to see how many incremental moves you can make.
for i = 1:length(path)-1 moveAmount = (path(i+1,:)-path(i,:))/map.Resolution; for j = 1:abs(moveAmount(1)+moveAmount(2)) moveValue = sign(moveAmount).*map.Resolution; move(mapLocal,moveValue, ... "MoveType","relative","SyncWith",map) show(mapLocal) drawnow limitrate end end
