Map representation, specified as a occupancyMap object. This object
represents the environment of the vehicle. The object contains a matrix grid
with values representing the probability of the occupancy of that cell.
Values close to 1 represent a high probability that the cell contains an
obstacle. Values close to 0 represent a high probability that the cell is
not occupied and obstacle free.
xy — Local coordinates n-by-2 matrix
Local coordinates, specified as an n-by-2 matrix of
[xy] pairs, where n is the
number of local coordinates.
Grid positions, returned as an n-by-2 matrix of
[ij] pairs in
[rowcol] format, where n is
the number of grid positions. The grid cell locations start at (1,1) and
are counted from the top left corner of the grid.