getOccupancy

Get occupancy probability of locations

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Syntax

occval = getOccupancy(map3D,xyz)

Description

occval = getOccupancy(map3D,xyz) returns an array of probability occupancy values at the specified xyz locations in the occupancyMap3D object. Values close to 1 represent a high certainty that the cell contains an obstacle. Values close to 0 represent certainty that the cell is not occupied and obstacle-free.

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

Values close to 0 represent certainty that the cell is not occupied and obstacle-free.

See Also

Classes

Functions

Introduced in R2019b

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