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 world coordinates.