move

Move map in world frame

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Syntax

move(map,moveValue)
move(map,moveValue,Name,Value)

Description

move(map,moveValue) moves the local origin of the map to an absolute location, moveValue, in the world frame, and updates the map limits. Move values are truncated based on the resolution of the map. By default, newly revealed regions are set to map.DefaultValue.

example

move(map,moveValue,Name,Value) specifies additional options specified by one or more name-value pair arguments.

Examples

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Open Live Script

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

Input Arguments

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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.

Local map origin move value, specified as an [x y] vector. By default, the value is an absolute location to move the local origin to in the world frame. Use the MoveType name-value pair to specify a relative move.

Name-Value Pair Arguments

Specify optional comma-separated pairs of Name,Value arguments. Name is the argument name and Value is the corresponding value. Name must appear inside quotes. You can specify several name and value pair arguments in any order as Name1,Value1,...,NameN,ValueN.

Example: 'MoveType','relative'

Type of move, specified as 'absolute' or 'relative'. For relative moves, specify a relative [x y] vector for moveValue based on your current local frame.

Fill value for revealed locations because of the shifted map limits, specified as 0 or 1.

Secondary map to sync with, specified as a occupancyMap object. Any revealed locations based on the move are updated with values in this map using the world coordinates.

See Also

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Introduced in R2019b

Navigation Toolbox Documentation

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