world2grid

Convert world coordinates to grid indices

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Syntax

ij = world2grid(map,xy)

Description

example

ij = world2grid(map,xy) converts an array of world coordinates, xy, to an array of grid indices, ij in [row col] format.

Examples

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Open Live Script

Create a 10 m-by-10 m empty map. 

map = occupancyMap(10,10,10);

Update the occupancy of world locations with specific probability values and display the map. 

x = [1.2; 2.3; 3.4; 4.5; 5.6];
y = [5.0; 4.0; 3.0; 2.0; 1.0];

pvalues = [0.2 0.4 0.6 0.8 1];

updateOccupancy(map,[x y],pvalues)
figure
show(map)

Inflate occupied areas by a radius of 0.5 m. Larger occupancy values overwrite the smaller values.

inflate(map,0.5)
figure
show(map)

Get grid locations from world locations. 

ij = world2grid(map,[x y]);

Set grid locations to occupied locations. 

setOccupancy(map,ij,ones(5,1),'grid')
figure
show(map)

Input Arguments

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Map representation, specified as a occupancyMap object. This object represents the environment of the sensor. 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.

World coordinates, specified as an n-by-2 matrix of [x y] pairs, where n is the number of world coordinates.

Data Types: double

Output Arguments

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Grid indices, returned as an n-by-2 matrix of [i j] pairs in [row col] format, where n is the number of grid positions. The grid cell locations are counted from the top left corner of the grid.

Data Types: double

See Also

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Topics

Introduced in R2019b

Navigation Toolbox Documentation

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