Map representation, specified as a binaryOccupancyMap object. This object represents the
environment of the robot. The object contains a matrix grid with binary values
indicating obstacles as true (1) and free
locations as false (0).
ij — Grid positions n-by-2 vertical array
Grid positions, specified as an n-by-2 vertical array of
[i j] pairs in [rows cols] format, where
n is the number of grid positions.