occupancyMatrix
Convert occupancy grid to matrix
Description
Examples
Convert Binary Occupancy Map to Matrix
Generate a random 2-D maze map.
map = mapMaze(2,MapSize=[10 10],MapResolution=1); show(map)
Convert the binary occupancy map to occupancy values matrix.
occupancyMatrix(map)
ans = 10x10 logical array
1 1 1 1 1 1 1 1 1 1
1 0 0 0 0 0 0 0 0 1
1 0 0 0 0 0 0 0 0 1
1 1 1 1 1 1 1 0 0 1
1 0 0 0 0 0 0 0 0 1
1 0 0 0 0 0 0 0 0 1
1 0 0 1 1 1 1 1 1 1
1 0 0 0 0 0 0 0 0 1
1 0 0 0 0 0 0 0 0 1
1 1 1 1 1 1 1 1 1 1
Input Arguments
map
— Map representation
binaryOccupancyMap
object
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
).
Output Arguments
mat
— Occupancy values
matrix
Occupancy values, returned as an
h-by-w matrix, where
h and w are defined by the two
elements of the GridSize
property of the occupancy grid
object.
Data Types: double
Extended Capabilities
C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.
Version History
Introduced in R2016b
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