syncWith

Sync map with overlapping map

Syntax

syncWith(map,sourcemap)

Description

syncWith(map,sourcemap) updates the map with data from another source map of the same type. Locations in map that are also found in sourcemap are updated. All other cells in map retain their current values.

Examples

Move Local Map and Sync with World Map

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(mapLocal,map) 
        show(mapLocal)
        drawnow limitrate
    end
end

Input Arguments

map — Map representation

occupancyMap object | mapLayer object | multiLayerMap object | signedDistanceMap object

Map representation, specified as a occupancyMap, mapLayer, multiLayerMap, or signedDistanceMap object.

sourcemap — Source map data

occupancyMap object | mapLayer object | multiLayerMap object | signedDistanceMap object

Source map data, specified as a occupancyMap, mapLayer, multiLayerMap, or signedDistanceMap object.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2019b

R2023a: syncWith supports signed distance maps

syncWith supports the signedDistanceMap object as a new map representation for the map and sourcemap arguments.