getOccupancy

Get estimated occupancy probabilities

Since R2021a

Syntax

pOccupancy = getOccupancy(map)

pOccupancy = getOccupancy(map,coordinates,'local')

pOccupancy = getOccupancy(map,indices,'grid')

Description

pOccupancy = getOccupancy(map) returns the occupancy probabilities of all grid cells in the map.

pOccupancy = getOccupancy(map,coordinates,'local') returns the occupancy probabilities for points specified by the local coordinates.

pOccupancy = getOccupancy(map,indices,'grid') returns the occupancy probabilities for grid cells specified by the cell indices.

Examples

Get Occupancy Probabilities From Grid Map

Load an evidentialGridMap object from a data file.

load gridMapData.mat
map

map = 
  dynamicEvidentialGridMap with properties:

    NumStateVariables: 4
          MotionModel: 'constant-velocity'
           GridLength: 100
            GridWidth: 100
       GridResolution: 1
    GridOriginInLocal: [-50 -50]

Get estimated occupancy probabilities for the whole map, specific coordinates, and specific indices.

pOccupancy = getOccupancy(map)

pOccupancy = 100×100

    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024
    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024
    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024
    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024
    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024
    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024
    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024
    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024
    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024
    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0028    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024
    0.0024    0.0024    0.0024    0.0024    0.0024    0.0026    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024
    0.0025    0.0028    0.0025    0.0024    0.0024    0.0027    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0027    0.0024    0.0024    0.0024    0.0025    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024
    0.0059    0.0024    0.0027    0.0028    0.0024    0.0025    0.0028    0.0027    0.0025    0.0027    0.0025    0.0025    0.0024    0.0024    0.0025    0.0026    0.0030    0.0027    0.0026    0.0024    0.0024    0.0025    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024
    0.3919    0.3911    0.0033    0.0025    0.0031    0.0025    0.0032    0.0029    0.0024    0.0026    0.0024    0.0029    0.0025    0.0024    0.0024    0.0025    0.0024    0.0027    0.0029    0.0028    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024
    0.3913    0.3913    0.3912    0.0037    0.0033    0.0029    0.0027    0.0024    0.0025    0.0032    0.0030    0.0032    0.0037    0.0029    0.0027    0.0027    0.0030    0.0027    0.0024    0.0027    0.0024    0.0024    0.0024    0.0025    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024    0.0024
      ⋮

pOccupancy = getOccupancy(map,[10 10;20 20],'local')

pOccupancy = 2×1

    0.0024
    0.0024

pOccupancy = getOccupancy(map,[10 10; 72 8],'grid')

pOccupancy = 2×1

    0.0028
    0.0024

Input Arguments

map — Dynamic evidential grid map

dynamicEvidentialGridMap object

Dynamic evidential grid map, specified as a dynamicEvidentialGridMap object.

coordinates — Coordinates of local reference frame

N-by-2 real-valued matrix

Coordinates of local reference frame, specified as an N-by-2 real-valued matrix.

Example: [1 1;2.5 3]

indices — Grid cell indices

N-by-2 matrix of positive integers

Grid cell indices, specified as an N-by-2 matrix of positive integers.

Example: [1 1;2 3]

Output Arguments

pOccupancy — Occupancy probability

N-by-M matrix in range [0,1] | N-by-1 vector in range [0,1]

Occupancy probability of cells or points in the map, returned as an N-by-M matrix in range [0,1] or an N-by-1 vector in range [0,1].

• If the input is the map only, pOccupancy is returned as an N-by-M matrix, where N is the number of cells in the x-direction of the map and M is the number of cells in the y-direction of the map.

• If the input contains coordinates, pOccupancy is returned as an N-by-1 vector, where N is the number of coordinates specified in the coordinates argument.

• If the input contains indices, pOccupancy is returned as an N-by-1 vector, where N is the number of cells specified in the indices argument.

Version History

Introduced in R2021a