Convert local coordinates to grid indices
map— Map representation
Map representation, specified as a
binaryOccupancyMap object. This object represents the
environment of the vehicle.
xy— Local coordinates
Local coordinates, specified as an n-by-2 matrix of
y] pairs, where n is the
number of local coordinates.
ij— Grid positions
Grid positions, returned as an n-by-2 matrix of
j] pairs in
col] format, where n is
the number of grid positions. The grid cell locations are counted from the
top left corner of the grid.