# raycast

Compute cell indices along a ray

## Syntax

## Description

`[`

returns cell indices of the specified `endpoints`

,`midpoints`

]
= raycast(`map`

,`pose`

,`range`

,`angle`

)`map`

for all cells
traversed by a ray originating from the specified `pose`

at
the specified `angle`

and `range`

values.
`endpoints`

contains all indices touched by the end of the
ray, with all other points included in `midpoints`

.

## Examples

## Input Arguments

## Output Arguments

## Extended Capabilities

## Version History

**Introduced in R2019b**

## See Also

`binaryOccupancyMap`

| `insertRay`

| `occupancyMap`

(Navigation Toolbox)