world2grid

Convert world coordinates to grid indices

Syntax

ij = world2grid(map,xy)

Description

ij = world2grid(map,xy) converts an array of world coordinates, xy, to a [rows cols] array of grid indices, ij.

Examples

Convert World Coordinates in Binary Occupancy Map to Grid Indices

Create an empty binary occupancy map with a width and height of 10 meters.

map = binaryOccupancyMap(10,10);

Get grid indices from world coordinates.

[xWorld,yWorld] = meshgrid(0:0.5:2);
ij = world2grid(map,[xWorld(:) yWorld(:)]);

Create and Modify Binary Occupancy Grid

Create a 10m x 10m empty map.

map = binaryOccupancyMap(10,10,10);

Set occupancy of world locations and show map.

x = [1.2; 2.3; 3.4; 4.5; 5.6];
y = [5.0; 4.0; 3.0; 2.0; 1.0];

setOccupancy(map, [x y], ones(5,1))
figure
show(map)

Inflate occupied locations by a given radius.

inflate(map, 0.5)
figure
show(map)

Get grid locations from world locations.

ij = world2grid(map, [x y]);

Set grid locations to free locations.

setOccupancy(map, ij, zeros(5,1), 'grid')
figure
show(map)

Input Arguments

map — Map representation

binaryOccupancyMap object

Map representation, specified as a binaryOccupancyMap object.

xy — World coordinates

n-by-2 vertical array

World coordinates, specified as an n-by-2 vertical array of [x y] pairs, where n is the number of world coordinates.

Output Arguments

ij — Grid indices

n-by-2 vertical array

Grid indices, specified as an n-by-2 vertical array of [i j] pairs in [rows cols] format, where n is the number of grid positions.

Extended Capabilities

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

Version History

Introduced in R2015a