getEvidences
Syntax
Description
[
returns the occupied evidence mOccupy
,mFree
] = getEvidences(map
,coordinates
,'local')mOccupy
and free evidence
mFree
for points specified by the local
coordinates
.
Examples
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 and free evidences for the whole map, specific coordinates, and specific indices.
[mOccupy,mFree] = getEvidences(map)
mOccupy = 100×100
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0.0008 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0.0003 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0.0002 0.0008 0.0003 0 0 0.0005 0 0 0 0 0 0 0.0006 0 0 0 0.0001 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0.0005 0.0007 0 0.0002 0.0008 0.0006 0.0002 0.0005 0.0002 0.0002 0 0 0.0002 0.0004 0.0012 0.0005 0.0003 0 0 0.0003 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0.0020 0.0005 0.0017 0.0002 0.0013 0.0003 0.0015 0.0010 0 0.0005 0 0.0010 0.0003 0 0 0.0003 0 0.0005 0.0010 0.0007 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0.0008 0.0007 0.0007 0.0020 0.0017 0.0010 0.0005 0 0.0002 0.0015 0.0012 0.0016 0.0025 0.0010 0.0005 0.0005 0.0012 0.0006 0 0.0005 0 0 0 0.0003 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
⋮
mFree = 100×100
0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952
0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952
0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952
0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952
0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952
0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952
0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952
0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952
0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952
0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952
0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952
0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952
0.9883 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952
0.2182 0.2182 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952
0.2182 0.2182 0.2182 0.9945 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952 0.9952
⋮
[mOccupy,mFree] = getEvidences(map,[10 10;20 20],'local')
mOccupy = 2×1
0
0
mFree = 2×1
0.9952
0.9952
[mOccupy,mFree] = getEvidences(map,[10 10; 72 8],'grid')
mOccupy = 2×1
10-3 ×
0.7801
0
mFree = 2×1
0.9952
0.9952
Input Arguments
Dynamic evidential grid map, specified as a dynamicEvidentialGridMap
object.
Coordinates of local reference frame, specified as an N-by-2 real-valued matrix.
Example: [1 1;2.5 3]
Grid cell indices, specified as an N-by-2 matrix of positive integers.
Example: [1 1;2 3]
Output Arguments
Occupied evidence 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 only the
map
,mOccupy
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
,mOccupy
is returned as an N-by-1 vector, where N is the number of coordinates specified by thecoordinates
argument.If the input contains
indices
,mOccupy
is returned as an N-by-1 vector, where N is the number of cells specified by theindices
argument.
Free evidence 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,mFree
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
,mFree
is returned as an N-by-1 vector, where N is the number of coordinates specified by thecoordinates
argument.If the input contains
indices
,mFree
is returned as an N-by-1 vector, where N is the number of cells specified by theindices
argument.
Version History
Introduced in R2021a
See Also
dynamicEvidentialGridMap
| getOccupancy
| getState
| getVelocity
| show
MATLAB Command
You clicked a link that corresponds to this MATLAB command:
Run the command by entering it in the MATLAB Command Window. Web browsers do not support MATLAB commands.
Seleziona un sito web
Seleziona un sito web per visualizzare contenuto tradotto dove disponibile e vedere eventi e offerte locali. In base alla tua area geografica, ti consigliamo di selezionare: .
Puoi anche selezionare un sito web dal seguente elenco:
Come ottenere le migliori prestazioni del sito
Per ottenere le migliori prestazioni del sito, seleziona il sito cinese (in cinese o in inglese). I siti MathWorks per gli altri paesi non sono ottimizzati per essere visitati dalla tua area geografica.
Americhe
- América Latina (Español)
- Canada (English)
- United States (English)
Europa
- Belgium (English)
- Denmark (English)
- Deutschland (Deutsch)
- España (Español)
- Finland (English)
- France (Français)
- Ireland (English)
- Italia (Italiano)
- Luxembourg (English)
- Netherlands (English)
- Norway (English)
- Österreich (Deutsch)
- Portugal (English)
- Sweden (English)
- Switzerland
- United Kingdom (English)