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occupancyMatrix

Convert occupancy grid to matrix

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Syntax

mat = occupancyMatrix(map)

Description

example

mat = occupancyMatrix(map) returns occupancy values stored in the occupancy grid object as a matrix.

Examples

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This example uses:

Open Live Script

Generate a random 2-D maze map. 

map = mapMaze(2,MapSize=[10 10],MapResolution=1);
show(map)

Figure contains an axes object. The axes object with title Binary Occupancy Grid, xlabel X [meters], ylabel Y [meters] contains an object of type image.

Convert the binary occupancy map to occupancy values matrix.

occupancyMatrix(map)
ans = 10x10 logical array

   1   1   1   1   1   1   1   1   1   1
   1   0   0   0   0   0   0   0   0   1
   1   0   0   0   0   0   0   0   0   1
   1   1   1   1   1   1   1   0   0   1
   1   0   0   0   0   0   0   0   0   1
   1   0   0   0   0   0   0   0   0   1
   1   0   0   1   1   1   1   1   1   1
   1   0   0   0   0   0   0   0   0   1
   1   0   0   0   0   0   0   0   0   1
   1   1   1   1   1   1   1   1   1   1

Input Arguments

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Map representation, specified as a binaryOccupancyMap object. This object represents the environment of the robot. The object contains a matrix grid with binary values indicating obstacles as true (1) and free locations as false (0).

Output Arguments

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Occupancy values, returned as an h-by-w matrix, where h and w are defined by the two elements of the GridSize property of the occupancy grid object.

Data Types: double

Extended Capabilities

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

Version History

Introduced in R2016b

See Also

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