world2grid

Convert world coordinates to grid indices

Syntax

ijGrid = world2grid(map,xyWorld)

Description

ijGrid = world2grid(map,xyWorld) converts world coordinates in the map to grid indices.

Examples

Convert World Coordinates in Occupancy Map to Grid Indices

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

map = occupancyMap(10,10);

Get grid indices from world coordinates.

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

Create and Modify Occupancy Map

Create an empty map of 10-by-10 meters in size.

map = occupancyMap(10,10,10);

Update the occupancy of specific world locations with new probability values and display the map.

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

pvalues = [0.2; 0.4; 0.6; 0.8; 1];

updateOccupancy(map,[x y],pvalues)
figure
show(map)

Inflate the occupied areas by a radius of 0.5 m. The larger occupancy values overwrite the smaller values.

inflate(map,0.5)
figure
show(map)

Get the grid locations from the world locations.

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

Set occupancy values for the grid locations.

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

Input Arguments

map — Map representation

occupancyMap object | mapLayer object | multiLayerMap object | signedDistanceMap object

Map representation, specified as a occupancyMap, mapLayer, multiLayerMap, or signedDistanceMap object.

xyWorld — World coordinates

n-by-2 matrix

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

Data Types: double

Output Arguments

ijGrid — Grid positions

n-by-2 matrix

Grid positions, returned as an n-by-2 matrix of [i j] pairs in [row col] format, where n is the number of grid positions. The grid cell locations start at (1,1) and are counted from the top left corner of the grid.

Data Types: double

Extended Capabilities

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

Version History

Introduced in R2019b

R2023a: Signed Distance Map Support

The world2grid function now supports the signedDistanceMap object as a new map representation for the map argument.