why i cant use "occupancyMap", it looks like a dont recognize it as a function.

clc

clear all

close all

map = robotics.BinaryOccupancyGrid(20,20);

setOccupancy(map,[8 8],0.2);

setOccupancy(map,[8 9],0.2);

setOccupancy(map,[8 7],0.2);

setOccupancy(map,[7 8],0.2);

setOccupancy(map,[6 8],0.2);

figure

show(map)

title('Warehouse Floor Plan')

% Create map that will be updated with sensor readings

estMap = occupancyMap(occupancyMatrix(map));

% Create a map that will inflate the estimate for planning

inflateMap = occupancyMap(estMap);

vMap = validatorOccupancyMap;

vMap.Map = inflateMap;

vMap.ValidationDistance = .1;

planner = plannerHybridAStar(vMap, 'MinTurningRadius', 4);

entrance = [1 40 0];

packagePickupLocation = [63 44 -pi/2];

route = plan(planner, entrance, packagePickupLocation);

route = route.States;

% Get poses from the route.

rsConn = reedsSheppConnection('MinTurningRadius', planner.MinTurningRadius);

startPoses = route(1:end-1,:);

endPoses = route(2:end,:);

rsPathSegs = connect(rsConn, startPoses, endPoses);

poses = [];

for i = 1:numel(rsPathSegs)

lengths = 0:0.1:rsPathSegs{i}.Length;

[pose, ~] = interpolate(rsPathSegs{i}, lengths);

poses = [poses; pose];

end

figure

show(planner)

title('Initial Route to Package')

Answer 1

[Steven Lord]

The occupancyMap function was introduced in Navigation Toolbox in release R2019b. It's not clear whether you have this product licensed and installed from the Products and Releases information on this post, but even if you do the release you're using predates the introduction of this function. You will need to upgrade to release R2019b or later and have Navigation Toolbox installed and licensed to use it.

[Erick Guzman]

Thanks a lot, i will try with that version.