grid2world
Convert grid indices to world coordinates
Syntax
Description
Examples
Convert Grid Indices in Binary Occupancy Map to World Coordinates
Create an empty binary occupancy map with a width and height of 10 meters.
map = binaryOccupancyMap(10,10);
Get world coordinates from grid indices.
[i,j] = meshgrid(1:5); xyWorld = grid2world(map,[i(:) j(:)]);
Input Arguments
map
— Map representation
binaryOccupancyMap
object
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
).
ij
— Grid positions
n-by-2 vertical array
Grid positions, specified as an n-by-2 vertical
array of [i j]
pairs in [rows cols]
format,
where n is the number of grid positions.
Output Arguments
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.
Extended Capabilities
C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.
Version History
Introduced in R2015a
See Also
MATLAB Command
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