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Convert local coordinates to grid indices

Since R2019b



ij = local2grid(map,xy) converts an array of local coordinates, xy, to an array of grid indices, ij in [row col] format.


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

map = binaryOccupancyMap(10,10);

Get grid indices from local coordinates.

[xLocal,yLocal] = meshgrid(0:0.5:2);
ij = local2grid(map,[xLocal(:) yLocal(:)]);

Input Arguments

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Map representation, specified as a binaryOccupancyMap object. This object represents the environment of the vehicle.

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

Data Types: double

Output Arguments

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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 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