grid2local

Convert grid indices to local coordinates

Syntax

xyLocal = grid2local(map,ijGrid)

Description

xyLocal = grid2local(map,ijGrid) converts grid indices in the map to local coordinates.

Examples

Convert Grid Indices in Occupancy Map to Local Coordinates

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

map = occupancyMap(10,10);

Get local coordinates from grid indices.

[i,j] = meshgrid(1:5);
xyLocal = grid2local(map,[i(:) j(:)]);

Input Arguments

map — Map representation

occupancyMap object | mapLayer object | multiLayerMap object | signedDistanceMap object

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

ijGrid — Grid positions

n-by-2 matrix

Grid positions, specified as an n-by-2 matrix of [i j] pairs in [rows cols] 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

Output Arguments

xyLocal — Local coordinates

n-by-2 matrix

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

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 grid2local function now supports the signedDistanceMap object as a new map representation for the map argument.