Convert local coordinates to grid indices
map— Map representation
Map representation, specified as a
occupancyMap object. This object
represents the environment of the vehicle. The object contains a matrix grid
with values representing the probability of the occupancy of that cell.
Values close to 1 represent a high probability that the cell contains an
obstacle. Values close to 0 represent a high probability that the cell is
not occupied and obstacle free.
xy— Local coordinates
Local coordinates, specified as an n-by-2 matrix of
y] pairs, where n is the
number of local coordinates.
ij— Grid positions
Grid positions, returned as an n-by-2 matrix of
j] pairs in
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.