local2world

Convert local coordinates to world coordinates

Syntax

xyWorld = local2world(map,xyLocal)

Description

xyWorld = local2world(map,xyLocal) converts local coordinates in the map to world coordinates.

Examples

Convert Local Coordinates in Occupancy Map to World Coordinates

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

map = occupancyMap(10,10);

Get world coordinates from local coordinates.

[xLocal,yLocal] = meshgrid(0:0.5:2);
xyWorld = local2world(map,[xLocal(:) yLocal(:)]);

Input Arguments

map — Map representation

occupancyMap object | mapLayer object | multiLayerMap object | signedDistanceMap object

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

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 world coordinates.

Data Types: double

Output Arguments

xyWorld — World coordinates

n-by-2 matrix

World coordinates, returned as an n-by-2 matrix of [x y] pairs, where n is the number of world 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 local2world function now supports the signedDistanceMap object as a new map representation for the map argument.