world2local

Convert world coordinates to local coordinates

Syntax

xyLocal = world2local(map,xy)

Description

xyLocal = world2local(map,xy) converts an array of world coordinates to local coordinates.

Input Arguments

map — Map representation

occupancyMap object | mapLayer object | multiLayerMap object

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

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.

Output Arguments

xyLocal — Local coordinates

n-by-2 vertical array

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