setOccupancy

Set occupancy value of locations

Syntax

setOccupancy(map,xy,occval)

setOccupancy(map,xy,occval,"local")

setOccupancy(map,ij,occval,"grid")

validPts = setOccupancy(___)

setOccupancy(map,bottomLeft,inputMatrix)

setOccupancy(map,bottomLeft,inputMatrix,"local")

setOccupancy(map,topLeft,inputMatrix,"grid")

Description

The setOccupancy function assigns occupancy values of specified locations in the binary occupancy map.

setOccupancy(map,xy,occval) assigns occupancy values, occval, to the input array of world coordinates, xy in the occupancy grid, map. Each row of the array, xy, is a point in the world and is represented as an [x y] coordinate pair. occval is either a scalar or a single column array of the same length as xy. An occupied location is represented as true (1), and a free location is represented as false (0).

setOccupancy(map,xy,occval,"local") assigns occupancy values, occval, to the input array of local coordinates, xy, as local coordinates.

setOccupancy(map,ij,occval,"grid") assigns occupancy values, occval, to the input array of grid indices, ij, as [rows cols].

validPts = setOccupancy(___) outputs an n-element vector of logical values indicating whether input coordinates are within the map limits.

setOccupancy(map,bottomLeft,inputMatrix) assigns a matrix of occupancy values by specifying the bottom-left corner location in world coordinates.

setOccupancy(map,bottomLeft,inputMatrix,"local") assigns a matrix of occupancy values by specifying the bottom-left corner location in local coordinates.

setOccupancy(map,topLeft,inputMatrix,"grid") assigns a matrix of occupancy values by specifying the top-left cell index in grid indices and the matrix size.

Examples

Create and Modify Binary Occupancy Grid

Create a 10m x 10m empty map.

map = binaryOccupancyMap(10,10,10);

Set occupancy of world locations and show map.

x = [1.2; 2.3; 3.4; 4.5; 5.6];
y = [5.0; 4.0; 3.0; 2.0; 1.0];

setOccupancy(map, [x y], ones(5,1))
figure
show(map)

Inflate occupied locations by a given radius.

inflate(map, 0.5)
figure
show(map)

Get grid locations from world locations.

ij = world2grid(map, [x y]);

Set grid locations to free locations.

setOccupancy(map, ij, zeros(5,1), 'grid')
figure
show(map)

Input Arguments

map — Map representation

binaryOccupancyMap object

Map representation, specified as a binaryOccupancyMap object. This object represents the environment of the robot. The object contains a matrix grid with binary values indicating obstacles as true (1) and free locations as false (0).

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.

Data Types: double

ij — Grid positions

n-by-2 vertical array

Grid positions, specified as an n-by-2 vertical array of [i j] pairs in [rows cols] format, where n is the number of grid positions.

Data Types: double

occval — Occupancy values

n-by-1 vertical array

Occupancy values of the same length as either xy or ij, returned as an n-by-1 vertical array, where n is the same n in either xy or ij. Values are given between 0 and 1 inclusively.

inputMatrix — Occupancy values

matrix

Occupancy values, specified as a matrix. Values are given between 0 and 1 inclusively.

bottomLeft — Location of output matrix in world or local

two-element vector | [xCoord yCoord]

Location of bottom left corner of output matrix in world or local coordinates, specified as a two-element vector, [xCoord yCoord]. Location is in world or local coordinates based on syntax.

Data Types: double

topLeft — Location of grid

two-element vector | [iCoord jCoord]

Location of top left corner of grid, specified as a two-element vector, [iCoord jCoord].

Data Types: double

Output Arguments

validPts — Valid map locations

n-by-1 column vector

Valid map locations, returned as an n-by-1 column vector equal in length to xy or ij. Locations inside the map return a value of 1. Locations outside the map limits return a value of 0.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2015a