Path planning using plannerAStarGrid in meters

Is it possible to path planning using the plannerAStarGrid function in meters? Because how to create a planner is by default in rows and columns even if the map was specified in meters. Or is it possible to do some conversion of these rows and columns to meters?

Answer 1

[Ankur Srivastava]

% Creating a blank map
map = binaryOccupancyMap(10,10);

% Creating plannerAStarGrid object
astar = plannerAStarGrid(map);

% Planning in grid frame i.e. row/column
pathRC = astar.plan([1 1],[4,9]);

% Planning in world fram i.e. XY plane in meters
path = astar.plan([1.5 1.5],[4.5 9],'world')