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Convert grid indices to local coordinates
Since R2019b
xy = grid2local(map,ij)
example
xy = grid2local(map,ij) converts a [row col] array of grid indices, ij, to an array of local coordinates, xy.
xy
map
ij
[row col]
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Create an empty occupancy map with a width and height of 10 meters.
map = occupancyMap(10,10);
Get local coordinates from grid indices.
[i,j] = meshgrid(1:5); xyLocal = grid2local(map,[i(:) j(:)]);
occupancyMap
mapLayer
multiLayerMap
signedDistanceMap
Map representation, specified as a occupancyMap, mapLayer, multiLayerMap, or signedDistanceMap object.
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.
[i j]
[rows cols]
Local coordinates, specified as an n-by-2 vertical array of [x y] pairs, where n is the number of local coordinates.
[x y]
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The grid2local function now supports the signedDistanceMap object as a new map representation for the map argument.
grid2local
binaryOccupancyMap
local2grid
grid2world
Tiene una versión modificada de este ejemplo. ¿Desea abrir este ejemplo con sus modificaciones?
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