grid2local

Convert grid indices to local coordinates

Syntax

xy = grid2local(map,ij)

Description

xy = grid2local(map,ij) converts a [row col] array of grid indices, ij, to an array of local coordinates, xy.

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).

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.

Output Arguments

xy — 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.

Extended Capabilities

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

Version History

Introduced in R2019b