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grid2local

Convert grid indices to local coordinates

Description

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

Input Arguments

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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).

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

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

Introduced in R2019b