二进制挑选
创建occupancy grid with binary values
Description
这二进制挑选
创建一个二维占用地图对象,您可以用来表示和可视化机器人工作区,包括障碍。传感器数据和位置估计的集成创造了障碍物的近似位置的空间表示。
占用网格用于机器人技术算法,例如路径计划。它们还用于映射应用程序,例如查找无碰撞路径,进行避免碰撞并计算本地化。您可以修改占用网格以适合您的特定应用程序。
Each cell in the occupancy grid has a value representing the occupancy status of that cell. An occupied location is represented astrue (1)
自由位置表示为false (0)
。
这目的keeps track of three reference frames: world, local, and, grid. The world frame origin is defined byGridLocationinworld
,,,,which defines the bottom-left corner of the map relative to the world frame. TheLocalOriginInWorld
属性指定本地框架相对于世界框架的原点的位置。索引的第一个网格位置(1,1)
begins in the top-left corner of the grid.
笔记
This object was previously namedrobotics.BinaryOccupancyGrid
。
创建
句法
Description
map = binaryOccupancyMap
creates a 2-D binary occupancy grid with a width and height of 10m. The default grid resolution is one cell per meter.
map = binaryoccupancymap(行,cols,
创建一个大小的2D二元占用网格(解析度
,“网格”)rows
,,,,科尔斯
)。
map = binaryoccupancymap(
creates a grid from the values in matrixp
)p
。这size of the grid matches the size of the matrix, with each cell value interpreted from its location in the matrix.p
contains any numeric or logical type with zeros (0) and ones (1).
map = binaryoccupancymap(
creates a map from a matrix with thep
,,,,解析度
)Resolution
属性以每米的单元格方式指定。
Input Arguments
特性
Object Functions
校验 |
检查位置的占用值 |
getOccupancy |
获得位置的占用价值 |
grid2local |
Convert grid indices to local coordinates |
grid2world |
将网格索引转换为世界坐标 |
inflate |
充气每个被占用的网格位置 |
insertRay |
Insert ray from laser scan observation |
local2grid |
Convert local coordinates to grid indices |
local2world |
将本地坐标转换为世界坐标 |
move |
Move map in world frame |
占领 |
Convert occupancy grid to matrix |
射线广播 |
沿射线计算单元格指数 |
rayIntersection |
Find intersection points of rays and occupied map cells |
Setoccupancy |
设定位置的占用价值 |
节目 |
显示占用网格值 |
Syncwith |
Sync map with overlapping map |
world2grid |
Convert world coordinates to grid indices |
world2local |
将世界坐标转换为本地坐标 |