www.gusucode.com > robotics 案例源码程序 matlab代码 > robotics/CreateAndModifyAnOccupancyGridExample.m
%% Create and Modify Occupancy Grid %% % Create a 10m-by-10m empty map. map = robotics.OccupancyGrid(10,10,10); %% % Update the occupancy of world locations with specific probability values. map = robotics.OccupancyGrid(10,10,10); x = [1.2; 2.3; 3.4; 4.5; 5.6]; y = [5.0; 4.0; 3.0; 2.0; 1.0]; pvalues = [0.2 0.4 0.6 0.8 1]; updateOccupancy(map,[x y],pvalues) figure show(map) %% % Inflate occupied areas by a given radius. Larger occupancy values % overwrite the smaller values. inflate(map,0.5) figure show(map) %% % Get grid locations from world locations. ij = world2grid(map,[x y]); %% % Set grid locations to occupied locations. setOccupancy(map,ij,ones(5,1),'grid') figure show(map)