www.gusucode.com > robotics 案例源码程序 matlab代码 > robotics/CreateandModifyBinaryOccupancyGridExample.m
%% Create and Modify Binary Occupancy Grid % Copyright 2015 The MathWorks, Inc. %% % Create a 10m x 10m empty map. map = robotics.BinaryOccupancyGrid(10,10,10); %% % Set occupancy of world locations and show map. map = robotics.BinaryOccupancyGrid(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]; setOccupancy(map, [x y], ones(5,1)) figure show(map) %% % Inflate occupied locations by a given radius. inflate(map, 0.5) figure show(map) %% % Get grid locations from world locations. ij = world2grid(map, [x y]); %% % Set grid locations to free locations. setOccupancy(map, ij, zeros(5,1), 'grid') figure show(map)