grid2world

Convert grid indices to world coordinates

Syntax

xyWorld = grid2world(map,ijGrid)

Description

xyWorld = grid2world(map,ijGrid) converts grid indices in the map to world coordinates.

Examples

Convert Grid Indices in Occupancy Map to World Coordinates

Create an empty occupancy map with a width and height of 10 meters.

map = occupancyMap(10,10);

Get world coordinates from grid indices.

[i,j] = meshgrid(1:5);
xyWorld = grid2world(map,[i(:) j(:)]);

Input Arguments

map — Map representation

occupancyMap object | mapLayer object | multiLayerMap object | signedDistanceMap object

Map representation, specified as a occupancyMap, mapLayer, multiLayerMap, or signedDistanceMap object.

ijGrid — Grid positions

n-by-2 matrix

Grid positions, specified as an n-by-2 matrix of [i j] pairs in [rows cols] format, where n is the number of grid positions. The grid cell locations are counted from the top left corner of the grid.

Data Types: double

Output Arguments

xyWorld — World coordinates

n-by-2 matrix

World coordinates, returned as an n-by-2 matrix of [x y] pairs, where n is the number of world coordinates.

Data Types: double

Extended Capabilities

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

Version History

Introduced in R2019b

R2023a: Signed Distance Map Support

The grid2world function now supports the signedDistanceMap object as a new map representation for the map argument.