isInsideSubmap

Check if query position is inside selected submap

Syntax

isInside = isInsideSubmap(ndtMap pos)

[isInside,distToEdge] = isInsideSubmap(ndtMap,pos)

Description

isInside = isInsideSubmap(ndtMap pos) check if the query position pos, is inside the selected submap of the NDT map ndtMap.

[isInside,distToEdge] = isInsideSubmap(ndtMap,pos) also returns the distance from the query position to the closest edge of the submap along the X-,Y-, and Z-axes respectively.

Examples

Check If Query Position Is in Submap

Load an NDT map from a MAT file.

data = load('ndtMapParkingLot.mat');
ndtMap = data.ndtMapParkingLot;

Select a submap with a specified center and set size.

center = [40 0 0];
sz = [50 50 20];
ndtMap = selectSubmap(ndtMap,center,sz);

Display the extent of the submap.

disp(ndtMap.SelectedSubmap)

   15.0000   65.0000  -25.0000   25.0000   -9.1840    5.4975

Check if a query position is inside the submap.

pos1 = [40 0 0]; % near center
[isInside1,distToEdge1] = isInsideSubmap(ndtMap,pos1)

isInside1 = logical
   1

distToEdge1 = 1×3

   25.0000   25.0000    5.4975

pos2 = [66 0 0]; % completely outside
[isInside2,distToEdge2] = isInsideSubmap(ndtMap,pos2)

isInside2 = logical
   0

distToEdge2 = 1×3

    1.0000   25.0000    5.4975

pos3 = [60 0 0]; % inside, 5 meters from edge in x direction
[isInside3,distToEdge3] = isInsideSubmap(ndtMap,pos3)

isInside3 = logical
   1

distToEdge3 = 1×3

    5.0000   25.0000    5.4975

Input Arguments

ndtMap — NDT map

pcmapndt object

NDT map, specified as a pcmapndt object.

pos — Query position

3-element vector

Query position, specified as a 3-element vector of the form [x y z].

Output Arguments

isInside — Indication of position inside submap

true | false

Indication of position inside submap, returned as a logical true or false.

distToEdge — Distance from the query position to closest edge of the submap

3-element vector

Distance from the query position to the closest edge of the submap in the X-, Y-, and Z-axes respectively, returned as a 3-element vector.

Extended Capabilities

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

GPU Code Generation
Generate CUDA® code for NVIDIA® GPUs using GPU Coder™.

Version History

Introduced in R2021a