Convert grid indices to local coordinates
map— Map representation
Map representation, specified as a
occupancyMap object. This object represents the environment of the vehicle.
The object contains a matrix grid with values representing the probability of the
occupancy of that cell. Values close to 1 represent a high certainty that the cell
contains an obstacle. Values close to 0 represent certainty that the cell is not
occupied and obstacle free.
ij— Grid positions
Grid positions, specified as an n-by-2 vertical array of
[i j] pairs in
[rows cols] format, where
n is the number of grid positions.
xy— Local coordinates
Local coordinates, specified as an n-by-2 vertical array of
[x y] pairs, where n is the number of local