# checkOccupancy

Check if locations are free or occupied

Since R2019b

## Description

example

iOccval = checkOccupancy(map3D,xyz) returns an array of occupancy values specified at the xyz locations using the OccupiedThreshold and FreeThreshold properties of the input occupancyMap3D object. Each row is a separate xyz location in the map to check the occupancy of. Occupancy values can be obstacle-free (0), occupied (1), or unknown (–1).

## Examples

collapse all

Import a 3-D occupancy map.

map3D = importOccupancyMap3D("citymap.ot")
map3D =
occupancyMap3D with properties:

ProbabilitySaturation: [1.0000e-03 0.9990]
Resolution: 1
OccupiedThreshold: 0.6500
FreeThreshold: 0.2000

Display the map.

show(map3D)

Check the occupancy statuses of different locations and get their occupancy values.

iOccVal1 = checkOccupancy(map3D,[50 15 0])
iOccVal1 = 0
OccVal1 = getOccupancy(map3D,[50 15 0])
OccVal1 = 0.0019
iOccVal2 = checkOccupancy(map3D,[50 15 15])
iOccVal2 = 1
OccVal2 = getOccupancy(map3D,[50 15 15])
OccVal2 = 0.6500
iOccVal3 = checkOccupancy(map3D,[50 15 45])
iOccVal3 = -1
OccVal3 = getOccupancy(map3D,[50 15 45])
OccVal3 = 0.5000

## Input Arguments

collapse all

3-D occupancy map, specified as an occupancyMap3D object.

World coordinates, specified as an n-by-3 matrix of [x y z] points, where n is the number of world coordinates.

## Output Arguments

collapse all

Interpreted occupancy values, returned as a column vector with the same length as xyz.

Occupancy values can be obstacle-free (0), occupied (1), or unknown (–1). These values are determined from the actual probability values and the OccupiedThreshold and FreeThreshold properties of the map3D object.

## Version History

Introduced in R2019b