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inflate

Inflate each occupied grid location

Description

example

inflate(map,radius) inflates each occupied position of the map by the radius given in meters. radius is rounded up to the nearest cell equivalent based on the resolution of the map. Every cell within the radius is set to true (1).

inflate(map,gridradius,'grid') inflates each occupied position by the radius given in number of cells.

Examples

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Create a 10m x 10m empty map.

map = binaryOccupancyMap(10,10,10);

Set occupancy of world locations and show map.

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)

Input Arguments

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Map representation, specified as a binaryOccupancyMap object. This object represents the environment of the robot. The object contains a matrix grid with binary values indicating obstacles as true (1) and free locations as false (0).

Dimension that defines how much to inflate occupied locations, specified as a scalar. radius is rounded up to the nearest cell value.

Data Types: double

Dimension that defines how much to inflate occupied locations, specified as a positive scalar. gridradius is the number of cells to inflate the occupied locations.

Data Types: double

Introduced in R2015a