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Set occupancy probability of locations


setOccupancy(map3D,xyz,occval) assigns the occupancy values to each specified xyz coordinate in the 3-D occupancy map.

Input Arguments

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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.

Probability occupancy values, specified as a scalar or a column vector with the same length as xyz. A scalar input is applied to all coordinates in xyz.

Values close to 0 represent certainty that the cell is not occupied and obstacle-free.

Introduced in R2019b