Is it possible to add occupaied property to mesh in an uavScenario object?

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Massimo Satler
Massimo Satler on 11 Mar 2022
Commented: Massimo Satler on 15 Mar 2022
I would like to add the property IsBinaryOccupied to a "building" mesh in a uavScenario object in a similar way it is possible to do in a robotScenario object.
Just to give an example, this is the desired result:
scene = uavScenario(ReferenceLocation=[43.71890 10.42490 0]);
xlim = [-1000 1000]; ylim = [-1000 1000]; c = [0.6 0.6 0.6];
addMesh(scene,"terrain",{"gmted2010",xlim,ylim},c);
xl = [-800 800]; yl = [-800 800]; col = [0 1 0];
addMesh(scene,"buildings",{"OSMmap.osm",xl,yl,"auto"},col,IsBinaryOccupied=true);
show3D(scene);
this is the equivalent in robotScenario:
scenario = robotScenario(UpdateRate=100,StopTime=1);
addMesh(scenario,"Plane",Size=[3 3],Color=[0.7 0.7 0.7]);
addMesh(scenario,"Box",Size=[0.5 0.5 0.5],Position=[0 0 0.25], ...
Color=[0 1 0],IsBinaryOccupied=true));
show3D(scene);
Then:
occupancyMap = binaryOccupancyMap(scenario,MapHeightLimits=[-1 1], ...
GridOriginInLocal=[-5 -5]);

Answers (1)

Jianxin Sun
Jianxin Sun on 15 Mar 2022
Hi Massimo,
The uavScenario currently doesn't support conversion to binary occupancy map. Thus the IsBinaryOccupied input is not applicable with uavScenario.
Regards,
Jianxin
  1 Comment
Massimo Satler
Massimo Satler on 15 Mar 2022
Do you know if there is some on-going development on it?
I compared both classed definition (i.e. uavScenario and robotScenario) and at fisrt glance, I think it could be enought to include the bynaryOccupancyMap method to the uavScenario and expand it to work on 3D spaces.

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