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rayIntersection

Find intersection points of rays and occupied map cells

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Syntax

intersectionPts = rayIntersection(map,pose,angles,maxrange)

Description

example

intersectionPts= rayIntersection(map,pose,angles,maxrange)returns intersection points of rays and occupied cells in the specifiedmap. Rays emanate from the specifiedposeandangles. Intersection points are returned in the world coordinate frame. If there is no intersection up to the specifiedmaxrange,[NaN NaN]is returned.

Examples

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Open Live Script

Create a binary occupancy grid map. Add obstacles and inflate them. A lower resolution map is used to illustrate the importance of the size of your grid cells. Show the map.

map = binaryOccupancyMap(10,10,2); obstacles = [4 10; 3 5; 7 7]; setOccupancy(map,obstacles,ones(length(obstacles),1)) inflate(map,0.25) show(map)

Figure contains an axes object. The axes object with title Binary Occupancy Grid contains an object of type image.

Find the intersection points of occupied cells and rays that emit from the given vehicle pose. Specify the max range and angles for these rays. The last ray does not intersect with an obstacle within the max range, so it has no collision point.

maxrange = 6; angles = [pi/4,-pi/4,0,-pi/8]; vehiclePose = [4,4,pi/2]; intsectionPts = rayIntersection(map,vehiclePose,angles,maxrange)
intsectionPts =4×23.5000 4.5000 6.0000 6.0000 4.0000 9.0000 NaN NaN

Plot the intersection points and rays from the pose.

holdonplot(intsectionPts(:,1),intsectionPts(:,2),'*r')% Intersection pointsplot(vehiclePose(1),vehiclePose(2),'ob')% Vehicle posefori = 1:3 plot([vehiclePose(1),intsectionPts(i,1)],...[vehiclePose(2),intsectionPts(i,2)],'-b')% Plot intersecting raysendplot([vehiclePose(1),vehiclePose(1)-6*sin(angles(4))],...[vehiclePose(2),vehiclePose(2)+6*cos(angles(4))],'-b')% No intersection ray

Figure contains an axes object. The axes object with title Binary Occupancy Grid contains 7 objects of type image, line.

Input Arguments

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

Position and orientation of the sensor, specified as an[xytheta]vector. The sensor pose is anxandyposition with angular orientationtheta(in radians) measured from thex-axis.

Ray angles emanating from the sensor, specified as a vector with elements in radians. These angles are relative to the specified sensorpose.

Maximum range of laser range sensor, specified as a scalar in meters. Range values greater than or equal tomaxrangeare considered free along the whole length of the ray, up tomaxrange.

Output Arguments

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Intersection points, returned asn-by-2 matrix of[xy]pairs in the world coordinate frame, wherenis the length ofangles.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

See Also

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Topics

Introduced in R2019b

Navigation Toolbox Documentation

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