raycast

Compute cell indices along a ray

Syntax

[endpoints,midpoints] = raycast(map,pose,range,angle)

[endpoints,midpoints] = raycast(map,p1,p2)

Description

[endpoints,midpoints] = raycast(map,pose,range,angle)returns cell indices of the specifiedmapfor all cells traversed by a ray originating from the specifiedposeat the specifiedangleandrangevalues.endpointscontains all indices touched by the end of the ray, with all other points included inmidpoints.

[endpoints,midpoints] = raycast(map,p1,p2)returns the cell indices of the line segment between the two specified points.

Input Arguments

collapse all

`map`—Map representation
`binaryOccupancyMap`object

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).

`pose`—Position and orientation of sensor
three-element vector

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

`range`—Range of ray
scalar

Range of ray, specified as a scalar in meters.

`angle`—Angle of ray
scalar

Angle of ray, specified as a scalar in radians. The angle value is for the correspondingrange.

`p1`—Starting point of ray
two-element vector

Starting point of ray, specified as an[xy]two-element vector. Points are defined with respect to the world-frame.

`p2`—Endpoint of ray
two-element vector

Endpoint of ray, specified as an[xy]two-element vector. Points are defined with respect to the world-frame.

Output Arguments

collapse all

`endpoints`— Endpoint grid indices
n-by-2 matrix

Endpoint indices, returned as ann-by-2 matrix of[ij]pairs, wherenis the number of grid indices. The endpoints are where therangevalue hits at the specifiedangle. Multiple indices are returned when the endpoint lies on the boundary of multiple cells.

`midpoints`— Midpoint grid indices
n-by-2 matrix

Midpoint indices, returned as ann-by-2 matrix of[ij]pairs, wherenis the number of grid indices. This argument includes all grid indices the ray intersects, excluding the endpoint.

raycast

Syntax

Description

Input Arguments

`map`—Map representation
`binaryOccupancyMap`object