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Make an occupancy map
map = makemap(n) is an occupancy grid map (NxN) created by a simple interactive editor. The map is initially unoccupied and obstacles can be added using geometric primitives.
map = makemap() as above but n=128.
map = makemap(map0) as above but the map is initialized from the occupancy grid map0, allowing obstacles to be added.
With focus in the displayed figure window the following commands can be entered:
left button | click and drag to create a rectangle |
p | draw polygon |
c | draw circle |
u | undo last action |
e | erase map |
q | leave editing mode and return map |
© 1990-2012 Peter Corke.