M-File Help: Map View code for Map

Map

Map of planar point features

A Map object represents a square 2D environment with a number of landmark feature points.

Methods

plot Plot the feature map
feature Return a specified map feature
display Display map parameters in human readable form
char Convert map parameters to human readable string

Properties

map Matrix of map feature coordinates 2xN
dim The dimensions of the map region x,y in [-dim,dim]
nfeatures The number of map features N

Examples

To create a map for an area where X and Y are in the range -10 to +10 metres and with 50 random feature points

map = Map(50, 10);

which can be displayed by

map.plot();

Reference

Robotics, Vision & Control, Chap 6, Peter Corke, Springer 2011

See also

RangeBearingSensor, EKF


Map.Map

Map of point feature landmarks

m = Map(n, dim, options) is a Map object that represents n random point features in a planar region bounded by +/-dim in the x- and y-directions.

Options

'verbose' Be verbose

Map.char

Convert vehicle parameters and state to a string

s = M.char() is a string showing map parameters in a compact human readable format.


Map.display

Display map parameters

M.display() display map parameters in a compact human readable form.

Notes

See also

map.char


Map.feature

Return the specified map feature

f = M.feature(k) is the coordinate (2x1) of the k'th feature.


Map.plot

Plot the map

M.plot() plots the feature map in the current figure, as a square region with dimensions given by the M.dim property. Each feature is marked by a black diamond.

M.plot(ls) plots the feature map as above, but the arguments ls are passed to plot and override the default marker style.

Notes


Map.show

Show the feature map

Notes


Map.verbosity

Set verbosity

M.verbosity(v) set verbosity to v, where 0 is silent and greater values display more information.


 

© 1990-2012 Peter Corke.