M-File Help: Map

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

Create a 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 map parameters 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() displays map parameters in a compact human readable form.

## Notes

- This method is invoked implicitly at the command line when the result of an expression is a Map object and the command has no trailing semicolon.

## See also

map.char

# Map.feature

Get landmarks from map

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

# 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) as above, but the arguments ls are passed to plot and override the default marker style.

## Notes

- The plot is left with HOLD ON.

# Map.show

Show the feature map

## Notes

- Deprecated, use plot method.

# Map.verbosity

Set verbosity

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

© 1990-2014 Peter Corke.