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# makemap

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

## See also

dxform, PRM, RRT

© 1990-2014 Peter Corke.