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Typical steps of planning evaluation in robotics consists of following steps
For evaluation of the path, different metrics can be used. In general following properties are examined:
The relation between the grid map represented as an array and the real world is given by transformation of coordinates. This transformation is essential in execution of the planned path in the simulator or on the real robot. The main idea of the coordinates system transformation is visualized in the following figure.
As it can be seen, the coordinate systems transformation requires x,y offsets of the coordinate frame origins and the size of the map voxel. The transformation of map coordinates $(x_m, y_m)$ to simulator coordinates $(x_s, y_s)$ is then given as: $x_s = x_m\cdot voxelSize - offset_x,\quad\quad y_s = -y_m\cdot voxelSize + offset_y$ And vice versa, the transformation of simulator coordinates $(x_s, y_s)$ to map coordinates $(x_m, y_m)$ are given as: $x_m = \text{round}\left(\dfrac{x_s + offset_x}{voxelSize}\right), \quad\quad y_m = \text{round}\left(-\dfrac{y_s - offset_y}{voxelSize}\right)$