Full-state prior factor for SE(3) pose
factorPoseSE3Prior object is a full-state prior factor for an
SE(3) state space pose for a
F = factorPoseSE3Prior(
F, with the
node identification numbers property
NodeID set to
specifies properties using one or more name-value arguments. For example,
F = factorPoseSE3Prior(
factorPoseSE3Prior(1,Measurement=[1 2 3 4 5 6 7]) sets the
Measurement property of the
[1 2 3 4 5 6 7].
NodeID — Node ID numbers
N-element column vector of nonnegative integers
This property is read-only.
Node ID numbers, specified as an N-element vector of nonnegative
integers, where N is the total number of desired factors. Each
element represents a factor that connects to a node of type
in the factor graph using the specified node ID.
If a factor in the
factorPoseSE3Prior object specifies ID that does not
correspond to a node in the factor graph, the factor graph automatically creates an
POSE_SE3 type node with that ID and adds it to the factor graph
when adding the factor to the factor graph.
You must specify this property at object creation.
For more information about the expected node types of all supported factors, see Expected Node Types of Factor Objects.
Measurement — Measured absolute SE(3) prior pose in local coordinates
zeros(N,3)] (default) | N-by-7 matrix
Measured absolute SE(3) prior pose in local coordinates, specified as an N-by-7 matrix, where each row is of the form [x y z qw qx qy qz]. N is the total number of factors. x, y, and z are the position measurements. qw, qx, qy, and qz are the quaternion rotation measurements.
This measurement provides an initial node state for the specified nodes during optimization.
The specified quaternion is expected to be normalized.
Information — Information matrices associated with measurements
eye(6) (default) | 6-by-6 matrix | 6-by-6-by-N array
Information matrices associated with the measurements, specified as a 6-by-6 matrix or
a 6-by-6-by-N array. N is the total number of
factors specified by the
factorPoseSE3Prior object. Each information matrix
corresponds to the measurements of the corresponding node in
If you specify this property as a 6-by-6 matrix when
contains more than one element, the information matrix corresponds to all measurements
|Get node type of node in factor graph|
Expected Node Types of Factor Objects
These are the node types that the
NodeID property of each factor object specifies and connects to:
|Factor Object||Expected Node Types of Specified Node IDs|
factorPoseSE2AndPointXY([1 2]) creates a 2-D landmark factor connecting to node IDs 1 and 2. If you try to add that factor to a factor graph that already contains nodes 1 and 2, the factor expects nodes 1 and 2 to be of types
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Version HistoryIntroduced in R2022a
R2023a: Specify multiple factors
Information properties now accept additional rows to specify