nodeType

Get node type of node in factor graph

Syntax

type = nodeType(graph,nodeID)

Description

type = nodeType(graph,nodeID) returns the type type of the specified node nodeID, in the factor graph graph.

Input Arguments

graph — Factor graph

factorGraph object

Factor graph, specified as a factorGraph object.

nodeID — ID of node to check

nonnegative integer

ID of node to check, specified as a nonnegative integer.

Output Arguments

type — Type of node

string scalar

Type of the node, returned as any of these node types:

• "POSE_SE2" — Pose in SE(2) state space

• "POSE_SE3" — Pose in SE(3) state space

• "VEL3" — 3-D velocity

• "POINT_XY" — 2-D point

• "POINT_XYZ" — 3-D point

• "IMU_BIAS" — IMU gyroscope and accelerometer bias

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2022a