Create factor graph, and generate node IDs one factorPoseSE2AndPointXY factor. Then create the factorPoseSE2AndPointXY factor and add the factor to the factor graph.
IDs of nodes to check, specified as a nonnegative integer or an
N-element row or column vector of nonnegative integers.
N is the total number of nodes to check. The size and shape of
nodeID depends on the syntax you use to get the type of node. This
table describes the two situations.
Syntax
nodeID
type = nodeType(factor,nodeID)
Nonnegative integer
type = nodeType(fg,nodeID)
N-element row or column vector of nonnegative
integers
Type of the nodes, returned as a string scalar or a cell array of character vectors,
where each string scalar or cell of character vector is one of these node types:
"POSE_SE2" — Pose in SE(2) state space
"POSE_SE3" — Pose in SE(3) state space
"POSE_SE3_SCALE" — Pose scale in SE(3)
state space
"TRANSFORM_SE3" — Sensor transform in
SE(3) state space
"GRAVITY_ROTATION" — Gravity rotation represented as a
quaternion
"POINT_XY" — 2-D point
"POINT_XYZ" — 3-D point
"IMU_BIAS" — IMU gyroscope and accelerometer bias
"VEL3" — 3-D velocity
The output type depends on the syntax you use to get the type of
node. This table describes the two situations.
When generating portable C code with a C++ compiler, you must specify hierarchical
packing with non-minimal headers. For more information on packaging options, see the
packNGo (MATLAB Coder) function.
You can now get the node type for nodes connected by a factorTransformSE3Prior object, which represents a full-state prior
factor for an SE(3) state space transform. The nodeType function can
also return the new node type "GRAVITY_ROTATION", which represents
gravity rotation as a quaternion.
You can now get the node type for nodes connected by the similarity transformation
factor SIM(3) object factorTwoPoseSIM3.
The nodeType function can return the new node types
"POSE_SE3_SCALE" representing pose scale and
"TRANSFORM_SE3" representing sensor transform.
You can now get the node type of multiple nodes in a factor graph at a time by
specifying nodeID as a vector of node IDs.
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