Prior factor for 3-D velocity
factorVelocity3Prior object is a factor that has information
for a prior velocity in 3-D for a
F = factorVelocity3Prior(
F, with the
node identification numbers property
NodeID set to
specifies properties using one or more name-value arguments. For example,
F = factorVelocity3Prior(
factorVelocity3Prior(1,Measurement=[1 5 7]) sets the
Measurement property of the
[1 5 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
the factor graph using the specified node ID.
If a factor in the
factorVelocity3Prior object specifies ID that does not
correspond to a node in the factor graph, the factor graph automatically creates an
VEL3 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 prior velocity
zeros(N,3) (default) | N-by-3 matrix
Measured prior velocity, specified as an N-by-3 matrix, where each row is of the form [xz yz vz]. N is the total number of factors. xz, yz, and vz are the velocity of the x, y, and z positions, respectively.
Information — Information matrix associated with measurements
eye(3) (default) | 3-by-3 matrix | 3-by-3-N array
Information matrix associated with the measurement, specified as a 3-by-3 matrix or a
3-by-3-N matrix. N is the total number of
factors specified by this
factorVelocity3Prior object. Each information matrix
corresponds to the measurements of the specified nodes in
If you specify this property as a 3-by-3 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