# factorVelocity3Prior

Prior factor for 3-D velocity

## Description

The `factorVelocity3Prior` object is a factor that has information for a prior velocity in 3-D for a `factorGraph` object.

## Creation

### Syntax

``F = factorVelocity3Prior(nodeID)``
``F = factorVelocity3Prior(nodeID,Name=Value)``

### Description

example

````F = factorVelocity3Prior(nodeID)` creates a `factorVelocity3Prior` object, `F`, with the node identification numbers property, `NodeID`, set to `nodeID`.```
````F = factorVelocity3Prior(nodeID,Name=Value)` specifies properties using one or more name-value arguments. For example, `factorVelocity3Prior(1,Measurement=[1,5,7])` sets the `Measurement` property of the `factorVelocity3Prior` object to `[1,5,7]`.```

## Properties

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Node ID number, specified as a nonnegative integer. The `factorVelocity3Prior` object factor connects to this node in the factor graph.

If there is no node in the factor graph with the specified ID, a node with that ID is automatically created and added to the factor graph when this factor is added to the factor graph.

You must specify this property at object creation.

Data Types: `int`

Measured relative velocity, specified as a three-element row vector of the form [xz yz vz].

Data Types: `double`

Information matrix associated with the measurement, specified as a 3-by-3 matrix.

Data Types: `double`

## Object Functions

 `nodeType` Get node type of node in factor graph

## Examples

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Create a velocity prior factor with a node ID of 1.

`f = factorVelocity3Prior(1);`

Create a default factor graph and add the factor to the graph using the `addFactor` function.

```g = factorGraph; addFactor(g,f);```

## Version History

Introduced in R2022a