Poses of nodes in pose graph
nodeIDs— Node IDs
Node IDs, specified as a positive integer or vector of positive integers. Each node added gets an ID sequentially in the graph.
measurements— Measurements between nodes
Measurements between nodes, returned as an n-by-3 matrix or n-by-7 matrix.
poseGraph (2-D), each row is an
[x y theta]
vector, which defines the relative xy-position and
theta, of a pose in the graph. For
theta is returned as
poseGraph3D, each row is an
[x y z qw qx qy
qz] vector, which defines the relative
xyz-position and quaternion orientation,
qy qz], of a pose in the graph.
Many other sources for 3-D pose graphs, including
.g2o formats, specify the quaternion orientation
in a different order, for example,
[qx qy qz qw].
Check the source of your pose graph data before adding nodes to your
Behavior change in future release
nodeEstimates object function was renamed from
nodeEstimates when calling
Use this syntax when constructing
poseGraph3D objects for code generation:
poseGraph('MaxNumEdges',maxEdges,'MaxNumNodes',maxNodes) specifies an
upper bound on the number of edges and nodes allowed in the pose graph when
generating code. This limit is only required when generating code.