nodeType

Get node type of node in factor graph

Since R2022a

Syntax

type = nodeType(fg,nodeID)

type = nodeType(factor,nodeID)

Description

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

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

Examples

Get Node Type of Nodes in Factor Graph

Create factor graph, and generate node IDs one factorPoseSE2AndPointXY factor. Then create the factorPoseSE2AndPointXY factor and add the factor to the factor graph.

fg = factorGraph;
ids = generateNodeID(fg,1,"factorPoseSE2AndPointXY")

ids = 1×2

     0     1

f = factorPoseSE2AndPointXY(ids);
addFactor(fg,f);

Get the types of node 0 and node 1.

nodeType(fg,0)

ans = 
"POSE_SE2"

nodeType(fg,1)

ans = 
"POINT_XY"

Get Node Type of Nodes Specified by Factor

Generate node IDs to create one factorPoseSE2AndPointXY factor and then create the factorPoseSE2AndPointXY factor.

f = factorPoseSE2AndPointXY([0 1]);

Get the types of node 0 and node 1.

nodeType(f,0)

ans = 
"POSE_SE2"

nodeType(f,1)

ans = 
"POINT_XY"

Input Arguments

fg — Factor graph

factorGraph object

Factor graph, specified as a factorGraph object.

factor — Factor

factor object

Factor, specified as any of these factor objects:

• factorGPS

• factorIMU

• factorCameraSE3AndPointXYZ

• factorPoseSE2AndPointXY

• factorPoseSE3AndPointXYZ

• factorTwoPoseSE2

• factorTwoPoseSE3

• factorIMUBiasPrior

• factorPoseSE3Prior

• factorVelocity3Prior

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 one of these node types:

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

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

• "POINT_XY" — 2-D point

• "POINT_XYZ" — 3-D point

• "IMU_BIAS" — IMU gyroscope and accelerometer bias

• "VEL3" — 3-D velocity

Extended Capabilities

C/C++ Code Generation

Generate C and C++ code using MATLAB® Coder™.

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.

Version History

Introduced in R2022a