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addFactor

Add factor to factor graph

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Syntax

factorID = addFactor(graph,factor)

Description

factorID = addFactor(graph,factor) adds a factor object, factor, as a node in the specified factorGraph object graph and returns the factor ID, factorID.

Input Arguments

`graph` — Factor graph to add node to
`factorGraph` object

Factor graph to add node to, specified as a factorGraph object.

`factor` — Factor node to add to factor graph
valid factor object

Factor to add to the factor graph, specified as a valid factor object.

Output Arguments

`factorID` — Factor ID of added factor
nonnegative integer

Factor ID of added factor, returned as a nonnegative integer.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2022a

See Also

Objects

factorGraph | factorTwoPoseSE2 | factorTwoPoseSE3 | factorPoseSE3Prior | factorVelocity3Prior | factorIMUBiasPrior | factorGPS | factorIMU

Topics