copy

Copy factor graph

Since R2026a

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    Syntax

    copyfg = copy(fg)

    Description

    copyfg = copy(fg) creates a deep copy of the specified factor graph with the same properties.

    example

    Examples

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    Open Live Script

    Create factor graph and add factors to the graph.

    fg = factorGraph;
ids = generateNodeID(fg,5,"factorTwoPoseSE2");
poseFactors = factorTwoPoseSE2(ids,Measurement=repmat([1 0 0],5,1));
addFactor(fg,poseFactors);

    Optimize factor graph and get the node states.

    optimize(fg);
stateFG = nodeState(fg,unique(ids))
    stateFG = 6×3

   -2.5000         0         0
   -1.5000         0         0
   -0.5000         0         0
    0.5000         0         0
    1.5000         0         0
    2.5000         0         0

    Create a deep copy of the factor graph and display the node states of the factor graph copy.

    fgCopy = copy(fg);
stateFGCopy = nodeState(fg,unique(ids))
    stateFGCopy = 6×3

   -2.5000         0         0
   -1.5000         0         0
   -0.5000         0         0
    0.5000         0         0
    1.5000         0         0
    2.5000         0         0

    Input Arguments

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    Factor graph, specified as a factorGraph object.

    Output Arguments

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    Factor graph, returned as a factorGraph object. This copies all property values, node states, factors, and calculated covariances from fg.

    Extended Capabilities

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

    Version History

    Introduced in R2026a

    See Also