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nodeType

Get node type of node in factor graph

Since R2022a

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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.

example

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

example

Examples

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Open Live Script

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"
Open Live Script

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

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Factor graph, specified as a factorGraph object.

ID of node to check, specified as a nonnegative integer.

Output Arguments

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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

Version History

Introduced in R2022a

See Also

Objects