factorIMUBiasPrior

Prior factor for IMU bias

Description

The `factorIMUBiasPrior` object is a factor that has prior information for an IMU bias for a `factorGraph` object.

Creation

Syntax

``F = factorIMUBiasPrior(nodeID)``
``F = factorIMUBiasPrior(nodeID,Name=Value)``

Description

example

````F = factorIMUBiasPrior(nodeID)` creates a `factorIMUBiasPrior` object, `F`, with the node identification numbers property, `NodeID`, set to `nodeID````
````F = factorIMUBiasPrior(nodeID,Name=Value)` specifies properties using one or more name-value arguments. For example, `factorIMUBiasPrior(1,Measurement=[1,2,3,1,2,3])` sets the `Measurement` property of the `factorIMUBiasPrior` object to `[1,2,3,1,2,3]`.```

Properties

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Node ID number, specified as a nonnegative integer. The `factorIMUBiasPrior` object factor connects to this node in the factor graph.

If there is no node in the factor graph with the specified ID, a node with that ID is automatically created and added to the factor graph when this factor is added to the factor graph.

You must specify this property at object creation.

Data Types: `int`

Measured prior IMU bias, specified as a six-element row vector in the form [GyroBias, AccelBias], where GyroBias and AccelBias are three-element row vectors of the gyro bias and acceleration bias in radians per second and meters per second respectively.

Data Types: `double`

Information matrix associated with the measurement, specified as a 6-by-6 matrix.

Data Types: `double`

Object Functions

 `nodeType` Get node type of node in factor graph

Examples

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Create an IMU bias prior factor with a node ID of `1`.

`f = factorIMUBiasPrior(1);`

Create a default factor graph and add the factor to the graph using the `addFactor` function.

```g = factorGraph; addFactor(g,f);```

Version History

Introduced in R2022a