# factorPoseSE3Prior

Full-state prior factor for SE(3) pose

## Description

The `factorPoseSE3Prior` object is a full-state prior factor for an SE(3) state space pose for a `factorGraph` object.

## Creation

### Syntax

``F = factorPoseSE3Prior(nodeID)``
``F = factorPoseSE3Prior(nodeID,Name=Value)``

### Description

example

````F = factorPoseSE3Prior(nodeID)` creates a `factorPoseSE3Prior` object, `F`, with the node identification numbers property, `NodeID`, set to `nodeID`.```
````F = factorPoseSE3Prior(nodeID,Name=Value)` specifies properties using one or more name-value arguments. For example, `factorPoseSE3Prior(1,Measurement=[1,2,3,4,5,6,7])` sets the `Measurement` property of the `factorPoseSE3Prior` object to `[1,2,3,4,5,6,7]`.```

## Properties

expand all

Node ID number, specified as a nonnegative integer. The `factorPoseSE3Prior` 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 absolute SE(3) prior pose in local coordinates, specified as a seven-element row vector of the form [x y z qw qx qy qz]. x, y, and z are the change in position in x, y, and z respectively. qw, qx, qy, and qz are the change in quaternion rotation in w, x, y, and z 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

collapse all

Create a prior SE(3) pose factor with a node ID of `1`.

`f = factorPoseSE3Prior(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