# factorTwoPoseSE2

Factor relating two SE(2) poses

## Description

The `factorTwoPoseSE2` object relates two poses in the SE(2) state space for a `factorGraph` object.

## Creation

### Syntax

``F = factorTwoPoseSE2(nodeID)``
``F = factorTwoPoseSE2(nodeID,Name=Value)``

### Description

````F = factorTwoPoseSE2(nodeID)` creates a `factorTwoPoseSE2` object, `F`, with the node identification numbers property, `NodeID`, set to `nodeID`.```

example

````F = factorTwoPoseSE2(nodeID,Name=Value)` specifies properties using one or more name-value arguments. For example, `factorTwoPoseSE2([1,2],Measurement=[1,5,7])` sets the `Measurement` property of the `factorTwoPoseSE2` object to `[1,5,7]`.```

## Properties

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Node ID numbers, specified as a two-element row vector of integers.

If there are no nodes in the factor graph with the specified ID, nodes with the specified IDs are 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 relative pose, specified as a three-element row vector of the form [x y theta].

Data Types: `double`

Information matrix associated with the measurement, specified as a 3-by-3 matrix.

Data Types: `double`

## Object Functions

 `nodeType` Get node type of node in factor graph

## Examples

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Create measurement vector, information matrix, and a node ID number vector. Create a `factorTwoPoseSE2` object, specifying the node IDs, measurement, and information as arguments.

```nodeID = [1 2]; measure = [5 5 pi/2]; info = rand(3,3); f = factorTwoPoseSE2(nodeID,Measurement=measure,Information=info);```

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