bug:factorGraph object function nodeState return always ZERO state after addFactor non-zero values?

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cui,xingxing
cui,xingxing 2023-1-5
评论： cui,xingxing 2023-1-6
Ran in:
It's strange that when i add some non-zero factor state into factorGraph object, before optimizition, use nodeState function to get look state values,but them always return [0,0,0, 1,0,0,0] state, this behavior is very different from poseGraph nodeState.
for example:
f = factorTwoPoseSE3([1 2],Measurement=[10,20,30,1,0,0,0]);
g = factorGraph();
addFactor(g,f);
% use nodeState to get state value
state1 = g.nodeState(1)
state1 = 1×7
0 0 0 1 0 0 0
state2 = g.nodeState(2)
state2 = 1×7
0 0 0 1 0 0 0
you see, state2 is not i expected, it would be reasonable to be [10,20,30,1,0,0].

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回答（1 个）

Zheng Dong
Zheng Dong 2023-1-5
Hi Cui,
Sorry for the confusion. This behavior is expected. The node state will only be updated after you optimize the factorGraph. It is different from poseGraph.
Thanks,
Zheng

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