nodeIDs

Get node IDs in factor graph

Since R2022a

Syntax

ids = nodeIDs(graph)

ids = nodeIDs(graph,Name=Value)

Description

ids = nodeIDs(graph) gets all node IDs, ids, currently in the factor graph graph.

ids = nodeIDs(graph,Name=Value) specifies options using one or more name-value arguments.

Input Arguments

graph — Factor graph

factorGraph object

Factor graph, specified as a factorGraph object.

Name-Value Arguments

Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Example: nodeIDs(fg,GroupID=1) retrieves all of the node IDs of factor graph fg that are associated with group 1.

NodeType — Node type of desired nodes in factor graph

string scalar | character vector

Node type of the desired nodes in the factor graph, specified as one of these options:

• "POSE_SE2" — Pose in SE(2) state space

• "POSE_SE3" — Pose in SE(3) state space

• "VEL3" — 3-D velocity

• "POINT_XY" — 2-D point

• "POINT_XYZ" — 3-D point

• "IMU_BIAS" — IMU gyroscope and accelerometer bias

Example: nodeIDs(fg,NodeType="POSE_SE2") retrieves all of the node IDs of nodes that are of node type POSE_SE2.

Data Types: char | string

FactorType — Factor type that nodes relate to in factor graph

string scalar | character vector

Factor type that the nodes relate to in the factor graph, specified as one of these options:

• "factorIMU" — factorIMU

• "factorGPS" — factorGPS

• "factorCameraSE3AndPointXYZ" — factorCameraSE3AndPointXYZ

• "factorPoseSE2AndPointXY" — factorPoseSE2AndPointXY

• "factorPoseSE3AndPointXYZ" — factorPoseSE3AndPointXYZ

• "factorTwoPoseSE2" — factorTwoPoseSE2

• "factorTwoPoseSE3" — factorTwoPoseSE3

• "factorIMUBiasPrior" — factorIMUBiasPrior

• "factorPoseSE3Prior" — factorPoseSE3Prior

• "factorVelocity3Prior" — factorVelocity3Prior

Example: nodeIDs(fg,FactorType="factorTwoPoseSE2") retrieves all of the node IDs of nodes that relate to factors of type factorTwoPoseSE2.

Data Types: char | string

GroupID — Group ID of desired nodes

nonnegative integer | N-element row vector of nonnegative integers

Group ID of desired nodes, specified as a nonnegative integer or N-element row vector of nonnegative integers. N is the number of groups.

If GroupID is an N-element row vector of nonnegative integers, there must be no duplicate group IDs in the vector.

To add nodes to a group, specify the group using the groupID argument of the addFactor function.

Example: nodeIDs(fg,GroupID=4) retrieves all of the node IDs of nodes that are in group 4.

Output Arguments

ids — Node IDs

N-element row vector

Node IDs of all nodes that fit the specified criteria within the specified factorGraph object, returned as an N-element row vector. N is the number of returned nodes. Note that the node IDs may not be continuous within the vector.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2022a

R2023a: Get node IDs that match node type, factor type, or group ID

nodeIDs now supports getting node IDs that match node type, factor type, or group ID.