Main Content

nodeType

Get node type of node in factor graph

Since R2022a

collapse all in page

Syntax

type = nodeType(fg,nodeID)
type = nodeType(factor,nodeID)

Description

example

type = nodeType(fg,nodeID) returns the type of the node with the specified node ID in the factor graph.

example

type = nodeType(factor,nodeID) returns the type of the node with the specified node ID in the factor graph.

Examples

collapse all

Open Live Script

Create factor graph, and generate node IDs one factorPoseSE2AndPointXY factor. Then create the factorPoseSE2AndPointXY factor and add the factor to the factor graph.

fg = factorGraph;
ids = generateNodeID(fg,1,"factorPoseSE2AndPointXY")
ids = 1×2

     0     1


f = factorPoseSE2AndPointXY(ids);
addFactor(fg,f);

Get the types of node 0 and node 1.

nodeType(fg,0)
ans = 
"POSE_SE2"

nodeType(fg,1)
ans = 
"POINT_XY"
Open Live Script

Generate node IDs to create one factorPoseSE2AndPointXY factor and then create the factorPoseSE2AndPointXY factor.

f = factorPoseSE2AndPointXY([0 1]);

Get the types of node 0 and node 1.

nodeType(f,0)
ans = 
"POSE_SE2"

nodeType(f,1)
ans = 
"POINT_XY"

Input Arguments

collapse all

Factor graph, specified as a factorGraph object.

ID of node to check, specified as a nonnegative integer.

Output Arguments

collapse all

Type of the node, returned as one of these node types:

  • "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

Extended Capabilities

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

Version History

Introduced in R2022a

See Also

Objects