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Get node type of node in factor graph

Since R2022a


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

Input Arguments

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Factor graph, specified as a factorGraph object.

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

Output Arguments

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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