Prior factor for IMU bias
factorIMUBiasPrior object is a factor that has prior
information for an IMU bias for a
F = factorIMUBiasPrior(
F, with the
node identification numbers property
NodeID set to
specifies properties using one or more name-value arguments. For example,
F = factorIMUBiasPrior(
factorIMUBiasPrior(1,Measurement=[1 2 3 1 2 3]) sets the
Measurement property of the
[1 2 3 1 2 3].
NodeID — Node ID numbers
N-element column vector of nonnegative integers
This property is read-only.
Node ID numbers, specified as an N-element vector of nonnegative
integers, where N is the total number of desired factors. Each
element represents a factor that connects to a node of type
in the factor graph using the specified node ID.
If a factor in the
factorIMUBiasPrior object specifies ID that does not
correspond to a node in the factor graph, the factor graph automatically creates an
IMU_BIAS type node with that ID and adds it to the factor graph
when adding the factor to the factor graph.
You must specify this property at object creation.
Measurement — Measured prior IMU bias
zeros(N,6) (default) | N-by-6 matrix
Measured prior IMU bias, specified as an N-by-6 matrix where each row is in the form [GyroBias, AccelBias]. N is the total number of factors, and GyroBias and AccelBias are three-element row vectors of the gyroscope bias and acceleration bias in radians per second and meters per second, respectively.
Information — Information matrices associated with measurements
eye(6) (default) | 6-by-6 matrix | 6-by-6-by-N array
Information matrices associated with the measurements, specified as a 6-by-6 matrix or
a 6-by-6-by-N array. N is the total number of
factors specified by the
factorIMUBiasPrior object. Each information matrix
corresponds to the measurements of the corresponding node in
If you specify this property as a 6-by-6 matrix when
contains more than one element, the information matrix corresponds to all measurements
|Get node type of node in factor graph|
factorIMUBiasPrior Object to Factor Graph
Create an IMU bias prior factor with a node ID of
f = factorIMUBiasPrior(1);
Create a default factor graph and add the factor to the graph using the
g = factorGraph; addFactor(g,f);
C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.
Version HistoryIntroduced in R2022a
R2023a: Specify multiple factors
Information properties now accept additional rows to specify