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Full-state prior factor for SE(3) pose


The factorPoseSE3Prior object is a full-state prior factor for an SE(3) state space pose for a factorGraph object.




F = factorPoseSE3Prior(nodeID) creates a factorPoseSE3Prior object, F, with the node identification numbers property, NodeID, set to nodeID.

F = factorPoseSE3Prior(nodeID,Name=Value) specifies properties using one or more name-value arguments. For example, factorPoseSE3Prior(1,Measurement=[1,2,3,4,5,6,7]) sets the Measurement property of the factorPoseSE3Prior object to [1,2,3,4,5,6,7].


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This property is read-only.

Node ID number, specified as a nonnegative integer. The factorPoseSE3Prior object factor connects to this node in the factor graph.

If there is no node in the factor graph with the specified ID, a node with that ID is automatically created and added to the factor graph when this factor is added to the factor graph.

You must specify this property at object creation.

Data Types: int

Measured absolute SE(3) prior pose in local coordinates, specified as a seven-element row vector of the form [x y z qw qx qy qz]. x, y, and z are the change in position in x, y, and z respectively. qw, qx, qy, and qz are the change in quaternion rotation in w, x, y, and z respectively.

Data Types: double

Information matrix associated with the measurement, specified as a 6-by-6 matrix.

Data Types: double

Object Functions

nodeTypeGet node type of node in factor graph


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Create a prior SE(3) pose factor with a node ID of 1.

f = factorPoseSE3Prior(1);

Create a default factor graph and add the factor to the graph using the addFactor function.

g = factorGraph;

Extended Capabilities

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

Version History

Introduced in R2022a