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Factor relating two SE(3) poses


The factorTwoPoseSE3 object relates two poses in the SE(3) state space for a factorGraph object.




F = factorTwoPoseSE3(nodeID) creates a factorTwoPoseSE3 object, F, with the node identification numbers property, NodeID, set to nodeID.

F = factorTwoPoseSE3(nodeID,Name=Value) specifies properties using one or more name-value arguments. For example, factorTwoPoseSE3([1,2],Measurement=[1,2,3,4,5,6,7]) sets the Measurement property of the factorTwoPoseSE3 object to [1,2,3,4,5,6,7].


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This property is read-only.

Node ID numbers, specified as a two-element row vector of integers.

If there are no nodes in the factor graph with the specified ID, nodes with the specified IDs are 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 relative pose, specified as a seven-element row vector of the form [dx dy dz dqw dqx dqy dqz]. dx, dy, and dz are the change in position in x, y, and z respectively. dqw, dqx, dqy, and dqz 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 two pose SE(3) state space factor with the connected node IDs set to 1 and 2.

f = factorTwoPoseSE3([1 2]);

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