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Edge constraints in pose graph

`[`

also returns the information matrices for each edge. The information matrix is the
inverse of the covariance of the pose measurement.`relPoses`

,`infoMatrices`

] = edgeConstraints(`poseGraph`

)

`[`

returns edge constraints for the specified edge IDs.`relPoses`

,`infoMatrices`

] = edgeConstraints(`poseGraph`

,`edgeIDs`

)