Poses of nodes in pose graph
nodes = nodes(poseGraph)
nodes = nodes(poseGraph,nodeIDs)
nodeIDs— Node IDs
Node IDs, specified as a positive integer or vector of positive integers. Each node added gets an ID sequentially in the graph.
nodes— Pose of each node
Pose of each node, specified as an n-by-3 or n-by-7 matrix. These poses are given in global coordinates for the whole pose graph.
PoseGraph (2-D), each row is an
[x y theta]
vector, which defines the relative xy-position and
theta, of a pose in the graph.
PoseGraph3D, each row is an
[x y z qw qx qy
qz] vector, which defines the relative
xyz-position and quaternion orientation,
qy qz], of a pose in the graph.
Many other sources for 3-D pose graphs, including
.g2o formats, specify the quaternion orientation
in a different order, for example,
[qx qy qz qw].
Check the source of your pose graph data before adding nodes to your
Use this syntax when constructing
PoseGraph3D objects for code generation:
specifies an upper bound on the number of edges and nodes allowed in the pose graph
when generating code. This limit is only required when generating code.