nodeType

Get node type of node in factor graph

Since R2022a

Syntax

type = nodeType(fg,nodeID)

type = nodeType(factor,nodeID)

type = nodeType(factor)

Description

Factor Graph

type = nodeType(fg,nodeID) returns the type of the node with the specified node ID in the factor graph.

Multi-Node Factors (e.g. factorTwoPoseSE3)

type = nodeType(factor,nodeID) returns the type of the node with the specified node ID that the specified factor connects to.

Use this syntax for these factors:

• factorIMU

• factorTwoPoseSE2

• factorTwoPoseSE3

• factorTwoPoseSIM3

• factorPoseSE2AndPointXY

• factorPoseSE3AndPointXYZ

• factorCameraSE3AndPointXYZ

Single-Node Factors (e.g. factorPoseSE3Prior)

type = nodeType(factor) returns the type of the node that the specified factor connects to.

Use this syntax for these factors:

• factorGPS

• factorPoseSE3Prior

• factorIMUBiasPrior

• factorVelocity3Prior

Examples

Get Node Type of Nodes in Factor Graph

Create factor graph, and generate node IDs one factorPoseSE2AndPointXY factor. Then create the factorPoseSE2AndPointXY factor and add the factor to the factor graph.

fg = factorGraph;
ids = generateNodeID(fg,1,"factorPoseSE2AndPointXY")

ids = 1×2

     0     1

f = factorPoseSE2AndPointXY(ids);
addFactor(fg,f);

Get the types of node 0 and node 1.

nodeType(fg,0)

ans = 
"POSE_SE2"

nodeType(fg,1)

ans = 
"POINT_XY"

Get Node Type of Nodes Specified by Factor

Generate node IDs to create one factorPoseSE2AndPointXY factor and then create the factorPoseSE2AndPointXY factor.

f = factorPoseSE2AndPointXY([0 1]);

Get the types of node 0 and node 1.

nodeType(f,0)

ans = 
"POSE_SE2"

nodeType(f,1)

ans = 
"POINT_XY"

Get Node Type of Node Specified By Single-Node Factor

Create a SE(3) prior pose factor that connects to node ID 1.

f = factorPoseSE3Prior(1);

Get the type of the node that the factor connects to.

nodeType(f)

ans = 
"POSE_SE3"

Input Arguments

fg — Factor graph

factorGraph object

Factor graph, specified as a factorGraph object.

factor — Factor

factor object

Factor, specified as any of these factor objects:

• factorGPS

• factorIMU

• factorCameraSE3AndPointXYZ

• factorPoseSE2AndPointXY

• factorPoseSE3AndPointXYZ

• factorTwoPoseSE2

• factorTwoPoseSE3

• factorTwoPoseSIM3

• factorIMUBiasPrior

• factorPoseSE3Prior

• factorVelocity3Prior

nodeID — ID of node to check

nonnegative integer

ID of node to check, specified as a nonnegative integer.

Output Arguments

type — Type of node

string scalar

Type of the node, returned as one of these node types:

• "POSE_SE2" — Pose in SE(2) state space

• "POSE_SE3" — Pose in SE(3) state space

• "POSE_SE3_SCALE" — Pose scale in SE(3) state space

• "TRANSFORM_SE3" — Sensor transform in SE(3) state space

• "POINT_XY" — 2-D point

• "POINT_XYZ" — 3-D point

• "IMU_BIAS" — IMU gyroscope and accelerometer bias

• "VEL3" — 3-D velocity

Extended Capabilities

C/C++ Code Generation

Generate C and C++ code using MATLAB® Coder™.

When generating portable C code with a C++ compiler, you must specify hierarchical packing with non-minimal headers. For more information on packaging options, see the packNGo (MATLAB Coder) function.

Version History

Introduced in R2022a

R2025a: Support new factor and node types

You can now get the node type for nodes connected by the similarity transformation factor SIM(3) object factorTwoPoseSIM3. The nodeType function can return the new node types "POSE_SE3_SCALE" representing pose scale and "TRANSFORM_SE3" representing sensor transform.