# edgeConstraints

## Syntax

## Description

lists all edge constraints in the specified pose graph as a relative pose.`measurements`

= edgeConstraints(`poseGraph`

)

`[`

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

,`infoMats`

] = edgeConstraints(`poseGraph`

)

`[`

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

,`infoMats`

] = edgeConstraints(`poseGraph`

,`edgeIDs`

)

## Examples

## Input Arguments

## Output Arguments

## Extended Capabilities

## Version History

**Introduced in R2019b**