Poses of nodes in pose graph
nodeIDs — Node IDs
positive integer | vector of positive integers
Node IDs, specified as a positive integer or vector of positive integers. Each node added gets an ID sequentially in the graph.
measurements — Measurements between nodes
n-by-3 matrix | n-by-7 matrix
Measurements between nodes, returned as an n-by-3 matrix or n-by-7 matrix.
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. For
theta is returned as
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
nodeEstimates was renamed
Behavior change in future release
nodeEstimates object function was renamed from
nodeEstimates when calling
C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.
Use this syntax when constructing
poseGraph3D objects for code generation:
poseGraph('MaxNumEdges',maxEdges,'MaxNumNodes',maxNodes) 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.