# factorIMUBiasPrior

Prior factor for IMU bias

## Description

The `factorIMUBiasPrior` object is a factor that has prior information for an IMU bias for a `factorGraph` object.

## Creation

### Syntax

``F = factorIMUBiasPrior(nodeID)``
``F = factorIMUBiasPrior(nodeID,Name=Value)``

### Description

example

````F = factorIMUBiasPrior(nodeID)` creates a `factorIMUBiasPrior` object, `F`, with the node identification numbers property, `NodeID`, set to `nodeID````
````F = factorIMUBiasPrior(nodeID,Name=Value)` specifies properties using one or more name-value arguments. For example, `factorIMUBiasPrior(1,Measurement=[1,2,3,1,2,3])` sets the `Measurement` property of the `factorIMUBiasPrior` object to `[1,2,3,1,2,3]`.```

## Properties

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Node ID number of the factor in the factor graph, specified as a nonnegative integer.

You must specify this property at object creation.

Measured prior IMU bias, specified as a six-element row vector in the form [GyroBias, AccelBias], where GyroBias and AccelBias are three-element row vectors of the gyro bias and acceleration bias in radians per second and meters per second respectively.

Information matrix associated with the measurement, specified as a 6-by-6 matrix.

## Object Functions

 `nodeType` Get node type of node in factor graph

## Examples

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Create an IMU bias prior factor with a node ID of `1`.

`f = factorIMUBiasPrior(1);`

Create a default factor graph and add the factor to the graph using the `addFactor` function.

```g = factorGraph; addFactor(g,f);```

## Version History

Introduced in R2022a