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Prior factor for 3-D velocity


The factorVelocity3Prior object is a factor that has information for a prior velocity in 3-D for a factorGraph object.




F = factorVelocity3Prior(nodeID) creates a factorVelocity3Prior object, F, with the node identification numbers property, NodeID, set to nodeID.

F = factorVelocity3Prior(nodeID,Name=Value) specifies properties using one or more name-value arguments. For example, factorVelocity3Prior(1,Measurement=[1,5,7]) sets the Measurement property of the factorVelocity3Prior object to [1,5,7].


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This property is read-only.

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

You must specify this property at object creation.

Measured relative velocity, specified as a three-element row vector of the form [xz yz vz].

Information matrix associated with the measurement, specified as a 3-by-3 matrix.

Object Functions

nodeTypeGet node type of node in factor graph


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Create a velocity prior factor with a node ID of 1.

f = factorVelocity3Prior(1);

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

g = factorGraph;

Version History

Introduced in R2022a