Main Content


Full-state prior factor for SE(3) pose


The factorPoseSE3Prior object is a full-state prior factor for an SE(3) state space pose for a factorGraph object.




F = factorPoseSE3Prior(nodeID) creates a factorPoseSE3Prior object, F, with the node identification numbers property, NodeID, set to nodeID.

F = factorPoseSE3Prior(nodeID,Name=Value) specifies properties using one or more name-value arguments. For example, factorPoseSE3Prior(1,Measurement=[1,2,3,4,5,6,7]) sets the Measurement property of the factorPoseSE3Prior object to [1,2,3,4,5,6,7].


expand all

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 absolute SE(3) prior pose in local coordinates, specified as a seven-element row vector of the form [x y z qw qx qy qz]. x, y, and z are the change in position in x, y, and z respectively. qw, qx, qy, and qz are the change in quaternion rotation in w, x, y, and z respectively.

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

Object Functions

nodeTypeGet node type of node in factor graph


collapse all

Create a prior SE(3) pose factor with a node ID of 1.

f = factorPoseSE3Prior(1);

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

g = factorGraph;

Version History

Introduced in R2022a