# factorPoseSE3Prior

Full-state prior factor for SE(3) pose

## Description

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

## Creation

### Syntax

``F = factorPoseSE3Prior(nodeID)``
``F = factorPoseSE3Prior(nodeID,Name=Value)``

### Description

example

````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]`.```

## 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 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

 `nodeType` Get node type of node in factor graph

## Examples

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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; addFactor(g,f);```

## Version History

Introduced in R2022a