# factorTwoPoseSE3

Factor relating two SE(3) poses

## Description

The `factorTwoPoseSE3` object relates two poses in the SE(3) state space for a `factorGraph` object.

## Creation

### Syntax

``F = factorTwoPoseSE3(nodeID)``
``F = factorTwoPoseSE3(nodeID,Name=Value)``

### Description

example

````F = factorTwoPoseSE3(nodeID)` creates a `factorTwoPoseSE3` object, `F`, with the node identification numbers property, `NodeID`, set to `nodeID`.```
````F = factorTwoPoseSE3(nodeID,Name=Value)` specifies properties using one or more name-value arguments. For example, `factorTwoPoseSE3([1,2],Measurement=[1,2,3,4,5,6,7])` sets the `Measurement` property of the `factorTwoPoseSE3` object to `[1,2,3,4,5,6,7]`.```

## Properties

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Node ID numbers that this factor connects to in the factor graph, specified as a two-element row vector of integers.

You must specify this property at object creation.

Measured relative pose, specified as a seven-element row vector of the form [dx dy dz dqw dqx dqy dqz]. dx, dy, and dz are the change in position in x, y, and z respectively. dqw, dqx, dqy, and dqz 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 two pose SE(3) state space factor with the connected node IDs set to `1` and `2`.

`f = factorTwoPoseSE3([1 2]);`

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