bug:factorGraph object function nodeState return always ZERO state after addFactor non-zero values?

It's strange that when i add some non-zero factor state into factorGraph object, before optimizition, use nodeState function to get look state values,but them always return [0,0,0, 1,0,0,0] state, this behavior is very different from poseGraph nodeState.

for example:

f = factorTwoPoseSE3([1 2],Measurement=[10,20,30,1,0,0,0]);
g = factorGraph();
addFactor(g,f);

% use nodeState to get state value
state1 = g.nodeState(1)

state1 = 1×7

0 0 0 1 0 0 0

state2 = g.nodeState(2)

state2 = 1×7

0 0 0 1 0 0 0

you see, state2 is not i expected, it would be reasonable to be [10,20,30,1,0,0].

Answer 1

[Zheng Dong]

Hi Cui,

Sorry for the confusion. This behavior is expected. The node state will only be updated after you optimize the factorGraph. It is different from poseGraph.

Thanks,

Zheng

[xingxingcui]

thanks for your reply, ok, this is different from poseGraph. But how to explain orther similar issues:

• bug: factorGraph does not work for relative measurement angles
• factorGraph:Unclear document function factorTwoPoseSE3/SE2 with input parameter 'Measurement'

We sincerely look forward to hearing from you!