Pose graph, specified as a poseGraph or poseGraph3D object.

Relative pose between nodes, specified as one of the following:

For poseGraph (2-D), the pose is a [x y theta] vector, which defines a xy-position and orientation angle, theta.

For poseGraph3D, the pose is a [x y z qw qx qy qz] vector, which defines by an xyz-position and quaternion orientation, [qw qx qy qz]

Information matrix, specified as a 6-element or 21-element vector. This vector contains the elements of the upper triangle of the square information matrix (compact form). The information matrix is the inverse of the covariance of the pose and represents the uncertainty of the measurement. If the pose vector is [x y theta], the covariance is a 3-by-3 matrix of pairwise covariance calculations. Typically, the uncertainty is determined by the sensor model.

For poseGraph (2-D), the information matrix is a six-element vector. The default is [1 0 0 1 0 1].

For poseGraph3D, the information matrix is a 21-element vector. The default is [1 0 0 0 0 0 1 0 0 0 0 1 0 0 0 1 0 0 1 0 1].

Node to attach from, specified as a positive integer. This integer corresponds to the node ID of a node in poseGraph. When specified without toNodeID, addRelativePose creates a new node and adds an edge between the new node and the fromNodeID node.

Node to attach to, specified as a positive integer. This integer corresponds to the node ID of a node in poseGraph. addRelativePose adds an edge between this node and the fromNodeID node.