hasNode

Check if node ID exists in factor graph

Since R2022a

Syntax

nodeExist = hasNode(fg,nodeID)

Description

nodeExist = hasNode(fg,nodeID) checks if the nodes with the specified node IDs exist in the factor graph.

Examples

Check If Node Exists in Factor Graph

Create a factor graph and add a GPS factor to the factor graph connected to node 0.

fg = factorGraph;
id = 0

id = 
0

gps = factorGPS(id);
addFactor(fg,gps);

Check if the factor graph contains node 0.

hasNode(fg,id)

ans = logical
   1

Input Arguments

fg — Factor graph

factorGraph object

Factor graph, specified as a factorGraph object.

nodeID — IDs of nodes to check

nonnegative integer | N-element row or column vector of nonnegative integers

IDs of nodes to check, specified as a nonnegative integer or N-element row or column vector of nonnegative integers. N is the total number of nodes to check.

Output Arguments

nodeExist — Node exists in the factor graph

false or 0 | true or 1 | N-element vector of logical values

Node exists in the factor graph, returned as a logical 0 (false) or 1 (true). The function returns 0 if the node does not exist, and 1 if it does exist.

If nodeID is an N-element vector, then nodeExist is returned as an N-element vector of logical values corresponding to each of the specified nodes.

Extended Capabilities

C/C++ Code Generation

Generate C and C++ code using MATLAB® Coder™.

When generating portable C code with a C++ compiler, you must specify hierarchical packing with non-minimal headers. For more information on packaging options, see the packNGo (MATLAB Coder) function.

Version History

Introduced in R2022a

R2026a: Check multiple nodes at once

You can now check if multiple nodes exist in a factor graph at once by specifying nodeID as a vector of node IDs.