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

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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].

Answers (1)

Zheng Dong
Zheng Dong on 5 Jan 2023
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

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