copy

Copy factor graph

Since R2026a

Syntax

copyfg = copy(fg)

Description

copyfg = copy(fg) creates a deep copy of the specified factor graph with the same properties.

Examples

Copy Factor Graph

Create factor graph and add factors to the graph.

fg = factorGraph;
ids = generateNodeID(fg,5,"factorTwoPoseSE2");
poseFactors = factorTwoPoseSE2(ids,Measurement=repmat([1 0 0],5,1));
addFactor(fg,poseFactors);

Optimize factor graph and get the node states.

optimize(fg);
stateFG = nodeState(fg,unique(ids))

stateFG = 6×3

   -2.5000         0         0
   -1.5000         0         0
   -0.5000         0         0
    0.5000         0         0
    1.5000         0         0
    2.5000         0         0

Create a deep copy of the factor graph and display the node states of the factor graph copy.

fgCopy = copy(fg);
stateFGCopy = nodeState(fg,unique(ids))

stateFGCopy = 6×3

   -2.5000         0         0
   -1.5000         0         0
   -0.5000         0         0
    0.5000         0         0
    1.5000         0         0
    2.5000         0         0

Input Arguments

fg — Factor graph

factorGraph object

Factor graph, specified as a factorGraph object.

Output Arguments

copyfg — Deep copy of factor graph

factorGraph object

Factor graph, returned as a factorGraph object. This copies all property values, node states, factors, and calculated covariances from fg.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2026a