fix adding priors in Switching

borglab · Aug 8, 2022 · a3eacaa · a3eacaa
1 parent 51d2f07
commit a3eacaa
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/gtsam/hybrid/tests/Switching.h b/gtsam/hybrid/tests/Switching.h
@@ -156,7 +156,7 @@ struct Switching {
 
     // Add measurement factors
     auto measurement_noise = noiseModel::Isotropic::Sigma(1, 0.1);
-    for (size_t k = 1; k <= K; k++) {
+    for (size_t k = 2; k <= K; k++) {
       nonlinearFactorGraph.emplace_nonlinear<PriorFactor<double>>(
           X(k), 1.0 * (k - 1), measurement_noise);
     }