From a3eacaa5ab39985d3c73f07af2c83ed40a31acd2 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 8 Aug 2022 18:03:14 -0400
Subject: [PATCH] fix adding priors in Switching

---
 gtsam/hybrid/tests/Switching.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/hybrid/tests/Switching.h b/gtsam/hybrid/tests/Switching.h
index ac440d2a5..52ef0439e 100644
--- 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);
     }