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fix adding priors in Switching

release/4.3a0
Varun Agrawal 2022-08-08 18:03:14 -04:00
parent 51d2f07709
commit a3eacaa5ab
1 changed files with 1 additions and 1 deletions
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2
gtsam/hybrid/tests/Switching.h
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@ -156,7 +156,7 @@ struct Switching {
// Add measurement factors // Add measurement factors
auto measurement_noise = noiseModel::Isotropic::Sigma(1, 0.1); 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>>( nonlinearFactorGraph.emplace_nonlinear<PriorFactor<double>>(
X(k), 1.0 * (k - 1), measurement_noise); X(k), 1.0 * (k - 1), measurement_noise);
} }