fix adding priors in Switching

2022-08-08 18:03:14 -04:00 · 2022-08-08 18:03:14 -04:00 · a3eacaa5ab
parent 51d2f07709
commit a3eacaa5ab
1 changed files with 1 additions and 1 deletions
--- 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);
    }