From 087c0cc5258bf1711f0c3f3aef74340d7de9355e Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 26 Jan 2025 12:17:05 -0500
Subject: [PATCH] allow for only continuous variables in HybridBayesTree

---
 gtsam/hybrid/HybridBayesTree.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/gtsam/hybrid/HybridBayesTree.cpp b/gtsam/hybrid/HybridBayesTree.cpp
index c74930a8e..fbf892235 100644
--- a/gtsam/hybrid/HybridBayesTree.cpp
+++ b/gtsam/hybrid/HybridBayesTree.cpp
@@ -202,6 +202,11 @@ VectorValues HybridBayesTree::optimize(const DiscreteValues& assignment) const {
 
 /* ************************************************************************* */
 void HybridBayesTree::prune(const size_t maxNrLeaves) {
+  if (!this->roots_.at(0)->conditional()->asDiscrete()) {
+    // Root of the BayesTree is not a discrete clique, so we do nothing.
+    return;
+  }
+
   auto prunedDiscreteProbs =
       this->roots_.at(0)->conditional()->asDiscrete<TableDistribution>();