From 1cb4599180669630601cae36d82955f5587f8149 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 27 Jan 2025 19:27:39 -0500
Subject: [PATCH] check for nullptr

---
 gtsam/hybrid/HybridGaussianConditional.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/gtsam/hybrid/HybridGaussianConditional.cpp b/gtsam/hybrid/HybridGaussianConditional.cpp
index 78e1f5324..92ae05df6 100644
--- a/gtsam/hybrid/HybridGaussianConditional.cpp
+++ b/gtsam/hybrid/HybridGaussianConditional.cpp
@@ -322,6 +322,10 @@ HybridGaussianConditional::shared_ptr HybridGaussianConditional::prune(
   auto pruner =
       [&](const Assignment<Key> &choices,
           const GaussianFactorValuePair &pair) -> GaussianFactorValuePair {
+    // If Gaussian factor is nullptr, return infinity
+    if (!pair.first) {
+      return {nullptr, std::numeric_limits<double>::infinity()};
+    }
     if (max->evaluate(choices) == 0.0)
       return {nullptr, std::numeric_limits<double>::infinity()};
     else {