From 2007ef53de47f75a317509acf7fbd7828371898e Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 20 Aug 2024 16:22:34 -0400
Subject: [PATCH] use DiscreteFactorGraph directly

---
 gtsam/hybrid/HybridBayesNet.cpp | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/gtsam/hybrid/HybridBayesNet.cpp b/gtsam/hybrid/HybridBayesNet.cpp
index b02967555..1d01baed2 100644
--- a/gtsam/hybrid/HybridBayesNet.cpp
+++ b/gtsam/hybrid/HybridBayesNet.cpp
@@ -220,15 +220,16 @@ GaussianBayesNet HybridBayesNet::choose(
 /* ************************************************************************* */
 HybridValues HybridBayesNet::optimize() const {
   // Collect all the discrete factors to compute MPE
-  DiscreteBayesNet discrete_bn;
+  DiscreteFactorGraph discrete_fg;
+
   for (auto &&conditional : *this) {
     if (conditional->isDiscrete()) {
-      discrete_bn.push_back(conditional->asDiscrete());
+      discrete_fg.push_back(conditional->asDiscrete());
     }
   }
 
   // Solve for the MPE
-  DiscreteValues mpe = DiscreteFactorGraph(discrete_bn).optimize();
+  DiscreteValues mpe = discrete_fg.optimize();
 
   // Given the MPE, compute the optimal continuous values.
   return HybridValues(optimize(mpe), mpe);