diff --git a/gtsam/hybrid/tests/testGaussianMixtureFactor.cpp b/gtsam/hybrid/tests/testGaussianMixtureFactor.cpp index c771edf85..7f6c12979 100644 --- a/gtsam/hybrid/tests/testGaussianMixtureFactor.cpp +++ b/gtsam/hybrid/tests/testGaussianMixtureFactor.cpp @@ -629,12 +629,12 @@ static HybridGaussianFactorGraph GetFactorGraphFromBayesNet( {X(0), H1_1 /*Sp1*/}, {X(1), H1_2 /*Tp2*/}}; // Create conditional P(Z1 | X1, X2, M1) - auto gm = new gtsam::GaussianMixture( - {Z(1)}, {X(0), X(1)}, {m1}, - {std::make_shared(terms0, 1, -d0, model0), - std::make_shared(terms1, 1, -d1, model1)}); + auto conditionals = std::vector{ + std::make_shared(terms0, 1, -d0, model0), + std::make_shared(terms1, 1, -d1, model1)}; gtsam::HybridBayesNet bn; - bn.emplace_back(gm); + bn.emplace_shared(KeyVector{Z(1)}, KeyVector{X(0), X(1)}, + DiscreteKeys{m1}, conditionals); // Create FG via toFactorGraph gtsam::VectorValues measurements;