From 26642f1ba03479667820c6b8f8ffa719d50b08a7 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 24 Jan 2025 13:42:04 -0500
Subject: [PATCH] small improvements to HybridGaussianFactorGraph

---
 gtsam/hybrid/HybridBayesNet.cpp            | 1 +
 gtsam/hybrid/HybridGaussianFactorGraph.cpp | 5 ++++-
 2 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/gtsam/hybrid/HybridBayesNet.cpp b/gtsam/hybrid/HybridBayesNet.cpp
index b6622980b..c95cc686f 100644
--- a/gtsam/hybrid/HybridBayesNet.cpp
+++ b/gtsam/hybrid/HybridBayesNet.cpp
@@ -186,6 +186,7 @@ DiscreteValues HybridBayesNet::mpe() const {
       }
     }
   }
+
   return discrete_fg.optimize();
 }
 
diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index 4943f91cb..bc36ec94d 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -327,6 +327,8 @@ discreteElimination(const HybridGaussianFactorGraph &factors,
     gttic_(EliminateDiscreteFormDiscreteConditional);
 #endif
     // Check type of product, and get as TableFactor for efficiency.
+    // Use object instead of pointer since we need it
+    // for the TableDistribution constructor.
     TableFactor p;
     if (auto tf = std::dynamic_pointer_cast<TableFactor>(product)) {
       p = *tf;
@@ -334,11 +336,12 @@ discreteElimination(const HybridGaussianFactorGraph &factors,
       p = TableFactor(product->toDecisionTreeFactor());
     }
     auto conditional = std::make_shared<TableDistribution>(p);
+
 #if GTSAM_HYBRID_TIMING
     gttoc_(EliminateDiscreteFormDiscreteConditional);
 #endif
 
-    DiscreteFactor::shared_ptr sum = product->sum(frontalKeys);
+    DiscreteFactor::shared_ptr sum = p.sum(frontalKeys);
 
     return {std::make_shared<HybridConditional>(conditional), sum};