Fix pruning in iSAM

gtsam/hybrid/HybridBayesTree.cpp

@@ -26,6 +26,10 @@
 #include <gtsam/inference/BayesTreeCliqueBase-inst.h>
 #include <gtsam/linear/GaussianJunctionTree.h>
 
+#include <memory>
+
+#include "gtsam/hybrid/HybridConditional.h"
+
 namespace gtsam {
 
 // Instantiate base class
@@ -207,7 +211,9 @@ void HybridBayesTree::prune(const size_t maxNrLeaves) {
       if (conditional->isHybrid()) {
         auto hybridGaussianCond = conditional->asHybrid();
 
-        hybridGaussianCond->prune(parentData.prunedDiscreteProbs);
+        // Imperative
+        clique->conditional() = std::make_shared<HybridConditional>(
+            hybridGaussianCond->prune(parentData.prunedDiscreteProbs));
       }
       return parentData;
     }

gtsam/inference/BayesTreeCliqueBase.h

@@ -140,6 +140,9 @@ namespace gtsam {
     /** Access the conditional */
     const sharedConditional& conditional() const { return conditional_; }
 
+    /** Write access to the conditional */
+    sharedConditional& conditional() { return conditional_; }
+
     /// Return true if this clique is the root of a Bayes tree. 
     inline bool isRoot() const { return parent_.expired(); }