diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index e018d1046..6024a59bc 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -563,7 +563,7 @@ AlgebraicDecisionTree<Key> HybridGaussianFactorGraph::continuousProbPrimes(
 
 /* ************************************************************************ */
 boost::shared_ptr<HybridGaussianFactorGraph::BayesNetType>
-HybridGaussianFactorGraph::eliminateHybridSequential() const {
+HybridGaussianFactorGraph::eliminateHybridSequential(const boost::optional<Ordering> continuous, const boost::optional<Ordering> discrete) const {
   Ordering continuous_ordering(this->continuousKeys()),
       discrete_ordering(this->discreteKeys());
 
@@ -577,6 +577,11 @@ HybridGaussianFactorGraph::eliminateHybridSequential() const {
   auto last_conditional = bayesNet->at(bayesNet->size() - 1);
   DiscreteKeys discrete_keys = last_conditional->discreteKeys();
 
+  // If not discrete variables, return the eliminated bayes net.
+  if (discrete_keys.size() == 0) {
+    return bayesNet;
+  }
+
   const std::vector<DiscreteValues> assignments =
       DiscreteValues::CartesianProduct(discrete_keys);
 
diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.h b/gtsam/hybrid/HybridGaussianFactorGraph.h
index 8c387ec9b..31a707579 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.h
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.h
@@ -227,9 +227,13 @@ class GTSAM_EXPORT HybridGaussianFactorGraph
    * @brief Custom elimination function which computes the correct
    * continuous probabilities.
    *
+   * @param continuous Optional ordering for all continuous variables.
+   * @param discrete Optional ordering for all discrete variables.
    * @return boost::shared_ptr<BayesNetType>
    */
-  boost::shared_ptr<BayesNetType> eliminateHybridSequential() const;
+  boost::shared_ptr<BayesNetType> eliminateHybridSequential(
+      const boost::optional<Ordering> continuous,
+      const boost::optional<Ordering> discrete) const;
 
   /**
    * @brief Return a Colamd constrained ordering where the discrete keys are