From 39f7ac20a1d8a0bdaff47d31dd61331188a5a14c Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 20 Nov 2023 13:28:05 -0500
Subject: [PATCH] handle nullptrsin GaussianMixture::error

---
 gtsam/hybrid/GaussianMixture.cpp | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/gtsam/hybrid/GaussianMixture.cpp b/gtsam/hybrid/GaussianMixture.cpp
index 753e35bf0..a1ba167f5 100644
--- a/gtsam/hybrid/GaussianMixture.cpp
+++ b/gtsam/hybrid/GaussianMixture.cpp
@@ -316,8 +316,15 @@ AlgebraicDecisionTree<Key> GaussianMixture::logProbability(
 AlgebraicDecisionTree<Key> GaussianMixture::error(
     const VectorValues &continuousValues) const {
   auto errorFunc = [&](const GaussianConditional::shared_ptr &conditional) {
-    return conditional->error(continuousValues) +  //
-           logConstant_ - conditional->logNormalizationConstant();
+    // Check if valid pointer
+    if (conditional) {
+      return conditional->error(continuousValues) +  //
+             logConstant_ - conditional->logNormalizationConstant();
+    } else {
+      // If not valid, pointer, it means this conditional was pruned,
+      // so we return maximum error.
+      return std::numeric_limits<double>::max();
+    }
   };
   DecisionTree<Key, double> errorTree(conditionals_, errorFunc);
   return errorTree;