From 43e6bc6462c71845e085833adba1389857c07936 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 14 Sep 2024 15:15:52 -0400
Subject: [PATCH] cleaner specific factor linearization

---
 gtsam/hybrid/HybridNonlinearFactor.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/hybrid/HybridNonlinearFactor.h b/gtsam/hybrid/HybridNonlinearFactor.h
index c3f127f4a..6cfce6bc0 100644
--- a/gtsam/hybrid/HybridNonlinearFactor.h
+++ b/gtsam/hybrid/HybridNonlinearFactor.h
@@ -236,7 +236,7 @@ class HybridNonlinearFactor : public HybridFactor {
   GaussianFactor::shared_ptr linearize(
       const Values& continuousValues,
       const DiscreteValues& discreteValues) const {
-    auto [factor, val] = factors_(discreteValues);
+    auto factor = factors_(discreteValues).first;
     return factor->linearize(continuousValues);
   }