From 4e451d5c0b9642279cb47d3814f2fbb8982a025e Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Mon, 29 Aug 2022 16:22:55 -0400 Subject: [PATCH] helper to return HybridConditional as GaussianConditional --- gtsam/hybrid/HybridConditional.h | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/gtsam/hybrid/HybridConditional.h b/gtsam/hybrid/HybridConditional.h index 91c9f8495..96ea6d969 100644 --- a/gtsam/hybrid/HybridConditional.h +++ b/gtsam/hybrid/HybridConditional.h @@ -139,6 +139,17 @@ class GTSAM_EXPORT HybridConditional return boost::static_pointer_cast(inner_); } + /** + * @brief Return HybridConditional as a GaussianConditional + * + * @return GaussianConditional::shared_ptr + */ + GaussianConditional::shared_ptr asGaussian() { + if (!isContinuous()) + throw std::invalid_argument("Not a continuous conditional"); + return boost::static_pointer_cast(inner_); + } + /** * @brief Return conditional as a DiscreteConditional *