From 5d2d87946245c6fb7ddd93ae0fc471f44f158e75 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 1 Jan 2025 20:34:26 -0500
Subject: [PATCH] make asDiscrete a template

---
 gtsam/hybrid/HybridConditional.h | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/gtsam/hybrid/HybridConditional.h b/gtsam/hybrid/HybridConditional.h
index a08b3a6ee..3cf5b80e5 100644
--- a/gtsam/hybrid/HybridConditional.h
+++ b/gtsam/hybrid/HybridConditional.h
@@ -166,12 +166,13 @@ class GTSAM_EXPORT HybridConditional
   }
 
   /**
-   * @brief Return conditional as a DiscreteConditional
+   * @brief Return conditional as a DiscreteConditional or specified type T.
    * @return nullptr if not a DiscreteConditional
    * @return DiscreteConditional::shared_ptr
    */
-  DiscreteConditional::shared_ptr asDiscrete() const {
-    return std::dynamic_pointer_cast<DiscreteConditional>(inner_);
+  template <typename T = DiscreteConditional>
+  typename T::shared_ptr asDiscrete() const {
+    return std::dynamic_pointer_cast<T>(inner_);
   }
 
   /// Get the type-erased pointer to the inner type