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check for valid factor in HybridNonlinearFactor::errorTree

release/4.3a0
Varun Agrawal 2025-01-26 11:14:16 -05:00
parent 3302ad46c8
commit 655f57ef0d
1 changed files with 2 additions and 1 deletions
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3
gtsam/hybrid/HybridNonlinearFactor.cpp
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@ -99,7 +99,8 @@ AlgebraicDecisionTree<Key> HybridNonlinearFactor::errorTree(
auto errorFunc = auto errorFunc =
[continuousValues](const std::pair<sharedFactor, double>& f) { [continuousValues](const std::pair<sharedFactor, double>& f) {
auto [factor, val] = f; auto [factor, val] = f;
return factor->error(continuousValues) + val; return factor ? factor->error(continuousValues) + val
: std::numeric_limits<double>::infinity();
}; };
return {factors_, errorFunc}; return {factors_, errorFunc};
} }