From 6912d015ef898de8f17eefa834d0d72b7c8933a4 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 29 Aug 2022 09:26:18 -0400
Subject: [PATCH] assert for discrete only conditional

---
 gtsam/hybrid/HybridBayesNet.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/gtsam/hybrid/HybridBayesNet.cpp b/gtsam/hybrid/HybridBayesNet.cpp
index 2238b08ce..c108a47c2 100644
--- a/gtsam/hybrid/HybridBayesNet.cpp
+++ b/gtsam/hybrid/HybridBayesNet.cpp
@@ -131,7 +131,9 @@ GaussianBayesNet HybridBayesNet::choose(
       gbn.push_back(gm(assignment));
 
     } catch (std::exception &exc) {
-      // if factor at `idx` is discrete-only, just continue.
+      // factor at `idx` is discrete-only, so we simply continue.
+      assert(factors_.at(idx)->discreteKeys().size() ==
+             factors_.at(idx)->keys().size());
       continue;
     }
   }