From 8b8cde42307f02245518b5a312d10363657e3e6a Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Thu, 5 Jan 2023 12:58:21 -0800
Subject: [PATCH] Added lvalue version back in

---
 gtsam/hybrid/GaussianMixture.cpp |  8 ++++++++
 gtsam/hybrid/GaussianMixture.h   | 13 +++++++++++++
 2 files changed, 21 insertions(+)

diff --git a/gtsam/hybrid/GaussianMixture.cpp b/gtsam/hybrid/GaussianMixture.cpp
index a8d3ca502..bac1285e1 100644
--- a/gtsam/hybrid/GaussianMixture.cpp
+++ b/gtsam/hybrid/GaussianMixture.cpp
@@ -50,6 +50,14 @@ GaussianMixture::GaussianMixture(
     : GaussianMixture(continuousFrontals, continuousParents, discreteParents,
                       Conditionals(discreteParents, conditionals)) {}
 
+/* *******************************************************************************/
+GaussianMixture::GaussianMixture(
+    const KeyVector &continuousFrontals, const KeyVector &continuousParents,
+    const DiscreteKeys &discreteParents,
+    const std::vector<GaussianConditional::shared_ptr> &conditionals)
+    : GaussianMixture(continuousFrontals, continuousParents, discreteParents,
+                      Conditionals(discreteParents, conditionals)) {}
+
 /* *******************************************************************************/
 GaussianFactorGraphTree GaussianMixture::add(
     const GaussianFactorGraphTree &sum) const {
diff --git a/gtsam/hybrid/GaussianMixture.h b/gtsam/hybrid/GaussianMixture.h
index 8077059a4..79f5f8fa7 100644
--- a/gtsam/hybrid/GaussianMixture.h
+++ b/gtsam/hybrid/GaussianMixture.h
@@ -116,6 +116,19 @@ class GTSAM_EXPORT GaussianMixture
                   DiscreteKeys &&discreteParents,
                   std::vector<GaussianConditional::shared_ptr> &&conditionals);
 
+  /**
+   * @brief Make a Gaussian Mixture from a list of Gaussian conditionals
+   *
+   * @param continuousFrontals The continuous frontal variables
+   * @param continuousParents The continuous parent variables
+   * @param discreteParents Discrete parents variables
+   * @param conditionals List of conditionals
+   */
+  GaussianMixture(
+      const KeyVector &continuousFrontals, const KeyVector &continuousParents,
+      const DiscreteKeys &discreteParents,
+      const std::vector<GaussianConditional::shared_ptr> &conditionals);
+
   /// @}
   /// @name Testable
   /// @{