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fix the bug

release/4.3a0
Varun Agrawal 2022-10-04 12:33:37 -04:00
parent 8820bf272c
commit 9002b68291
1 changed files with 6 additions and 2 deletions
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8
gtsam/hybrid/HybridGaussianFactorGraph.cpp
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@ -96,8 +96,12 @@ GaussianMixtureFactor::Sum sumFrontals(
}
} else if (f->isContinuous()) {
deferredFactors.push_back(
boost::dynamic_pointer_cast<HybridGaussianFactor>(f)->inner());
if (auto gf = boost::dynamic_pointer_cast<HybridGaussianFactor>(f)) {
deferredFactors.push_back(gf->inner());
}
if (auto cg = boost::dynamic_pointer_cast<HybridConditional>(f)) {
deferredFactors.push_back(cg->asGaussian());
}
} else if (f->isDiscrete()) {
// Don't do anything for discrete-only factors