From 9002b6829183fdebb1ce65eb61bb261956c64307 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 4 Oct 2022 12:33:37 -0400
Subject: [PATCH] fix the bug

---
 gtsam/hybrid/HybridGaussianFactorGraph.cpp | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index ddb776ff4..0faf0e86e 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -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