From 9c3d7b0f3b95d6ab38e5e462c004413862939d7f Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 20 Sep 2024 11:07:02 -0400
Subject: [PATCH] implement errorTree for HybridNonlinearFactor

---
 gtsam/hybrid/HybridNonlinearFactor.h | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/gtsam/hybrid/HybridNonlinearFactor.h b/gtsam/hybrid/HybridNonlinearFactor.h
index 6da846abe..9852602de 100644
--- a/gtsam/hybrid/HybridNonlinearFactor.h
+++ b/gtsam/hybrid/HybridNonlinearFactor.h
@@ -74,6 +74,13 @@ class GTSAM_EXPORT HybridNonlinearFactor : public HybridFactor {
   /// Decision tree of Gaussian factors indexed by discrete keys.
   Factors factors_;
 
+  /// HybridFactor method implementation. Should not be used.
+  AlgebraicDecisionTree<Key> errorTree(
+      const VectorValues& continuousValues) const override {
+    throw std::runtime_error(
+        "HybridNonlinearFactor::error does not take VectorValues.");
+  }
+
  public:
   HybridNonlinearFactor() = default;