12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

better check for discrete factors

release/4.3a0
Varun Agrawal 2024-11-04 14:52:21 -05:00
parent 6b3cb6579a
commit a7b53aef0e
1 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
gtsam/hybrid/HybridGaussianFactorGraph.cpp
View File

@ -584,9 +584,9 @@ GaussianFactorGraph HybridGaussianFactorGraph::choose(
DiscreteFactorGraph HybridGaussianFactorGraph::discreteFactors() const {
DiscreteFactorGraph dfg;
for (auto &&f : factors_) {
auto discreteFactor = std::dynamic_pointer_cast<DiscreteFactor>(f);
assert(discreteFactor);
dfg.push_back(discreteFactor);
if (auto discreteFactor = std::dynamic_pointer_cast<DiscreteFactor>(f)) {
dfg.push_back(discreteFactor);
}
}
return dfg;
}