From b2c73af2a2d20b3d573a92b99fddd0d5e9dd30f4 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 28 Sep 2024 16:52:35 -0400
Subject: [PATCH] get keys from NonlinearFactors as well

---
 gtsam/hybrid/HybridFactorGraph.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/gtsam/hybrid/HybridFactorGraph.cpp b/gtsam/hybrid/HybridFactorGraph.cpp
index a395e1701..78c051b17 100644
--- a/gtsam/hybrid/HybridFactorGraph.cpp
+++ b/gtsam/hybrid/HybridFactorGraph.cpp
@@ -18,6 +18,7 @@
  */
 
 #include <gtsam/hybrid/HybridFactorGraph.h>
+#include <gtsam/nonlinear/NonlinearFactor.h>
 
 namespace gtsam {
 
@@ -58,6 +59,8 @@ const KeySet HybridFactorGraph::continuousKeySet() const {
       }
     } else if (auto p = std::dynamic_pointer_cast<GaussianFactor>(factor)) {
       keys.insert(p->keys().begin(), p->keys().end());
+    } else if (auto p = std::dynamic_pointer_cast<NonlinearFactor>(factor)) {
+      keys.insert(p->keys().begin(), p->keys().end());
     }
   }
   return keys;