From be9fb064f5aa8ec747b5fdef1f75f65663975086 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 30 Oct 2024 16:32:06 -0400
Subject: [PATCH] method to get the nonlinear factors

---
 gtsam/hybrid/tests/Switching.h | 12 +++++++++++-
 1 file changed, 11 insertions(+), 1 deletion(-)

diff --git a/gtsam/hybrid/tests/Switching.h b/gtsam/hybrid/tests/Switching.h
index 66dbc5fdc..49ced968e 100644
--- a/gtsam/hybrid/tests/Switching.h
+++ b/gtsam/hybrid/tests/Switching.h
@@ -214,13 +214,23 @@ struct Switching {
     return chain;
   }
 
-  HybridGaussianFactorGraph linearizedFactorGraph() {
+  /// Get the full linear factor graph.
+  HybridGaussianFactorGraph linearizedFactorGraph() const {
     HybridGaussianFactorGraph graph;
     graph.push_back(linearUnaryFactors);
     graph.push_back(linearBinaryFactors);
     graph.push_back(modeChain);
     return graph;
   }
+
+  /// Get all the nonlinear factors.
+  HybridNonlinearFactorGraph nonlinearFactorGraph() const {
+    HybridNonlinearFactorGraph graph;
+    graph.push_back(unaryFactors);
+    graph.push_back(binaryFactors);
+    graph.push_back(modeChain);
+    return graph;
+  }
 };
 
 }  // namespace gtsam