From efd8eb19843d1b4768b8c2bda428a35e8702c99f Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sat, 31 Dec 2022 02:06:51 -0500
Subject: [PATCH] Switch to EliminateDiscrete for max-product

---
 gtsam/hybrid/HybridGaussianFactorGraph.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index 10e12bf77..eaf2d2966 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -174,7 +174,8 @@ discreteElimination(const HybridGaussianFactorGraph &factors,
     }
   }
 
-  auto result = EliminateForMPE(dfg, frontalKeys);
+  // TODO(dellaert): This does sum-product. For max-product, use EliminateForMPE
+  auto result = EliminateDiscrete(dfg, frontalKeys);
 
   return {boost::make_shared<HybridConditional>(result.first),
           boost::make_shared<HybridDiscreteFactor>(result.second)};