diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp index fb4b69aaf..2d4ac83f6 100644 --- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp +++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp @@ -261,12 +261,9 @@ hybridElimination(const HybridGaussianFactorGraph &factors, DecisionTree probabilities(eliminationResults, probability); - auto dtf = - std::make_shared(discreteSeparator, probabilities); - return { std::make_shared(gaussianMixture), - std::make_shared(discreteSeparator, dtf->probabilities())}; + std::make_shared(discreteSeparator, probabilities)}; } else { // Otherwise, we create a resulting GaussianMixtureFactor on the separator, // taking care to correct for conditional constant.