more functional form of involved function
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				|  | @ -171,7 +171,7 @@ HybridSmoother::addConditionals(const HybridGaussianFactorGraph &newFactors, | |||
|   HybridBayesNet updatedHybridBayesNet(hybridBayesNet); | ||||
| 
 | ||||
|   KeySet involvedKeys = newFactors.keys(); | ||||
|   auto involved = [&involvedKeys](const Key &key) { | ||||
|   auto involved = [](const KeySet &involvedKeys, const Key &key) { | ||||
|     return involvedKeys.find(key) != involvedKeys.end(); | ||||
|   }; | ||||
| 
 | ||||
|  | @ -195,7 +195,7 @@ HybridSmoother::addConditionals(const HybridGaussianFactorGraph &newFactors, | |||
|       auto conditional = hybridBayesNet.at(i); | ||||
| 
 | ||||
|       for (auto &key : conditional->frontals()) { | ||||
|         if (involved(key)) { | ||||
|         if (involved(involvedKeys, key)) { | ||||
|           // Add the conditional parents to involvedKeys
 | ||||
|           // so we add those conditionals too.
 | ||||
|           for (auto &&parentKey : conditional->parents()) { | ||||
|  | @ -214,7 +214,7 @@ HybridSmoother::addConditionals(const HybridGaussianFactorGraph &newFactors, | |||
|       auto conditional = hybridBayesNet.at(i); | ||||
| 
 | ||||
|       for (auto &key : conditional->frontals()) { | ||||
|         if (involved(key)) { | ||||
|         if (involved(involvedKeys, key)) { | ||||
|           newConditionals.push_back(conditional); | ||||
| 
 | ||||
|           // Remove the conditional from the updated Bayes net
 | ||||
|  |  | |||
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