From fe0d666b3a56d62daf44689eb01a1ceb4a8be8a1 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 29 May 2022 13:15:04 -0400
Subject: [PATCH] HybridFactorGraph fixes

---
 gtsam/hybrid/HybridFactorGraph.h | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/gtsam/hybrid/HybridFactorGraph.h b/gtsam/hybrid/HybridFactorGraph.h
index f19eb0faf..ef27caec8 100644
--- a/gtsam/hybrid/HybridFactorGraph.h
+++ b/gtsam/hybrid/HybridFactorGraph.h
@@ -18,17 +18,17 @@
 
 #pragma once
 
-#include <gtsam/hybrid/GaussianHybridFactorGraph.h>
+#include <gtsam/discrete/DiscreteFactor.h>
+#include <gtsam/hybrid/HybridDiscreteFactor.h>
 #include <gtsam/hybrid/HybridFactor.h>
-#include <gtsam/hybrid/HybridNonlinearFactor.h>
-#include <gtsam/hybrid/MixtureFactor.h>
 #include <gtsam/inference/FactorGraph.h>
 #include <gtsam/inference/Ordering.h>
-#include <gtsam/nonlinear/NonlinearFactor.h>
 
 #include <boost/format.hpp>
 namespace gtsam {
 
+using SharedFactor = boost::shared_ptr<Factor>;
+
 /**
  * Hybrid Factor Graph
  * -----------------------
@@ -96,7 +96,7 @@ class HybridFactorGraph : public FactorGraph<HybridFactor> {
    */
   template <typename FACTOR>
   IsHybrid<FACTOR> push_hybrid(const boost::shared_ptr<FACTOR>& hybridFactor) {
-    Base::push_back(boost::make_shared<HybridFactor>(factor));
+    Base::push_back(hybridFactor);
   }
 
   /// delete emplace_shared.