leverage hiding inside HybridGaussianFactor

Author: varunagrawal

gtsam/hybrid/HybridGaussianConditional.cpp

@@ -229,15 +229,10 @@ std::shared_ptr<HybridGaussianFactor> HybridGaussianConditional::likelihood(
         if (Cgm_Kgcm == 0.0) {
           return {likelihood_m, 0.0};
         } else {
-          // Add a constant factor to the likelihood in case the noise models
+          // Add a constant to the likelihood in case the noise models
           // are not all equal.
-          GaussianFactorGraph gfg;
-          gfg.push_back(likelihood_m);
-          Vector c(1);
-          c << std::sqrt(2.0 * Cgm_Kgcm);
-          auto constantFactor = std::make_shared<JacobianFactor>(c);
-          gfg.push_back(constantFactor);
-          return {std::make_shared<JacobianFactor>(gfg), 0.0};
+          double c = 2.0 * Cgm_Kgcm;
+          return {likelihood_m, c};
         }
       });
   return std::make_shared<HybridGaussianFactor>(