better check for discrete factors

varunagrawal · varunagrawal · commit a7b53aef0e59 · 2024-11-04T14:52:21.000-05:00
diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -584,9 +584,9 @@ GaussianFactorGraph HybridGaussianFactorGraph::choose(
 DiscreteFactorGraph HybridGaussianFactorGraph::discreteFactors() const {
   DiscreteFactorGraph dfg;
   for (auto &&f : factors_) {
-    auto discreteFactor = std::dynamic_pointer_cast<DiscreteFactor>(f);
-    assert(discreteFactor);
-    dfg.push_back(discreteFactor);
+    if (auto discreteFactor = std::dynamic_pointer_cast<DiscreteFactor>(f)) {
+      dfg.push_back(discreteFactor);
+    }
   }
   return dfg;
 }

Original file line number	Diff line number	Diff line change
`@@ -584,9 +584,9 @@ GaussianFactorGraph HybridGaussianFactorGraph::choose(`
`584`	`584`	`DiscreteFactorGraph HybridGaussianFactorGraph::discreteFactors() const {`
`585`	`585`	`DiscreteFactorGraph dfg;`
`586`	`586`	`for (auto &&f : factors_) {`
`587`		`- auto discreteFactor = std::dynamic_pointer_cast<DiscreteFactor>(f);`
`588`		`- assert(discreteFactor);`
`589`		`- dfg.push_back(discreteFactor);`
	`587`	`+ if (auto discreteFactor = std::dynamic_pointer_cast<DiscreteFactor>(f)) {`
	`588`	`+ dfg.push_back(discreteFactor);`
	`589`	`+ }`
`590`	`590`	`}`
`591`	`591`	`return dfg;`
`592`	`592`	`}`