allow for only continuous variables in HybridBayesTree

borglab · Jan 26, 2025 · 087c0cc · 087c0cc
1 parent 655f57e
commit 087c0cc
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/gtsam/hybrid/HybridBayesTree.cpp b/gtsam/hybrid/HybridBayesTree.cpp
@@ -202,6 +202,11 @@ VectorValues HybridBayesTree::optimize(const DiscreteValues& assignment) const {
 
 /* ************************************************************************* */
 void HybridBayesTree::prune(const size_t maxNrLeaves) {
+  if (!this->roots_.at(0)->conditional()->asDiscrete()) {
+    // Root of the BayesTree is not a discrete clique, so we do nothing.
+    return;
+  }
+
   auto prunedDiscreteProbs =
       this->roots_.at(0)->conditional()->asDiscrete<TableDistribution>();