From 73f54083a7aeab7c996f865e4fe77d3ab3cdfb1d Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 31 Dec 2024 19:34:46 -0500
Subject: [PATCH] normalize

---
 gtsam/hybrid/HybridGaussianFactorGraph.cpp | 12 +++++++++++-
 1 file changed, 11 insertions(+), 1 deletion(-)

diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index ca971191c..5fd9ddfa6 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -364,9 +364,19 @@ discreteElimination(const HybridGaussianFactorGraph &factors,
 #if GTSAM_HYBRID_TIMING
   gttic_(EliminateDiscreteFormDiscreteConditional);
 #endif
+  DecisionTreeFactor joint;
+  // Normalize if we have only 1 key
+  // Needed due to conversion from TableFactor
+  if (product.discreteKeys().size() == 1) {
+    joint = DecisionTreeFactor(product.discreteKeys(),
+                               product.toDecisionTreeFactor().normalize());
+  } else {
+    joint = product.toDecisionTreeFactor();
+  }
+
   // Finally, get the conditional
   auto conditional = std::make_shared<DiscreteConditional>(
-      product.toDecisionTreeFactor(), sum->toDecisionTreeFactor(), orderedKeys);
+      joint, sum->toDecisionTreeFactor(), orderedKeys);
 #if GTSAM_HYBRID_TIMING
   gttoc_(EliminateDiscreteFormDiscreteConditional);
 #endif