From 876e2e822e58e18b8b206094434734c4257432b4 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Fri, 6 Jan 2023 22:50:50 -0800
Subject: [PATCH] Use template specialization

---
 gtsam/hybrid/HybridBayesTree.h | 15 ++++++---------
 1 file changed, 6 insertions(+), 9 deletions(-)

diff --git a/gtsam/hybrid/HybridBayesTree.h b/gtsam/hybrid/HybridBayesTree.h
index 628a453a6..7240edaac 100644
--- a/gtsam/hybrid/HybridBayesTree.h
+++ b/gtsam/hybrid/HybridBayesTree.h
@@ -132,18 +132,15 @@ struct traits<HybridBayesTree> : public Testable<HybridBayesTree> {};
  * This object stores parent keys in our base type factor so that
  * eliminating those parent keys will pull this subtree into the
  * elimination.
- * This does special stuff for the hybrid case.
  *
- * @tparam CLIQUE
+ * This is a template instantiation for hybrid Bayes tree cliques, storing both
+ * the regular keys *and* discrete keys in the HybridConditional.
  */
-template <class CLIQUE>
-class BayesTreeOrphanWrapper<
-    CLIQUE, typename std::enable_if<
-                boost::is_same<CLIQUE, HybridBayesTreeClique>::value> >
-    : public CLIQUE::ConditionalType {
+template <>
+class BayesTreeOrphanWrapper<HybridBayesTreeClique> : public HybridConditional {
  public:
-  typedef CLIQUE CliqueType;
-  typedef typename CLIQUE::ConditionalType Base;
+  typedef HybridBayesTreeClique CliqueType;
+  typedef HybridConditional Base;
 
   boost::shared_ptr<CliqueType> clique;