diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp index 10e12bf77..442ffb428 100644 --- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp +++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp @@ -238,13 +238,14 @@ hybridElimination(const HybridGaussianFactorGraph &factors, keysOfEliminated = conditional_factor.first->keys(); keysOfSeparator = conditional_factor.second->keys(); + GaussianConditional::shared_ptr conditional = conditional_factor.first; + // Get the log of the log normalization constant inverse. + double logZ = -conditional->logNormalizationConstant() + graph_z.constant; + #ifdef HYBRID_TIMING gttoc_(hybrid_eliminate); #endif - GaussianConditional::shared_ptr conditional = conditional_factor.first; - // Get the log of the log normalization constant inverse. - double logZ = -conditional->logNormalizationConstant() + graph_z.constant; return {conditional, {conditional_factor.second, logZ}}; };