From c2e8867e82b68201db094dca4dd17ec8688ed039 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 25 Dec 2024 13:14:22 -0500
Subject: [PATCH] avoid extra conversion step

---
 gtsam/hybrid/HybridGaussianFactorGraph.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/hybrid/HybridGaussianFactorGraph.cpp b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
index 8832cbb34..b9051554a 100644
--- a/gtsam/hybrid/HybridGaussianFactorGraph.cpp
+++ b/gtsam/hybrid/HybridGaussianFactorGraph.cpp
@@ -282,7 +282,7 @@ discreteElimination(const HybridGaussianFactorGraph &factors,
     } else if (auto hc = dynamic_pointer_cast<HybridConditional>(f)) {
       auto dc = hc->asDiscrete();
       if (!dc) throwRuntimeError("discreteElimination", dc);
-      dfg.push_back(hc->asDiscrete());
+      dfg.push_back(dc);
     } else {
       throwRuntimeError("discreteElimination", f);
     }