From 83fae8ecf8157a708a4404d8dfd7ce70f4a81cc8 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Thu, 26 Sep 2024 13:34:03 -0700
Subject: [PATCH] Remove error checking

---
 gtsam/hybrid/HybridGaussianConditional.cpp |  9 ++-------
 gtsam/hybrid/HybridGaussianFactor.cpp      | 17 +++++------------
 2 files changed, 7 insertions(+), 19 deletions(-)

diff --git a/gtsam/hybrid/HybridGaussianConditional.cpp b/gtsam/hybrid/HybridGaussianConditional.cpp
index 46481e3058..f3a699094b 100644
--- a/gtsam/hybrid/HybridGaussianConditional.cpp
+++ b/gtsam/hybrid/HybridGaussianConditional.cpp
@@ -37,14 +37,9 @@ HybridGaussianConditional::ConstructorHelper::ConstructorHelper(
       [&](const GaussianConditional::shared_ptr &c) -> GaussianFactorValuePair {
     double value = 0.0;
     if (c) {
-      KeyVector cf(c->frontals().begin(), c->frontals().end());
-      KeyVector cp(c->parents().begin(), c->parents().end());
       if (frontals.empty()) {
-        frontals = cf;
-        parents = cp;
-      } else if (cf != frontals || cp != parents) {
-        throw std::invalid_argument(
-            "All conditionals must have the same frontals and parents");
+        frontals = KeyVector(c->frontals().begin(), c->frontals().end());
+        parents = KeyVector(c->parents().begin(), c->parents().end());
       }
       value = c->negLogConstant();
       negLogConstant = std::min(negLogConstant, value);
diff --git a/gtsam/hybrid/HybridGaussianFactor.cpp b/gtsam/hybrid/HybridGaussianFactor.cpp
index 279ac4069d..938a79b19d 100644
--- a/gtsam/hybrid/HybridGaussianFactor.cpp
+++ b/gtsam/hybrid/HybridGaussianFactor.cpp
@@ -76,11 +76,9 @@ HybridGaussianFactor::ConstructorHelper::ConstructorHelper(
     : discreteKeys({discreteKey}) {
   // Extract continuous keys from the first non-null factor
   for (const auto &factor : factors) {
-    if (!factor) continue;  // Skip null factors
-    if (continuousKeys.empty()) {
+    if (factor && continuousKeys.empty()) {
       continuousKeys = factor->keys();
-    } else if (factor->keys() != continuousKeys) {
-      throw std::invalid_argument("All factors must have the same keys");
+      break;
     }
   }
 
@@ -95,11 +93,9 @@ HybridGaussianFactor::ConstructorHelper::ConstructorHelper(
     : discreteKeys({discreteKey}) {
   // Extract continuous keys from the first non-null factor
   for (const auto &pair : factorPairs) {
-    if (!pair.first) continue;  // Skip null factors
-    if (continuousKeys.empty()) {
+    if (pair.first && continuousKeys.empty()) {
       continuousKeys = pair.first->keys();
-    } else if (pair.first->keys() != continuousKeys) {
-      throw std::invalid_argument("All factors must have the same keys");
+      break;
     }
   }
 
@@ -113,11 +109,8 @@ HybridGaussianFactor::ConstructorHelper::ConstructorHelper(
     : discreteKeys(discreteKeys) {
   // Extract continuous keys from the first non-null factor
   factorPairs.visit([&](const GaussianFactorValuePair &pair) {
-    if (!pair.first) return;  // Skip null factors
-    if (continuousKeys.empty()) {
+    if (pair.first && continuousKeys.empty()) {
       continuousKeys = pair.first->keys();
-    } else if (pair.first->keys() != continuousKeys) {
-      throw std::invalid_argument("All factors must have the same keys");
     }
   });