From a8d62a43bd107e0313efc77e79778eea027cffbf Mon Sep 17 00:00:00 2001
From: Jungseok Hong <ssjason.hong@gmail.com>
Date: Wed, 19 Jun 2024 17:15:12 -0400
Subject: [PATCH] address the issue of duplicating discrete factors

---
 src/DCSAM.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/DCSAM.cpp b/src/DCSAM.cpp
index 4dd913a..296725d 100644
--- a/src/DCSAM.cpp
+++ b/src/DCSAM.cpp
@@ -95,7 +95,7 @@ void DCSAM::update(const gtsam::NonlinearFactorGraph &graph,
   updateContinuousInfo(currDiscrete_, combined, initialGuessContinuous);
   currContinuous_ = isam_.calculateEstimate();
   // Update discrete info from last solve and
-  updateDiscrete(discreteCombined, currContinuous_, currDiscrete_);
+  updateDiscreteInfo(currContinuous_, currDiscrete_);
 }
 
 void DCSAM::update(const HybridFactorGraph &hfg,