From 12ba0b70b83fdeaea7432cde85c552eb6e3755a0 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 29 Jan 2025 01:40:49 -0500
Subject: [PATCH] timing guards for HybridSmoother

---
 gtsam/hybrid/HybridSmoother.cpp | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/gtsam/hybrid/HybridSmoother.cpp b/gtsam/hybrid/HybridSmoother.cpp
index 45320896a..b927af0f3 100644
--- a/gtsam/hybrid/HybridSmoother.cpp
+++ b/gtsam/hybrid/HybridSmoother.cpp
@@ -74,14 +74,26 @@ void HybridSmoother::update(const HybridGaussianFactorGraph &graph,
     ordering = *given_ordering;
   }
 
+#if GTSAM_HYBRID_TIMING
+  gttic_(HybridSmootherEliminate);
+#endif
   // Eliminate.
   HybridBayesNet bayesNetFragment = *updatedGraph.eliminateSequential(ordering);
+#if GTSAM_HYBRID_TIMING
+  gttoc_(HybridSmootherEliminate);
+#endif
 
   /// Prune
   if (maxNrLeaves) {
+#if GTSAM_HYBRID_TIMING
+    gttic_(HybridSmootherPrune);
+#endif
     // `pruneBayesNet` sets the leaves with 0 in discreteFactor to nullptr in
     // all the conditionals with the same keys in bayesNetFragment.
     bayesNetFragment = bayesNetFragment.prune(*maxNrLeaves, deadModeThreshold_);
+#if GTSAM_HYBRID_TIMING
+    gttoc_(HybridSmootherPrune);
+#endif
   }
 
   // Add the partial bayes net to the posterior bayes net.