diff --git a/gtsam/hybrid/hybrid.i b/gtsam/hybrid/hybrid.i index dc88b66db..1e6f7bf25 100644 --- a/gtsam/hybrid/hybrid.i +++ b/gtsam/hybrid/hybrid.i @@ -228,7 +228,7 @@ class HybridNonlinearFactorGraph { void push_back(gtsam::NonlinearFactor* factor); void push_back(gtsam::DiscreteFactor* factor); void push_back(const gtsam::HybridNonlinearFactorGraph& graph); - //TODO(Varun) Wrap add() methods + // TODO(Varun) Wrap add() methods gtsam::HybridGaussianFactorGraph linearize( const gtsam::Values& continuousValues) const; @@ -283,7 +283,17 @@ class HybridSmoother { std::optional maxNrLeaves = std::nullopt, const std::optional given_ordering = std::nullopt); - HybridValues optimize() const; + gtsam::Ordering getOrdering(const gtsam::HybridGaussianFactorGraph& factors, + const gtsam::KeySet& newFactorKeys); + + std::pair + addConditionals(const gtsam::HybridGaussianFactorGraph& graph, + const gtsam::HybridBayesNet& hybridBayesNet) const; + + gtsam::HybridGaussianConditional* gaussianMixture(size_t index) const; + + const gtsam::HybridBayesNet& hybridBayesNet() const; + gtsam::HybridValues optimize() const; }; } // namespace gtsam