From ea16de3bfde18d75172528581f8804c1a48d255b Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 8 Feb 2025 23:28:16 -0500
Subject: [PATCH] wrap more HybridSmoother methods

---
 gtsam/hybrid/hybrid.i | 14 ++++++++++++--
 1 file changed, 12 insertions(+), 2 deletions(-)

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<size_t> maxNrLeaves = std::nullopt,
       const std::optional<gtsam::Ordering> given_ordering = std::nullopt);
 
-  HybridValues optimize() const;
+  gtsam::Ordering getOrdering(const gtsam::HybridGaussianFactorGraph& factors,
+                              const gtsam::KeySet& newFactorKeys);
+
+  std::pair<gtsam::HybridGaussianFactorGraph, gtsam::HybridBayesNet>
+  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