From ed1f8734c969818f5660f2fc1c0fc7be5cb181a9 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 8 Feb 2025 22:43:19 -0500
Subject: [PATCH] wrap HybridSmoother

---
 gtsam/hybrid/hybrid.i | 20 +++++++++++++++++---
 1 file changed, 17 insertions(+), 3 deletions(-)

diff --git a/gtsam/hybrid/hybrid.i b/gtsam/hybrid/hybrid.i
index 2d59c100f..19ea9ef42 100644
--- a/gtsam/hybrid/hybrid.i
+++ b/gtsam/hybrid/hybrid.i
@@ -243,9 +243,8 @@ class HybridNonlinearFactorGraph {
 
 #include <gtsam/hybrid/HybridNonlinearFactor.h>
 class HybridNonlinearFactor : gtsam::HybridFactor {
-  HybridNonlinearFactor(
-      const gtsam::DiscreteKey& discreteKey,
-      const std::vector<gtsam::NoiseModelFactor*>& factors);
+  HybridNonlinearFactor(const gtsam::DiscreteKey& discreteKey,
+                        const std::vector<gtsam::NoiseModelFactor*>& factors);
 
   HybridNonlinearFactor(
       const gtsam::DiscreteKey& discreteKey,
@@ -266,4 +265,19 @@ class HybridNonlinearFactor : gtsam::HybridFactor {
                  gtsam::DefaultKeyFormatter) const;
 };
 
+#include <gtsam/hybrid/HybridSmoother.h>
+class HybridSmoother {
+  HybridSmoother(const std::optional<double> marginalThreshold = std::nullopt);
+
+  const gtsam::DiscreteValues& fixedValues() const;
+  void reInitialize(gtsam::HybridBayesNet& hybridBayesNet);
+
+  void update(
+      const gtsam::HybridGaussianFactorGraph& graph,
+      std::optional<size_t> maxNrLeaves = std::nullopt,
+      const std::optional<gtsam::Ordering> given_ordering = std::nullopt);
+
+  HybridValues optimize() const;
+};
+
 }  // namespace gtsam