diff --git a/gtsam/linear/GaussianDensity.cpp b/gtsam/linear/GaussianDensity.cpp
index 8e37a677d..72e3bb325 100644
--- a/gtsam/linear/GaussianDensity.cpp
+++ b/gtsam/linear/GaussianDensity.cpp
@@ -22,6 +22,19 @@ using namespace std;
 
 namespace gtsam {
 
+	/* ************************************************************************* */
+	void GaussianDensity::print(const string &s) const
+	{
+	  cout << s << ": density on ";
+	  for(const_iterator it = beginFrontals(); it != endFrontals(); ++it)
+	  	cout << (boost::format("[%1%]")%(*it)).str() << " ";
+	  cout << endl;
+	  gtsam::print(Matrix(get_R()),"R");
+	  gtsam::print(Vector(get_d()),"d");
+	  gtsam::print(sigmas_,"sigmas");
+	  cout << "Permutation: " << permutation_.indices().transpose() << endl;
+	}
+
 	/* ************************************************************************* */
 	Vector GaussianDensity::mean() const {
 		// Solve for mean
diff --git a/gtsam/linear/GaussianDensity.h b/gtsam/linear/GaussianDensity.h
index 9ef0007ac..2c13e847c 100644
--- a/gtsam/linear/GaussianDensity.h
+++ b/gtsam/linear/GaussianDensity.h
@@ -34,16 +34,14 @@ namespace gtsam {
 
 	public:
 
-	protected:
-
-	public:
+		typedef boost::shared_ptr<GaussianDensity> shared_ptr;
 
 		/// default constructor needed for serialization
 		GaussianDensity() :
 				GaussianConditional() {
 		}
 
-		// Copy constructor from GaussianConditional
+		/// Copy constructor from GaussianConditional
 		GaussianDensity(const GaussianConditional& conditional) :
 				GaussianConditional(conditional) {
 			assert(conditional.nrParents() == 0);
@@ -55,7 +53,10 @@ namespace gtsam {
 				GaussianConditional(key, d, R, sigmas) {
 		}
 
-		// Mean \f$ \mu = R^{-1} d \f$
+		/// print
+		void print(const std::string& = "GaussianDensity") const;
+
+		/// Mean \f$ \mu = R^{-1} d \f$
 		Vector mean() const;
 
 		/// Information matrix \f$ \Lambda = R^T R \f$