From cd0164bd8bd6cac5226bec718d1ca918099b62e4 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Wed, 4 Jan 2023 20:25:48 -0800
Subject: [PATCH] Add forwarding template for mean-stddev variants

---
 gtsam/linear/GaussianConditional.h | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/gtsam/linear/GaussianConditional.h b/gtsam/linear/GaussianConditional.h
index d25efb2e1..05b8b86b8 100644
--- a/gtsam/linear/GaussianConditional.h
+++ b/gtsam/linear/GaussianConditional.h
@@ -100,6 +100,12 @@ namespace gtsam {
                                                  const Matrix& A2, Key parent2,
                                                  const Vector& b, double sigma);
 
+    /// Create shared pointer by forwarding arguments to fromMeanAndStddev.
+    template<typename... Args>
+    static shared_ptr sharedMeanAndStddev(Args&&... args) {
+      return boost::make_shared<This>(FromMeanAndStddev(std::forward<Args>(args)...));
+    }
+
     /** Combine several GaussianConditional into a single dense GC.  The conditionals enumerated by
     *   \c first and \c last must be in increasing order, meaning that the parents of any
     *   conditional may not include a conditional coming before it.