From d5d70d7751f7c9689798a885be956c4d8cbbbc31 Mon Sep 17 00:00:00 2001
From: Viorela Ila <iviorela@gmail.com>
Date: Sun, 13 Dec 2009 03:02:14 +0000
Subject: [PATCH] gradientDescent_ and conjugateGradientDescent_ works in
 matlab

---
 cpp/GaussianFactorGraph.cpp | 14 ++++++++++++++
 cpp/GaussianFactorGraph.h   |  9 ++++++++-
 cpp/gtsam.h                 |  2 ++
 3 files changed, 24 insertions(+), 1 deletion(-)

diff --git a/cpp/GaussianFactorGraph.cpp b/cpp/GaussianFactorGraph.cpp
index a245b20db..300f60272 100644
--- a/cpp/GaussianFactorGraph.cpp
+++ b/cpp/GaussianFactorGraph.cpp
@@ -292,3 +292,17 @@ VectorConfig GaussianFactorGraph::conjugateGradientDescent(
 }
 
 /* ************************************************************************* */
+/* ************************************************************************* */
+boost::shared_ptr<VectorConfig>
+GaussianFactorGraph::gradientDescent_(const VectorConfig& x0) const {
+	return boost::shared_ptr<VectorConfig>(new VectorConfig(gradientDescent(x0)));
+}
+
+/* ************************************************************************* */
+boost::shared_ptr<VectorConfig>
+GaussianFactorGraph::conjugateGradientDescent_(const VectorConfig& x0) const {
+	return boost::shared_ptr<VectorConfig>(new VectorConfig(conjugateGradientDescent(x0)));
+}
+
+/* ************************************************************************* */
+
diff --git a/cpp/GaussianFactorGraph.h b/cpp/GaussianFactorGraph.h
index 1567f251c..1d6486aa9 100644
--- a/cpp/GaussianFactorGraph.h
+++ b/cpp/GaussianFactorGraph.h
@@ -187,13 +187,20 @@ namespace gtsam {
   	 * @return solution
   	 */
   	VectorConfig gradientDescent(const VectorConfig& x0) const;
-
+    /**
+     * shared pointer versions for MATLAB
+     */
+    boost::shared_ptr<VectorConfig>gradientDescent_(const VectorConfig& x0) const;
   	/**
   	 * Find solution using conjugate gradient descent
   	 * @param x0: VectorConfig specifying initial estimate
   	 * @return solution
   	 */
   	VectorConfig conjugateGradientDescent(const VectorConfig& x0) const;
+    /**
+     * shared pointer versions for MATLAB
+     */
+    boost::shared_ptr<VectorConfig> conjugateGradientDescent_(const VectorConfig& x0) const;
   };
 
 }
diff --git a/cpp/gtsam.h b/cpp/gtsam.h
index a7a82a059..53e31e517 100644
--- a/cpp/gtsam.h
+++ b/cpp/gtsam.h
@@ -106,6 +106,8 @@ class GaussianFactorGraph {
   VectorConfig* optimize_(const Ordering& ordering);
   pair<Matrix,Vector> matrix(const Ordering& ordering) const;
   Matrix sparse(const Ordering& ordering) const;
+  VectorConfig* gradientDescent_(const VectorConfig& x0) const;
+  VectorConfig* conjugateGradientDescent_(const VectorConfig& x0) const;
 };
 
 class Point2 {