gradientDescent_ and conjugateGradientDescent_ works in matlab

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)));
+}
+
+/* ************************************************************************* */
+

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;
   };
 
 }

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 {