Added clone() to Value

gtsam/base/DerivedValue.h

@@ -16,7 +16,7 @@
  */
 
 #pragma once
-
+#include <boost/make_shared.hpp>
 #include <boost/pool/singleton_pool.hpp>
 #include <gtsam/base/Value.h>
 
@@ -37,7 +37,8 @@ public:
 
   /**
    * Create a duplicate object returned as a pointer to the generic Value interface.
-   * For the sake of performance, this function use singleton pool allocator instead of the normal heap allocator
+   * For the sake of performance, this function use singleton pool allocator instead of the normal heap allocator.
+	 * The result must be deleted with Value::deallocate_, not with the 'delete' operator.
    */
   virtual Value* clone_() const {
   	void *place = boost::singleton_pool<PoolTag, sizeof(DERIVED)>::malloc();
@@ -53,6 +54,13 @@ public:
   	boost::singleton_pool<PoolTag, sizeof(DERIVED)>::free((void*)this);
   }
 
+	/**
+	 * Clone this value (normal clone on the heap, delete with 'delete' operator)
+	 */
+	virtual boost::shared_ptr<Value> clone() const {
+		return boost::make_shared<DERIVED>(static_cast<const DERIVED&>(*this));
+	}
+
   /// equals implementing generic Value interface
   virtual bool equals_(const Value& p, double tol = 1e-9) const {
     // Cast the base class Value pointer to a derived class pointer

gtsam/base/Value.h

@@ -101,12 +101,15 @@ namespace gtsam {
   class Value {
   public:
 
-    /** Allocate and construct a clone of this value */
+    /** Clone this value in a special memory pool, must be deleted with Value::deallocate_, *not* with the 'delete' operator. */
     virtual Value* clone_() const = 0;
 
     /** Deallocate a raw pointer of this value */
     virtual void deallocate_() const = 0;
 
+		/** Clone this value (normal clone on the heap, delete with 'delete' operator) */
+		virtual boost::shared_ptr<Value> clone() const = 0;
+
     /** Compare this Value with another for equality. */
     virtual bool equals_(const Value& other, double tol = 1e-9) const = 0;