diff --git a/gtsam.h b/gtsam.h
index 71fcaeb17..99aec3f86 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -2363,6 +2363,12 @@ virtual class CombinedImuFactor : gtsam::NonlinearFactor {
 namespace utilities {
 
   #include <matlab.h>
+  gtsam::KeyList createKeyList(Vector I);
+  gtsam::KeyList createKeyList(string s, Vector I);
+  gtsam::KeyVector createKeyVector(Vector I);
+  gtsam::KeyVector createKeyVector(string s, Vector I);
+  gtsam::KeySet createKeySet(Vector I);
+  gtsam::KeySet createKeySet(string s, Vector I);
   Matrix extractPoint2(const gtsam::Values& values);
   Matrix extractPoint3(const gtsam::Values& values);
   Matrix extractPose2(const gtsam::Values& values);
@@ -2375,7 +2381,6 @@ namespace utilities {
   void insertProjectionFactors(gtsam::NonlinearFactorGraph& graph, size_t i, Vector J, Matrix Z, const gtsam::noiseModel::Base* model, const gtsam::Cal3_S2* K);
   void insertProjectionFactors(gtsam::NonlinearFactorGraph& graph, size_t i, Vector J, Matrix Z, const gtsam::noiseModel::Base* model, const gtsam::Cal3_S2* K, const gtsam::Pose3& body_P_sensor);
   Matrix reprojectionErrors(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& values);
-  gtsam::KeySet createKeySet(string s, Vector I);
 
 } //\namespace utilities
 
diff --git a/matlab.h b/matlab.h
index b62c9866a..e9ad519bd 100644
--- a/matlab.h
+++ b/matlab.h
@@ -34,6 +34,57 @@ namespace gtsam {
 
 namespace utilities {
 
+// Create a KeyList from indices
+FastList<Key> createKeyList(const Vector& I) {
+  FastList<Key> set;
+  for (int i = 0; i < I.size(); i++)
+    set.push_back(I[i]);
+  return set;
+}
+
+// Create a KeyList from indices using symbol
+FastList<Key> createKeyList(string s, const Vector& I) {
+  FastList<Key> set;
+  char c = s[0];
+  for (int i = 0; i < I.size(); i++)
+    set.push_back(Symbol(c, I[i]));
+  return set;
+}
+
+// Create a KeyVector from indices
+FastVector<Key> createKeyVector(const Vector& I) {
+  FastVector<Key> set;
+  for (int i = 0; i < I.size(); i++)
+    set.push_back(I[i]);
+  return set;
+}
+
+// Create a KeyVector from indices using symbol
+FastVector<Key> createKeyVector(string s, const Vector& I) {
+  FastVector<Key> set;
+  char c = s[0];
+  for (int i = 0; i < I.size(); i++)
+    set.push_back(Symbol(c, I[i]));
+  return set;
+}
+
+// Create a KeySet from indices
+FastSet<Key> createKeySet(const Vector& I) {
+  FastSet<Key> set;
+  for (int i = 0; i < I.size(); i++)
+    set.insert(I[i]);
+  return set;
+}
+
+// Create a KeySet from indices using symbol
+FastSet<Key> createKeySet(string s, const Vector& I) {
+  FastSet<Key> set;
+  char c = s[0];
+  for (int i = 0; i < I.size(); i++)
+    set.insert(symbol(c, I[i]));
+  return set;
+}
+
 /// Extract all Point2 values into a single matrix [x y]
 Matrix extractPoint2(const Values& values) {
   size_t j = 0;
@@ -167,15 +218,6 @@ Matrix reprojectionErrors(const NonlinearFactorGraph& graph,
   return errors;
 }
 
-// Create a Keyset from indices
-FastSet<Key> createKeySet(string s, const Vector& I) {
-  FastSet<Key> set;
-  char c = s[0];
-  for (int i = 0; i < I.size(); i++)
-    set.insert(symbol(c, I[i]));
-  return set;
-}
-
 }
 }