diff --git a/gtsam/inference/FactorGraph.h b/gtsam/inference/FactorGraph.h
index df684d7d2..96786b88f 100644
--- a/gtsam/inference/FactorGraph.h
+++ b/gtsam/inference/FactorGraph.h
@@ -83,18 +83,26 @@ template<class CONDITIONAL, class CLIQUE> class BayesTree;
 
 		/** convert from a derived type */
 		template<class DERIVEDFACTOR>
-		FactorGraph(const FactorGraph<DERIVEDFACTOR>& factors) { factors_.insert(end(), factors.begin(), factors.end()); }
+		FactorGraph(const FactorGraph<DERIVEDFACTOR>& factors) {
+			factors_.insert(end(), factors.begin(), factors.end());
+		}
 
 		/** Add a factor */
 		template<class DERIVEDFACTOR>
-		void push_back(const boost::shared_ptr<DERIVEDFACTOR>& factor) { factors_.push_back(sharedFactor(factor)); }
+		void push_back(const boost::shared_ptr<DERIVEDFACTOR>& factor) {
+			factors_.push_back(boost::shared_ptr<FACTOR>(factor));
+		}
 
 		/** push back many factors */
-		void push_back(const FactorGraph<FACTOR>& factors) { factors_.insert(end(), factors.begin(), factors.end()); }
+		void push_back(const FactorGraph<FACTOR>& factors) {
+			factors_.insert(end(), factors.begin(), factors.end());
+		}
 
 		/** push back many factors with an iterator */
 		template<typename ITERATOR>
-		void push_back(ITERATOR firstFactor, ITERATOR lastFactor) { factors_.insert(end(), firstFactor, lastFactor); }
+		void push_back(ITERATOR firstFactor, ITERATOR lastFactor) {
+			factors_.insert(end(), firstFactor, lastFactor);
+		}
 
     /** push back many factors stored in a vector*/
     template<typename DERIVEDFACTOR>
diff --git a/gtsam/linear/GaussianFactorGraph.h b/gtsam/linear/GaussianFactorGraph.h
index 3ec8a78f0..f48f7f13f 100644
--- a/gtsam/linear/GaussianFactorGraph.h
+++ b/gtsam/linear/GaussianFactorGraph.h
@@ -25,6 +25,7 @@
 
 #include <gtsam/base/FastSet.h>
 #include <gtsam/linear/Errors.h>
+#include <gtsam/linear/HessianFactor.h>
 #include <gtsam/linear/JacobianFactor.h>
 #include <gtsam/linear/GaussianBayesNet.h>
 
@@ -84,22 +85,32 @@ namespace gtsam {
       push_back(fg);
     }
 
+		/** Add a Jacobian factor */
+		void add(const boost::shared_ptr<JacobianFactor>& factor) {
+			factors_.push_back(boost::shared_ptr<GaussianFactor>(factor));
+		}
+
+		/** Add a Hessian factor */
+		void add(const boost::shared_ptr<HessianFactor>& factor) {
+			factors_.push_back(boost::shared_ptr<GaussianFactor>(factor));
+		}
+
     /** Add a null factor */
     void add(const Vector& b) {
-      push_back(sharedFactor(new JacobianFactor(b)));
+    	add(JacobianFactor::shared_ptr(new JacobianFactor(b)));
     }
 
     /** Add a unary factor */
     void add(Index key1, const Matrix& A1,
         const Vector& b, const SharedDiagonal& model) {
-      push_back(sharedFactor(new JacobianFactor(key1,A1,b,model)));
+    	add(JacobianFactor::shared_ptr(new JacobianFactor(key1,A1,b,model)));
     }
 
     /** Add a binary factor */
     void add(Index key1, const Matrix& A1,
         Index key2, const Matrix& A2,
         const Vector& b, const SharedDiagonal& model) {
-      push_back(sharedFactor(new JacobianFactor(key1,A1,key2,A2,b,model)));
+    	add(JacobianFactor::shared_ptr(new JacobianFactor(key1,A1,key2,A2,b,model)));
     }
 
     /** Add a ternary factor */
@@ -107,13 +118,13 @@ namespace gtsam {
         Index key2, const Matrix& A2,
         Index key3, const Matrix& A3,
         const Vector& b, const SharedDiagonal& model) {
-      push_back(sharedFactor(new JacobianFactor(key1,A1,key2,A2,key3,A3,b,model)));
+    	add(JacobianFactor::shared_ptr(new JacobianFactor(key1,A1,key2,A2,key3,A3,b,model)));
     }
 
     /** Add an n-ary factor */
     void add(const std::vector<std::pair<Index, Matrix> > &terms,
         const Vector &b, const SharedDiagonal& model) {
-      push_back(sharedFactor(new JacobianFactor(terms,b,model)));
+    	add(JacobianFactor::shared_ptr(new JacobianFactor(terms,b,model)));
     }
 
     /**