diff --git a/gtsam.h b/gtsam.h
index 7e3a7eaa1..6aa6546f5 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -8,14 +8,17 @@
  *   Constructors must appear in a class before any methods
  *   Methods can only return Matrix, Vector, double, int, void, and a shared_ptr to any other object
  *   Comments can use either C++ or C style
- *   Static methods are not supported
+ *   Static methods are not supported - FIXED
  *   Methods must start with a lowercase letter
+ *   Static methods must start with an uppercase letter
  *   Classes must start with an uppercase letter
  */
 
 class Point2 {
 	Point2();
 	Point2(double x, double y);
+	static Point2* Expmap_(Vector v);
+	static Vector Logmap(const Point2& p);
 	void print(string s) const;
 	double x();
 	double y();
@@ -29,6 +32,8 @@ class Point3 {
 	Point3();
 	Point3(double x, double y, double z);
 	Point3(Vector v);
+	static Point3* Expmap_(Vector v);
+	static Vector Logmap(const Point3& p);
 	void print(string s) const;
 	bool equals(const Point3& p, double tol);
 	Vector vector() const;
@@ -44,6 +49,8 @@ class Point3 {
 class Rot2 {
 	Rot2();
 	Rot2(double theta);
+	static Rot2* Expmap_(Vector v);
+	static Vector Logmap(const Rot2& p);
 	void print(string s) const;
 	bool equals(const Rot2& rot, double tol) const;
 	double c() const;
@@ -57,6 +64,8 @@ class Rot2 {
 class Rot3 {
 	Rot3();
 	Rot3(Matrix R);
+	static Rot3* Expmap_(Vector v);
+	static Vector Logmap(const Rot3& p);
 	Matrix matrix() const;
 	Matrix transpose() const;
 	Vector xyz() const;
@@ -75,6 +84,8 @@ class Pose2 {
 	Pose2(double theta, const Point2& t);
 	Pose2(const Rot2& r, const Point2& t);
 	Pose2(Vector v);
+	static Pose2* Expmap_(Vector v);
+	static Vector Logmap(const Pose2& p);
 	void print(string s) const;
 	bool equals(const Pose2& pose, double tol) const;
 	double x() const;
@@ -92,6 +103,8 @@ class Pose3 {
 	Pose3(const Rot3& r, const Point3& t);
 	Pose3(Vector v);
 	Pose3(Matrix t);
+	static Pose3* Expmap_(Vector v);
+	static Vector Logmap(const Pose3& p);
 	void print(string s) const;
 	bool equals(const Pose3& pose, double tol) const;
 	double x() const;
diff --git a/gtsam/geometry/Point2.h b/gtsam/geometry/Point2.h
index 73831aa38..18a390d7b 100644
--- a/gtsam/geometry/Point2.h
+++ b/gtsam/geometry/Point2.h
@@ -111,6 +111,9 @@ public:
 
 	/// Exponential map around identity - just create a Point2 from a vector
 	static inline Point2 Expmap(const Vector& v) { return Point2(v); }
+	static inline boost::shared_ptr<Point2> Expmap_(const Vector& v) {
+		return boost::shared_ptr<Point2>(new Point2(Expmap(v)));
+	}
 
 	/// Log map around identity - just return the Point2 as a vector
 	static inline Vector Logmap(const Point2& dp) { return Vector_(2, dp.x(), dp.y()); }
diff --git a/gtsam/geometry/Point3.h b/gtsam/geometry/Point3.h
index 5a52ec67d..7b1520a16 100644
--- a/gtsam/geometry/Point3.h
+++ b/gtsam/geometry/Point3.h
@@ -108,6 +108,9 @@ namespace gtsam {
 
     /** Exponential map at identity - just create a Point3 from x,y,z */
     static inline Point3 Expmap(const Vector& v) { return Point3(v); }
+  	static inline boost::shared_ptr<Point3> Expmap_(const Vector& v) {
+  		return boost::shared_ptr<Point3>(new Point3(Expmap(v)));
+  	}
 
     /** Log map at identity - return the x,y,z of this point */
     static inline Vector Logmap(const Point3& dp) { return Vector_(3, dp.x(), dp.y(), dp.z()); }
diff --git a/gtsam/geometry/Pose2.h b/gtsam/geometry/Pose2.h
index cdbf141c3..cee792ea6 100644
--- a/gtsam/geometry/Pose2.h
+++ b/gtsam/geometry/Pose2.h
@@ -140,6 +140,9 @@ public:
 
   /// Exponential map from Lie algebra se(2) to SE(2)
 	static Pose2 Expmap(const Vector& xi);
+	static inline boost::shared_ptr<Pose2> Expmap_(const Vector& v) {
+		return boost::shared_ptr<Pose2>(new Pose2(Expmap(v)));
+	}
 
   /// Exponential map from SE(2) to Lie algebra se(2)
 	static Vector Logmap(const Pose2& p);
diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h
index 27147cdca..be9966c60 100644
--- a/gtsam/geometry/Pose3.h
+++ b/gtsam/geometry/Pose3.h
@@ -134,6 +134,9 @@ namespace gtsam {
 
     /// Exponential map from Lie algebra se(3) to SE(3)
     static Pose3 Expmap(const Vector& xi);
+  	static inline boost::shared_ptr<Pose3> Expmap_(const Vector& v) {
+  		return boost::shared_ptr<Pose3>(new Pose3(Expmap(v)));
+  	}
 
     /// Exponential map from SE(3) to Lie algebra se(3)
     static Vector Logmap(const Pose3& p);
diff --git a/gtsam/geometry/Rot2.h b/gtsam/geometry/Rot2.h
index f251a5843..c52776cb9 100644
--- a/gtsam/geometry/Rot2.h
+++ b/gtsam/geometry/Rot2.h
@@ -189,6 +189,9 @@ namespace gtsam {
 			else
 				return Rot2::fromAngle(v(0));
 		}
+		static inline boost::shared_ptr<Rot2> Expmap_(const Vector& v) {
+			return boost::shared_ptr<Rot2>(new Rot2(Expmap(v)));
+		}
 
 		/// Logmap around identity - return the angle of the rotation
 		static inline Vector Logmap(const Rot2& r) {
diff --git a/gtsam/geometry/Rot3M.h b/gtsam/geometry/Rot3M.h
index 771b7da39..5f71b0668 100644
--- a/gtsam/geometry/Rot3M.h
+++ b/gtsam/geometry/Rot3M.h
@@ -202,6 +202,9 @@ namespace gtsam {
     	if(zero(v)) return Rot3M();
     	else return rodriguez(v);
     }
+		static inline boost::shared_ptr<Rot3M> Expmap_(const Vector& v) {
+			return boost::shared_ptr<Rot3M>(new Rot3M(Expmap(v)));
+		}
 
     /**
      * Log map at identity - return the canonical coordinates of this rotation
diff --git a/wrap/Class.cpp b/wrap/Class.cpp
index d701731d8..628e0ea83 100644
--- a/wrap/Class.cpp
+++ b/wrap/Class.cpp
@@ -67,6 +67,14 @@ void Class::matlab_methods(const string& classPath, const string& nameSpace) {
   }
 }
 
+/* ************************************************************************* */
+void Class::matlab_static_methods(const string& toolboxPath, const string& nameSpace) {
+  BOOST_FOREACH(StaticMethod& m, static_methods) {
+    m.matlab_mfile  (toolboxPath, name);
+    m.matlab_wrapper(toolboxPath, name, nameSpace);
+  }
+}
+
 /* ************************************************************************* */
 void Class::matlab_make_fragment(ofstream& ofs, 
 				 const string& toolboxPath,
@@ -75,6 +83,8 @@ void Class::matlab_make_fragment(ofstream& ofs,
   string mex = "mex " + mexFlags + " ";
   BOOST_FOREACH(Constructor c, constructors)
     ofs << mex << c.matlab_wrapper_name(name) << ".cpp" << endl;
+  BOOST_FOREACH(StaticMethod sm, static_methods)
+    ofs << mex << name + "_" + sm.name_ << ".cpp" << endl;
   ofs << endl << "cd @" << name << endl;
   BOOST_FOREACH(Method m, methods)
     ofs << mex << m.name_ << ".cpp" << endl;
diff --git a/wrap/Class.h b/wrap/Class.h
index ca85b06b1..68ff4e1ca 100644
--- a/wrap/Class.h
+++ b/wrap/Class.h
@@ -22,6 +22,7 @@
 
 #include "Constructor.h"
 #include "Method.h"
+#include "StaticMethod.h"
 
 /// Class has name, constructors, methods
 struct Class {
@@ -29,10 +30,11 @@ struct Class {
   Class(bool verbose=true) : verbose_(verbose) {}
 
 	// Then the instance variables are set directly by the Module constructor
-  std::string name;                    ///< Class name
-  std::list<Constructor> constructors; ///< Class constructors
-  std::list<Method> methods;           ///< Class methods
-  bool verbose_;                       ///< verbose flag
+  std::string name;                       ///< Class name
+  std::list<Constructor> constructors;    ///< Class constructors
+  std::list<Method> methods;              ///< Class methods
+  std::list<StaticMethod> static_methods; ///< Static methods
+  bool verbose_;                          ///< verbose flag
 
   // And finally MATLAB code is emitted, methods below called by Module::matlab_code
   void matlab_proxy(const std::string& classFile);          ///< emit proxy class
@@ -40,6 +42,8 @@ struct Class {
 			   const std::string& nameSpace);   ///< emit constructor wrappers
   void matlab_methods(const std::string& classPath,
 			   const std::string& nameSpace);   ///< emit method wrappers
+  void matlab_static_methods(const std::string& classPath,
+  			   const std::string& nameSpace);   ///< emit static method wrappers
   void matlab_make_fragment(std::ofstream& ofs,
 			    const std::string& toolboxPath,
 			    const std::string& mexFlags);   ///< emit make fragment for global make script
diff --git a/wrap/Makefile.am b/wrap/Makefile.am
index c32a9cc5f..43573033c 100644
--- a/wrap/Makefile.am
+++ b/wrap/Makefile.am
@@ -15,7 +15,7 @@ check_PROGRAMS =
 if ENABLE_BUILD_TOOLBOX
 
 # Build a library from the core sources
-sources += utilities.cpp Argument.cpp Constructor.cpp Method.cpp Class.cpp Module.cpp
+sources += utilities.cpp Argument.cpp ReturnValue.cpp Constructor.cpp Method.cpp StaticMethod.cpp Class.cpp Module.cpp
 check_PROGRAMS += tests/testSpirit tests/testWrap 
 noinst_PROGRAMS = wrap
 
diff --git a/wrap/Method.cpp b/wrap/Method.cpp
index 1e0cd134e..0b3833437 100644
--- a/wrap/Method.cpp
+++ b/wrap/Method.cpp
@@ -24,27 +24,6 @@
 
 using namespace std;
 
-/* ************************************************************************* */
-// auxiliary function to wrap an argument into a shared_ptr template
-/* ************************************************************************* */
-string maybe_shared_ptr(bool add, const string& type) {
-  string str = add? "shared_ptr<" : "";
-  str += type;
-  if (add) str += ">";
-  return str;
-}
-
-/* ************************************************************************* */
-string Method::return_type(bool add_ptr, pairing p) {
-  if (p==pair && returns_pair_) {
-    string str = "pair< " + 
-      maybe_shared_ptr(add_ptr && returns_ptr_, returns_) + ", " +
-      maybe_shared_ptr(add_ptr && returns_ptr_, returns2_) + " >";
-    return str;
-  } else
-    return maybe_shared_ptr(add_ptr && returns_ptr_, (p==arg2)? returns2_ : returns_);
-}
-
 /* ************************************************************************* */
 void Method::matlab_mfile(const string& classPath) {
 
@@ -55,7 +34,7 @@ void Method::matlab_mfile(const string& classPath) {
   if(verbose_) cerr << "generating " << wrapperFile << endl;
 
   // generate code
-  string returnType = returns_pair_? "[first,second]" : "result";
+  string returnType = returnVal_.matlab_returnType();
   ofs << "function " << returnType << " = " << name_ << "(obj";
   if (args_.size()) ofs << "," << args_.names();
   ofs << ")" << endl;
@@ -98,7 +77,7 @@ void Method::matlab_wrapper(const string& classPath,
 
   // get class pointer
   // example: shared_ptr<Test> = unwrap_shared_ptr< Test >(in[0], "Test");
-  ofs << "  shared_ptr<" << className << "> self = unwrap_shared_ptr< " << className 
+  ofs << "  shared_ptr<" << ((is_const_) ? "const " : "") << className << "> self = unwrap_shared_ptr< " << className
       << " >(in[0],\"" << className << "\");" << endl;
 
   // unwrap arguments, see Argument.cpp
@@ -107,26 +86,13 @@ void Method::matlab_wrapper(const string& classPath,
   // call method
   // example: bool result = self->return_field(t);
   ofs << "  ";
-  if (returns_!="void")
-    ofs << return_type(true,pair) << " result = ";
+  if (returnVal_.returns_!="void")
+    ofs << returnVal_.return_type(true,ReturnValue::pair) << " result = ";
   ofs << "self->" << name_ << "(" << args_.names() << ");\n";
 
   // wrap result
   // example: out[0]=wrap<bool>(result);
-  if (returns_pair_) {
-    if (returns_ptr_)
-      ofs << "  out[0] = wrap_shared_ptr(result.first,\"" << returns_ << "\");\n";
-    else
-      ofs << "  out[0] = wrap< " << return_type(true,arg1) << " >(result.first);\n";
-    if (returns_ptr2_)
-      ofs << "  out[1] = wrap_shared_ptr(result.second,\"" << returns2_ << "\");\n";
-    else
-      ofs << "  out[1] = wrap< " << return_type(true,arg2) << " >(result.second);\n";
-  } 
-  else if (returns_ptr_)
-    ofs << "  out[0] = wrap_shared_ptr(result,\"" << returns_ << "\");\n";
-  else if (returns_!="void")
-    ofs << "  out[0] = wrap< " << return_type(true,arg1) << " >(result);\n";
+  returnVal_.wrap_result(ofs);
 
   // finish
   ofs << "}\n";
diff --git a/wrap/Method.h b/wrap/Method.h
index 56679e67b..edf98d717 100644
--- a/wrap/Method.h
+++ b/wrap/Method.h
@@ -21,27 +21,23 @@
 #include <list>
 
 #include "Argument.h"
+#include "ReturnValue.h"
 
 /// Method class
 struct Method {
 
 	/// Constructor creates empty object
 	Method(bool verbose = true) :
-			returns_ptr_(false), returns_ptr2_(false), returns_pair_(false), verbose_(
-					verbose) {
-	}
+			verbose_(verbose) {}
 
 	// Then the instance variables are set directly by the Module constructor
-	bool is_const_;
-	ArgumentList args_;
-	std::string returns_, returns2_, name_;
-	bool returns_ptr_, returns_ptr2_, returns_pair_;
 	bool verbose_;
+	bool is_const_;
+	std::string name_;
+	ArgumentList args_;
+	ReturnValue returnVal_;
 
-	enum pairing {
-		arg1, arg2, pair
-	};
-	std::string return_type(bool add_ptr, pairing p);
+//	std::string return_type(bool add_ptr, pairing p);
 
 	// MATLAB code generation
 	// classPath is class directory, e.g., ../matlab/@Point2
diff --git a/wrap/Module.cpp b/wrap/Module.cpp
index 523e90793..47a1b0b50 100644
--- a/wrap/Module.cpp
+++ b/wrap/Module.cpp
@@ -43,10 +43,12 @@ Module::Module(const string& interfacePath,
 {
   // these variables will be imperatively updated to gradually build [cls]
   // The one with postfix 0 are used to reset the variables after parse.
+	ReturnValue retVal0, retVal;
   Argument arg0, arg;
   ArgumentList args0, args;
   Constructor constructor0(verbose), constructor(verbose);
   Method method0(verbose), method(verbose);
+  StaticMethod static_method0(verbose), static_method(verbose);
   Class cls0(verbose),cls(verbose);
 
   //----------------------------------------------------------------------------
@@ -100,20 +102,20 @@ Module::Module(const string& interfacePath,
     [assign_a(constructor,constructor0)];
 
   Rule returnType1_p =
-    basisType_p[assign_a(method.returns_)] |
-    ((className_p | "Vector" | "Matrix")[assign_a(method.returns_)] >>
-     !ch_p('*')  [assign_a(method.returns_ptr_,true)]);
+    basisType_p[assign_a(retVal.returns_)] |
+    ((className_p | "Vector" | "Matrix")[assign_a(retVal.returns_)] >>
+     !ch_p('*')  [assign_a(retVal.returns_ptr_,true)]);
 
   Rule returnType2_p =
-    basisType_p[assign_a(method.returns2_)] |
-    ((className_p | "Vector" | "Matrix")[assign_a(method.returns2_)] >>
-     !ch_p('*')  [assign_a(method.returns_ptr2_,true)]);
+    basisType_p[assign_a(retVal.returns2_)] |
+    ((className_p | "Vector" | "Matrix")[assign_a(retVal.returns2_)] >>
+     !ch_p('*')  [assign_a(retVal.returns_ptr2_,true)]);
 
   Rule pair_p = 
     (str_p("pair") >> '<' >> returnType1_p >> ',' >> returnType2_p >> '>')
-    [assign_a(method.returns_pair_,true)];
+    [assign_a(retVal.returns_pair_,true)];
 
-  Rule void_p = str_p("void")[assign_a(method.returns_)];
+  Rule void_p = str_p("void")[assign_a(retVal.returns_)];
 
   Rule returnType_p = void_p | returnType1_p | pair_p;
 
@@ -125,14 +127,30 @@ Module::Module(const string& interfacePath,
      !str_p("const")[assign_a(method.is_const_,true)] >> ';' >> *comments_p)
     [assign_a(method.args_,args)]
     [assign_a(args,args0)]
+    [assign_a(method.returnVal_,retVal)]
+    [assign_a(retVal,retVal0)]
     [push_back_a(cls.methods, method)]
     [assign_a(method,method0)];
 
+  Rule staticMethodName_p = lexeme_d[upper_p >> *(alnum_p | '_')];
+
+  Rule static_method_p =
+    (str_p("static") >> returnType_p >> staticMethodName_p[assign_a(static_method.name_)] >>
+     '(' >> argumentList_p >> ')' >> ';' >> *comments_p)
+    [assign_a(static_method.args_,args)]
+    [assign_a(args,args0)]
+    [assign_a(static_method.returnVal_,retVal)]
+    [assign_a(retVal,retVal0)]
+    [push_back_a(cls.static_methods, static_method)]
+    [assign_a(static_method,static_method0)];
+
+  Rule methods_p = method_p | static_method_p;
+
   Rule class_p = str_p("class") >> className_p[assign_a(cls.name)] >> '{' >>
  		*comments_p >>
     *constructor_p >>
  		*comments_p >>
-    *method_p >>
+    *methods_p >>
  		*comments_p >>
     '}' >> ";";
 
@@ -214,6 +232,7 @@ void Module::matlab_code(const string& toolboxPath,
 
       // create constructor and method wrappers
       cls.matlab_constructors(toolboxPath,nameSpace);
+      cls.matlab_static_methods(toolboxPath,nameSpace);
       cls.matlab_methods(classPath,nameSpace);
 
       // add lines to make m-file
diff --git a/wrap/README b/wrap/README
index 6996e3649..c47b34ddd 100644
--- a/wrap/README
+++ b/wrap/README
@@ -17,10 +17,10 @@ OBJECT CREATION
 	new_GaussianFactorGraph_ calls wrap_constructed in matlab.h, see documentation there
 	
 METHOD (AND CONSTRUCTOR) ARGUMENTS
-- simple argument types of methods, such as "double", will be converted in the
+- Simple argument types of methods, such as "double", will be converted in the
   mex warppers by calling unwrap<double>, defined in matlab.h
-- Vector and Matric arguments are normally passed by reference in GTSAM, but
-  in gtsam.h you need to pretedn they are passed by value, to trigger the 
+- Vector and Matrix arguments are normally passed by reference in GTSAM, but
+  in gtsam.h you need to pretend they are passed by value, to trigger the 
   generation of the correct conversion routines unwrap<Vector> and unwrap<Matrix>
 - passing classes as arguments works, provided they are passed by reference.
 	This triggers a call to unwrap_shared_ptr
diff --git a/wrap/ReturnValue.cpp b/wrap/ReturnValue.cpp
new file mode 100644
index 000000000..f6307954e
--- /dev/null
+++ b/wrap/ReturnValue.cpp
@@ -0,0 +1,44 @@
+/**
+ * @file ReturnValue.cpp
+ *
+ * @date Dec 1, 2011
+ * @author Alex Cunningham
+ */
+
+#include "ReturnValue.h"
+#include "utilities.h"
+
+using namespace std;
+
+/* ************************************************************************* */
+string ReturnValue::return_type(bool add_ptr, pairing p) {
+  if (p==pair && returns_pair_) {
+    string str = "pair< " +
+      maybe_shared_ptr(add_ptr && returns_ptr_, returns_) + ", " +
+      maybe_shared_ptr(add_ptr && returns_ptr_, returns2_) + " >";
+    return str;
+  } else
+    return maybe_shared_ptr(add_ptr && returns_ptr_, (p==arg2)? returns2_ : returns_);
+}
+
+/* ************************************************************************* */
+void ReturnValue::wrap_result(std::ostream& ofs) {
+  if (returns_pair_) {
+    if (returns_ptr_)
+      ofs << "  out[0] = wrap_shared_ptr(result.first,\"" << returns_ << "\");\n";
+    else
+      ofs << "  out[0] = wrap< " << return_type(true,arg1) << " >(result.first);\n";
+    if (returns_ptr2_)
+      ofs << "  out[1] = wrap_shared_ptr(result.second,\"" << returns2_ << "\");\n";
+    else
+      ofs << "  out[1] = wrap< " << return_type(true,arg2) << " >(result.second);\n";
+  }
+  else if (returns_ptr_)
+    ofs << "  out[0] = wrap_shared_ptr(result,\"" << returns_ << "\");\n";
+  else if (returns_!="void")
+    ofs << "  out[0] = wrap< " << return_type(true,arg1) << " >(result);\n";
+}
+
+/* ************************************************************************* */
+
+
diff --git a/wrap/ReturnValue.h b/wrap/ReturnValue.h
new file mode 100644
index 000000000..336a415ac
--- /dev/null
+++ b/wrap/ReturnValue.h
@@ -0,0 +1,34 @@
+/**
+ * @file ReturnValue.h
+ *
+ * @brief Encapsulates a return value from a method
+ *
+ * @date Dec 1, 2011
+ * @author Alex Cunningham
+ */
+
+#include <ostream>
+
+#pragma once
+
+struct ReturnValue {
+
+	ReturnValue(bool verbose = true)
+	: verbose_(verbose), returns_ptr_(false), returns_ptr2_(false), returns_pair_(false)
+	{}
+
+	bool verbose_;
+	std::string returns_, returns2_;
+	bool returns_ptr_, returns_ptr2_, returns_pair_;
+
+	typedef enum {
+		arg1, arg2, pair
+	} pairing;
+
+	std::string return_type(bool add_ptr, pairing p);
+
+	std::string matlab_returnType() const { return returns_pair_? "[first,second]" : "result"; }
+
+	void wrap_result(std::ostream& ofs);
+
+};
diff --git a/wrap/StaticMethod.cpp b/wrap/StaticMethod.cpp
new file mode 100644
index 000000000..0a712219e
--- /dev/null
+++ b/wrap/StaticMethod.cpp
@@ -0,0 +1,100 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file Method.ccp
+ * @author Frank Dellaert
+ **/
+
+#include <iostream>
+#include <fstream>
+
+#include <boost/foreach.hpp>
+
+#include "StaticMethod.h"
+#include "utilities.h"
+
+using namespace std;
+
+/* ************************************************************************* */
+void StaticMethod::matlab_mfile(const string& toolboxPath, const string& className) {
+
+  // open destination m-file
+	string full_name = className + "_" + name_;
+  string wrapperFile = toolboxPath + "/" + full_name + ".m";
+  ofstream ofs(wrapperFile.c_str());
+  if(!ofs) throw CantOpenFile(wrapperFile);
+  if(verbose_) cerr << "generating " << wrapperFile << endl;
+
+  // generate code
+  string returnType = returnVal_.matlab_returnType();
+  ofs << "function " << returnType << " = " << full_name << "(";
+  if (args_.size()) ofs << "," << args_.names();
+  ofs << ")" << endl;
+  ofs << "% usage: obj." << full_name << "(" << args_.names() << ")" << endl;
+  ofs << "  error('need to compile " << full_name << ".cpp');" << endl;
+  ofs << "end" << endl;
+
+  // close file
+  ofs.close();
+}
+
+/* ************************************************************************* */
+void StaticMethod::matlab_wrapper(const string& toolboxPath,
+			    const string& className, const string& nameSpace)
+{
+  // open destination wrapperFile
+	string full_name = className + "_" + name_;
+  string wrapperFile = toolboxPath + "/" + full_name + ".cpp";
+  ofstream ofs(wrapperFile.c_str());
+  if(!ofs) throw CantOpenFile(wrapperFile);
+  if(verbose_) cerr << "generating " << wrapperFile << endl;
+
+  // generate code
+
+  // header
+  emit_header_comment(ofs, "//");
+  ofs << "#include <wrap/matlab.h>\n";
+  ofs << "#include <" << className << ".h>\n";
+  if (!nameSpace.empty()) ofs << "using namespace " << nameSpace << ";" << endl;
+
+  // call
+  ofs << "void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n";
+  // start
+  ofs << "{\n";
+
+  // check arguments
+  // extra argument obj -> nargin-1 is passed !
+  // example: checkArguments("equals",nargout,nargin-1,2);
+  ofs << "  checkArguments(\"" << full_name << "\",nargout,nargin," << args_.size() << ");\n";
+
+  // unwrap arguments, see Argument.cpp
+  args_.matlab_unwrap(ofs,1);
+
+  // call method
+  // example: bool result = Point2::return_field(t);
+  ofs << "  ";
+  if (returnVal_.returns_!="void")
+    ofs << returnVal_.return_type(true,ReturnValue::pair) << " result = ";
+  ofs << className  << "::" << name_ << "(" << args_.names() << ");\n";
+
+  // wrap result
+  // example: out[0]=wrap<bool>(result);
+  returnVal_.wrap_result(ofs);
+
+  // finish
+  ofs << "}\n";
+
+  // close file
+  ofs.close();
+}
+
+/* ************************************************************************* */
diff --git a/wrap/StaticMethod.h b/wrap/StaticMethod.h
new file mode 100644
index 000000000..11caa2eb0
--- /dev/null
+++ b/wrap/StaticMethod.h
@@ -0,0 +1,49 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file StaticMethod.h
+ * @brief describes and generates code for static methods
+ * @author Frank Dellaert
+ * @author Alex Cunningham
+ **/
+
+#pragma once
+
+#include <string>
+#include <list>
+
+#include "Argument.h"
+#include "ReturnValue.h"
+
+/// StaticMethod class
+struct StaticMethod {
+
+	/// Constructor creates empty object
+	StaticMethod(bool verbose = true) :
+			verbose_(verbose) {}
+
+	// Then the instance variables are set directly by the Module constructor
+	bool verbose_;
+	std::string name_;
+	ArgumentList args_;
+	ReturnValue returnVal_;
+
+	// MATLAB code generation
+	// toolboxPath is the core toolbox directory, e.g., ../matlab
+	// NOTE: static functions are not inside the class, and
+	// are created with [ClassName]_[FunctionName]() format
+
+	void matlab_mfile(const std::string& toolboxPath, const std::string& className); ///< m-file
+	void matlab_wrapper(const std::string& toolboxPath,
+			const std::string& className, const std::string& nameSpace); ///< wrapper
+};
+
diff --git a/wrap/geometry.h b/wrap/geometry.h
index 70500a46d..e19f9f3cf 100644
--- a/wrap/geometry.h
+++ b/wrap/geometry.h
@@ -3,14 +3,17 @@
 class Point2 {
  Point2();
  Point2(double x, double y);
- double x();
- double y();
+ double x() const;
+ double y() const;
  int dim() const;
 };
 
 class Point3 {
   Point3(double x, double y, double z);
   double norm() const;
+
+  // Testing: static functions - use static keyword and uppercase
+  static double StaticFunction();
 };
 
 // another comment
@@ -20,33 +23,33 @@ class Test {
 	// another comment
   Test();
 
-  bool   return_bool   (bool   value); // comment after a line!
-  size_t return_size_t (size_t value);
-  int    return_int    (int    value);
-  double return_double (double value);
+  bool   return_bool   (bool   value) const; // comment after a line!
+  size_t return_size_t (size_t value) const;
+  int    return_int    (int    value) const;
+  double return_double (double value) const;
 
   // comments in the middle!
 
   // (more) comments in the middle!
 
-  string return_string (string value);
-  Vector return_vector1(Vector value);
-  Matrix return_matrix1(Matrix value);
-  Vector return_vector2(Vector value);
-  Matrix return_matrix2(Matrix value);
+  string return_string (string value) const;
+  Vector return_vector1(Vector value) const;
+  Matrix return_matrix1(Matrix value) const;
+  Vector return_vector2(Vector value) const;
+  Matrix return_matrix2(Matrix value) const;
 
-  pair<Vector,Matrix> return_pair (Vector v, Matrix A);
+  pair<Vector,Matrix> return_pair (Vector v, Matrix A) const;
 
   bool return_field(const Test& t) const;
 
-  Test* return_TestPtr(Test* value);
+  Test* return_TestPtr(Test* value) const;
 
-  Point2* return_Point2Ptr(bool value);
+  Point2* return_Point2Ptr(bool value) const;
 
-  pair<Test*,Test*> create_ptrs ();
-  pair<Test*,Test*> return_ptrs (Test* p1, Test* p2);
+  pair<Test*,Test*> create_ptrs () const;
+  pair<Test*,Test*> return_ptrs (Test* p1, Test* p2) const;
 
-  void print();
+  void print() const;
 
   // comments at the end!
 
diff --git a/wrap/matlab.h b/wrap/matlab.h
index 410798718..31ee4dc80 100644
--- a/wrap/matlab.h
+++ b/wrap/matlab.h
@@ -36,9 +36,6 @@ using namespace std;
 using namespace boost; // not usual, but for conciseness of generated code
 
 // start GTSAM Specifics /////////////////////////////////////////////////
-//typedef gtsam::Vector Vector;  // NOTE: outside of gtsam namespace
-//typedef gtsam::Matrix Matrix;
-
 // to make keys be constructed from strings:
 #define GTSAM_MAGIC_KEY
 // to enable Matrix and Vector constructor for SharedGaussian:
diff --git a/wrap/tests/expected/@Point2/dim.cpp b/wrap/tests/expected/@Point2/dim.cpp
index f81c416fe..c2002446b 100644
--- a/wrap/tests/expected/@Point2/dim.cpp
+++ b/wrap/tests/expected/@Point2/dim.cpp
@@ -1,10 +1,10 @@
-// automatically generated by wrap on 2011-Oct-31
+// automatically generated by wrap on 2011-Dec-01
 #include <wrap/matlab.h>
 #include <Point2.h>
 void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   checkArguments("dim",nargout,nargin-1,0);
-  shared_ptr<Point2> self = unwrap_shared_ptr< Point2 >(in[0],"Point2");
+  shared_ptr<const Point2> self = unwrap_shared_ptr< Point2 >(in[0],"Point2");
   int result = self->dim();
   out[0] = wrap< int >(result);
 }
diff --git a/wrap/tests/expected/@Point2/dim.m b/wrap/tests/expected/@Point2/dim.m
index afd9ee5f7..40715292e 100644
--- a/wrap/tests/expected/@Point2/dim.m
+++ b/wrap/tests/expected/@Point2/dim.m
@@ -1,5 +1,4 @@
 function result = dim(obj)
 % usage: obj.dim()
-% automatically generated by wrap on 2011-Oct-31
   error('need to compile dim.cpp');
 end
diff --git a/wrap/tests/expected/@Point2/x.cpp b/wrap/tests/expected/@Point2/x.cpp
index da5ed8a0c..8777b3a56 100644
--- a/wrap/tests/expected/@Point2/x.cpp
+++ b/wrap/tests/expected/@Point2/x.cpp
@@ -1,10 +1,10 @@
-// automatically generated by wrap on 2011-Oct-31
+// automatically generated by wrap on 2011-Dec-01
 #include <wrap/matlab.h>
 #include <Point2.h>
 void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   checkArguments("x",nargout,nargin-1,0);
-  shared_ptr<Point2> self = unwrap_shared_ptr< Point2 >(in[0],"Point2");
+  shared_ptr<const Point2> self = unwrap_shared_ptr< Point2 >(in[0],"Point2");
   double result = self->x();
   out[0] = wrap< double >(result);
 }
diff --git a/wrap/tests/expected/@Point2/x.m b/wrap/tests/expected/@Point2/x.m
index 3309b286c..f91039ab7 100644
--- a/wrap/tests/expected/@Point2/x.m
+++ b/wrap/tests/expected/@Point2/x.m
@@ -1,5 +1,4 @@
 function result = x(obj)
 % usage: obj.x()
-% automatically generated by wrap on 2011-Oct-31
   error('need to compile x.cpp');
 end
diff --git a/wrap/tests/expected/@Point2/y.cpp b/wrap/tests/expected/@Point2/y.cpp
index 3d61a4048..f2e39d92e 100644
--- a/wrap/tests/expected/@Point2/y.cpp
+++ b/wrap/tests/expected/@Point2/y.cpp
@@ -1,10 +1,10 @@
-// automatically generated by wrap on 2011-Oct-31
+// automatically generated by wrap on 2011-Dec-01
 #include <wrap/matlab.h>
 #include <Point2.h>
 void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   checkArguments("y",nargout,nargin-1,0);
-  shared_ptr<Point2> self = unwrap_shared_ptr< Point2 >(in[0],"Point2");
+  shared_ptr<const Point2> self = unwrap_shared_ptr< Point2 >(in[0],"Point2");
   double result = self->y();
   out[0] = wrap< double >(result);
 }
diff --git a/wrap/tests/expected/@Point2/y.m b/wrap/tests/expected/@Point2/y.m
index 015a11144..f9f36ae90 100644
--- a/wrap/tests/expected/@Point2/y.m
+++ b/wrap/tests/expected/@Point2/y.m
@@ -1,5 +1,4 @@
 function result = y(obj)
 % usage: obj.y()
-% automatically generated by wrap on 2011-Oct-31
   error('need to compile y.cpp');
 end
diff --git a/wrap/tests/expected/@Point3/norm.cpp b/wrap/tests/expected/@Point3/norm.cpp
index 6daaadfd1..732f3f4c8 100644
--- a/wrap/tests/expected/@Point3/norm.cpp
+++ b/wrap/tests/expected/@Point3/norm.cpp
@@ -1,10 +1,10 @@
-// automatically generated by wrap on 2011-Oct-31
+// automatically generated by wrap on 2011-Dec-01
 #include <wrap/matlab.h>
 #include <Point3.h>
 void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   checkArguments("norm",nargout,nargin-1,0);
-  shared_ptr<Point3> self = unwrap_shared_ptr< Point3 >(in[0],"Point3");
+  shared_ptr<const Point3> self = unwrap_shared_ptr< Point3 >(in[0],"Point3");
   double result = self->norm();
   out[0] = wrap< double >(result);
 }
diff --git a/wrap/tests/expected/@Test/create_ptrs.cpp b/wrap/tests/expected/@Test/create_ptrs.cpp
index 690466298..76e5ce40c 100644
--- a/wrap/tests/expected/@Test/create_ptrs.cpp
+++ b/wrap/tests/expected/@Test/create_ptrs.cpp
@@ -1,10 +1,10 @@
-// automatically generated by wrap on 2011-Oct-31
+// automatically generated by wrap on 2011-Dec-01
 #include <wrap/matlab.h>
 #include <Test.h>
 void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   checkArguments("create_ptrs",nargout,nargin-1,0);
-  shared_ptr<Test> self = unwrap_shared_ptr< Test >(in[0],"Test");
+  shared_ptr<const Test> self = unwrap_shared_ptr< Test >(in[0],"Test");
   pair< shared_ptr<Test>, shared_ptr<Test> > result = self->create_ptrs();
   out[0] = wrap_shared_ptr(result.first,"Test");
   out[1] = wrap_shared_ptr(result.second,"Test");
diff --git a/wrap/tests/expected/@Test/create_ptrs.m b/wrap/tests/expected/@Test/create_ptrs.m
index 07325487f..11af0ac5b 100644
--- a/wrap/tests/expected/@Test/create_ptrs.m
+++ b/wrap/tests/expected/@Test/create_ptrs.m
@@ -1,5 +1,4 @@
 function [first,second] = create_ptrs(obj)
 % usage: obj.create_ptrs()
-% automatically generated by wrap on 2011-Oct-31
   error('need to compile create_ptrs.cpp');
 end
diff --git a/wrap/tests/expected/@Test/print.cpp b/wrap/tests/expected/@Test/print.cpp
index 9c516c6b7..24c3a2258 100644
--- a/wrap/tests/expected/@Test/print.cpp
+++ b/wrap/tests/expected/@Test/print.cpp
@@ -1,9 +1,9 @@
-// automatically generated by wrap on 2011-Oct-31
+// automatically generated by wrap on 2011-Dec-01
 #include <wrap/matlab.h>
 #include <Test.h>
 void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   checkArguments("print",nargout,nargin-1,0);
-  shared_ptr<Test> self = unwrap_shared_ptr< Test >(in[0],"Test");
+  shared_ptr<const Test> self = unwrap_shared_ptr< Test >(in[0],"Test");
   self->print();
 }
diff --git a/wrap/tests/expected/@Test/return_Point2Ptr.cpp b/wrap/tests/expected/@Test/return_Point2Ptr.cpp
index e30ffe722..0d6c35fce 100644
--- a/wrap/tests/expected/@Test/return_Point2Ptr.cpp
+++ b/wrap/tests/expected/@Test/return_Point2Ptr.cpp
@@ -4,7 +4,7 @@
 void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   checkArguments("return_Point2Ptr",nargout,nargin-1,1);
-  shared_ptr<Test> self = unwrap_shared_ptr< Test >(in[0],"Test");
+  shared_ptr<const Test> self = unwrap_shared_ptr< Test >(in[0],"Test");
   bool value = unwrap< bool >(in[1]);
   shared_ptr<Point2> result = self->return_Point2Ptr(value);
   out[0] = wrap_shared_ptr(result,"Point2");
diff --git a/wrap/tests/expected/@Test/return_TestPtr.cpp b/wrap/tests/expected/@Test/return_TestPtr.cpp
index b4ebecfd8..a9d4ef983 100644
--- a/wrap/tests/expected/@Test/return_TestPtr.cpp
+++ b/wrap/tests/expected/@Test/return_TestPtr.cpp
@@ -1,10 +1,10 @@
-// automatically generated by wrap on 2011-Oct-31
+// automatically generated by wrap on 2011-Dec-01
 #include <wrap/matlab.h>
 #include <Test.h>
 void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   checkArguments("return_TestPtr",nargout,nargin-1,1);
-  shared_ptr<Test> self = unwrap_shared_ptr< Test >(in[0],"Test");
+  shared_ptr<const Test> self = unwrap_shared_ptr< Test >(in[0],"Test");
   shared_ptr<Test> value = unwrap_shared_ptr< Test >(in[1], "Test");
   shared_ptr<Test> result = self->return_TestPtr(value);
   out[0] = wrap_shared_ptr(result,"Test");
diff --git a/wrap/tests/expected/@Test/return_TestPtr.m b/wrap/tests/expected/@Test/return_TestPtr.m
index 5da63f9c1..e1d0c90f5 100644
--- a/wrap/tests/expected/@Test/return_TestPtr.m
+++ b/wrap/tests/expected/@Test/return_TestPtr.m
@@ -1,5 +1,4 @@
 function result = return_TestPtr(obj,value)
 % usage: obj.return_TestPtr(value)
-% automatically generated by wrap on 2011-Oct-31
   error('need to compile return_TestPtr.cpp');
 end
diff --git a/wrap/tests/expected/@Test/return_bool.cpp b/wrap/tests/expected/@Test/return_bool.cpp
index 5a797b963..3f0aaa8e4 100644
--- a/wrap/tests/expected/@Test/return_bool.cpp
+++ b/wrap/tests/expected/@Test/return_bool.cpp
@@ -1,10 +1,10 @@
-// automatically generated by wrap on 2011-Oct-31
+// automatically generated by wrap on 2011-Dec-01
 #include <wrap/matlab.h>
 #include <Test.h>
 void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   checkArguments("return_bool",nargout,nargin-1,1);
-  shared_ptr<Test> self = unwrap_shared_ptr< Test >(in[0],"Test");
+  shared_ptr<const Test> self = unwrap_shared_ptr< Test >(in[0],"Test");
   bool value = unwrap< bool >(in[1]);
   bool result = self->return_bool(value);
   out[0] = wrap< bool >(result);
diff --git a/wrap/tests/expected/@Test/return_bool.m b/wrap/tests/expected/@Test/return_bool.m
index bf41045d3..185ab992d 100644
--- a/wrap/tests/expected/@Test/return_bool.m
+++ b/wrap/tests/expected/@Test/return_bool.m
@@ -1,5 +1,4 @@
 function result = return_bool(obj,value)
 % usage: obj.return_bool(value)
-% automatically generated by wrap on 2011-Oct-31
   error('need to compile return_bool.cpp');
 end
diff --git a/wrap/tests/expected/@Test/return_double.cpp b/wrap/tests/expected/@Test/return_double.cpp
index c1dc96f9d..9fd1e0edb 100644
--- a/wrap/tests/expected/@Test/return_double.cpp
+++ b/wrap/tests/expected/@Test/return_double.cpp
@@ -1,10 +1,10 @@
-// automatically generated by wrap on 2011-Oct-31
+// automatically generated by wrap on 2011-Dec-01
 #include <wrap/matlab.h>
 #include <Test.h>
 void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   checkArguments("return_double",nargout,nargin-1,1);
-  shared_ptr<Test> self = unwrap_shared_ptr< Test >(in[0],"Test");
+  shared_ptr<const Test> self = unwrap_shared_ptr< Test >(in[0],"Test");
   double value = unwrap< double >(in[1]);
   double result = self->return_double(value);
   out[0] = wrap< double >(result);
diff --git a/wrap/tests/expected/@Test/return_double.m b/wrap/tests/expected/@Test/return_double.m
index e8c154440..a6ba733cf 100644
--- a/wrap/tests/expected/@Test/return_double.m
+++ b/wrap/tests/expected/@Test/return_double.m
@@ -1,5 +1,4 @@
 function result = return_double(obj,value)
 % usage: obj.return_double(value)
-% automatically generated by wrap on 2011-Oct-31
   error('need to compile return_double.cpp');
 end
diff --git a/wrap/tests/expected/@Test/return_field.cpp b/wrap/tests/expected/@Test/return_field.cpp
index adcb76bfd..5a211da3a 100644
--- a/wrap/tests/expected/@Test/return_field.cpp
+++ b/wrap/tests/expected/@Test/return_field.cpp
@@ -1,10 +1,10 @@
-// automatically generated by wrap on 2011-Oct-31
+// automatically generated by wrap on 2011-Dec-01
 #include <wrap/matlab.h>
 #include <Test.h>
 void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   checkArguments("return_field",nargout,nargin-1,1);
-  shared_ptr<Test> self = unwrap_shared_ptr< Test >(in[0],"Test");
+  shared_ptr<const Test> self = unwrap_shared_ptr< Test >(in[0],"Test");
   Test& t = *unwrap_shared_ptr< Test >(in[1], "Test");
   bool result = self->return_field(t);
   out[0] = wrap< bool >(result);
diff --git a/wrap/tests/expected/@Test/return_field.m b/wrap/tests/expected/@Test/return_field.m
index d99196354..278ffa411 100644
--- a/wrap/tests/expected/@Test/return_field.m
+++ b/wrap/tests/expected/@Test/return_field.m
@@ -1,5 +1,4 @@
 function result = return_field(obj,t)
 % usage: obj.return_field(t)
-% automatically generated by wrap on 2011-Oct-31
   error('need to compile return_field.cpp');
 end
diff --git a/wrap/tests/expected/@Test/return_int.cpp b/wrap/tests/expected/@Test/return_int.cpp
index fc24edc3c..c349622d7 100644
--- a/wrap/tests/expected/@Test/return_int.cpp
+++ b/wrap/tests/expected/@Test/return_int.cpp
@@ -1,10 +1,10 @@
-// automatically generated by wrap on 2011-Oct-31
+// automatically generated by wrap on 2011-Dec-01
 #include <wrap/matlab.h>
 #include <Test.h>
 void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   checkArguments("return_int",nargout,nargin-1,1);
-  shared_ptr<Test> self = unwrap_shared_ptr< Test >(in[0],"Test");
+  shared_ptr<const Test> self = unwrap_shared_ptr< Test >(in[0],"Test");
   int value = unwrap< int >(in[1]);
   int result = self->return_int(value);
   out[0] = wrap< int >(result);
diff --git a/wrap/tests/expected/@Test/return_int.m b/wrap/tests/expected/@Test/return_int.m
index a36990b35..8b613285c 100644
--- a/wrap/tests/expected/@Test/return_int.m
+++ b/wrap/tests/expected/@Test/return_int.m
@@ -1,5 +1,4 @@
 function result = return_int(obj,value)
 % usage: obj.return_int(value)
-% automatically generated by wrap on 2011-Oct-31
   error('need to compile return_int.cpp');
 end
diff --git a/wrap/tests/expected/@Test/return_matrix1.cpp b/wrap/tests/expected/@Test/return_matrix1.cpp
index 07c59cebc..1dfcb53f0 100644
--- a/wrap/tests/expected/@Test/return_matrix1.cpp
+++ b/wrap/tests/expected/@Test/return_matrix1.cpp
@@ -1,10 +1,10 @@
-// automatically generated by wrap on 2011-Oct-31
+// automatically generated by wrap on 2011-Dec-01
 #include <wrap/matlab.h>
 #include <Test.h>
 void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   checkArguments("return_matrix1",nargout,nargin-1,1);
-  shared_ptr<Test> self = unwrap_shared_ptr< Test >(in[0],"Test");
+  shared_ptr<const Test> self = unwrap_shared_ptr< Test >(in[0],"Test");
   Matrix value = unwrap< Matrix >(in[1]);
   Matrix result = self->return_matrix1(value);
   out[0] = wrap< Matrix >(result);
diff --git a/wrap/tests/expected/@Test/return_matrix1.m b/wrap/tests/expected/@Test/return_matrix1.m
index 87200044f..29743158c 100644
--- a/wrap/tests/expected/@Test/return_matrix1.m
+++ b/wrap/tests/expected/@Test/return_matrix1.m
@@ -1,5 +1,4 @@
 function result = return_matrix1(obj,value)
 % usage: obj.return_matrix1(value)
-% automatically generated by wrap on 2011-Oct-31
   error('need to compile return_matrix1.cpp');
 end
diff --git a/wrap/tests/expected/@Test/return_matrix2.cpp b/wrap/tests/expected/@Test/return_matrix2.cpp
index 6a942b54d..422642917 100644
--- a/wrap/tests/expected/@Test/return_matrix2.cpp
+++ b/wrap/tests/expected/@Test/return_matrix2.cpp
@@ -1,10 +1,10 @@
-// automatically generated by wrap on 2011-Oct-31
+// automatically generated by wrap on 2011-Dec-01
 #include <wrap/matlab.h>
 #include <Test.h>
 void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   checkArguments("return_matrix2",nargout,nargin-1,1);
-  shared_ptr<Test> self = unwrap_shared_ptr< Test >(in[0],"Test");
+  shared_ptr<const Test> self = unwrap_shared_ptr< Test >(in[0],"Test");
   Matrix value = unwrap< Matrix >(in[1]);
   Matrix result = self->return_matrix2(value);
   out[0] = wrap< Matrix >(result);
diff --git a/wrap/tests/expected/@Test/return_matrix2.m b/wrap/tests/expected/@Test/return_matrix2.m
index 05b9c9c9c..e9ec91678 100644
--- a/wrap/tests/expected/@Test/return_matrix2.m
+++ b/wrap/tests/expected/@Test/return_matrix2.m
@@ -1,5 +1,4 @@
 function result = return_matrix2(obj,value)
 % usage: obj.return_matrix2(value)
-% automatically generated by wrap on 2011-Oct-31
   error('need to compile return_matrix2.cpp');
 end
diff --git a/wrap/tests/expected/@Test/return_pair.cpp b/wrap/tests/expected/@Test/return_pair.cpp
index 637f0b365..0a9a8378a 100644
--- a/wrap/tests/expected/@Test/return_pair.cpp
+++ b/wrap/tests/expected/@Test/return_pair.cpp
@@ -1,10 +1,10 @@
-// automatically generated by wrap on 2011-Oct-31
+// automatically generated by wrap on 2011-Dec-01
 #include <wrap/matlab.h>
 #include <Test.h>
 void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   checkArguments("return_pair",nargout,nargin-1,2);
-  shared_ptr<Test> self = unwrap_shared_ptr< Test >(in[0],"Test");
+  shared_ptr<const Test> self = unwrap_shared_ptr< Test >(in[0],"Test");
   Vector v = unwrap< Vector >(in[1]);
   Matrix A = unwrap< Matrix >(in[2]);
   pair< Vector, Matrix > result = self->return_pair(v,A);
diff --git a/wrap/tests/expected/@Test/return_pair.m b/wrap/tests/expected/@Test/return_pair.m
index 61a0138f8..a97f7c46e 100644
--- a/wrap/tests/expected/@Test/return_pair.m
+++ b/wrap/tests/expected/@Test/return_pair.m
@@ -1,5 +1,4 @@
 function [first,second] = return_pair(obj,v,A)
 % usage: obj.return_pair(v,A)
-% automatically generated by wrap on 2011-Oct-31
   error('need to compile return_pair.cpp');
 end
diff --git a/wrap/tests/expected/@Test/return_ptrs.cpp b/wrap/tests/expected/@Test/return_ptrs.cpp
index ae1ceae84..556b5607c 100644
--- a/wrap/tests/expected/@Test/return_ptrs.cpp
+++ b/wrap/tests/expected/@Test/return_ptrs.cpp
@@ -1,10 +1,10 @@
-// automatically generated by wrap on 2011-Oct-31
+// automatically generated by wrap on 2011-Dec-01
 #include <wrap/matlab.h>
 #include <Test.h>
 void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   checkArguments("return_ptrs",nargout,nargin-1,2);
-  shared_ptr<Test> self = unwrap_shared_ptr< Test >(in[0],"Test");
+  shared_ptr<const Test> self = unwrap_shared_ptr< Test >(in[0],"Test");
   shared_ptr<Test> p1 = unwrap_shared_ptr< Test >(in[1], "Test");
   shared_ptr<Test> p2 = unwrap_shared_ptr< Test >(in[2], "Test");
   pair< shared_ptr<Test>, shared_ptr<Test> > result = self->return_ptrs(p1,p2);
diff --git a/wrap/tests/expected/@Test/return_ptrs.m b/wrap/tests/expected/@Test/return_ptrs.m
index 8eb7d0ce2..ef7f8e5fc 100644
--- a/wrap/tests/expected/@Test/return_ptrs.m
+++ b/wrap/tests/expected/@Test/return_ptrs.m
@@ -1,5 +1,4 @@
 function [first,second] = return_ptrs(obj,p1,p2)
 % usage: obj.return_ptrs(p1,p2)
-% automatically generated by wrap on 2011-Oct-31
   error('need to compile return_ptrs.cpp');
 end
diff --git a/wrap/tests/expected/@Test/return_size_t.cpp b/wrap/tests/expected/@Test/return_size_t.cpp
index 1ffaf6a4f..e8358e1d0 100644
--- a/wrap/tests/expected/@Test/return_size_t.cpp
+++ b/wrap/tests/expected/@Test/return_size_t.cpp
@@ -1,10 +1,10 @@
-// automatically generated by wrap on 2011-Oct-31
+// automatically generated by wrap on 2011-Dec-01
 #include <wrap/matlab.h>
 #include <Test.h>
 void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   checkArguments("return_size_t",nargout,nargin-1,1);
-  shared_ptr<Test> self = unwrap_shared_ptr< Test >(in[0],"Test");
+  shared_ptr<const Test> self = unwrap_shared_ptr< Test >(in[0],"Test");
   size_t value = unwrap< size_t >(in[1]);
   size_t result = self->return_size_t(value);
   out[0] = wrap< size_t >(result);
diff --git a/wrap/tests/expected/@Test/return_size_t.m b/wrap/tests/expected/@Test/return_size_t.m
index 9124824b7..bc2734410 100644
--- a/wrap/tests/expected/@Test/return_size_t.m
+++ b/wrap/tests/expected/@Test/return_size_t.m
@@ -1,5 +1,4 @@
 function result = return_size_t(obj,value)
 % usage: obj.return_size_t(value)
-% automatically generated by wrap on 2011-Oct-31
   error('need to compile return_size_t.cpp');
 end
diff --git a/wrap/tests/expected/@Test/return_string.cpp b/wrap/tests/expected/@Test/return_string.cpp
index 3055a8422..bd5eb9c22 100644
--- a/wrap/tests/expected/@Test/return_string.cpp
+++ b/wrap/tests/expected/@Test/return_string.cpp
@@ -1,10 +1,10 @@
-// automatically generated by wrap on 2011-Oct-31
+// automatically generated by wrap on 2011-Dec-01
 #include <wrap/matlab.h>
 #include <Test.h>
 void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   checkArguments("return_string",nargout,nargin-1,1);
-  shared_ptr<Test> self = unwrap_shared_ptr< Test >(in[0],"Test");
+  shared_ptr<const Test> self = unwrap_shared_ptr< Test >(in[0],"Test");
   string value = unwrap< string >(in[1]);
   string result = self->return_string(value);
   out[0] = wrap< string >(result);
diff --git a/wrap/tests/expected/@Test/return_string.m b/wrap/tests/expected/@Test/return_string.m
index ad22de567..3f2304a65 100644
--- a/wrap/tests/expected/@Test/return_string.m
+++ b/wrap/tests/expected/@Test/return_string.m
@@ -1,5 +1,4 @@
 function result = return_string(obj,value)
 % usage: obj.return_string(value)
-% automatically generated by wrap on 2011-Oct-31
   error('need to compile return_string.cpp');
 end
diff --git a/wrap/tests/expected/@Test/return_vector1.cpp b/wrap/tests/expected/@Test/return_vector1.cpp
index e1a384957..0977c7de9 100644
--- a/wrap/tests/expected/@Test/return_vector1.cpp
+++ b/wrap/tests/expected/@Test/return_vector1.cpp
@@ -1,10 +1,10 @@
-// automatically generated by wrap on 2011-Oct-31
+// automatically generated by wrap on 2011-Dec-01
 #include <wrap/matlab.h>
 #include <Test.h>
 void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   checkArguments("return_vector1",nargout,nargin-1,1);
-  shared_ptr<Test> self = unwrap_shared_ptr< Test >(in[0],"Test");
+  shared_ptr<const Test> self = unwrap_shared_ptr< Test >(in[0],"Test");
   Vector value = unwrap< Vector >(in[1]);
   Vector result = self->return_vector1(value);
   out[0] = wrap< Vector >(result);
diff --git a/wrap/tests/expected/@Test/return_vector1.m b/wrap/tests/expected/@Test/return_vector1.m
index a0ee6e8ba..f67382978 100644
--- a/wrap/tests/expected/@Test/return_vector1.m
+++ b/wrap/tests/expected/@Test/return_vector1.m
@@ -1,5 +1,4 @@
 function result = return_vector1(obj,value)
 % usage: obj.return_vector1(value)
-% automatically generated by wrap on 2011-Oct-31
   error('need to compile return_vector1.cpp');
 end
diff --git a/wrap/tests/expected/@Test/return_vector2.cpp b/wrap/tests/expected/@Test/return_vector2.cpp
index 1380643c1..af65b8434 100644
--- a/wrap/tests/expected/@Test/return_vector2.cpp
+++ b/wrap/tests/expected/@Test/return_vector2.cpp
@@ -1,10 +1,10 @@
-// automatically generated by wrap on 2011-Oct-31
+// automatically generated by wrap on 2011-Dec-01
 #include <wrap/matlab.h>
 #include <Test.h>
 void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   checkArguments("return_vector2",nargout,nargin-1,1);
-  shared_ptr<Test> self = unwrap_shared_ptr< Test >(in[0],"Test");
+  shared_ptr<const Test> self = unwrap_shared_ptr< Test >(in[0],"Test");
   Vector value = unwrap< Vector >(in[1]);
   Vector result = self->return_vector2(value);
   out[0] = wrap< Vector >(result);
diff --git a/wrap/tests/expected/@Test/return_vector2.m b/wrap/tests/expected/@Test/return_vector2.m
index 3768e9e0e..95b6bcfd6 100644
--- a/wrap/tests/expected/@Test/return_vector2.m
+++ b/wrap/tests/expected/@Test/return_vector2.m
@@ -1,5 +1,4 @@
 function result = return_vector2(obj,value)
 % usage: obj.return_vector2(value)
-% automatically generated by wrap on 2011-Oct-31
   error('need to compile return_vector2.cpp');
 end
diff --git a/wrap/tests/expected/Point3_StaticFunction.cpp b/wrap/tests/expected/Point3_StaticFunction.cpp
new file mode 100644
index 000000000..7662b583b
--- /dev/null
+++ b/wrap/tests/expected/Point3_StaticFunction.cpp
@@ -0,0 +1,9 @@
+// automatically generated by wrap on 2011-Dec-01
+#include <wrap/matlab.h>
+#include <Point3.h>
+void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+{
+  checkArguments("Point3_StaticFunction",nargout,nargin,0);
+  double result = Point3::StaticFunction();
+  out[0] = wrap< double >(result);
+}
diff --git a/wrap/tests/expected/Point3_StaticFunction.m b/wrap/tests/expected/Point3_StaticFunction.m
new file mode 100644
index 000000000..cdb0d483d
--- /dev/null
+++ b/wrap/tests/expected/Point3_StaticFunction.m
@@ -0,0 +1,4 @@
+function result = Point3_StaticFunction(obj)
+% usage: obj.Point3_StaticFunction()
+  error('need to compile Point3_StaticFunction.cpp');
+end
diff --git a/wrap/tests/expected/make_geometry.m b/wrap/tests/expected/make_geometry.m
index c27fd466c..864dc60e5 100644
--- a/wrap/tests/expected/make_geometry.m
+++ b/wrap/tests/expected/make_geometry.m
@@ -1,4 +1,4 @@
-% automatically generated by wrap on 2011-Nov-04
+% automatically generated by wrap on 2011-Dec-01
 echo on
 
 toolboxpath = mfilename('fullpath');
@@ -20,6 +20,7 @@ mex -O5 dim.cpp
 %% Point3
 cd(toolboxpath)
 mex -O5 new_Point3_ddd.cpp
+mex -O5 Point3_StaticFunction.cpp
 
 cd @Point3
 mex -O5 norm.cpp
diff --git a/wrap/tests/expected/new_Point2_.cpp b/wrap/tests/expected/new_Point2_.cpp
index 4745ae6a1..da07147da 100644
--- a/wrap/tests/expected/new_Point2_.cpp
+++ b/wrap/tests/expected/new_Point2_.cpp
@@ -1,4 +1,4 @@
-// automatically generated by wrap on 2011-Oct-31
+// automatically generated by wrap on 2011-Dec-01
 #include <wrap/matlab.h>
 #include <Point2.h>
 void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
diff --git a/wrap/tests/expected/new_Point2_.m b/wrap/tests/expected/new_Point2_.m
index 5b3756ef7..f6e31bbf2 100644
--- a/wrap/tests/expected/new_Point2_.m
+++ b/wrap/tests/expected/new_Point2_.m
@@ -1,4 +1,4 @@
-% automatically generated by wrap on 2011-Oct-31
+% automatically generated by wrap on 2011-Dec-01
 function result = new_Point2_(obj)
   error('need to compile new_Point2_.cpp');
 end
diff --git a/wrap/tests/expected/new_Point2_dd.cpp b/wrap/tests/expected/new_Point2_dd.cpp
index 30db28cd9..e447c234e 100644
--- a/wrap/tests/expected/new_Point2_dd.cpp
+++ b/wrap/tests/expected/new_Point2_dd.cpp
@@ -1,4 +1,4 @@
-// automatically generated by wrap on 2011-Oct-31
+// automatically generated by wrap on 2011-Dec-01
 #include <wrap/matlab.h>
 #include <Point2.h>
 void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
diff --git a/wrap/tests/expected/new_Point2_dd.m b/wrap/tests/expected/new_Point2_dd.m
index f83962584..19e3b3ebd 100644
--- a/wrap/tests/expected/new_Point2_dd.m
+++ b/wrap/tests/expected/new_Point2_dd.m
@@ -1,4 +1,4 @@
-% automatically generated by wrap on 2011-Oct-31
+% automatically generated by wrap on 2011-Dec-01
 function result = new_Point2_dd(obj,x,y)
   error('need to compile new_Point2_dd.cpp');
 end
diff --git a/wrap/tests/expected/new_Point3_ddd.cpp b/wrap/tests/expected/new_Point3_ddd.cpp
index c83518386..3a572c26c 100644
--- a/wrap/tests/expected/new_Point3_ddd.cpp
+++ b/wrap/tests/expected/new_Point3_ddd.cpp
@@ -1,4 +1,4 @@
-// automatically generated by wrap on 2011-Oct-31
+// automatically generated by wrap on 2011-Dec-01
 #include <wrap/matlab.h>
 #include <Point3.h>
 void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
diff --git a/wrap/tests/expected/new_Point3_ddd.m b/wrap/tests/expected/new_Point3_ddd.m
index 3b15dcfdb..890a93bf5 100644
--- a/wrap/tests/expected/new_Point3_ddd.m
+++ b/wrap/tests/expected/new_Point3_ddd.m
@@ -1,4 +1,4 @@
-% automatically generated by wrap on 2011-Oct-31
+% automatically generated by wrap on 2011-Dec-01
 function result = new_Point3_ddd(obj,x,y,z)
   error('need to compile new_Point3_ddd.cpp');
 end
diff --git a/wrap/tests/expected/new_Test_.cpp b/wrap/tests/expected/new_Test_.cpp
index 9afe37223..77b74027f 100644
--- a/wrap/tests/expected/new_Test_.cpp
+++ b/wrap/tests/expected/new_Test_.cpp
@@ -1,4 +1,4 @@
-// automatically generated by wrap on 2011-Oct-31
+// automatically generated by wrap on 2011-Dec-01
 #include <wrap/matlab.h>
 #include <Test.h>
 void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
diff --git a/wrap/tests/expected/new_Test_.m b/wrap/tests/expected/new_Test_.m
index 03f3ca25f..023f8a451 100644
--- a/wrap/tests/expected/new_Test_.m
+++ b/wrap/tests/expected/new_Test_.m
@@ -1,4 +1,4 @@
+% automatically generated by wrap on 2011-Dec-01
 function result = new_Test_(obj)
-% automatically generated by wrap on 2011-Oct-31
   error('need to compile new_Test_.cpp');
 end
diff --git a/wrap/tests/expected/new_Test_b.cpp b/wrap/tests/expected/new_Test_b.cpp
new file mode 100644
index 000000000..921c692af
--- /dev/null
+++ b/wrap/tests/expected/new_Test_b.cpp
@@ -0,0 +1,10 @@
+// automatically generated by wrap on 2011-Dec-01
+#include <wrap/matlab.h>
+#include <Test.h>
+void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+{
+  checkArguments("new_Test_b",nargout,nargin,1);
+  bool value = unwrap< bool >(in[0]);
+  Test* self = new Test(value);
+  out[0] = wrap_constructed(self,"Test");
+}
diff --git a/wrap/tests/expected/new_Test_b.m b/wrap/tests/expected/new_Test_b.m
new file mode 100644
index 000000000..a07945d9f
--- /dev/null
+++ b/wrap/tests/expected/new_Test_b.m
@@ -0,0 +1,4 @@
+% automatically generated by wrap on 2011-Dec-01
+function result = new_Test_b(obj,value)
+  error('need to compile new_Test_b.cpp');
+end
diff --git a/wrap/tests/testWrap.cpp b/wrap/tests/testWrap.cpp
index 39621c10f..6ff90a8c1 100644
--- a/wrap/tests/testWrap.cpp
+++ b/wrap/tests/testWrap.cpp
@@ -61,6 +61,7 @@ TEST( wrap, parse ) {
 	EXPECT(cls.name=="Point3");
 	EXPECT(cls.constructors.size()==1);
 	EXPECT(cls.methods.size()==1);
+	EXPECT(cls.static_methods.size()==1);
 
 	// first constructor takes 3 doubles
 	Constructor c1 = cls.constructors.front();
@@ -75,7 +76,7 @@ TEST( wrap, parse ) {
 
 	// check method
 	Method m1 = cls.methods.front();
-	EXPECT(m1.returns_=="double");
+	EXPECT(m1.returnVal_.returns_=="double");
 	EXPECT(m1.name_=="norm");
 	EXPECT(m1.args_.size()==0);
 	EXPECT(m1.is_const_);
@@ -96,6 +97,8 @@ TEST( wrap, matlab_code ) {
 	EXPECT(files_equal(path + "/tests/expected/@Point3/Point3.m"  , "actual/@Point3/Point3.m"  ));
 	EXPECT(files_equal(path + "/tests/expected/new_Point3_ddd.m"  , "actual/new_Point3_ddd.m"  ));
 	EXPECT(files_equal(path + "/tests/expected/new_Point3_ddd.cpp", "actual/new_Point3_ddd.cpp"));
+	EXPECT(files_equal(path + "/tests/expected/Point3_StaticFunction.m"  , "actual/Point3_StaticFunction.m"  ));
+	EXPECT(files_equal(path + "/tests/expected/Point3_StaticFunction.cpp", "actual/Point3_StaticFunction.cpp"));
 	EXPECT(files_equal(path + "/tests/expected/@Point3/norm.m"    , "actual/@Point3/norm.m"    ));
 	EXPECT(files_equal(path + "/tests/expected/@Point3/norm.cpp"  , "actual/@Point3/norm.cpp"  ));
 
diff --git a/wrap/utilities.cpp b/wrap/utilities.cpp
index fb2f0fdc6..e00956536 100644
--- a/wrap/utilities.cpp
+++ b/wrap/utilities.cpp
@@ -76,3 +76,11 @@ void emit_header_comment(ofstream& ofs, const string& delimiter) {
 }
 
 /* ************************************************************************* */
+std::string maybe_shared_ptr(bool add, const std::string& type) {
+  string str = add? "shared_ptr<" : "";
+  str += type;
+  if (add) str += ">";
+  return str;
+}
+
+/* ************************************************************************* */
diff --git a/wrap/utilities.h b/wrap/utilities.h
index b5de303b8..eba80c57b 100644
--- a/wrap/utilities.h
+++ b/wrap/utilities.h
@@ -63,3 +63,6 @@ bool assert_equal(const std::string& expected, const std::string& actual);
  * emit a header at the top of generated files
  */
 void emit_header_comment(std::ofstream& ofs, const std::string& delimiter);
+
+// auxiliary function to wrap an argument into a shared_ptr template
+std::string maybe_shared_ptr(bool add, const std::string& type);