diff --git a/gtsam.h b/gtsam.h
index c5424ef80..03963c773 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -2489,10 +2489,30 @@ class NavState {
   gtsam::Pose3 pose() const;
 };
 
+#include <gtsam/navigation/PreintegratedRotation.h>
+virtual class PreintegratedRotationParams {
+  PreintegratedRotationParams();
+  void setGyroscopeCovariance(Matrix cov);
+  void setOmegaCoriolis(Vector omega);
+  void setBodyPSensor(const gtsam::Pose3& pose);
+
+  Matrix getGyroscopeCovariance() const;
+
+  // TODO(frank): allow optional
+  //  boost::optional<Vector3> getOmegaCoriolis() const;
+  //  boost::optional<Pose3>   getBodyPSensor()   const;
+};
+
 #include <gtsam/navigation/PreintegrationParams.h>
-class PreintegrationParams {
+virtual class PreintegrationParams : gtsam::PreintegratedRotationParams {
   PreintegrationParams(Vector n_gravity);
-  // TODO(frank): add setters/getters or make this MATLAB wrapper feature
+  void setAccelerometerCovariance(Matrix cov);
+  void setIntegrationCovariance(Matrix cov);
+  void setUse2ndOrderCoriolis(bool flag);
+
+  Matrix getAccelerometerCovariance() const;
+  Matrix getIntegrationCovariance()   const;
+  bool   getUse2ndOrderCoriolis()     const;
 };
 
 #include <gtsam/navigation/PreintegrationBase.h>
diff --git a/gtsam/navigation/PreintegratedRotation.h b/gtsam/navigation/PreintegratedRotation.h
index b170ea863..88d9c6437 100644
--- a/gtsam/navigation/PreintegratedRotation.h
+++ b/gtsam/navigation/PreintegratedRotation.h
@@ -26,6 +26,38 @@
 
 namespace gtsam {
 
+/// Parameters for pre-integration:
+/// Usage: Create just a single Params and pass a shared pointer to the constructor
+struct PreintegratedRotationParams {
+  Matrix3 gyroscopeCovariance;  ///< continuous-time "Covariance" of gyroscope measurements
+  boost::optional<Vector3> omegaCoriolis;  ///< Coriolis constant
+  boost::optional<Pose3> body_P_sensor;    ///< The pose of the sensor in the body frame
+
+  PreintegratedRotationParams() : gyroscopeCovariance(I_3x3) {}
+
+  virtual void print(const std::string& s) const;
+  virtual bool equals(const PreintegratedRotationParams& other, double tol=1e-9) const;
+
+  void setGyroscopeCovariance(const Matrix3& cov)   { gyroscopeCovariance = cov;  }
+  void setOmegaCoriolis(const Vector3& omega)       { omegaCoriolis.reset(omega); }
+  void setBodyPSensor(const Pose3& pose)            { body_P_sensor.reset(pose);  }
+
+  const Matrix3& getGyroscopeCovariance()     const { return gyroscopeCovariance; }
+  boost::optional<Vector3> getOmegaCoriolis() const { return omegaCoriolis; }
+  boost::optional<Pose3>   getBodyPSensor()   const { return body_P_sensor; }
+
+ private:
+  /** Serialization function */
+  friend class boost::serialization::access;
+  template<class ARCHIVE>
+  void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
+    namespace bs = ::boost::serialization;
+    ar & bs::make_nvp("gyroscopeCovariance", bs::make_array(gyroscopeCovariance.data(), gyroscopeCovariance.size()));
+    ar & BOOST_SERIALIZATION_NVP(omegaCoriolis);
+    ar & BOOST_SERIALIZATION_NVP(body_P_sensor);
+  }
+};
+
 /**
  * PreintegratedRotation is the base class for all PreintegratedMeasurements
  * classes (in AHRSFactor, ImuFactor, and CombinedImuFactor).
@@ -33,29 +65,7 @@ namespace gtsam {
  */
 class PreintegratedRotation {
  public:
-  /// Parameters for pre-integration:
-  /// Usage: Create just a single Params and pass a shared pointer to the constructor
-  struct Params {
-    Matrix3 gyroscopeCovariance;  ///< continuous-time "Covariance" of gyroscope measurements
-    boost::optional<Vector3> omegaCoriolis;  ///< Coriolis constant
-    boost::optional<Pose3> body_P_sensor;    ///< The pose of the sensor in the body frame
-
-    Params() : gyroscopeCovariance(I_3x3) {}
-
-    virtual void print(const std::string& s) const;
-    virtual bool equals(const Params& other, double tol=1e-9) const;
-
-   private:
-    /** Serialization function */
-    friend class boost::serialization::access;
-    template<class ARCHIVE>
-    void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
-      namespace bs = ::boost::serialization;
-      ar & bs::make_nvp("gyroscopeCovariance", bs::make_array(gyroscopeCovariance.data(), gyroscopeCovariance.size()));
-      ar & BOOST_SERIALIZATION_NVP(omegaCoriolis);
-      ar & BOOST_SERIALIZATION_NVP(body_P_sensor);
-    }
-  };
+  typedef PreintegratedRotationParams Params;
 
  protected:
   /// Parameters
diff --git a/gtsam/navigation/PreintegrationParams.h b/gtsam/navigation/PreintegrationParams.h
index f68f711f1..f2b2c0fef 100644
--- a/gtsam/navigation/PreintegrationParams.h
+++ b/gtsam/navigation/PreintegrationParams.h
@@ -23,7 +23,7 @@ namespace gtsam {
 
 /// Parameters for pre-integration:
 /// Usage: Create just a single Params and pass a shared pointer to the constructor
-struct PreintegrationParams: PreintegratedRotation::Params {
+struct PreintegrationParams: PreintegratedRotationParams {
   Matrix3 accelerometerCovariance; ///< continuous-time "Covariance" of accelerometer
   Matrix3 integrationCovariance; ///< continuous-time "Covariance" describing integration uncertainty
   bool use2ndOrderCoriolis; ///< Whether to use second order Coriolis integration
@@ -50,6 +50,14 @@ struct PreintegrationParams: PreintegratedRotation::Params {
   void print(const std::string& s) const;
   bool equals(const PreintegratedRotation::Params& other, double tol) const;
 
+  void setAccelerometerCovariance(const Matrix3& cov) { accelerometerCovariance = cov; }
+  void setIntegrationCovariance(const Matrix3& cov)   { integrationCovariance = cov; }
+  void setUse2ndOrderCoriolis(bool flag)              { use2ndOrderCoriolis = flag; }
+
+  const Matrix3& getAccelerometerCovariance() const { return accelerometerCovariance; }
+  const Matrix3& getIntegrationCovariance()   const { return integrationCovariance; }
+  bool           getUse2ndOrderCoriolis()     const { return use2ndOrderCoriolis; }
+
 protected:
   /// Default constructor for serialization only: uninitialized!
   PreintegrationParams() {}
@@ -60,7 +68,7 @@ protected:
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
     namespace bs = ::boost::serialization;
     ar & boost::serialization::make_nvp("PreintegratedRotation_Params",
-         boost::serialization::base_object<PreintegratedRotation::Params>(*this));
+         boost::serialization::base_object<PreintegratedRotationParams>(*this));
     ar & bs::make_nvp("accelerometerCovariance", bs::make_array(accelerometerCovariance.data(), accelerometerCovariance.size()));
     ar & bs::make_nvp("integrationCovariance", bs::make_array(integrationCovariance.data(), integrationCovariance.size()));
     ar & BOOST_SERIALIZATION_NVP(use2ndOrderCoriolis);