diff --git a/gtsam.h b/gtsam.h
index b40913229..96d51117a 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -1739,7 +1739,7 @@ class Values {
   void insert(size_t j, const gtsam::EssentialMatrix& t);
   void insert(size_t j, const gtsam::imuBias::ConstantBias& t);
   void insert(size_t j, Vector t);
-  void insert(size_t j, Matrix t);  //git/gtsam/gtsam/base/Manifold.h:254:1: error: invalid application of ‘sizeof’ to incomplete type ‘boost::STATIC_ASSERTION_FAILURE<false>’
+  void insert(size_t j, Matrix t);
 
   void update(size_t j, const gtsam::Point2& t);
   void update(size_t j, const gtsam::Point3& t);
@@ -1755,8 +1755,7 @@ class Values {
   void update(size_t j, Vector t);
   void update(size_t j, Matrix t);
 
-  template<T = {gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Pose2,
-      gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::imuBias::ConstantBias ,Vector, Matrix}> // Parse Error
+  template<T = {gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Pose2, gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler, gtsam::EssentialMatrix, gtsam::imuBias::ConstantBias, Vector, Matrix}>
   T at(size_t j);
 };
 
@@ -2154,9 +2153,7 @@ class NonlinearISAM {
 #include <gtsam/geometry/StereoPoint2.h>
 
 #include <gtsam/slam/PriorFactor.h>
-template<T = { gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2,
-    gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2,
-    gtsam::CalibratedCamera, gtsam::SimpleCamera, gtsam::imuBias::ConstantBias, Vector, Matrix }> // Parse Error
+template<T = { gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2,gtsam::CalibratedCamera, gtsam::SimpleCamera, gtsam::imuBias::ConstantBias}>
 virtual class PriorFactor : gtsam::NoiseModelFactor {
   PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
   T prior() const;
@@ -2167,7 +2164,7 @@ virtual class PriorFactor : gtsam::NoiseModelFactor {
 
 
 #include <gtsam/slam/BetweenFactor.h>
-template<T = {gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::imuBias::ConstantBias, Vector, Matrix}> // Parse Error
+template<T = {gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::imuBias::ConstantBias}>
 virtual class BetweenFactor : gtsam::NoiseModelFactor {
   BetweenFactor(size_t key1, size_t key2, const T& relativePose, const gtsam::noiseModel::Base* noiseModel);
   T measured() const;
diff --git a/matlab/gtsam_tests/.gitignore b/matlab/gtsam_tests/.gitignore
new file mode 100644
index 000000000..6d725d9bc
--- /dev/null
+++ b/matlab/gtsam_tests/.gitignore
@@ -0,0 +1 @@
+*.m~
diff --git a/matlab/gtsam_tests/testValues.m b/matlab/gtsam_tests/testValues.m
new file mode 100644
index 000000000..ce2ae9d7e
--- /dev/null
+++ b/matlab/gtsam_tests/testValues.m
@@ -0,0 +1,40 @@
+% test wrapping of Values
+import gtsam.*;
+
+values = Values;
+E = EssentialMatrix(Rot3,Unit3);
+tol = 1e-9;
+
+values.insert(0, Point2);
+values.insert(1, Point3);
+values.insert(2, Rot2);
+values.insert(3, Pose2);
+values.insert(4, Rot3);
+values.insert(5, Pose3);
+values.insert(6, Cal3_S2);
+values.insert(7, Cal3DS2);
+values.insert(8, Cal3Bundler);
+values.insert(9, E);
+values.insert(10, imuBias.ConstantBias);
+
+% special cases for Vector and Matrix:
+values.insert(11, [1;2;3]);
+values.insert(12, [1 2;3 4]);
+
+EXPECT('at',values.atPoint2(0).equals(Point2,tol));
+EXPECT('at',values.atPoint3(1).equals(Point3,tol));
+EXPECT('at',values.atRot2(2).equals(Rot2,tol));
+EXPECT('at',values.atPose2(3).equals(Pose2,tol));
+EXPECT('at',values.atRot3(4).equals(Rot3,tol));
+EXPECT('at',values.atPose3(5).equals(Pose3,tol));
+EXPECT('at',values.atCal3_S2(6).equals(Cal3_S2,tol));
+EXPECT('at',values.atCal3DS2(7).equals(Cal3DS2,tol));
+EXPECT('at',values.atCal3Bundler(8).equals(Cal3Bundler,tol));
+EXPECT('at',values.atEssentialMatrix(9).equals(E,tol));
+EXPECT('at',values.atConstantBias(10).equals(imuBias.ConstantBias,tol));
+
+% special cases for Vector and Matrix:
+actualVector = values.atVector(11);
+EQUALITY('at',[1 2;3 4],actualVector,tol);
+actualMatrix = values.atMatrix(12);
+EQUALITY('at',[1 2;3 4],actualMatrix,tol);
diff --git a/matlab/gtsam_tests/test_gtsam.m b/matlab/gtsam_tests/test_gtsam.m
index e3705948d..e08019610 100644
--- a/matlab/gtsam_tests/test_gtsam.m
+++ b/matlab/gtsam_tests/test_gtsam.m
@@ -1,5 +1,8 @@
 % Test runner script - runs each test 
 
+display 'Starting: testValues'
+testValues
+
 display 'Starting: testJacobianFactor'
 testJacobianFactor