diff --git a/wrap/tests/expected/geometry_wrapper.cpp b/wrap/tests/expected/geometry_wrapper.cpp
index dec78b80c..6946a969b 100644
--- a/wrap/tests/expected/geometry_wrapper.cpp
+++ b/wrap/tests/expected/geometry_wrapper.cpp
@@ -183,35 +183,31 @@ void gtsamPoint2_deconstructor_3(int nargout, mxArray *out[], int nargin, const
 
 void gtsamPoint2_argChar_4(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<gtsam::Point2> Shared;
   checkArguments("argChar",nargout,nargin-1,1);
-  Shared obj = unwrap_shared_ptr<gtsam::Point2>(in[0], "ptr_gtsamPoint2");
+  auto obj = unwrap_shared_ptr<gtsam::Point2>(in[0], "ptr_gtsamPoint2");
   char a = unwrap< char >(in[1]);
   obj->argChar(a);
 }
 
 void gtsamPoint2_argUChar_5(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<gtsam::Point2> Shared;
   checkArguments("argUChar",nargout,nargin-1,1);
-  Shared obj = unwrap_shared_ptr<gtsam::Point2>(in[0], "ptr_gtsamPoint2");
+  auto obj = unwrap_shared_ptr<gtsam::Point2>(in[0], "ptr_gtsamPoint2");
   unsigned char a = unwrap< unsigned char >(in[1]);
   obj->argUChar(a);
 }
 
 void gtsamPoint2_dim_6(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<gtsam::Point2> Shared;
   checkArguments("dim",nargout,nargin-1,0);
-  Shared obj = unwrap_shared_ptr<gtsam::Point2>(in[0], "ptr_gtsamPoint2");
+  auto obj = unwrap_shared_ptr<gtsam::Point2>(in[0], "ptr_gtsamPoint2");
   out[0] = wrap< int >(obj->dim());
 }
 
 void gtsamPoint2_eigenArguments_7(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<gtsam::Point2> Shared;
   checkArguments("eigenArguments",nargout,nargin-1,2);
-  Shared obj = unwrap_shared_ptr<gtsam::Point2>(in[0], "ptr_gtsamPoint2");
+  auto obj = unwrap_shared_ptr<gtsam::Point2>(in[0], "ptr_gtsamPoint2");
   Vector v = unwrap< Vector >(in[1]);
   Matrix m = unwrap< Matrix >(in[2]);
   obj->eigenArguments(v,m);
@@ -219,34 +215,29 @@ void gtsamPoint2_eigenArguments_7(int nargout, mxArray *out[], int nargin, const
 
 void gtsamPoint2_returnChar_8(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<gtsam::Point2> Shared;
   checkArguments("returnChar",nargout,nargin-1,0);
-  Shared obj = unwrap_shared_ptr<gtsam::Point2>(in[0], "ptr_gtsamPoint2");
+  auto obj = unwrap_shared_ptr<gtsam::Point2>(in[0], "ptr_gtsamPoint2");
   out[0] = wrap< char >(obj->returnChar());
 }
 
 void gtsamPoint2_vectorConfusion_9(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<VectorNotEigen> SharedVectorNotEigen;
-  typedef boost::shared_ptr<gtsam::Point2> Shared;
   checkArguments("vectorConfusion",nargout,nargin-1,0);
-  Shared obj = unwrap_shared_ptr<gtsam::Point2>(in[0], "ptr_gtsamPoint2");
-  out[0] = wrap_shared_ptr(SharedVectorNotEigen(new VectorNotEigen(obj->vectorConfusion())),"VectorNotEigen", false);
+  auto obj = unwrap_shared_ptr<gtsam::Point2>(in[0], "ptr_gtsamPoint2");
+  out[0] = wrap_shared_ptr(boost::make_shared<VectorNotEigen>(obj->vectorConfusion()),"VectorNotEigen", false);
 }
 
 void gtsamPoint2_x_10(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<gtsam::Point2> Shared;
   checkArguments("x",nargout,nargin-1,0);
-  Shared obj = unwrap_shared_ptr<gtsam::Point2>(in[0], "ptr_gtsamPoint2");
+  auto obj = unwrap_shared_ptr<gtsam::Point2>(in[0], "ptr_gtsamPoint2");
   out[0] = wrap< double >(obj->x());
 }
 
 void gtsamPoint2_y_11(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<gtsam::Point2> Shared;
   checkArguments("y",nargout,nargin-1,0);
-  Shared obj = unwrap_shared_ptr<gtsam::Point2>(in[0], "ptr_gtsamPoint2");
+  auto obj = unwrap_shared_ptr<gtsam::Point2>(in[0], "ptr_gtsamPoint2");
   out[0] = wrap< double >(obj->y());
 }
 
@@ -288,9 +279,8 @@ void gtsamPoint3_deconstructor_14(int nargout, mxArray *out[], int nargin, const
 
 void gtsamPoint3_norm_15(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<gtsam::Point3> Shared;
   checkArguments("norm",nargout,nargin-1,0);
-  Shared obj = unwrap_shared_ptr<gtsam::Point3>(in[0], "ptr_gtsamPoint3");
+  auto obj = unwrap_shared_ptr<gtsam::Point3>(in[0], "ptr_gtsamPoint3");
   out[0] = wrap< double >(obj->norm());
 }
 
@@ -306,16 +296,13 @@ void gtsamPoint3_string_serialize_16(int nargout, mxArray *out[], int nargin, co
 }
 void gtsamPoint3_StaticFunctionRet_17(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<gtsam::Point3> SharedPoint3;
-  typedef boost::shared_ptr<gtsam::Point3> Shared;
   checkArguments("gtsamPoint3.StaticFunctionRet",nargout,nargin,1);
   double z = unwrap< double >(in[0]);
-  out[0] = wrap_shared_ptr(SharedPoint3(new gtsam::Point3(gtsam::Point3::StaticFunctionRet(z))),"gtsam.Point3", false);
+  out[0] = wrap_shared_ptr(boost::make_shared<gtsam::Point3>(gtsam::Point3::StaticFunctionRet(z)),"gtsam.Point3", false);
 }
 
 void gtsamPoint3_staticFunction_18(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<gtsam::Point3> Shared;
   checkArguments("gtsamPoint3.staticFunction",nargout,nargin,0);
   out[0] = wrap< double >(gtsam::Point3::staticFunction());
 }
@@ -379,187 +366,159 @@ void Test_deconstructor_23(int nargout, mxArray *out[], int nargin, const mxArra
 
 void Test_arg_EigenConstRef_24(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<Test> Shared;
   checkArguments("arg_EigenConstRef",nargout,nargin-1,1);
-  Shared obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
+  auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
   Matrix value = unwrap< Matrix >(in[1]);
   obj->arg_EigenConstRef(value);
 }
 
 void Test_create_MixedPtrs_25(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<Test> SharedTest;
-  typedef boost::shared_ptr<Test> SharedTest;
-  typedef boost::shared_ptr<Test> Shared;
   checkArguments("create_MixedPtrs",nargout,nargin-1,0);
-  Shared obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
-  pair< Test, SharedTest > pairResult = obj->create_MixedPtrs();
-  out[0] = wrap_shared_ptr(SharedTest(new Test(pairResult.first)),"Test", false);
+  auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
+  auto pairResult = obj->create_MixedPtrs();
+  out[0] = wrap_shared_ptr(boost::make_shared<Test>(pairResult.first),"Test", false);
   out[1] = wrap_shared_ptr(pairResult.second,"Test", false);
 }
 
 void Test_create_ptrs_26(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<Test> SharedTest;
-  typedef boost::shared_ptr<Test> SharedTest;
-  typedef boost::shared_ptr<Test> Shared;
   checkArguments("create_ptrs",nargout,nargin-1,0);
-  Shared obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
-  pair< SharedTest, SharedTest > pairResult = obj->create_ptrs();
+  auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
+  auto pairResult = obj->create_ptrs();
   out[0] = wrap_shared_ptr(pairResult.first,"Test", false);
   out[1] = wrap_shared_ptr(pairResult.second,"Test", false);
 }
 
 void Test_print_27(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<Test> Shared;
   checkArguments("print",nargout,nargin-1,0);
-  Shared obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
+  auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
   obj->print();
 }
 
 void Test_return_Point2Ptr_28(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<gtsam::Point2> SharedPoint2;
-  typedef boost::shared_ptr<Test> Shared;
   checkArguments("return_Point2Ptr",nargout,nargin-1,1);
-  Shared obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
+  auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
   bool value = unwrap< bool >(in[1]);
   out[0] = wrap_shared_ptr(obj->return_Point2Ptr(value),"gtsam.Point2", false);
 }
 
 void Test_return_Test_29(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<Test> SharedTest;
-  typedef boost::shared_ptr<Test> Shared;
   checkArguments("return_Test",nargout,nargin-1,1);
-  Shared obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
+  auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
   boost::shared_ptr<Test> value = unwrap_shared_ptr< Test >(in[1], "ptr_Test");
-  out[0] = wrap_shared_ptr(SharedTest(new Test(obj->return_Test(value))),"Test", false);
+  out[0] = wrap_shared_ptr(boost::make_shared<Test>(obj->return_Test(value)),"Test", false);
 }
 
 void Test_return_TestPtr_30(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<Test> SharedTest;
-  typedef boost::shared_ptr<Test> Shared;
   checkArguments("return_TestPtr",nargout,nargin-1,1);
-  Shared obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
+  auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
   boost::shared_ptr<Test> value = unwrap_shared_ptr< Test >(in[1], "ptr_Test");
   out[0] = wrap_shared_ptr(obj->return_TestPtr(value),"Test", false);
 }
 
 void Test_return_bool_31(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<Test> Shared;
   checkArguments("return_bool",nargout,nargin-1,1);
-  Shared obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
+  auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
   bool value = unwrap< bool >(in[1]);
   out[0] = wrap< bool >(obj->return_bool(value));
 }
 
 void Test_return_double_32(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<Test> Shared;
   checkArguments("return_double",nargout,nargin-1,1);
-  Shared obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
+  auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
   double value = unwrap< double >(in[1]);
   out[0] = wrap< double >(obj->return_double(value));
 }
 
 void Test_return_field_33(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<Test> Shared;
   checkArguments("return_field",nargout,nargin-1,1);
-  Shared obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
+  auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
   Test& t = *unwrap_shared_ptr< Test >(in[1], "ptr_Test");
   out[0] = wrap< bool >(obj->return_field(t));
 }
 
 void Test_return_int_34(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<Test> Shared;
   checkArguments("return_int",nargout,nargin-1,1);
-  Shared obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
+  auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
   int value = unwrap< int >(in[1]);
   out[0] = wrap< int >(obj->return_int(value));
 }
 
 void Test_return_matrix1_35(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<Test> Shared;
   checkArguments("return_matrix1",nargout,nargin-1,1);
-  Shared obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
+  auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
   Matrix value = unwrap< Matrix >(in[1]);
   out[0] = wrap< Matrix >(obj->return_matrix1(value));
 }
 
 void Test_return_matrix2_36(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<Test> Shared;
   checkArguments("return_matrix2",nargout,nargin-1,1);
-  Shared obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
+  auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
   Matrix value = unwrap< Matrix >(in[1]);
   out[0] = wrap< Matrix >(obj->return_matrix2(value));
 }
 
 void Test_return_pair_37(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<Test> Shared;
   checkArguments("return_pair",nargout,nargin-1,2);
-  Shared obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
+  auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
   Vector v = unwrap< Vector >(in[1]);
   Matrix A = unwrap< Matrix >(in[2]);
-  pair< Vector, Matrix > pairResult = obj->return_pair(v,A);
+  auto pairResult = obj->return_pair(v,A);
   out[0] = wrap< Vector >(pairResult.first);
   out[1] = wrap< Matrix >(pairResult.second);
 }
 
 void Test_return_ptrs_38(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<Test> SharedTest;
-  typedef boost::shared_ptr<Test> SharedTest;
-  typedef boost::shared_ptr<Test> Shared;
   checkArguments("return_ptrs",nargout,nargin-1,2);
-  Shared obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
+  auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
   boost::shared_ptr<Test> p1 = unwrap_shared_ptr< Test >(in[1], "ptr_Test");
   boost::shared_ptr<Test> p2 = unwrap_shared_ptr< Test >(in[2], "ptr_Test");
-  pair< SharedTest, SharedTest > pairResult = obj->return_ptrs(p1,p2);
+  auto pairResult = obj->return_ptrs(p1,p2);
   out[0] = wrap_shared_ptr(pairResult.first,"Test", false);
   out[1] = wrap_shared_ptr(pairResult.second,"Test", false);
 }
 
 void Test_return_size_t_39(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<Test> Shared;
   checkArguments("return_size_t",nargout,nargin-1,1);
-  Shared obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
+  auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
   size_t value = unwrap< size_t >(in[1]);
   out[0] = wrap< size_t >(obj->return_size_t(value));
 }
 
 void Test_return_string_40(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<Test> Shared;
   checkArguments("return_string",nargout,nargin-1,1);
-  Shared obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
+  auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
   string value = unwrap< string >(in[1]);
   out[0] = wrap< string >(obj->return_string(value));
 }
 
 void Test_return_vector1_41(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<Test> Shared;
   checkArguments("return_vector1",nargout,nargin-1,1);
-  Shared obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
+  auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
   Vector value = unwrap< Vector >(in[1]);
   out[0] = wrap< Vector >(obj->return_vector1(value));
 }
 
 void Test_return_vector2_42(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<Test> Shared;
   checkArguments("return_vector2",nargout,nargin-1,1);
-  Shared obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
+  auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
   Vector value = unwrap< Vector >(in[1]);
   out[0] = wrap< Vector >(obj->return_vector2(value));
 }
@@ -647,114 +606,93 @@ void MyTemplatePoint2_deconstructor_49(int nargout, mxArray *out[], int nargin,
 
 void MyTemplatePoint2_accept_T_50(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<MyTemplatePoint2> Shared;
   checkArguments("accept_T",nargout,nargin-1,1);
-  Shared obj = unwrap_shared_ptr<MyTemplatePoint2>(in[0], "ptr_MyTemplatePoint2");
+  auto obj = unwrap_shared_ptr<MyTemplatePoint2>(in[0], "ptr_MyTemplatePoint2");
   gtsam::Point2& value = *unwrap_shared_ptr< gtsam::Point2 >(in[1], "ptr_gtsamPoint2");
   obj->accept_T(value);
 }
 
 void MyTemplatePoint2_accept_Tptr_51(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<MyTemplatePoint2> Shared;
   checkArguments("accept_Tptr",nargout,nargin-1,1);
-  Shared obj = unwrap_shared_ptr<MyTemplatePoint2>(in[0], "ptr_MyTemplatePoint2");
+  auto obj = unwrap_shared_ptr<MyTemplatePoint2>(in[0], "ptr_MyTemplatePoint2");
   boost::shared_ptr<gtsam::Point2> value = unwrap_shared_ptr< gtsam::Point2 >(in[1], "ptr_gtsamPoint2");
   obj->accept_Tptr(value);
 }
 
 void MyTemplatePoint2_create_MixedPtrs_52(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<gtsam::Point2> SharedPoint2;
-  typedef boost::shared_ptr<gtsam::Point2> SharedPoint2;
-  typedef boost::shared_ptr<MyTemplatePoint2> Shared;
   checkArguments("create_MixedPtrs",nargout,nargin-1,0);
-  Shared obj = unwrap_shared_ptr<MyTemplatePoint2>(in[0], "ptr_MyTemplatePoint2");
-  pair< gtsam::Point2, SharedPoint2 > pairResult = obj->create_MixedPtrs();
-  out[0] = wrap_shared_ptr(SharedPoint2(new gtsam::Point2(pairResult.first)),"gtsam.Point2", false);
+  auto obj = unwrap_shared_ptr<MyTemplatePoint2>(in[0], "ptr_MyTemplatePoint2");
+  auto pairResult = obj->create_MixedPtrs();
+  out[0] = wrap_shared_ptr(boost::make_shared<gtsam::Point2>(pairResult.first),"gtsam.Point2", false);
   out[1] = wrap_shared_ptr(pairResult.second,"gtsam.Point2", false);
 }
 
 void MyTemplatePoint2_create_ptrs_53(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<gtsam::Point2> SharedPoint2;
-  typedef boost::shared_ptr<gtsam::Point2> SharedPoint2;
-  typedef boost::shared_ptr<MyTemplatePoint2> Shared;
   checkArguments("create_ptrs",nargout,nargin-1,0);
-  Shared obj = unwrap_shared_ptr<MyTemplatePoint2>(in[0], "ptr_MyTemplatePoint2");
-  pair< SharedPoint2, SharedPoint2 > pairResult = obj->create_ptrs();
+  auto obj = unwrap_shared_ptr<MyTemplatePoint2>(in[0], "ptr_MyTemplatePoint2");
+  auto pairResult = obj->create_ptrs();
   out[0] = wrap_shared_ptr(pairResult.first,"gtsam.Point2", false);
   out[1] = wrap_shared_ptr(pairResult.second,"gtsam.Point2", false);
 }
 
 void MyTemplatePoint2_return_T_54(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<gtsam::Point2> SharedPoint2;
-  typedef boost::shared_ptr<MyTemplatePoint2> Shared;
   checkArguments("return_T",nargout,nargin-1,1);
-  Shared obj = unwrap_shared_ptr<MyTemplatePoint2>(in[0], "ptr_MyTemplatePoint2");
+  auto obj = unwrap_shared_ptr<MyTemplatePoint2>(in[0], "ptr_MyTemplatePoint2");
   boost::shared_ptr<gtsam::Point2> value = unwrap_shared_ptr< gtsam::Point2 >(in[1], "ptr_gtsamPoint2");
-  out[0] = wrap_shared_ptr(SharedPoint2(new gtsam::Point2(obj->return_T(value))),"gtsam.Point2", false);
+  out[0] = wrap_shared_ptr(boost::make_shared<gtsam::Point2>(obj->return_T(value)),"gtsam.Point2", false);
 }
 
 void MyTemplatePoint2_return_Tptr_55(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<gtsam::Point2> SharedPoint2;
-  typedef boost::shared_ptr<MyTemplatePoint2> Shared;
   checkArguments("return_Tptr",nargout,nargin-1,1);
-  Shared obj = unwrap_shared_ptr<MyTemplatePoint2>(in[0], "ptr_MyTemplatePoint2");
+  auto obj = unwrap_shared_ptr<MyTemplatePoint2>(in[0], "ptr_MyTemplatePoint2");
   boost::shared_ptr<gtsam::Point2> value = unwrap_shared_ptr< gtsam::Point2 >(in[1], "ptr_gtsamPoint2");
   out[0] = wrap_shared_ptr(obj->return_Tptr(value),"gtsam.Point2", false);
 }
 
 void MyTemplatePoint2_return_ptrs_56(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<gtsam::Point2> SharedPoint2;
-  typedef boost::shared_ptr<gtsam::Point2> SharedPoint2;
-  typedef boost::shared_ptr<MyTemplatePoint2> Shared;
   checkArguments("return_ptrs",nargout,nargin-1,2);
-  Shared obj = unwrap_shared_ptr<MyTemplatePoint2>(in[0], "ptr_MyTemplatePoint2");
+  auto obj = unwrap_shared_ptr<MyTemplatePoint2>(in[0], "ptr_MyTemplatePoint2");
   boost::shared_ptr<gtsam::Point2> p1 = unwrap_shared_ptr< gtsam::Point2 >(in[1], "ptr_gtsamPoint2");
   boost::shared_ptr<gtsam::Point2> p2 = unwrap_shared_ptr< gtsam::Point2 >(in[2], "ptr_gtsamPoint2");
-  pair< SharedPoint2, SharedPoint2 > pairResult = obj->return_ptrs(p1,p2);
+  auto pairResult = obj->return_ptrs(p1,p2);
   out[0] = wrap_shared_ptr(pairResult.first,"gtsam.Point2", false);
   out[1] = wrap_shared_ptr(pairResult.second,"gtsam.Point2", false);
 }
 
 void MyTemplatePoint2_templatedMethod_57(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<MyTemplatePoint2> Shared;
   checkArguments("templatedMethodMatrix",nargout,nargin-1,1);
-  Shared obj = unwrap_shared_ptr<MyTemplatePoint2>(in[0], "ptr_MyTemplatePoint2");
+  auto obj = unwrap_shared_ptr<MyTemplatePoint2>(in[0], "ptr_MyTemplatePoint2");
   Matrix t = unwrap< Matrix >(in[1]);
   out[0] = wrap< Matrix >(obj->templatedMethod<Matrix>(t));
 }
 
 void MyTemplatePoint2_templatedMethod_58(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<gtsam::Point2> SharedPoint2;
-  typedef boost::shared_ptr<MyTemplatePoint2> Shared;
   checkArguments("templatedMethodPoint2",nargout,nargin-1,1);
-  Shared obj = unwrap_shared_ptr<MyTemplatePoint2>(in[0], "ptr_MyTemplatePoint2");
+  auto obj = unwrap_shared_ptr<MyTemplatePoint2>(in[0], "ptr_MyTemplatePoint2");
   gtsam::Point2& t = *unwrap_shared_ptr< gtsam::Point2 >(in[1], "ptr_gtsamPoint2");
-  out[0] = wrap_shared_ptr(SharedPoint2(new gtsam::Point2(obj->templatedMethod<gtsam::Point2>(t))),"gtsam.Point2", false);
+  out[0] = wrap_shared_ptr(boost::make_shared<gtsam::Point2>(obj->templatedMethod<gtsam::Point2>(t)),"gtsam.Point2", false);
 }
 
 void MyTemplatePoint2_templatedMethod_59(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<gtsam::Point3> SharedPoint3;
-  typedef boost::shared_ptr<MyTemplatePoint2> Shared;
   checkArguments("templatedMethodPoint3",nargout,nargin-1,1);
-  Shared obj = unwrap_shared_ptr<MyTemplatePoint2>(in[0], "ptr_MyTemplatePoint2");
+  auto obj = unwrap_shared_ptr<MyTemplatePoint2>(in[0], "ptr_MyTemplatePoint2");
   gtsam::Point3& t = *unwrap_shared_ptr< gtsam::Point3 >(in[1], "ptr_gtsamPoint3");
-  out[0] = wrap_shared_ptr(SharedPoint3(new gtsam::Point3(obj->templatedMethod<gtsam::Point3>(t))),"gtsam.Point3", false);
+  out[0] = wrap_shared_ptr(boost::make_shared<gtsam::Point3>(obj->templatedMethod<gtsam::Point3>(t)),"gtsam.Point3", false);
 }
 
 void MyTemplatePoint2_templatedMethod_60(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<MyTemplatePoint2> Shared;
   checkArguments("templatedMethodVector",nargout,nargin-1,1);
-  Shared obj = unwrap_shared_ptr<MyTemplatePoint2>(in[0], "ptr_MyTemplatePoint2");
+  auto obj = unwrap_shared_ptr<MyTemplatePoint2>(in[0], "ptr_MyTemplatePoint2");
   Vector t = unwrap< Vector >(in[1]);
   out[0] = wrap< Vector >(obj->templatedMethod<Vector>(t));
 }
@@ -811,124 +749,111 @@ void MyTemplateMatrix_deconstructor_64(int nargout, mxArray *out[], int nargin,
 
 void MyTemplateMatrix_accept_T_65(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<MyTemplateMatrix> Shared;
   checkArguments("accept_T",nargout,nargin-1,1);
-  Shared obj = unwrap_shared_ptr<MyTemplateMatrix>(in[0], "ptr_MyTemplateMatrix");
+  auto obj = unwrap_shared_ptr<MyTemplateMatrix>(in[0], "ptr_MyTemplateMatrix");
   Matrix value = unwrap< Matrix >(in[1]);
   obj->accept_T(value);
 }
 
 void MyTemplateMatrix_accept_Tptr_66(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<MyTemplateMatrix> Shared;
   checkArguments("accept_Tptr",nargout,nargin-1,1);
-  Shared obj = unwrap_shared_ptr<MyTemplateMatrix>(in[0], "ptr_MyTemplateMatrix");
+  auto obj = unwrap_shared_ptr<MyTemplateMatrix>(in[0], "ptr_MyTemplateMatrix");
   Matrix value = unwrap< Matrix >(in[1]);
   obj->accept_Tptr(value);
 }
 
 void MyTemplateMatrix_create_MixedPtrs_67(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<MyTemplateMatrix> Shared;
   checkArguments("create_MixedPtrs",nargout,nargin-1,0);
-  Shared obj = unwrap_shared_ptr<MyTemplateMatrix>(in[0], "ptr_MyTemplateMatrix");
-  pair< Matrix, SharedMatrix > pairResult = obj->create_MixedPtrs();
+  auto obj = unwrap_shared_ptr<MyTemplateMatrix>(in[0], "ptr_MyTemplateMatrix");
+  auto pairResult = obj->create_MixedPtrs();
   out[0] = wrap< Matrix >(pairResult.first);
   {
-  SharedMatrix* ret = new SharedMatrix(pairResult.second);
-  out[1] = wrap_shared_ptr(ret,"Matrix");
+  boost::shared_ptr<Matrix> shared(pairResult.second);
+  out[1] = wrap_shared_ptr(shared,"Matrix");
   }
 }
 
 void MyTemplateMatrix_create_ptrs_68(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<MyTemplateMatrix> Shared;
   checkArguments("create_ptrs",nargout,nargin-1,0);
-  Shared obj = unwrap_shared_ptr<MyTemplateMatrix>(in[0], "ptr_MyTemplateMatrix");
-  pair< SharedMatrix, SharedMatrix > pairResult = obj->create_ptrs();
+  auto obj = unwrap_shared_ptr<MyTemplateMatrix>(in[0], "ptr_MyTemplateMatrix");
+  auto pairResult = obj->create_ptrs();
   {
-  SharedMatrix* ret = new SharedMatrix(pairResult.first);
-  out[0] = wrap_shared_ptr(ret,"Matrix");
+  boost::shared_ptr<Matrix> shared(pairResult.first);
+  out[0] = wrap_shared_ptr(shared,"Matrix");
   }
   {
-  SharedMatrix* ret = new SharedMatrix(pairResult.second);
-  out[1] = wrap_shared_ptr(ret,"Matrix");
+  boost::shared_ptr<Matrix> shared(pairResult.second);
+  out[1] = wrap_shared_ptr(shared,"Matrix");
   }
 }
 
 void MyTemplateMatrix_return_T_69(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<MyTemplateMatrix> Shared;
   checkArguments("return_T",nargout,nargin-1,1);
-  Shared obj = unwrap_shared_ptr<MyTemplateMatrix>(in[0], "ptr_MyTemplateMatrix");
+  auto obj = unwrap_shared_ptr<MyTemplateMatrix>(in[0], "ptr_MyTemplateMatrix");
   Matrix value = unwrap< Matrix >(in[1]);
   out[0] = wrap< Matrix >(obj->return_T(value));
 }
 
 void MyTemplateMatrix_return_Tptr_70(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<MyTemplateMatrix> Shared;
   checkArguments("return_Tptr",nargout,nargin-1,1);
-  Shared obj = unwrap_shared_ptr<MyTemplateMatrix>(in[0], "ptr_MyTemplateMatrix");
+  auto obj = unwrap_shared_ptr<MyTemplateMatrix>(in[0], "ptr_MyTemplateMatrix");
   Matrix value = unwrap< Matrix >(in[1]);
   {
-  SharedMatrix* ret = new SharedMatrix(obj->return_Tptr(value));
-  out[0] = wrap_shared_ptr(ret,"Matrix");
+  boost::shared_ptr<Matrix> shared(obj->return_Tptr(value));
+  out[0] = wrap_shared_ptr(shared,"Matrix");
   }
 }
 
 void MyTemplateMatrix_return_ptrs_71(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<MyTemplateMatrix> Shared;
   checkArguments("return_ptrs",nargout,nargin-1,2);
-  Shared obj = unwrap_shared_ptr<MyTemplateMatrix>(in[0], "ptr_MyTemplateMatrix");
+  auto obj = unwrap_shared_ptr<MyTemplateMatrix>(in[0], "ptr_MyTemplateMatrix");
   Matrix p1 = unwrap< Matrix >(in[1]);
   Matrix p2 = unwrap< Matrix >(in[2]);
-  pair< SharedMatrix, SharedMatrix > pairResult = obj->return_ptrs(p1,p2);
+  auto pairResult = obj->return_ptrs(p1,p2);
   {
-  SharedMatrix* ret = new SharedMatrix(pairResult.first);
-  out[0] = wrap_shared_ptr(ret,"Matrix");
+  boost::shared_ptr<Matrix> shared(pairResult.first);
+  out[0] = wrap_shared_ptr(shared,"Matrix");
   }
   {
-  SharedMatrix* ret = new SharedMatrix(pairResult.second);
-  out[1] = wrap_shared_ptr(ret,"Matrix");
+  boost::shared_ptr<Matrix> shared(pairResult.second);
+  out[1] = wrap_shared_ptr(shared,"Matrix");
   }
 }
 
 void MyTemplateMatrix_templatedMethod_72(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<MyTemplateMatrix> Shared;
   checkArguments("templatedMethodMatrix",nargout,nargin-1,1);
-  Shared obj = unwrap_shared_ptr<MyTemplateMatrix>(in[0], "ptr_MyTemplateMatrix");
+  auto obj = unwrap_shared_ptr<MyTemplateMatrix>(in[0], "ptr_MyTemplateMatrix");
   Matrix t = unwrap< Matrix >(in[1]);
   out[0] = wrap< Matrix >(obj->templatedMethod<Matrix>(t));
 }
 
 void MyTemplateMatrix_templatedMethod_73(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<gtsam::Point2> SharedPoint2;
-  typedef boost::shared_ptr<MyTemplateMatrix> Shared;
   checkArguments("templatedMethodPoint2",nargout,nargin-1,1);
-  Shared obj = unwrap_shared_ptr<MyTemplateMatrix>(in[0], "ptr_MyTemplateMatrix");
+  auto obj = unwrap_shared_ptr<MyTemplateMatrix>(in[0], "ptr_MyTemplateMatrix");
   gtsam::Point2& t = *unwrap_shared_ptr< gtsam::Point2 >(in[1], "ptr_gtsamPoint2");
-  out[0] = wrap_shared_ptr(SharedPoint2(new gtsam::Point2(obj->templatedMethod<gtsam::Point2>(t))),"gtsam.Point2", false);
+  out[0] = wrap_shared_ptr(boost::make_shared<gtsam::Point2>(obj->templatedMethod<gtsam::Point2>(t)),"gtsam.Point2", false);
 }
 
 void MyTemplateMatrix_templatedMethod_74(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<gtsam::Point3> SharedPoint3;
-  typedef boost::shared_ptr<MyTemplateMatrix> Shared;
   checkArguments("templatedMethodPoint3",nargout,nargin-1,1);
-  Shared obj = unwrap_shared_ptr<MyTemplateMatrix>(in[0], "ptr_MyTemplateMatrix");
+  auto obj = unwrap_shared_ptr<MyTemplateMatrix>(in[0], "ptr_MyTemplateMatrix");
   gtsam::Point3& t = *unwrap_shared_ptr< gtsam::Point3 >(in[1], "ptr_gtsamPoint3");
-  out[0] = wrap_shared_ptr(SharedPoint3(new gtsam::Point3(obj->templatedMethod<gtsam::Point3>(t))),"gtsam.Point3", false);
+  out[0] = wrap_shared_ptr(boost::make_shared<gtsam::Point3>(obj->templatedMethod<gtsam::Point3>(t)),"gtsam.Point3", false);
 }
 
 void MyTemplateMatrix_templatedMethod_75(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<MyTemplateMatrix> Shared;
   checkArguments("templatedMethodVector",nargout,nargin-1,1);
-  Shared obj = unwrap_shared_ptr<MyTemplateMatrix>(in[0], "ptr_MyTemplateMatrix");
+  auto obj = unwrap_shared_ptr<MyTemplateMatrix>(in[0], "ptr_MyTemplateMatrix");
   Vector t = unwrap< Vector >(in[1]);
   out[0] = wrap< Vector >(obj->templatedMethod<Vector>(t));
 }
diff --git a/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp b/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp
index 0f5c70348..6e0c5670d 100644
--- a/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp
+++ b/wrap/tests/expected_namespaces/testNamespaces_wrapper.cpp
@@ -199,34 +199,29 @@ void ns2ClassA_deconstructor_8(int nargout, mxArray *out[], int nargin, const mx
 
 void ns2ClassA_memberFunction_9(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<ns2::ClassA> Shared;
   checkArguments("memberFunction",nargout,nargin-1,0);
-  Shared obj = unwrap_shared_ptr<ns2::ClassA>(in[0], "ptr_ns2ClassA");
+  auto obj = unwrap_shared_ptr<ns2::ClassA>(in[0], "ptr_ns2ClassA");
   out[0] = wrap< double >(obj->memberFunction());
 }
 
 void ns2ClassA_nsArg_10(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<ns2::ClassA> Shared;
   checkArguments("nsArg",nargout,nargin-1,1);
-  Shared obj = unwrap_shared_ptr<ns2::ClassA>(in[0], "ptr_ns2ClassA");
+  auto obj = unwrap_shared_ptr<ns2::ClassA>(in[0], "ptr_ns2ClassA");
   ns1::ClassB& arg = *unwrap_shared_ptr< ns1::ClassB >(in[1], "ptr_ns1ClassB");
   out[0] = wrap< int >(obj->nsArg(arg));
 }
 
 void ns2ClassA_nsReturn_11(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<ns2::ns3::ClassB> SharedClassB;
-  typedef boost::shared_ptr<ns2::ClassA> Shared;
   checkArguments("nsReturn",nargout,nargin-1,1);
-  Shared obj = unwrap_shared_ptr<ns2::ClassA>(in[0], "ptr_ns2ClassA");
+  auto obj = unwrap_shared_ptr<ns2::ClassA>(in[0], "ptr_ns2ClassA");
   double q = unwrap< double >(in[1]);
-  out[0] = wrap_shared_ptr(SharedClassB(new ns2::ns3::ClassB(obj->nsReturn(q))),"ns2.ns3.ClassB", false);
+  out[0] = wrap_shared_ptr(boost::make_shared<ns2::ns3::ClassB>(obj->nsReturn(q)),"ns2.ns3.ClassB", false);
 }
 
 void ns2ClassA_afunction_12(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<ns2::ClassA> Shared;
   checkArguments("ns2ClassA.afunction",nargout,nargin,0);
   out[0] = wrap< double >(ns2::ClassA::afunction());
 }
@@ -343,18 +338,16 @@ void ns2aGlobalFunction_23(int nargout, mxArray *out[], int nargin, const mxArra
 }
 void ns2overloadedGlobalFunction_24(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<ns1::ClassA> SharedClassA;
   checkArguments("ns2overloadedGlobalFunction",nargout,nargin,1);
   ns1::ClassA& a = *unwrap_shared_ptr< ns1::ClassA >(in[0], "ptr_ns1ClassA");
-  out[0] = wrap_shared_ptr(SharedClassA(new ns1::ClassA(ns2::overloadedGlobalFunction(a))),"ns1.ClassA", false);
+  out[0] = wrap_shared_ptr(boost::make_shared<ns1::ClassA>(ns2::overloadedGlobalFunction(a)),"ns1.ClassA", false);
 }
 void ns2overloadedGlobalFunction_25(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
-  typedef boost::shared_ptr<ns1::ClassA> SharedClassA;
   checkArguments("ns2overloadedGlobalFunction",nargout,nargin,2);
   ns1::ClassA& a = *unwrap_shared_ptr< ns1::ClassA >(in[0], "ptr_ns1ClassA");
   double b = unwrap< double >(in[1]);
-  out[0] = wrap_shared_ptr(SharedClassA(new ns1::ClassA(ns2::overloadedGlobalFunction(a,b))),"ns1.ClassA", false);
+  out[0] = wrap_shared_ptr(boost::make_shared<ns1::ClassA>(ns2::overloadedGlobalFunction(a,b)),"ns1.ClassA", false);
 }
 
 void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])