diff --git a/gtsam.h b/gtsam.h
index 487c8c96b..0878d831b 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -36,7 +36,10 @@
  *   Static methods must start with a letter (upper or lowercase) and use the "static" keyword
  *   Includes in C++ wrappers
  *   	 - By default, the include will be <[classname].h>
- *   	 - To override, add a full include statement inside the class definition
+ *   	 - All namespaces must have angle brackets: <path>
+ *   	 - To override, add a full include statement just before the class statement
+ *   	 - An override include can be added for a namespace by placing it just before the namespace statement
+ *   	 - Both classes and namespace accept exactly one namespace
  */
 
 /**
@@ -288,9 +291,9 @@ class Ordering {
 };
 
 // Planar SLAM example domain
+#include <gtsam/slam/planarSLAM.h>
 namespace planarSLAM {
 
-#include <gtsam/slam/planarSLAM.h>
 class Values {
 	Values();
 	void print(string s) const;
@@ -300,7 +303,6 @@ class Values {
 	void insertPoint(int key, const Point2& point);
 };
 
-#include <gtsam/slam/planarSLAM.h>
 class Graph {
 	Graph();
 
@@ -321,7 +323,6 @@ class Graph {
 	planarSLAM::Values optimize(const planarSLAM::Values& initialEstimate);
 };
 
-#include <gtsam/slam/planarSLAM.h>
 class Odometry {
 	Odometry(int key1, int key2, const Pose2& measured,
 			const SharedNoiseModel& model);
@@ -332,9 +333,9 @@ class Odometry {
 }///\namespace planarSLAM
 
 // Simulated2D Example Domain
+#include <gtsam/slam/simulated2D.h>
 namespace simulated2D {
 
-#include <gtsam/slam/simulated2D.h>
 class Values {
 	Values();
 	void insertPose(int i, const Point2& p);
@@ -345,7 +346,6 @@ class Values {
 	Point2 point(int j);
 };
 
-#include <gtsam/slam/simulated2D.h>
 class Graph {
 	Graph();
 };
@@ -355,9 +355,9 @@ class Graph {
 }///\namespace simulated2D
 
 // Simulated2DOriented Example Domain
+#include <gtsam/slam/simulated2DOriented.h>
 namespace simulated2DOriented {
 
-#include <gtsam/slam/simulated2DOriented.h>
 class Values {
 	Values();
 	void insertPose(int i, const Pose2& p);
@@ -368,7 +368,6 @@ class Values {
 	Point2 point(int j);
 };
 
-#include <gtsam/slam/simulated2DOriented.h>
 class Graph {
 	Graph();
 };
diff --git a/wrap/tests/expected_namespaces/@ns2ClassA/memberFunction.cpp b/wrap/tests/expected_namespaces/@ns2ClassA/memberFunction.cpp
index d051c74ec..8a8112f99 100644
--- a/wrap/tests/expected_namespaces/@ns2ClassA/memberFunction.cpp
+++ b/wrap/tests/expected_namespaces/@ns2ClassA/memberFunction.cpp
@@ -1,6 +1,7 @@
-// automatically generated by wrap on 2011-Dec-08
+// automatically generated by wrap on 2011-Dec-15
 #include <wrap/matlab.h>
-#include <ClassA.h>
+#include <path/to/ns2.h>
+#include <path/to/ns2/ClassA.h>
 void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   checkArguments("memberFunction",nargout,nargin-1,0);
diff --git a/wrap/tests/expected_namespaces/@ns2ClassA/nsArg.cpp b/wrap/tests/expected_namespaces/@ns2ClassA/nsArg.cpp
new file mode 100644
index 000000000..9e9edcf78
--- /dev/null
+++ b/wrap/tests/expected_namespaces/@ns2ClassA/nsArg.cpp
@@ -0,0 +1,12 @@
+// automatically generated by wrap on 2011-Dec-15
+#include <wrap/matlab.h>
+#include <path/to/ns2.h>
+#include <path/to/ns2/ClassA.h>
+void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+{
+  checkArguments("nsArg",nargout,nargin-1,1);
+  shared_ptr<ns2::ClassA> self = unwrap_shared_ptr< ns2::ClassA >(in[0],"ns2ClassA");
+  ns1::ClassB& arg = *unwrap_shared_ptr< ns1::ClassB >(in[1], "ns1ClassB");
+  int result = self->nsArg(arg);
+  out[0] = wrap< int >(result);
+}
diff --git a/wrap/tests/expected_namespaces/@ns2ClassA/nsArg.m b/wrap/tests/expected_namespaces/@ns2ClassA/nsArg.m
new file mode 100644
index 000000000..bdd4b387f
--- /dev/null
+++ b/wrap/tests/expected_namespaces/@ns2ClassA/nsArg.m
@@ -0,0 +1,4 @@
+function result = nsArg(obj,arg)
+% usage: obj.nsArg(arg)
+  error('need to compile nsArg.cpp');
+end
diff --git a/wrap/tests/expected_namespaces/@ns2ClassA/nsReturn.cpp b/wrap/tests/expected_namespaces/@ns2ClassA/nsReturn.cpp
new file mode 100644
index 000000000..b7a967e2c
--- /dev/null
+++ b/wrap/tests/expected_namespaces/@ns2ClassA/nsReturn.cpp
@@ -0,0 +1,12 @@
+// automatically generated by wrap on 2011-Dec-15
+#include <wrap/matlab.h>
+#include <path/to/ns2.h>
+#include <path/to/ns2/ClassA.h>
+void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+{
+  checkArguments("nsReturn",nargout,nargin-1,1);
+  shared_ptr<ns2::ClassA> self = unwrap_shared_ptr< ns2::ClassA >(in[0],"ns2ClassA");
+  double q = unwrap< double >(in[1]);
+  ns2::ns3::ClassB result = self->nsReturn(q);
+  out[0] = wrap_shared_ptr(make_shared< ns2::ns3::ClassB >(result),"ns2ns3ClassB");
+}
diff --git a/wrap/tests/expected_namespaces/@ns2ClassA/nsReturn.m b/wrap/tests/expected_namespaces/@ns2ClassA/nsReturn.m
new file mode 100644
index 000000000..d0d093a37
--- /dev/null
+++ b/wrap/tests/expected_namespaces/@ns2ClassA/nsReturn.m
@@ -0,0 +1,4 @@
+function result = nsReturn(obj,q)
+% usage: obj.nsReturn(q)
+  error('need to compile nsReturn.cpp');
+end
diff --git a/wrap/tests/expected_namespaces/Makefile b/wrap/tests/expected_namespaces/Makefile
index 4fe9b0655..8a6bc3af7 100644
--- a/wrap/tests/expected_namespaces/Makefile
+++ b/wrap/tests/expected_namespaces/Makefile
@@ -1,4 +1,4 @@
-# automatically generated by wrap on 2011-Dec-08
+# automatically generated by wrap on 2011-Dec-15
 
 MEX = mex
 MEXENDING = mexa64
diff --git a/wrap/tests/expected_namespaces/make_testNamespaces.m b/wrap/tests/expected_namespaces/make_testNamespaces.m
index 59d850c42..9a3ee5b6c 100644
--- a/wrap/tests/expected_namespaces/make_testNamespaces.m
+++ b/wrap/tests/expected_namespaces/make_testNamespaces.m
@@ -1,4 +1,4 @@
-% automatically generated by wrap on 2011-Dec-08
+% automatically generated by wrap on 2011-Dec-15
 echo on
 
 toolboxpath = mfilename('fullpath');
diff --git a/wrap/tests/expected_namespaces/new_ClassD_.cpp b/wrap/tests/expected_namespaces/new_ClassD_.cpp
index ec7212786..c39f7c3fe 100644
--- a/wrap/tests/expected_namespaces/new_ClassD_.cpp
+++ b/wrap/tests/expected_namespaces/new_ClassD_.cpp
@@ -1,4 +1,4 @@
-// automatically generated by wrap on 2011-Dec-08
+// automatically generated by wrap on 2011-Dec-15
 #include <wrap/matlab.h>
 #include <ClassD.h>
 void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
diff --git a/wrap/tests/expected_namespaces/new_ClassD_.m b/wrap/tests/expected_namespaces/new_ClassD_.m
index c5f53f130..99f139acf 100644
--- a/wrap/tests/expected_namespaces/new_ClassD_.m
+++ b/wrap/tests/expected_namespaces/new_ClassD_.m
@@ -1,4 +1,4 @@
-% automatically generated by wrap on 2011-Dec-08
+% automatically generated by wrap on 2011-Dec-15
 function result = new_ClassD_(obj)
   error('need to compile new_ClassD_.cpp');
 end
diff --git a/wrap/tests/expected_namespaces/new_ns1ClassA_.cpp b/wrap/tests/expected_namespaces/new_ns1ClassA_.cpp
index 2db8ef767..84fbe45bf 100644
--- a/wrap/tests/expected_namespaces/new_ns1ClassA_.cpp
+++ b/wrap/tests/expected_namespaces/new_ns1ClassA_.cpp
@@ -1,6 +1,6 @@
-// automatically generated by wrap on 2011-Dec-08
+// automatically generated by wrap on 2011-Dec-15
 #include <wrap/matlab.h>
-#include <ClassA.h>
+#include <path/to/ns1.h>
 void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   checkArguments("new_ns1ClassA_",nargout,nargin,0);
diff --git a/wrap/tests/expected_namespaces/new_ns1ClassA_.m b/wrap/tests/expected_namespaces/new_ns1ClassA_.m
index 89cd8b0a2..ab53c21a2 100644
--- a/wrap/tests/expected_namespaces/new_ns1ClassA_.m
+++ b/wrap/tests/expected_namespaces/new_ns1ClassA_.m
@@ -1,4 +1,4 @@
-% automatically generated by wrap on 2011-Dec-08
+% automatically generated by wrap on 2011-Dec-15
 function result = new_ns1ClassA_(obj)
   error('need to compile new_ns1ClassA_.cpp');
 end
diff --git a/wrap/tests/expected_namespaces/new_ns1ClassB_.cpp b/wrap/tests/expected_namespaces/new_ns1ClassB_.cpp
index b4ac7038a..84670f1f1 100644
--- a/wrap/tests/expected_namespaces/new_ns1ClassB_.cpp
+++ b/wrap/tests/expected_namespaces/new_ns1ClassB_.cpp
@@ -1,6 +1,7 @@
-// automatically generated by wrap on 2011-Dec-08
+// automatically generated by wrap on 2011-Dec-15
 #include <wrap/matlab.h>
-#include <ClassB.h>
+#include <path/to/ns1.h>
+#include <path/to/ns1/ClassB.h>
 void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   checkArguments("new_ns1ClassB_",nargout,nargin,0);
diff --git a/wrap/tests/expected_namespaces/new_ns1ClassB_.m b/wrap/tests/expected_namespaces/new_ns1ClassB_.m
index 5430f85aa..83f5daa6a 100644
--- a/wrap/tests/expected_namespaces/new_ns1ClassB_.m
+++ b/wrap/tests/expected_namespaces/new_ns1ClassB_.m
@@ -1,4 +1,4 @@
-% automatically generated by wrap on 2011-Dec-08
+% automatically generated by wrap on 2011-Dec-15
 function result = new_ns1ClassB_(obj)
   error('need to compile new_ns1ClassB_.cpp');
 end
diff --git a/wrap/tests/expected_namespaces/new_ns2ClassA_.cpp b/wrap/tests/expected_namespaces/new_ns2ClassA_.cpp
index cc4ec309b..a70341f17 100644
--- a/wrap/tests/expected_namespaces/new_ns2ClassA_.cpp
+++ b/wrap/tests/expected_namespaces/new_ns2ClassA_.cpp
@@ -1,6 +1,7 @@
-// automatically generated by wrap on 2011-Dec-08
+// automatically generated by wrap on 2011-Dec-15
 #include <wrap/matlab.h>
-#include <ClassA.h>
+#include <path/to/ns2.h>
+#include <path/to/ns2/ClassA.h>
 void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   checkArguments("new_ns2ClassA_",nargout,nargin,0);
diff --git a/wrap/tests/expected_namespaces/new_ns2ClassA_.m b/wrap/tests/expected_namespaces/new_ns2ClassA_.m
index bb8b2a24a..171b839b9 100644
--- a/wrap/tests/expected_namespaces/new_ns2ClassA_.m
+++ b/wrap/tests/expected_namespaces/new_ns2ClassA_.m
@@ -1,4 +1,4 @@
-% automatically generated by wrap on 2011-Dec-08
+% automatically generated by wrap on 2011-Dec-15
 function result = new_ns2ClassA_(obj)
   error('need to compile new_ns2ClassA_.cpp');
 end
diff --git a/wrap/tests/expected_namespaces/new_ns2ClassC_.cpp b/wrap/tests/expected_namespaces/new_ns2ClassC_.cpp
index b43a7cd6b..04d58a187 100644
--- a/wrap/tests/expected_namespaces/new_ns2ClassC_.cpp
+++ b/wrap/tests/expected_namespaces/new_ns2ClassC_.cpp
@@ -1,6 +1,6 @@
-// automatically generated by wrap on 2011-Dec-08
+// automatically generated by wrap on 2011-Dec-15
 #include <wrap/matlab.h>
-#include <ClassC.h>
+#include <path/to/ns2.h>
 void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   checkArguments("new_ns2ClassC_",nargout,nargin,0);
diff --git a/wrap/tests/expected_namespaces/new_ns2ClassC_.m b/wrap/tests/expected_namespaces/new_ns2ClassC_.m
index 91e643c4b..1858c3ada 100644
--- a/wrap/tests/expected_namespaces/new_ns2ClassC_.m
+++ b/wrap/tests/expected_namespaces/new_ns2ClassC_.m
@@ -1,4 +1,4 @@
-% automatically generated by wrap on 2011-Dec-08
+% automatically generated by wrap on 2011-Dec-15
 function result = new_ns2ClassC_(obj)
   error('need to compile new_ns2ClassC_.cpp');
 end
diff --git a/wrap/tests/expected_namespaces/new_ns2ns3ClassB_.cpp b/wrap/tests/expected_namespaces/new_ns2ns3ClassB_.cpp
index 3916ed3ff..38970edf9 100644
--- a/wrap/tests/expected_namespaces/new_ns2ns3ClassB_.cpp
+++ b/wrap/tests/expected_namespaces/new_ns2ns3ClassB_.cpp
@@ -1,6 +1,7 @@
-// automatically generated by wrap on 2011-Dec-08
+// automatically generated by wrap on 2011-Dec-15
 #include <wrap/matlab.h>
-#include <ClassB.h>
+#include <path/to/ns2.h>
+#include <path/to/ns3.h>
 void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   checkArguments("new_ns2ns3ClassB_",nargout,nargin,0);
diff --git a/wrap/tests/expected_namespaces/new_ns2ns3ClassB_.m b/wrap/tests/expected_namespaces/new_ns2ns3ClassB_.m
index 54b38a16c..9842b55e8 100644
--- a/wrap/tests/expected_namespaces/new_ns2ns3ClassB_.m
+++ b/wrap/tests/expected_namespaces/new_ns2ns3ClassB_.m
@@ -1,4 +1,4 @@
-% automatically generated by wrap on 2011-Dec-08
+% automatically generated by wrap on 2011-Dec-15
 function result = new_ns2ns3ClassB_(obj)
   error('need to compile new_ns2ns3ClassB_.cpp');
 end
diff --git a/wrap/tests/expected_namespaces/ns2ClassA_afunction.cpp b/wrap/tests/expected_namespaces/ns2ClassA_afunction.cpp
index dff68090a..4ef71fcf4 100644
--- a/wrap/tests/expected_namespaces/ns2ClassA_afunction.cpp
+++ b/wrap/tests/expected_namespaces/ns2ClassA_afunction.cpp
@@ -1,6 +1,7 @@
-// automatically generated by wrap on 2011-Dec-08
+// automatically generated by wrap on 2011-Dec-15
 #include <wrap/matlab.h>
-#include <ClassA.h>
+#include <path/to/ns2.h>
+#include <path/to/ns2/ClassA.h>
 void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   checkArguments("ns2ClassA_afunction",nargout,nargin,0);
diff --git a/wrap/tests/testWrap.cpp b/wrap/tests/testWrap.cpp
index c3b2feafd..65edc11b5 100644
--- a/wrap/tests/testWrap.cpp
+++ b/wrap/tests/testWrap.cpp
@@ -210,6 +210,29 @@ TEST( wrap, matlab_code_namespaces ) {
   string act_path = "actual_namespaces/";
 	module.matlab_code("actual_namespaces", "mexa64", "-O5");
 
+	EXPECT(files_equal(exp_path + "new_ClassD_.cpp"              , act_path + "new_ClassD_.cpp"              ));
+	EXPECT(files_equal(exp_path + "new_ClassD_.m"                , act_path + "new_ClassD_.m"                ));
+	EXPECT(files_equal(exp_path + "new_ns1ClassA_.cpp"           , act_path + "new_ns1ClassA_.cpp"           ));
+	EXPECT(files_equal(exp_path + "new_ns1ClassA_.m"             , act_path + "new_ns1ClassA_.m"             ));
+	EXPECT(files_equal(exp_path + "new_ns1ClassB_.cpp"           , act_path + "new_ns1ClassB_.cpp"           ));
+	EXPECT(files_equal(exp_path + "new_ns1ClassB_.m"             , act_path + "new_ns1ClassB_.m"             ));
+	EXPECT(files_equal(exp_path + "new_ns2ClassA_.cpp"           , act_path + "new_ns2ClassA_.cpp"           ));
+	EXPECT(files_equal(exp_path + "new_ns2ClassA_.m"             , act_path + "new_ns2ClassA_.m"             ));
+	EXPECT(files_equal(exp_path + "new_ns2ClassC_.cpp"           , act_path + "new_ns2ClassC_.cpp"           ));
+	EXPECT(files_equal(exp_path + "new_ns2ClassC_.m"             , act_path + "new_ns2ClassC_.m"             ));
+	EXPECT(files_equal(exp_path + "new_ns2ns3ClassB_.cpp"        , act_path + "new_ns2ns3ClassB_.cpp"        ));
+	EXPECT(files_equal(exp_path + "new_ns2ns3ClassB_.m"          , act_path + "new_ns2ns3ClassB_.m"          ));
+	EXPECT(files_equal(exp_path + "ns2ClassA_afunction.cpp"      , act_path + "ns2ClassA_afunction.cpp"      ));
+	EXPECT(files_equal(exp_path + "ns2ClassA_afunction.m"        , act_path + "ns2ClassA_afunction.m"        ));
+
+	EXPECT(files_equal(exp_path + "@ns2ClassA/memberFunction.cpp", act_path + "@ns2ClassA/memberFunction.cpp"));
+	EXPECT(files_equal(exp_path + "@ns2ClassA/memberFunction.m"  , act_path + "@ns2ClassA/memberFunction.m"  ));
+	EXPECT(files_equal(exp_path + "@ns2ClassA/ns2ClassA.m"       , act_path + "@ns2ClassA/ns2ClassA.m"       ));
+	EXPECT(files_equal(exp_path + "@ns2ClassA/nsArg.cpp"         , act_path + "@ns2ClassA/nsArg.cpp"         ));
+	EXPECT(files_equal(exp_path + "@ns2ClassA/nsArg.m"           , act_path + "@ns2ClassA/nsArg.m"           ));
+	EXPECT(files_equal(exp_path + "@ns2ClassA/nsReturn.cpp"      , act_path + "@ns2ClassA/nsReturn.cpp"      ));
+	EXPECT(files_equal(exp_path + "@ns2ClassA/nsReturn.m"        , act_path + "@ns2ClassA/nsReturn.m"        ));
+
 	EXPECT(files_equal(exp_path + "make_testNamespaces.m", act_path + "make_testNamespaces.m"));
 	EXPECT(files_equal(exp_path + "Makefile"       , act_path + "Makefile"       ));
 }
diff --git a/wrap/utilities.cpp b/wrap/utilities.cpp
index 97d18f579..fb8309485 100644
--- a/wrap/utilities.cpp
+++ b/wrap/utilities.cpp
@@ -128,12 +128,15 @@ void generateUsingNamespace(ofstream& ofs, const vector<string>& using_namespace
 void generateIncludes(ofstream& ofs, const string& class_name,
 		const vector<string>& includes) {
 	ofs << "#include <wrap/matlab.h>" << endl;
-	if (includes.empty()) // add a default include
-		ofs << "#include <" << class_name << ".h>" << endl;
-	else {
-		BOOST_FOREACH(const string& s, includes)
-	  		ofs << "#include <" << s << ">" << endl;
+	bool added_include = false;
+	BOOST_FOREACH(const string& s, includes) {
+		if (!s.empty()) {
+			ofs << "#include <" << s << ">" << endl;
+			added_include = true;
+		}
 	}
+	if (!added_include) // add default include
+		ofs << "#include <" << class_name << ".h>" << endl;
 }
 
 /* ************************************************************************* */