diff --git a/gtsam-broken.h b/gtsam-broken.h
index 09113a695..6d7fbe4b0 100644
--- a/gtsam-broken.h
+++ b/gtsam-broken.h
@@ -1,6 +1,11 @@
 // These are considered to be broken and will be added back as they start working
 // It's assumed that there have been interface changes that might break this
 
+class Pose3 {
+	Point3* _translation() const;
+	Rot3* _rotation() const;
+};
+
 class Ordering{
 	Ordering(string key);
   void print(string s) const;
diff --git a/gtsam.h b/gtsam.h
index 73c9cc207..9b4eb1437 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -42,6 +42,10 @@ class Rot2 {
 class Rot3 {
 	Rot3();
 	Rot3(Matrix R);
+	Matrix matrix() const;
+	Matrix transpose() const;
+	Vector xyz() const;
+	Vector ypr() const;
 	void print(string s) const;
 	bool equals(const Rot3& rot, double tol) const;
 	Rot3* compose_(const Rot3& p2);
@@ -72,12 +76,14 @@ class Pose3 {
 	Pose3();
 	Pose3(const Rot3& r, const Point3& t);
 	Pose3(Vector v);
+	Pose3(Matrix t);
 	void print(string s) const;
 	bool equals(const Pose3& pose, double tol) const;
 	double x() const;
 	double y() const;
 	double z() const;
-	int dim() const;
+	Matrix matrix() const;
+	Matrix adjointMap() const;
 	Pose3* compose_(const Pose3& p2);
 	Pose3* between_(const Pose3& p2);
 	Vector localCoordinates(const Pose3& p);
diff --git a/gtsam/base/TestableAssertions.h b/gtsam/base/TestableAssertions.h
index 69fa02a45..46f738f7d 100644
--- a/gtsam/base/TestableAssertions.h
+++ b/gtsam/base/TestableAssertions.h
@@ -277,6 +277,18 @@ bool assert_container_equality(const V& expected, const V& actual) {
 	return true;
 }
 
+/**
+ * Compare strings for unit tests
+ */
+bool assert_equal(const std::string& expected, const std::string& actual) {
+	if (expected == actual)
+		return true;
+	printf("Not equal:\n");
+	std::cout << "expected: [" << expected << "]\n";
+	std::cout << "actual: [" << actual << "]" << std::endl;
+	return false;
+}
+
 /**
  * Allow for testing inequality
  */
diff --git a/gtsam/geometry/Pose3.cpp b/gtsam/geometry/Pose3.cpp
index c600669b6..6c6860f0f 100644
--- a/gtsam/geometry/Pose3.cpp
+++ b/gtsam/geometry/Pose3.cpp
@@ -38,7 +38,7 @@ namespace gtsam {
   // Calculate Adjoint map
   // Ad_pose is 6*6 matrix that when applied to twist xi, returns Ad_pose(xi)
   // Experimental - unit tests of derivatives based on it do not check out yet
-  Matrix Pose3::AdjointMap() const {
+  Matrix Pose3::adjointMap() const {
 		const Matrix R = R_.matrix();
 		const Vector t = t_.vector();
 		Matrix A = skewSymmetric(t)*R;
@@ -188,7 +188,7 @@ namespace gtsam {
 		  	boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const {
 	  if (H1) {
 #ifdef CORRECT_POSE3_EXMAP
-		*H1 = AdjointMap(inverse(p2)); // FIXME: this function doesn't exist with this interface
+		*H1 = adjointMap(inverse(p2)); // FIXME: this function doesn't exist with this interface
 #else
 		const Rot3& R2 = p2.rotation();
 		const Point3& t2 = p2.translation();
@@ -216,8 +216,8 @@ namespace gtsam {
   Pose3 Pose3::inverse(boost::optional<Matrix&> H1) const {
   	if (H1)
 #ifdef CORRECT_POSE3_EXMAP
-  		// FIXME: this function doesn't exist with this interface - should this be "*H1 = -AdjointMap();" ?
-  	{ *H1 = - AdjointMap(p); }
+  		// FIXME: this function doesn't exist with this interface - should this be "*H1 = -adjointMap();" ?
+  	{ *H1 = - adjointMap(p); }
 #else
   	{
   		Matrix Rt = R_.transpose();
diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h
index 51f6f80a9..f8e40efd1 100644
--- a/gtsam/geometry/Pose3.h
+++ b/gtsam/geometry/Pose3.h
@@ -56,7 +56,14 @@ namespace gtsam {
           T(2, 1), T(2, 2)), t_(T(0, 3), T(1, 3), T(2, 3)) {}
 
     const Rot3& rotation() const { return R_; }
+    boost::shared_ptr<Rot3> _rotation() const {
+    	return boost::shared_ptr<Rot3>(new Rot3(R_));
+    }
+
     const Point3& translation() const { return t_; }
+    boost::shared_ptr<Point3> _translation() const {
+    	return boost::shared_ptr<Point3>(new Point3(t_));
+    }
 
     double x() const { return t_.x(); }
     double y() const { return t_.y(); }
@@ -104,7 +111,7 @@ namespace gtsam {
     /// @{
 
     /// Dimensionality of tangent space = 6 DOF - used to autodetect sizes
-        static size_t Dim() { return dimension; }
+    static size_t Dim() { return dimension; }
 
     /// Dimensionality of the tangent space = 6 DOF
     size_t dim() const { return dimension; }
@@ -163,8 +170,8 @@ namespace gtsam {
      * Calculate Adjoint map
      * Ad_pose is 6*6 matrix that when applied to twist xi, returns Ad_pose(xi)
      */
-    Matrix AdjointMap() const; /// FIXME Not tested - marked as incorrect
-    Vector Adjoint(const Vector& xi) const {return AdjointMap()*xi; } /// FIXME Not tested - marked as incorrect
+    Matrix adjointMap() const; /// FIXME Not tested - marked as incorrect
+    Vector adjoint(const Vector& xi) const {return adjointMap()*xi; } /// FIXME Not tested - marked as incorrect
 
     /**
      * wedge for Pose3:
diff --git a/gtsam/geometry/tests/testPose3.cpp b/gtsam/geometry/tests/testPose3.cpp
index cb336bb7e..afc177256 100644
--- a/gtsam/geometry/tests/testPose3.cpp
+++ b/gtsam/geometry/tests/testPose3.cpp
@@ -195,15 +195,15 @@ TEST(Pose3, expmap_c_full)
 TEST(Pose3, Adjoint_full)
 {
 	Pose3 expected = T * Pose3::Expmap(screw::xi) * T.inverse();
-	Vector xiprime = T.Adjoint(screw::xi);
+	Vector xiprime = T.adjoint(screw::xi);
 	EXPECT(assert_equal(expected, Pose3::Expmap(xiprime), 1e-6));
 
 	Pose3 expected2 = T2 * Pose3::Expmap(screw::xi) * T2.inverse();
-	Vector xiprime2 = T2.Adjoint(screw::xi);
+	Vector xiprime2 = T2.adjoint(screw::xi);
 	EXPECT(assert_equal(expected2, Pose3::Expmap(xiprime2), 1e-6));
 
 	Pose3 expected3 = T3 * Pose3::Expmap(screw::xi) * T3.inverse();
-	Vector xiprime3 = T3.Adjoint(screw::xi);
+	Vector xiprime3 = T3.adjoint(screw::xi);
 	EXPECT(assert_equal(expected3, Pose3::Expmap(xiprime3), 1e-6));
 }
 
@@ -259,7 +259,7 @@ TEST(Pose3, Adjoint_compose_full)
 	const Pose3& T1 = T;
 	Vector x = Vector_(6,0.1,0.1,0.1,0.4,0.2,0.8);
 	Pose3 expected = T1 * Pose3::Expmap(x) * T2;
-	Vector y = T2.inverse().Adjoint(x);
+	Vector y = T2.inverse().adjoint(x);
 	Pose3 actual = T1 * T2 * Pose3::Expmap(y);
 	EXPECT(assert_equal(expected, actual, 1e-6));
 }
diff --git a/wrap/Module.cpp b/wrap/Module.cpp
index 7e35b0d2b..7a01161e1 100644
--- a/wrap/Module.cpp
+++ b/wrap/Module.cpp
@@ -76,14 +76,14 @@ Module::Module(const string& interfacePath,
   Rule basisType_p = 
     (str_p("string") | "bool" | "size_t" | "int" | "double");
 
-  Rule ublasType = 
+  Rule eigenType =
     (str_p("Vector") | "Matrix")[assign_a(arg.type)] >>
     !ch_p('*')[assign_a(arg.is_ptr,true)];
 
   Rule name_p = lexeme_d[alpha_p >> *(alnum_p | '_')];
 
   Rule argument_p = 
-    ((basisType_p[assign_a(arg.type)] | ublasType | classPtr_p | classRef_p) >> name_p[assign_a(arg.name)])
+    ((basisType_p[assign_a(arg.type)] | eigenType | classPtr_p | classRef_p) >> name_p[assign_a(arg.name)])
     [push_back_a(args, arg)]
     [assign_a(arg,arg0)];
 
diff --git a/wrap/tests/testSpirit.cpp b/wrap/tests/testSpirit.cpp
index 3f68952f3..a1862f439 100644
--- a/wrap/tests/testSpirit.cpp
+++ b/wrap/tests/testSpirit.cpp
@@ -54,7 +54,7 @@ TEST( spirit, sequence ) {
   CHECK(parse("int --- - -- -", str_p("int") >> *ch_p('-'), space_p).full);
   CHECK(parse("const \t string", str_p("const") >> str_p("string"), space_p).full);
 
-  // not that (see spirit FAQ) the vanilla rule<> does not deal with whitespace
+  // note that (see spirit FAQ) the vanilla rule<> does not deal with whitespace
   rule<>vanilla_p = str_p("const") >> str_p("string");
   CHECK(!parse("const \t string", vanilla_p, space_p).full);
 
diff --git a/wrap/tests/testWrap.cpp b/wrap/tests/testWrap.cpp
index 0650538a5..e343aad16 100644
--- a/wrap/tests/testWrap.cpp
+++ b/wrap/tests/testWrap.cpp
@@ -112,6 +112,14 @@ TEST( wrap, matlab_code ) {
 	EXPECT(files_equal(path + "/tests/expected/make_geometry.m"   , "actual/make_geometry.m"   ));
 }
 
+///* ************************************************************************* */
+//TEST( wrap, strip_comments ) {
+//	string full_string  = "This is the first line // comments\n// comments at beginning of line\n";
+//	string act_string = strip_comments(full_string);
+//	string exp_string = "This is the first line \n\n";
+//	EXPECT(assert_equal(exp_string, act_string));
+//}
+
 /* ************************************************************************* */
 int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
 /* ************************************************************************* */
diff --git a/wrap/utilities.cpp b/wrap/utilities.cpp
index 72833f79a..9ccdfc919 100644
--- a/wrap/utilities.cpp
+++ b/wrap/utilities.cpp
@@ -39,6 +39,16 @@ string file_contents(const string& filename, bool skipheader) {
   return ss.str();
 }
 
+/* ************************************************************************* */
+bool assert_equal(const std::string& expected, const std::string& actual) {
+	if (expected == actual)
+		return true;
+	printf("Not equal:\n");
+	std::cout << "expected: [" << expected << "]\n";
+	std::cout << "actual: [" << actual << "]" << std::endl;
+	return false;
+}
+
 /* ************************************************************************* */
 bool files_equal(const string& expected, const string& actual, bool skipheader) {
   try {
@@ -66,3 +76,8 @@ void emit_header_comment(ofstream& ofs, const string& delimiter) {
 }
 
 /* ************************************************************************* */
+std::string strip_comments(const std::string& full_string) {
+	return full_string; /// PLACEHOLDER
+}
+
+/* ************************************************************************* */
diff --git a/wrap/utilities.h b/wrap/utilities.h
index d3ab3e197..53f9c7414 100644
--- a/wrap/utilities.h
+++ b/wrap/utilities.h
@@ -38,7 +38,8 @@ class ParseFailed : public std::exception {
   ~ParseFailed() throw() {}
   virtual const char* what() const throw() { 
     std::stringstream buf;
-    buf << "Parse failed at character " << (length_+1);
+    int len = length_+1;
+    buf << "Parse failed at character [" << len << "]";
     return buf.str().c_str(); 
   }
 };
@@ -54,7 +55,16 @@ std::string file_contents(const std::string& filename, bool skipheader=false);
  */
 bool files_equal(const std::string& expected, const std::string& actual, bool skipheader=true);
 
+/**
+ * Compare strings for unit tests
+ */
+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);
+
+/**
+ * Removes comments denoted with '//' from a string
+ */
+std::string strip_comments(const std::string& full_string);
diff --git a/wrap/wrap.cpp b/wrap/wrap.cpp
index d18664cda..51ba636c3 100644
--- a/wrap/wrap.cpp
+++ b/wrap/wrap.cpp
@@ -46,7 +46,7 @@ void generate_matlab_toolbox(const string& interfacePath,
 
 /**
  * main parses arguments and calls generate_matlab_toolbox above
- * Typyically called from "make all" using appropriate arguments
+ * Typically called from "make all" using appropriate arguments
  */
 int main(int argc, const char* argv[]) {
   if (argc<5 || argc>6) {