diff --git a/gtsam.h b/gtsam.h
index 120d585aa..04d6b7e9b 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -48,6 +48,10 @@
  *     - All includes will be collected and added in a single file
  *     - All namespaces must have angle brackets: <path>
  *     - No default includes will be added
+ *   Global/Namespace functions
+ *     - Functions specified outside of a class are global
+ *     - Can be overloaded with different arguments
+ *     - Can have multiple functions of the same name in different namespaces
  *   Using classes defined in other modules
  *     - If you are using a class 'OtherClass' not wrapped in this definition file, add "class OtherClass;" to avoid a dependency error
  *   Virtual inheritance
@@ -74,7 +78,6 @@
 
 /**
  * Status:
- *  - TODO: global functions
  *  - TODO: default values for arguments
  *  - TODO: Handle gtsam::Rot3M conversions to quaternions
  */
diff --git a/wrap/Class.cpp b/wrap/Class.cpp
index 749a61707..5110ab6cd 100644
--- a/wrap/Class.cpp
+++ b/wrap/Class.cpp
@@ -308,7 +308,7 @@ std::string Class::getTypedef() const {
 		result += ("namespace " + namesp + " { ");
 	}
 	result += ("typedef " + typedefName + " " + name + ";");
-	BOOST_FOREACH(const string& namesp, namespaces) {
+	for (size_t i = 0; i<namespaces.size(); ++i) {
 		result += " }";
 	}
 	return result;
diff --git a/wrap/GlobalFunction.cpp b/wrap/GlobalFunction.cpp
index 14bb824d2..084f83be0 100644
--- a/wrap/GlobalFunction.cpp
+++ b/wrap/GlobalFunction.cpp
@@ -121,17 +121,7 @@ void GlobalFunction::generateSingleFunction(const std::string& toolboxPath, cons
 		// start
 		wrapperFile.oss << "{\n";
 
-		if(returnVal.isPair)
-		{
-			if(returnVal.category1 == ReturnValue::CLASS)
-				wrapperFile.oss << "  typedef boost::shared_ptr<"  << returnVal.qualifiedType1("::")  << "> Shared" <<  returnVal.type1 << ";"<< endl;
-			if(returnVal.category2 == ReturnValue::CLASS)
-				wrapperFile.oss << "  typedef boost::shared_ptr<"  << returnVal.qualifiedType2("::")  << "> Shared" <<  returnVal.type2 << ";"<< endl;
-		}
-		else {
-			if (returnVal.category1 == ReturnValue::CLASS)
-				wrapperFile.oss << "  typedef boost::shared_ptr<"  << returnVal.qualifiedType1("::")  << "> Shared" <<  returnVal.type1 << ";"<< endl;
-		}
+		returnVal.wrapTypeUnwrap(wrapperFile);
 
 		// check arguments
 		// NOTE: for static functions, there is no object passed
diff --git a/wrap/GlobalFunction.h b/wrap/GlobalFunction.h
index e281e6a6d..37a70df2a 100644
--- a/wrap/GlobalFunction.h
+++ b/wrap/GlobalFunction.h
@@ -24,7 +24,7 @@ struct GlobalFunction {
 	// each overload, regardless of namespace
 	std::vector<ArgumentList> argLists;       ///< arugments for each overload
 	std::vector<ReturnValue> returnVals;      ///< returnVals for each overload
-	std::vector<StrVec> namespaces;      ///< Stack of namespaces
+	std::vector<StrVec> namespaces;           ///< Stack of namespaces
 
 	// Constructor only used in Module
 	GlobalFunction(bool verbose = true) : verbose_(verbose) {}
diff --git a/wrap/Module.h b/wrap/Module.h
index a2c77bc9e..ca8b0bb1a 100644
--- a/wrap/Module.h
+++ b/wrap/Module.h
@@ -40,7 +40,6 @@ struct Module {
   std::vector<Class> classes; ///< list of classes
 	std::vector<TemplateInstantiationTypedef> templateInstantiationTypedefs; ///< list of template instantiations
   bool verbose;            ///< verbose flag
-//  std::vector<std::string> using_namespaces; ///< all default namespaces
   std::vector<ForwardDeclaration> forward_declarations;
 	std::vector<std::string> includes;        ///< Include statements
 	GlobalFunctions global_functions;
diff --git a/wrap/ReturnValue.cpp b/wrap/ReturnValue.cpp
index c209a3131..37e6b15ff 100644
--- a/wrap/ReturnValue.cpp
+++ b/wrap/ReturnValue.cpp
@@ -122,5 +122,19 @@ void ReturnValue::wrap_result(const string& result, FileWriter& file, const Type
 }
 
 /* ************************************************************************* */
+void ReturnValue::wrapTypeUnwrap(FileWriter& wrapperFile) const {
+	if(isPair)
+	{
+		if(category1 == ReturnValue::CLASS)
+			wrapperFile.oss << "  typedef boost::shared_ptr<"  << qualifiedType1("::")  << "> Shared" <<  type1 << ";"<< endl;
+		if(category2 == ReturnValue::CLASS)
+			wrapperFile.oss << "  typedef boost::shared_ptr<"  << qualifiedType2("::")  << "> Shared" <<  type2 << ";"<< endl;
+	}
+	else {
+		if (category1 == ReturnValue::CLASS)
+			wrapperFile.oss << "  typedef boost::shared_ptr<"  << qualifiedType1("::")  << "> Shared" <<  type1 << ";"<< endl;
+	}
+}
+/* ************************************************************************* */
 
 
diff --git a/wrap/ReturnValue.h b/wrap/ReturnValue.h
index 8ff5d712b..2bffef680 100644
--- a/wrap/ReturnValue.h
+++ b/wrap/ReturnValue.h
@@ -52,6 +52,8 @@ struct ReturnValue {
 
 	void wrap_result(const std::string& result, FileWriter& file, const TypeAttributesTable& typeAttributes) const;
 
+	void wrapTypeUnwrap(FileWriter& wrapperFile) const;
+
 };
 
 } // \namespace wrap
diff --git a/wrap/StaticMethod.cpp b/wrap/StaticMethod.cpp
index f123a31ac..ed80d7890 100644
--- a/wrap/StaticMethod.cpp
+++ b/wrap/StaticMethod.cpp
@@ -123,16 +123,7 @@ string StaticMethod::wrapper_fragment(FileWriter& file,
 	file.oss << "{\n";
 	generateUsingNamespace(file, using_namespaces);
 
-  if(returnVal.isPair)
-  {
-      if(returnVal.category1 == ReturnValue::CLASS)
-        file.oss << "  typedef boost::shared_ptr<"  << returnVal.qualifiedType1("::")  << "> Shared" <<  returnVal.type1 << ";"<< endl;
-      if(returnVal.category2 == ReturnValue::CLASS)
-        file.oss << "  typedef boost::shared_ptr<"  << returnVal.qualifiedType2("::")  << "> Shared" <<  returnVal.type2 << ";"<< endl;
-  }
-  else
-      if(returnVal.category1 == ReturnValue::CLASS)
-        file.oss << "  typedef boost::shared_ptr<"  << returnVal.qualifiedType1("::")  << "> Shared" <<  returnVal.type1 << ";"<< endl;
+	returnVal.wrapTypeUnwrap(file);
 
   file.oss << "  typedef boost::shared_ptr<"  << cppClassName  << "> Shared;" << endl;