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
 
diff --git a/wrap/Class.cpp b/wrap/Class.cpp
index cfafd0ce5..bb8051093 100644
--- a/wrap/Class.cpp
+++ b/wrap/Class.cpp
@@ -29,24 +29,49 @@
 #include <iostream> 
 #include <fstream> 
 #include <iterator>     // std::ostream_iterator
-
 //#include <cstdint> // on Linux GCC: fails with error regarding needing C++0x std flags 
 //#include <cinttypes> // same failure as above 
 #include <stdint.h> // works on Linux GCC 
-
 using namespace std;
 using namespace wrap;
 
 /* ************************************************************************* */
-Method& Class::method(Str key) {
+void Class::assignParent(const Qualified& parent) {
+  parentClass.reset(parent);
+}
+
+/* ************************************************************************* */
+boost::optional<string> Class::qualifiedParent() const {
+  boost::optional<string> result = boost::none;
+  if (parentClass) result = parentClass->qualifiedName("::");
+  return result;
+}
+
+/* ************************************************************************* */
+static void handleException(const out_of_range& oor,
+    const Class::Methods& methods) {
+  cerr << "Class::method: key not found: " << oor.what() << ", methods are:\n";
+  using boost::adaptors::map_keys;
+  ostream_iterator<string> out_it(cerr, "\n");
+  boost::copy(methods | map_keys, out_it);
+}
+
+/* ************************************************************************* */
+Method& Class::mutableMethod(Str key) {
   try {
     return methods_.at(key);
   } catch (const out_of_range& oor) {
-    cerr << "Class::method: key not found: " << oor.what()
-        << ", methods are:\n";
-    using boost::adaptors::map_keys;
-    ostream_iterator<string> out_it(cerr, "\n");
-    boost::copy(methods_ | map_keys, out_it);
+    handleException(oor,methods_);
+    throw runtime_error("Internal error in wrap");
+  }
+}
+
+/* ************************************************************************* */
+const Method& Class::method(Str key) const {
+  try {
+    return methods_.at(key);
+  } catch (const out_of_range& oor) {
+    handleException(oor,methods_);
     throw runtime_error("Internal error in wrap");
   }
 }
@@ -67,12 +92,11 @@ void Class::matlab_proxy(Str toolboxPath, Str wrapperName,
   const string matlabQualName = qualifiedName(".");
   const string matlabUniqueName = qualifiedName();
   const string cppName = qualifiedName("::");
-  const string matlabBaseName = qualifiedParent.qualifiedName(".");
-  const string cppBaseName = qualifiedParent.qualifiedName("::");
 
   // emit class proxy code 
   // we want our class to inherit the handle class for memory purposes 
-  const string parent = qualifiedParent.empty() ? "handle" : matlabBaseName;
+  const string parent =
+      parentClass ? parentClass->qualifiedName(".") : "handle";
   comment_fragment(proxyFile);
   proxyFile.oss << "classdef " << name() << " < " << parent << endl;
   proxyFile.oss << "  properties\n";
@@ -94,11 +118,12 @@ void Class::matlab_proxy(Str toolboxPath, Str wrapperName,
   wrapperFile.oss << "\n";
 
   // Regular constructors 
+  boost::optional<string> cppBaseName = qualifiedParent();
   for (size_t i = 0; i < constructor.nrOverloads(); i++) {
     ArgumentList args = constructor.argumentList(i);
     const int id = (int) functionNames.size();
-    constructor.proxy_fragment(proxyFile, wrapperName, !qualifiedParent.empty(),
-        id, args);
+    constructor.proxy_fragment(proxyFile, wrapperName, (bool) parentClass, id,
+        args);
     const string wrapFunctionName = constructor.wrapper_fragment(wrapperFile,
         cppName, matlabUniqueName, cppBaseName, id, args);
     wrapperFile.oss << "\n";
@@ -108,9 +133,9 @@ void Class::matlab_proxy(Str toolboxPath, Str wrapperName,
   proxyFile.oss << "        error('Arguments do not match any overload of "
       << matlabQualName << " constructor');\n";
   proxyFile.oss << "      end\n";
-  if (!qualifiedParent.empty())
-    proxyFile.oss << "      obj = obj@" << matlabBaseName << "(uint64("
-        << ptr_constructor_key << "), base_ptr);\n";
+  if (parentClass)
+    proxyFile.oss << "      obj = obj@" << parentClass->qualifiedName(".")
+        << "(uint64(" << ptr_constructor_key << "), base_ptr);\n";
   proxyFile.oss << "      obj.ptr_" << matlabUniqueName << " = my_ptr;\n";
   proxyFile.oss << "    end\n\n";
 
@@ -170,7 +195,6 @@ void Class::pointer_constructor_fragments(FileWriter& proxyFile,
 
   const string matlabUniqueName = qualifiedName();
   const string cppName = qualifiedName("::");
-  const string baseCppName = qualifiedParent.qualifiedName("::");
 
   const int collectorInsertId = (int) functionNames.size();
   const string collectorInsertFunctionName = matlabUniqueName
@@ -207,7 +231,7 @@ void Class::pointer_constructor_fragments(FileWriter& proxyFile,
   } else {
     proxyFile.oss << "        my_ptr = varargin{2};\n";
   }
-  if (qualifiedParent.empty()) // If this class has a base class, we'll get a base class pointer back
+  if (!parentClass) // If this class has a base class, we'll get a base class pointer back
     proxyFile.oss << "        ";
   else
     proxyFile.oss << "        base_ptr = ";
@@ -230,9 +254,10 @@ void Class::pointer_constructor_fragments(FileWriter& proxyFile,
   // Add to collector 
   wrapperFile.oss << "  collector_" << matlabUniqueName << ".insert(self);\n";
   // If we have a base class, return the base class pointer (MATLAB will call the base class collectorInsertAndMakeBase to add this to the collector and recurse the heirarchy) 
-  if (!qualifiedParent.empty()) {
+  boost::optional<string> cppBaseName = qualifiedParent();
+  if (cppBaseName) {
     wrapperFile.oss << "\n";
-    wrapperFile.oss << "  typedef boost::shared_ptr<" << baseCppName
+    wrapperFile.oss << "  typedef boost::shared_ptr<" << *cppBaseName
         << "> SharedBase;\n";
     wrapperFile.oss
         << "  out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);\n";
@@ -297,7 +322,7 @@ void Class::addMethod(bool verbose, bool is_const, Str methodName,
     // Create method to expand
     // For all values of the template argument, create a new method
     BOOST_FOREACH(const Qualified& instName, templateArgValues) {
-      const TemplateSubstitution ts(templateArgName, instName, name());
+      const TemplateSubstitution ts(templateArgName, instName, *this);
       // substitute template in arguments
       ArgumentList expandedArgs = argumentList.expandTemplate(ts);
       // do the same for return type
@@ -311,7 +336,7 @@ void Class::addMethod(bool verbose, bool is_const, Str methodName,
   } else
     // just add overload
     methods_[methodName].addOverload(methodName, argumentList, returnValue,
-        is_const, Qualified(), verbose);
+        is_const, boost::none, verbose);
 }
 
 /* ************************************************************************* */
@@ -353,23 +378,23 @@ void Class::verifyAll(vector<string>& validTypes, bool& hasSerialiable) const {
   verifyReturnTypes<Method>(validTypes, methods_);
 
   // verify parents
-  if (!qualifiedParent.empty()
-      && find(validTypes.begin(), validTypes.end(),
-          qualifiedParent.qualifiedName("::")) == validTypes.end())
-    throw DependencyMissing(qualifiedParent.qualifiedName("::"),
-        qualifiedName("::"));
+  boost::optional<string> parent = qualifiedParent();
+  if (parent
+      && find(validTypes.begin(), validTypes.end(), *parent)
+          == validTypes.end())
+    throw DependencyMissing(*parent, qualifiedName("::"));
 }
 
 /* ************************************************************************* */
 void Class::appendInheritedMethods(const Class& cls,
     const vector<Class>& classes) {
 
-  if (!cls.qualifiedParent.empty()) {
+  if (cls.parentClass) {
 
     // Find parent
     BOOST_FOREACH(const Class& parent, classes) {
       // We found a parent class for our parent, TODO improve !
-      if (parent.name() == cls.qualifiedParent.name()) {
+      if (parent.name() == cls.parentClass->name()) {
         methods_.insert(parent.methods_.begin(), parent.methods_.end());
         appendInheritedMethods(parent, classes);
       }
diff --git a/wrap/Class.h b/wrap/Class.h
index 244bcbac6..449f3df4b 100644
--- a/wrap/Class.h
+++ b/wrap/Class.h
@@ -27,6 +27,7 @@
 
 #include <boost/foreach.hpp>
 #include <boost/range/adaptor/map.hpp>
+#include <boost/optional.hpp>
 
 #include <string>
 #include <map>
@@ -36,15 +37,19 @@ namespace wrap {
 /// Class has name, constructors, methods
 class Class: public Qualified {
 
+public:
   typedef const std::string& Str;
-
   typedef std::map<std::string, Method> Methods;
+  typedef std::map<std::string, StaticMethod> StaticMethods;
+
+private:
+
+  boost::optional<Qualified> parentClass; ///< The *single* parent
   Methods methods_; ///< Class methods
+  Method& mutableMethod(Str key);
 
 public:
 
-
-  typedef std::map<std::string, StaticMethod> StaticMethods;
   StaticMethods static_methods; ///< Static methods
 
   // Then the instance variables are set directly by the Module constructor
@@ -53,22 +58,25 @@ public:
   bool isVirtual; ///< Whether the class is part of a virtual inheritance chain
   bool isSerializable; ///< Whether we can use boost.serialization to serialize the class - creates exports
   bool hasSerialization; ///< Whether we should create the serialization functions
-  Qualified qualifiedParent; ///< The *single* parent
   Constructor constructor; ///< Class constructors
   Deconstructor deconstructor; ///< Deconstructor to deallocate C++ object
   bool verbose_; ///< verbose flag
 
   /// Constructor creates an empty class
   Class(bool verbose = true) :
-      isVirtual(false), isSerializable(false), hasSerialization(false), deconstructor(
-          verbose), verbose_(verbose) {
+      parentClass(boost::none), isVirtual(false), isSerializable(false), hasSerialization(
+          false), deconstructor(verbose), verbose_(verbose) {
   }
 
+  void assignParent(const Qualified& parent);
+
+  boost::optional<std::string> qualifiedParent() const;
+
   size_t nrMethods() const {
     return methods_.size();
   }
 
-  Method& method(Str key);
+  const Method& method(Str key) const;
 
   bool exists(Str name) const {
     return methods_.find(name) != methods_.end();
diff --git a/wrap/Constructor.cpp b/wrap/Constructor.cpp
index 782c0ca80..35cc0fa53 100644
--- a/wrap/Constructor.cpp
+++ b/wrap/Constructor.cpp
@@ -69,7 +69,7 @@ void Constructor::proxy_fragment(FileWriter& file,
 
 /* ************************************************************************* */
 string Constructor::wrapper_fragment(FileWriter& file, Str cppClassName,
-    Str matlabUniqueName, Str cppBaseClassName, int id,
+    Str matlabUniqueName, boost::optional<string> cppBaseClassName, int id,
     const ArgumentList& al) const {
 
   const string wrapFunctionName = matlabUniqueName + "_constructor_"
@@ -100,9 +100,9 @@ string Constructor::wrapper_fragment(FileWriter& file, Str cppClassName,
       << endl;
 
   // If we have a base class, return the base class pointer (MATLAB will call the base class collectorInsertAndMakeBase to add this to the collector and recurse the heirarchy)
-  if (!cppBaseClassName.empty()) {
+  if (cppBaseClassName) {
     file.oss << "\n";
-    file.oss << "  typedef boost::shared_ptr<" << cppBaseClassName
+    file.oss << "  typedef boost::shared_ptr<" << *cppBaseClassName
         << "> SharedBase;\n";
     file.oss
         << "  out[1] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);\n";
diff --git a/wrap/Constructor.h b/wrap/Constructor.h
index a026bf423..1e061d17c 100644
--- a/wrap/Constructor.h
+++ b/wrap/Constructor.h
@@ -19,7 +19,7 @@
 #pragma once
 
 #include "OverloadedFunction.h"
-
+#include <boost/optional.hpp>
 #include <string>
 #include <vector>
 
@@ -68,7 +68,7 @@ struct Constructor: public OverloadedFunction {
 
   /// cpp wrapper
   std::string wrapper_fragment(FileWriter& file, Str cppClassName,
-      Str matlabUniqueName, Str cppBaseClassName, int id,
+      Str matlabUniqueName, boost::optional<std::string> cppBaseClassName, int id,
       const ArgumentList& al) const;
 
   /// constructor function
diff --git a/wrap/FullyOverloadedFunction.h b/wrap/FullyOverloadedFunction.h
index ac22ec3a8..30e27764b 100644
--- a/wrap/FullyOverloadedFunction.h
+++ b/wrap/FullyOverloadedFunction.h
@@ -109,8 +109,8 @@ class FullyOverloadedFunction: public Function, public SignatureOverloads {
 public:
 
   bool addOverload(const std::string& name, const ArgumentList& args,
-      const ReturnValue& retVal, const Qualified& instName = Qualified(),
-      bool verbose = false) {
+      const ReturnValue& retVal, boost::optional<const Qualified> instName =
+          boost::none, bool verbose = false) {
     bool first = initializeOrCheck(name, instName, verbose);
     SignatureOverloads::push_back(args, retVal);
     return first;
diff --git a/wrap/Function.cpp b/wrap/Function.cpp
index 63b561dfd..e46d40037 100644
--- a/wrap/Function.cpp
+++ b/wrap/Function.cpp
@@ -29,8 +29,8 @@ using namespace std;
 using namespace wrap;
 
 /* ************************************************************************* */
-bool Function::initializeOrCheck(const string& name, const Qualified& instName,
-    bool verbose) {
+bool Function::initializeOrCheck(const string& name,
+    boost::optional<const Qualified> instName, bool verbose) {
 
   if (name.empty())
     throw runtime_error("Function::initializeOrCheck called with empty name");
@@ -44,10 +44,7 @@ bool Function::initializeOrCheck(const string& name, const Qualified& instName,
   } else {
     if (name_ != name || !(templateArgValue_ == instName) || verbose_ != verbose)
       throw runtime_error(
-          "Function::initializeOrCheck called with different arguments:  with name "
-              + name + " instead of expected " + name_
-              + ", or with template argument " + instName.qualifiedName(":")
-              + " instead of expected " + templateArgValue_.qualifiedName(":"));
+          "Function::initializeOrCheck called with different arguments");
 
     return false;
   }
diff --git a/wrap/Function.h b/wrap/Function.h
index 2f52f07c1..ad57a28c8 100644
--- a/wrap/Function.h
+++ b/wrap/Function.h
@@ -19,6 +19,7 @@
 #pragma once
 
 #include "Argument.h"
+#include <boost/optional.hpp>
 
 namespace wrap {
 
@@ -28,7 +29,7 @@ class Function {
 protected:
 
   std::string name_; ///< name of method
-  Qualified templateArgValue_; ///< value of template argument if applicable
+  boost::optional<Qualified> templateArgValue_; ///< value of template argument if applicable
   bool verbose_;
 
 public:
@@ -37,8 +38,9 @@ public:
    * @brief first time, fill in instance variables, otherwise check if same
    * @return true if first time, false thereafter
    */
-  bool initializeOrCheck(const std::string& name, const Qualified& instName =
-      Qualified(), bool verbose = false);
+  bool initializeOrCheck(const std::string& name,
+      boost::optional<const Qualified> instName = boost::none, bool verbose =
+          false);
 
   std::string name() const {
     return name_;
@@ -50,10 +52,10 @@ public:
   }
 
   std::string matlabName() const {
-    if (templateArgValue_.empty())
-      return name_;
+    if (templateArgValue_)
+      return name_ + templateArgValue_->name();
     else
-      return name_ + templateArgValue_.name();
+      return name_;
   }
 
   /// Emit function call to MATLAB (no argument checking)
diff --git a/wrap/GlobalFunction.cpp b/wrap/GlobalFunction.cpp
index f31bb4a93..013ef6d28 100644
--- a/wrap/GlobalFunction.cpp
+++ b/wrap/GlobalFunction.cpp
@@ -18,7 +18,7 @@ using namespace std;
 /* ************************************************************************* */
 void GlobalFunction::addOverload(const Qualified& overload,
     const ArgumentList& args, const ReturnValue& retVal,
-    const Qualified& instName, bool verbose) {
+    boost::optional<const Qualified> instName, bool verbose) {
   FullyOverloadedFunction::addOverload(overload.name(), args, retVal, instName,
       verbose);
   overloads.push_back(overload);
diff --git a/wrap/GlobalFunction.h b/wrap/GlobalFunction.h
index 6a49fe5ce..4805231fb 100644
--- a/wrap/GlobalFunction.h
+++ b/wrap/GlobalFunction.h
@@ -19,8 +19,8 @@ struct GlobalFunction: public FullyOverloadedFunction {
 
   // adds an overloaded version of this function,
   void addOverload(const Qualified& overload, const ArgumentList& args,
-      const ReturnValue& retVal, const Qualified& instName = Qualified(),
-      bool verbose = false);
+      const ReturnValue& retVal, boost::optional<const Qualified> instName =
+          boost::none, bool verbose = false);
 
   void verifyArguments(const std::vector<std::string>& validArgs) const {
     SignatureOverloads::verifyArguments(validArgs, name_);
diff --git a/wrap/Method.cpp b/wrap/Method.cpp
index 66707d7e4..2ad6e8259 100644
--- a/wrap/Method.cpp
+++ b/wrap/Method.cpp
@@ -30,8 +30,8 @@ using namespace wrap;
 
 /* ************************************************************************* */
 bool Method::addOverload(Str name, const ArgumentList& args,
-    const ReturnValue& retVal, bool is_const, const Qualified& instName,
-    bool verbose) {
+    const ReturnValue& retVal, bool is_const,
+    boost::optional<const Qualified> instName, bool verbose) {
   bool first = MethodBase::addOverload(name, args, retVal, instName, verbose);
   if (first)
     is_const_ = is_const;
@@ -52,8 +52,7 @@ void Method::proxy_header(FileWriter& proxyFile) const {
 
 /* ************************************************************************* */
 string Method::wrapper_call(FileWriter& wrapperFile, Str cppClassName,
-    Str matlabUniqueName, const ArgumentList& args,
-    const Qualified& instName) const {
+    Str matlabUniqueName, const ArgumentList& args) const {
   // check arguments
   // extra argument obj -> nargin-1 is passed !
   // example: checkArguments("equals",nargout,nargin-1,2);
@@ -71,8 +70,8 @@ string Method::wrapper_call(FileWriter& wrapperFile, Str cppClassName,
   // call method and wrap result
   // example: out[0]=wrap<bool>(obj->return_field(t));
   string expanded = "obj->" + name_;
-  if (!instName.empty())
-    expanded += ("<" + instName.qualifiedName("::") + ">");
+  if (templateArgValue_)
+    expanded += ("<" + templateArgValue_->qualifiedName("::") + ">");
 
   return expanded;
 }
diff --git a/wrap/Method.h b/wrap/Method.h
index 160a0f454..33ff7072e 100644
--- a/wrap/Method.h
+++ b/wrap/Method.h
@@ -32,8 +32,9 @@ public:
   typedef const std::string& Str;
 
   bool addOverload(Str name, const ArgumentList& args,
-      const ReturnValue& retVal, bool is_const, const Qualified& instName =
-          Qualified(), bool verbose = false);
+      const ReturnValue& retVal, bool is_const,
+      boost::optional<const Qualified> instName = boost::none, bool verbose =
+          false);
 
   virtual bool isStatic() const {
     return false;
@@ -55,8 +56,7 @@ private:
   void proxy_header(FileWriter& proxyFile) const;
 
   virtual std::string wrapper_call(FileWriter& wrapperFile, Str cppClassName,
-      Str matlabUniqueName, const ArgumentList& args,
-      const Qualified& instName) const;
+      Str matlabUniqueName, const ArgumentList& args) const;
 };
 
 } // \namespace wrap
diff --git a/wrap/MethodBase.cpp b/wrap/MethodBase.cpp
index 48513e4ac..9b5f7135f 100644
--- a/wrap/MethodBase.cpp
+++ b/wrap/MethodBase.cpp
@@ -59,7 +59,7 @@ void MethodBase::proxy_wrapper_fragments(FileWriter& proxyFile,
 
     // Output C++ wrapper code
     const string wrapFunctionName = wrapper_fragment(wrapperFile, cppClassName,
-        matlabUniqueName, 0, id, typeAttributes, templateArgValue_);
+        matlabUniqueName, 0, id, typeAttributes);
 
     // Add to function list
     functionNames.push_back(wrapFunctionName);
@@ -75,8 +75,7 @@ void MethodBase::proxy_wrapper_fragments(FileWriter& proxyFile,
 
       // Output C++ wrapper code
       const string wrapFunctionName = wrapper_fragment(wrapperFile,
-          cppClassName, matlabUniqueName, i, id, typeAttributes,
-          templateArgValue_);
+          cppClassName, matlabUniqueName, i, id, typeAttributes);
 
       // Add to function list
       functionNames.push_back(wrapFunctionName);
@@ -94,8 +93,7 @@ void MethodBase::proxy_wrapper_fragments(FileWriter& proxyFile,
 /* ************************************************************************* */
 string MethodBase::wrapper_fragment(FileWriter& wrapperFile, Str cppClassName,
     Str matlabUniqueName, int overload, int id,
-    const TypeAttributesTable& typeAttributes,
-    const Qualified& instName) const {
+    const TypeAttributesTable& typeAttributes) const {
 
   // generate code
 
@@ -120,7 +118,7 @@ string MethodBase::wrapper_fragment(FileWriter& wrapperFile, Str cppClassName,
   // for static methods: cppClassName::staticMethod<TemplateVal>
   // for instance methods: obj->instanceMethod<TemplateVal>
   string expanded = wrapper_call(wrapperFile, cppClassName, matlabUniqueName,
-      args, instName);
+      args);
 
   expanded += ("(" + args.names() + ")");
   if (returnVal.type1.name() != "void")
diff --git a/wrap/MethodBase.h b/wrap/MethodBase.h
index 0aabe819d..903b89569 100644
--- a/wrap/MethodBase.h
+++ b/wrap/MethodBase.h
@@ -57,12 +57,10 @@ protected:
 
   std::string wrapper_fragment(FileWriter& wrapperFile, Str cppClassName,
       Str matlabUniqueName, int overload, int id,
-      const TypeAttributesTable& typeAttributes, const Qualified& instName =
-          Qualified()) const; ///< cpp wrapper
+      const TypeAttributesTable& typeAttributes) const; ///< cpp wrapper
 
   virtual std::string wrapper_call(FileWriter& wrapperFile, Str cppClassName,
-      Str matlabUniqueName, const ArgumentList& args,
-      const Qualified& instName) const = 0;
+      Str matlabUniqueName, const ArgumentList& args) const = 0;
 };
 
 } // \namespace wrap
diff --git a/wrap/Module.cpp b/wrap/Module.cpp
index fac1f4f02..25a5a5cac 100644
--- a/wrap/Module.cpp
+++ b/wrap/Module.cpp
@@ -113,7 +113,6 @@ void Module::parseMarkup(const std::string& data) {
 
   // TODO, do we really need cls here? Non-local
   Class cls0(verbose),cls(verbose);
-  TypeGrammar classParent_p(cls.qualifiedParent);
  
   // parse "gtsam::Pose2" and add to templateArgValues
   Qualified templateArgValue;
@@ -203,12 +202,15 @@ void Module::parseMarkup(const std::string& data) {
      '(' >> argumentList_p >> ')' >> ';' >> *basic.comments_p)
     [bl::bind(&StaticMethod::addOverload, 
       bl::var(cls.static_methods)[bl::var(methodName)], 
-      bl::var(methodName), bl::var(args), bl::var(retVal), Qualified(),verbose)]
+      bl::var(methodName), bl::var(args), bl::var(retVal), boost::none,verbose)]
     [assign_a(retVal,retVal0)]
     [clear_a(args)];
  
   Rule functions_p = constructor_p | method_p | static_method_p; 
  
+  Qualified possibleParent;
+  TypeGrammar classParent_p(possibleParent);
+
   // parse a full class
   vector<Qualified> templateInstantiations;
   Rule class_p = 
@@ -221,11 +223,13 @@ void Module::parseMarkup(const std::string& data) {
       >> !(str_p("virtual")[assign_a(cls.isVirtual, true)]) 
       >> str_p("class") 
       >> basic.className_p[assign_a(cls.name_)]
-      >> ((':' >> classParent_p >> '{') | '{') 
+      >> ((':' >> classParent_p >> '{')
+          [bl::bind(&Class::assignParent, bl::var(cls), bl::var(possibleParent))]
+          [clear_a(possibleParent)] | '{')
       >> *(functions_p | basic.comments_p)
       >> str_p("};")) 
       [bl::bind(&Constructor::initializeOrCheck, bl::var(constructor),
-          bl::var(cls.name_), Qualified(), verbose)]
+          bl::var(cls.name_), boost::none, verbose)]
       [assign_a(cls.constructor, constructor)] 
       [assign_a(cls.namespaces_, namespaces)]
       [assign_a(cls.deconstructor.name,cls.name_)]
@@ -243,7 +247,7 @@ void Module::parseMarkup(const std::string& data) {
       [assign_a(globalFunction.namespaces_,namespaces)]
       [bl::bind(&GlobalFunction::addOverload, 
         bl::var(global_functions)[bl::var(globalFunction.name_)],
-        bl::var(globalFunction), bl::var(args), bl::var(retVal), Qualified(),verbose)]
+        bl::var(globalFunction), bl::var(args), bl::var(retVal), boost::none,verbose)]
       [assign_a(retVal,retVal0)]
       [clear_a(globalFunction)]
       [clear_a(args)];
diff --git a/wrap/OverloadedFunction.h b/wrap/OverloadedFunction.h
index 47c418748..7718bc139 100644
--- a/wrap/OverloadedFunction.h
+++ b/wrap/OverloadedFunction.h
@@ -87,7 +87,8 @@ class OverloadedFunction: public Function, public ArgumentOverloads {
 public:
 
   bool addOverload(const std::string& name, const ArgumentList& args,
-      const Qualified& instName = Qualified(), bool verbose = false) {
+      boost::optional<const Qualified> instName = boost::none, bool verbose =
+          false) {
     bool first = initializeOrCheck(name, instName, verbose);
     ArgumentOverloads::push_back(args);
     return first;
diff --git a/wrap/Qualified.h b/wrap/Qualified.h
index 391cfa1fc..494d6b0ff 100644
--- a/wrap/Qualified.h
+++ b/wrap/Qualified.h
@@ -73,6 +73,10 @@ public:
     namespaces_.push_back(ns1);
   }
 
+  Qualified(std::vector<std::string> ns, const std::string& name) :
+      namespaces_(ns), name_(name), category(CLASS) {
+  }
+
   std::string name() const {
     return name_;
   }
@@ -112,6 +116,26 @@ public:
     category = VOID;
   }
 
+public:
+
+  static Qualified MakeClass(std::vector<std::string> namespaces,
+      const std::string& name) {
+    return Qualified(namespaces, name);
+  }
+
+  static Qualified MakeEigen(const std::string& name) {
+    return Qualified(name, EIGEN);
+  }
+
+  static Qualified MakeBasis(const std::string& name) {
+    return Qualified(name, BASIS);
+  }
+
+  static Qualified MakeVoid() {
+    return Qualified("void", VOID);
+  }
+
+
   /// Return a qualified string using given delimiter
   std::string qualifiedName(const std::string& delimiter = "") const {
     std::string result;
diff --git a/wrap/StaticMethod.cpp b/wrap/StaticMethod.cpp
index 6a2917eb2..e4e7c89ae 100644
--- a/wrap/StaticMethod.cpp
+++ b/wrap/StaticMethod.cpp
@@ -38,8 +38,7 @@ void StaticMethod::proxy_header(FileWriter& proxyFile) const {
 
 /* ************************************************************************* */
 string StaticMethod::wrapper_call(FileWriter& wrapperFile, Str cppClassName,
-    Str matlabUniqueName, const ArgumentList& args,
-    const Qualified& instName) const {
+    Str matlabUniqueName, const ArgumentList& args) const {
   // check arguments
   // NOTE: for static functions, there is no object passed
   wrapperFile.oss << "  checkArguments(\"" << matlabUniqueName << "." << name_
@@ -51,8 +50,8 @@ string StaticMethod::wrapper_call(FileWriter& wrapperFile, Str cppClassName,
   // call method and wrap result
   // example: out[0]=wrap<bool>(staticMethod(t));
   string expanded = cppClassName + "::" + name_;
-  if (!instName.empty())
-    expanded += ("<" + instName.qualifiedName("::") + ">");
+  if (templateArgValue_)
+    expanded += ("<" + templateArgValue_->qualifiedName("::") + ">");
 
   return expanded;
 }
diff --git a/wrap/StaticMethod.h b/wrap/StaticMethod.h
index c3bf526dd..a01eeff62 100644
--- a/wrap/StaticMethod.h
+++ b/wrap/StaticMethod.h
@@ -39,8 +39,7 @@ protected:
   virtual void proxy_header(FileWriter& proxyFile) const;
 
   virtual std::string wrapper_call(FileWriter& wrapperFile, Str cppClassName,
-      Str matlabUniqueName, const ArgumentList& args,
-      const Qualified& instName) const;
+      Str matlabUniqueName, const ArgumentList& args) const;
 };
 
 } // \namespace wrap
diff --git a/wrap/TypeAttributesTable.cpp b/wrap/TypeAttributesTable.cpp
index 061e09005..27de70d0e 100644
--- a/wrap/TypeAttributesTable.cpp
+++ b/wrap/TypeAttributesTable.cpp
@@ -64,17 +64,22 @@ void TypeAttributesTable::addForwardDeclarations(
 /* ************************************************************************* */
 void TypeAttributesTable::checkValidity(const vector<Class>& classes) const {
   BOOST_FOREACH(const Class& cls, classes) {
-    // Check that class is virtual if it has a parent
-    if (!cls.qualifiedParent.empty() && !cls.isVirtual)
-      throw AttributeError(cls.qualifiedName("::"),
-          "Has a base class so needs to be declared virtual, change to 'virtual class "
-              + cls.name() + " ...'");
-    // Check that parent is virtual as well
-    Qualified parent = cls.qualifiedParent;
-    if (!parent.empty() && !table_.at(parent.qualifiedName("::")).isVirtual)
-      throw AttributeError(parent.qualifiedName("::"),
-          "Is the base class of " + cls.qualifiedName("::")
-              + ", so needs to be declared virtual");
+
+    boost::optional<string> parent = cls.qualifiedParent();
+    if (parent) {
+
+      // Check that class is virtual if it has a parent
+      if (!cls.isVirtual)
+        throw AttributeError(cls.qualifiedName("::"),
+            "Has a base class so needs to be declared virtual, change to 'virtual class "
+                + cls.name() + " ...'");
+
+      // Check that parent is virtual as well
+      if (!table_.at(*parent).isVirtual)
+        throw AttributeError(*parent,
+            "Is the base class of " + cls.qualifiedName("::")
+                + ", so needs to be declared virtual");
+    }
   }
 }
 
diff --git a/wrap/tests/expected2/MyTemplatePoint2.m b/wrap/tests/expected2/MyTemplatePoint2.m
index d7d84876b..18c841b5d 100644
--- a/wrap/tests/expected2/MyTemplatePoint2.m
+++ b/wrap/tests/expected2/MyTemplatePoint2.m
@@ -12,10 +12,10 @@
 %return_T(Point2 value) : returns gtsam::Point2
 %return_Tptr(Point2 value) : returns gtsam::Point2
 %return_ptrs(Point2 p1, Point2 p2) : returns pair< gtsam::Point2, gtsam::Point2 >
-%templatedMethodMatrix(Matrix t) : returns void
-%templatedMethodPoint2(Point2 t) : returns void
-%templatedMethodPoint3(Point3 t) : returns void
-%templatedMethodVector(Vector t) : returns void
+%templatedMethodMatrix(Matrix t) : returns Matrix
+%templatedMethodPoint2(Point2 t) : returns gtsam::Point2
+%templatedMethodPoint3(Point3 t) : returns gtsam::Point3
+%templatedMethodVector(Vector t) : returns Vector
 %
 classdef MyTemplatePoint2 < MyBase
   properties
@@ -110,7 +110,7 @@ classdef MyTemplatePoint2 < MyBase
     end
 
     function varargout = templatedMethodMatrix(this, varargin)
-      % TEMPLATEDMETHODMATRIX usage: templatedMethodMatrix(Matrix t) : returns void
+      % TEMPLATEDMETHODMATRIX usage: templatedMethodMatrix(Matrix t) : returns Matrix
       % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
       if length(varargin) == 1 && isa(varargin{1},'double')
         geometry_wrapper(55, this, varargin{:});
@@ -120,7 +120,7 @@ classdef MyTemplatePoint2 < MyBase
     end
 
     function varargout = templatedMethodPoint2(this, varargin)
-      % TEMPLATEDMETHODPOINT2 usage: templatedMethodPoint2(Point2 t) : returns void
+      % TEMPLATEDMETHODPOINT2 usage: templatedMethodPoint2(Point2 t) : returns gtsam::Point2
       % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
       if length(varargin) == 1 && isa(varargin{1},'gtsam.Point2')
         geometry_wrapper(56, this, varargin{:});
@@ -130,7 +130,7 @@ classdef MyTemplatePoint2 < MyBase
     end
 
     function varargout = templatedMethodPoint3(this, varargin)
-      % TEMPLATEDMETHODPOINT3 usage: templatedMethodPoint3(Point3 t) : returns void
+      % TEMPLATEDMETHODPOINT3 usage: templatedMethodPoint3(Point3 t) : returns gtsam::Point3
       % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
       if length(varargin) == 1 && isa(varargin{1},'gtsam.Point3')
         geometry_wrapper(57, this, varargin{:});
@@ -140,7 +140,7 @@ classdef MyTemplatePoint2 < MyBase
     end
 
     function varargout = templatedMethodVector(this, varargin)
-      % TEMPLATEDMETHODVECTOR usage: templatedMethodVector(Vector t) : returns void
+      % TEMPLATEDMETHODVECTOR usage: templatedMethodVector(Vector t) : returns Vector
       % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
       if length(varargin) == 1 && isa(varargin{1},'double') && size(varargin{1},2)==1
         geometry_wrapper(58, this, varargin{:});
diff --git a/wrap/tests/expected2/MyTemplatePoint3.m b/wrap/tests/expected2/MyTemplatePoint3.m
index 190b3eca0..fab352072 100644
--- a/wrap/tests/expected2/MyTemplatePoint3.m
+++ b/wrap/tests/expected2/MyTemplatePoint3.m
@@ -12,10 +12,10 @@
 %return_T(Point3 value) : returns gtsam::Point3
 %return_Tptr(Point3 value) : returns gtsam::Point3
 %return_ptrs(Point3 p1, Point3 p2) : returns pair< gtsam::Point3, gtsam::Point3 >
-%templatedMethodMatrix(Matrix t) : returns void
-%templatedMethodPoint2(Point2 t) : returns void
-%templatedMethodPoint3(Point3 t) : returns void
-%templatedMethodVector(Vector t) : returns void
+%templatedMethodMatrix(Matrix t) : returns Matrix
+%templatedMethodPoint2(Point2 t) : returns gtsam::Point2
+%templatedMethodPoint3(Point3 t) : returns gtsam::Point3
+%templatedMethodVector(Vector t) : returns Vector
 %
 classdef MyTemplatePoint3 < MyBase
   properties
@@ -110,7 +110,7 @@ classdef MyTemplatePoint3 < MyBase
     end
 
     function varargout = templatedMethodMatrix(this, varargin)
-      % TEMPLATEDMETHODMATRIX usage: templatedMethodMatrix(Matrix t) : returns void
+      % TEMPLATEDMETHODMATRIX usage: templatedMethodMatrix(Matrix t) : returns Matrix
       % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
       if length(varargin) == 1 && isa(varargin{1},'double')
         geometry_wrapper(70, this, varargin{:});
@@ -120,7 +120,7 @@ classdef MyTemplatePoint3 < MyBase
     end
 
     function varargout = templatedMethodPoint2(this, varargin)
-      % TEMPLATEDMETHODPOINT2 usage: templatedMethodPoint2(Point2 t) : returns void
+      % TEMPLATEDMETHODPOINT2 usage: templatedMethodPoint2(Point2 t) : returns gtsam::Point2
       % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
       if length(varargin) == 1 && isa(varargin{1},'gtsam.Point2')
         geometry_wrapper(71, this, varargin{:});
@@ -130,7 +130,7 @@ classdef MyTemplatePoint3 < MyBase
     end
 
     function varargout = templatedMethodPoint3(this, varargin)
-      % TEMPLATEDMETHODPOINT3 usage: templatedMethodPoint3(Point3 t) : returns void
+      % TEMPLATEDMETHODPOINT3 usage: templatedMethodPoint3(Point3 t) : returns gtsam::Point3
       % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
       if length(varargin) == 1 && isa(varargin{1},'gtsam.Point3')
         geometry_wrapper(72, this, varargin{:});
@@ -140,7 +140,7 @@ classdef MyTemplatePoint3 < MyBase
     end
 
     function varargout = templatedMethodVector(this, varargin)
-      % TEMPLATEDMETHODVECTOR usage: templatedMethodVector(Vector t) : returns void
+      % TEMPLATEDMETHODVECTOR usage: templatedMethodVector(Vector t) : returns Vector
       % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
       if length(varargin) == 1 && isa(varargin{1},'double') && size(varargin{1},2)==1
         geometry_wrapper(73, this, varargin{:});
diff --git a/wrap/tests/expected2/geometry_wrapper.cpp b/wrap/tests/expected2/geometry_wrapper.cpp
index c937a2f5d..2714f3584 100644
--- a/wrap/tests/expected2/geometry_wrapper.cpp
+++ b/wrap/tests/expected2/geometry_wrapper.cpp
@@ -678,7 +678,7 @@ void MyTemplatePoint2_templatedMethod_55(int nargout, mxArray *out[], int nargin
   checkArguments("templatedMethodMatrix",nargout,nargin-1,1);
   Shared obj = unwrap_shared_ptr<MyTemplatePoint2>(in[0], "ptr_MyTemplatePoint2");
   Matrix& t = *unwrap_shared_ptr< Matrix >(in[1], "ptr_Matrix");
-  obj->templatedMethod<Matrix>(t);
+  out[0] = wrap< Matrix >(obj->templatedMethod<Matrix>(t));
 }
 
 void MyTemplatePoint2_templatedMethod_56(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@@ -687,7 +687,7 @@ void MyTemplatePoint2_templatedMethod_56(int nargout, mxArray *out[], int nargin
   checkArguments("templatedMethodPoint2",nargout,nargin-1,1);
   Shared obj = unwrap_shared_ptr<MyTemplatePoint2>(in[0], "ptr_MyTemplatePoint2");
   gtsam::Point2& t = *unwrap_shared_ptr< gtsam::Point2 >(in[1], "ptr_gtsamPoint2");
-  obj->templatedMethod<gtsam::Point2>(t);
+  out[0] = wrap< gtsam::Point2 >(obj->templatedMethod<gtsam::Point2>(t));
 }
 
 void MyTemplatePoint2_templatedMethod_57(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@@ -696,7 +696,7 @@ void MyTemplatePoint2_templatedMethod_57(int nargout, mxArray *out[], int nargin
   checkArguments("templatedMethodPoint3",nargout,nargin-1,1);
   Shared obj = unwrap_shared_ptr<MyTemplatePoint2>(in[0], "ptr_MyTemplatePoint2");
   gtsam::Point3& t = *unwrap_shared_ptr< gtsam::Point3 >(in[1], "ptr_gtsamPoint3");
-  obj->templatedMethod<gtsam::Point3>(t);
+  out[0] = wrap< gtsam::Point3 >(obj->templatedMethod<gtsam::Point3>(t));
 }
 
 void MyTemplatePoint2_templatedMethod_58(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@@ -705,7 +705,7 @@ void MyTemplatePoint2_templatedMethod_58(int nargout, mxArray *out[], int nargin
   checkArguments("templatedMethodVector",nargout,nargin-1,1);
   Shared obj = unwrap_shared_ptr<MyTemplatePoint2>(in[0], "ptr_MyTemplatePoint2");
   Vector& t = *unwrap_shared_ptr< Vector >(in[1], "ptr_Vector");
-  obj->templatedMethod<Vector>(t);
+  out[0] = wrap< Vector >(obj->templatedMethod<Vector>(t));
 }
 
 void MyTemplatePoint3_collectorInsertAndMakeBase_59(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@@ -838,7 +838,7 @@ void MyTemplatePoint3_templatedMethod_70(int nargout, mxArray *out[], int nargin
   checkArguments("templatedMethodMatrix",nargout,nargin-1,1);
   Shared obj = unwrap_shared_ptr<MyTemplatePoint3>(in[0], "ptr_MyTemplatePoint3");
   Matrix& t = *unwrap_shared_ptr< Matrix >(in[1], "ptr_Matrix");
-  obj->templatedMethod<Matrix>(t);
+  out[0] = wrap< Matrix >(obj->templatedMethod<Matrix>(t));
 }
 
 void MyTemplatePoint3_templatedMethod_71(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@@ -847,7 +847,7 @@ void MyTemplatePoint3_templatedMethod_71(int nargout, mxArray *out[], int nargin
   checkArguments("templatedMethodPoint2",nargout,nargin-1,1);
   Shared obj = unwrap_shared_ptr<MyTemplatePoint3>(in[0], "ptr_MyTemplatePoint3");
   gtsam::Point2& t = *unwrap_shared_ptr< gtsam::Point2 >(in[1], "ptr_gtsamPoint2");
-  obj->templatedMethod<gtsam::Point2>(t);
+  out[0] = wrap< gtsam::Point2 >(obj->templatedMethod<gtsam::Point2>(t));
 }
 
 void MyTemplatePoint3_templatedMethod_72(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@@ -856,7 +856,7 @@ void MyTemplatePoint3_templatedMethod_72(int nargout, mxArray *out[], int nargin
   checkArguments("templatedMethodPoint3",nargout,nargin-1,1);
   Shared obj = unwrap_shared_ptr<MyTemplatePoint3>(in[0], "ptr_MyTemplatePoint3");
   gtsam::Point3& t = *unwrap_shared_ptr< gtsam::Point3 >(in[1], "ptr_gtsamPoint3");
-  obj->templatedMethod<gtsam::Point3>(t);
+  out[0] = wrap< gtsam::Point3 >(obj->templatedMethod<gtsam::Point3>(t));
 }
 
 void MyTemplatePoint3_templatedMethod_73(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@@ -865,7 +865,7 @@ void MyTemplatePoint3_templatedMethod_73(int nargout, mxArray *out[], int nargin
   checkArguments("templatedMethodVector",nargout,nargin-1,1);
   Shared obj = unwrap_shared_ptr<MyTemplatePoint3>(in[0], "ptr_MyTemplatePoint3");
   Vector& t = *unwrap_shared_ptr< Vector >(in[1], "ptr_Vector");
-  obj->templatedMethod<Vector>(t);
+  out[0] = wrap< Vector >(obj->templatedMethod<Vector>(t));
 }
 
 void MyFactorPosePoint2_collectorInsertAndMakeBase_74(int nargout, mxArray *out[], int nargin, const mxArray *in[])
diff --git a/wrap/tests/geometry.h b/wrap/tests/geometry.h
index 3fec21ab9..0646ff456 100644
--- a/wrap/tests/geometry.h
+++ b/wrap/tests/geometry.h
@@ -106,7 +106,7 @@ virtual class MyTemplate : MyBase {
   MyTemplate();
 
   template<ARG = {gtsam::Point2, gtsam::Point3, Vector, Matrix}>
-  void templatedMethod(const ARG& t);
+  ARG templatedMethod(const ARG& t);
 
   // Stress test templates and pointer combinations
   void accept_T(const T& value) const;
diff --git a/wrap/tests/testClass.cpp b/wrap/tests/testClass.cpp
index 6a59cd83a..98a210e47 100644
--- a/wrap/tests/testClass.cpp
+++ b/wrap/tests/testClass.cpp
@@ -45,7 +45,7 @@ TEST( Class, OverloadingMethod ) {
       templateArgValues);
   EXPECT_LONGS_EQUAL(1, cls.nrMethods());
   EXPECT(cls.exists(name));
-  Method& method = cls.method(name);
+  Method method = cls.method(name);
   EXPECT_LONGS_EQUAL(1, method.nrOverloads());
 
   cls.addMethod(verbose, is_const, name, args, retVal, templateArgName,