diff --git a/wrap/Class.cpp b/wrap/Class.cpp
index 44aa6a1bd..2d76dad8e 100644
--- a/wrap/Class.cpp
+++ b/wrap/Class.cpp
@@ -330,8 +330,10 @@ void Class::comment_fragment(FileWriter& proxyFile) const
     proxyFile.oss << "%" << "-------Constructors-------" << endl;
     BOOST_FOREACH(ArgumentList argList, constructor.args_list) 
     { 
-        proxyFile.oss << "%" << name << "(";
-        int i = 0;
+
+	    string up_name  = boost::to_upper_copy(name);
+        proxyFile.oss << "%" << up_name << "(";
+        unsigned int i = 0;
 		BOOST_FOREACH(const Argument& arg, argList) 
 		{
 		    if(i != argList.size()-1)
@@ -343,13 +345,15 @@ void Class::comment_fragment(FileWriter& proxyFile) const
         proxyFile.oss << ")" << endl;
     }
 
+	proxyFile.oss << "% " << "" << endl;
     proxyFile.oss << "%" << "-------Methods-------" << endl;
     BOOST_FOREACH(const Methods::value_type& name_m, methods) { 
 		const Method& m = name_m.second; 
         BOOST_FOREACH(ArgumentList argList, m.argLists) 
         { 
-            proxyFile.oss << "%" << m.name << "(";
-            int i = 0;
+	        string up_name  = boost::to_upper_copy(m.name);
+            proxyFile.oss << "%" << up_name << "(";
+            unsigned int i = 0;
 		    BOOST_FOREACH(const Argument& arg, argList) 
 		    {
 		        if(i != argList.size()-1)
@@ -358,17 +362,28 @@ void Class::comment_fragment(FileWriter& proxyFile) const
 		            proxyFile.oss << arg.type << " " << arg.name;
 		        i++;
             }
-            proxyFile.oss << ")" << endl;
+            proxyFile.oss << ") : returns ";
+        }
+        unsigned int retCount = 0;
+        BOOST_FOREACH(ReturnValue rt, m.returnVals)
+        {
+            if(retCount != m.returnVals.size() - 1) 
+                proxyFile.oss << rt.return_type(false, rt.pair) << ", ";
+            else
+                proxyFile.oss << rt.return_type(false, rt.pair) << "" << endl;
+    
         }
     }
 
+	proxyFile.oss << "% " << "" << endl;
     proxyFile.oss << "%" << "-------Static Methods-------" << endl;
     BOOST_FOREACH(const StaticMethods::value_type& name_m, static_methods) { 
 		const StaticMethod& m = name_m.second; 
         BOOST_FOREACH(ArgumentList argList, m.argLists) 
         { 
-            proxyFile.oss << "%" << m.name << "(";
-            int i = 0;
+	        string up_name  = boost::to_upper_copy(m.name);
+            proxyFile.oss << "%" << up_name << "(";
+            unsigned int i = 0;
 		    BOOST_FOREACH(const Argument& arg, argList) 
 		    {
 		        if(i != argList.size()-1)
@@ -377,7 +392,16 @@ void Class::comment_fragment(FileWriter& proxyFile) const
 		            proxyFile.oss << arg.type << " " << arg.name;
 		        i++;
             }
-            proxyFile.oss << ")" << endl;
+            proxyFile.oss << ") : returns ";
+        }
+        unsigned int retCount = 0;
+        BOOST_FOREACH(ReturnValue rt, m.returnVals)
+        {
+            if(retCount != m.returnVals.size() - 1) 
+                proxyFile.oss << rt.return_type(false, rt.pair) << ", ";
+            else
+                proxyFile.oss << rt.return_type(false, rt.pair) << "" << endl;
+    
         }
     }
 
diff --git a/wrap/Class.h b/wrap/Class.h
index 687a6bc68..0d2736382 100644
--- a/wrap/Class.h
+++ b/wrap/Class.h
@@ -27,6 +27,7 @@
 #include "Method.h"
 #include "StaticMethod.h"
 #include "TypeAttributesTable.h"
+#include <boost/algorithm/string.hpp>
 
 namespace wrap {
 
diff --git a/wrap/Method.cpp b/wrap/Method.cpp
index 5f60d6a36..3a03e92a9 100644
--- a/wrap/Method.cpp
+++ b/wrap/Method.cpp
@@ -47,11 +47,13 @@ void Method::proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wrapperF
 
 	proxyFile.oss << "    function varargout = " << name << "(this, varargin)\n";
 	//Comments for documentation
-	proxyFile.oss << "      % " << name << " ";
+	string up_name  = boost::to_upper_copy(name);
+	proxyFile.oss << "      % " << up_name << " usage:";
+	unsigned int argLCount = 0;
 	BOOST_FOREACH(ArgumentList argList, argLists) 
     { 
-        proxyFile.oss << " " << name << "(";
-        int i = 0;
+        proxyFile.oss << " " << up_name << "(";
+        unsigned int i = 0;
 		BOOST_FOREACH(const Argument& arg, argList) 
 		{
 		    if(i != argList.size()-1)
@@ -60,8 +62,23 @@ void Method::proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wrapperF
 		        proxyFile.oss << arg.type << " " << arg.name;
 		    i++;
         }
-        proxyFile.oss << ") : ";
+        if(argLCount != argLists.size()-1)
+            proxyFile.oss << "), ";
+        else
+            proxyFile.oss << ") : returns ";
+        argLCount++;
     }
+
+    unsigned int retCount = 0;
+    BOOST_FOREACH(ReturnValue rt, returnVals)
+    {
+        if(retCount != returnVals.size() - 1) 
+            proxyFile.oss << rt.return_type(false, rt.pair) << ", ";
+        else
+            proxyFile.oss << rt.return_type(false, rt.pair) << "" << endl;
+    
+    }
+
     proxyFile.oss << endl;
 	proxyFile.oss << "      % " << "Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html" << endl;
 	proxyFile.oss << "      % " << "" << endl;
@@ -69,7 +86,7 @@ void Method::proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wrapperF
     BOOST_FOREACH(ArgumentList argList, argLists) 
     { 
         proxyFile.oss << "      % " << name << "(";
-        int i = 0;
+        unsigned int i = 0;
 		BOOST_FOREACH(const Argument& arg, argList) 
 		{
 		    if(i != argList.size()-1)
diff --git a/wrap/StaticMethod.cpp b/wrap/StaticMethod.cpp
index c232739be..484f156df 100644
--- a/wrap/StaticMethod.cpp
+++ b/wrap/StaticMethod.cpp
@@ -47,15 +47,17 @@ void StaticMethod::proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wr
 																		 const TypeAttributesTable& typeAttributes,
 																		 vector<string>& functionNames) const {
 
-  string upperName = name;  upperName[0] = std::toupper(upperName[0], std::locale());
+    string upperName = name;  upperName[0] = std::toupper(upperName[0], std::locale());
 
 	proxyFile.oss << "    function varargout = " << upperName << "(varargin)\n";
 	//Comments for documentation
-	proxyFile.oss << "      % " << name << " ";
+	string up_name  = boost::to_upper_copy(name);
+	proxyFile.oss << "      % " << up_name << " usage:";
+	unsigned int argLCount = 0;
 	BOOST_FOREACH(ArgumentList argList, argLists) 
     { 
-        proxyFile.oss << " " << name << "(";
-        int i = 0;
+        proxyFile.oss << " " << up_name << "(";
+        unsigned int i = 0;
 		BOOST_FOREACH(const Argument& arg, argList) 
 		{
 		    if(i != argList.size()-1)
@@ -64,16 +66,31 @@ void StaticMethod::proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wr
 		        proxyFile.oss << arg.type << " " << arg.name;
 		    i++;
         }
-        proxyFile.oss << ") : ";
+        if(argLCount != argLists.size()-1)
+            proxyFile.oss << "), ";
+        else
+            proxyFile.oss << ") : returns ";
+        argLCount++;
     }
+
+    unsigned int retCount = 0;
+    BOOST_FOREACH(ReturnValue rt, returnVals)
+    {
+        if(retCount != returnVals.size() - 1) 
+            proxyFile.oss << rt.return_type(false, rt.pair) << ", ";
+        else
+            proxyFile.oss << rt.return_type(false, rt.pair) << "" << endl;
+    
+    }
+
     proxyFile.oss << endl;
 	proxyFile.oss << "      % " << "Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html" << endl;
 	proxyFile.oss << "      % " << "" << endl;
-	proxyFile.oss << "      % " << "Method Overloads" << endl;
+	proxyFile.oss << "      % " << "Usage" << endl;
     BOOST_FOREACH(ArgumentList argList, argLists) 
     { 
-        proxyFile.oss << "      % " << name << "(";
-        int i = 0;
+        proxyFile.oss << "      % " << up_name << "(";
+        unsigned int i = 0;
 		BOOST_FOREACH(const Argument& arg, argList) 
 		{
 		    if(i != argList.size()-1)
diff --git a/wrap/StaticMethod.h b/wrap/StaticMethod.h
index fc82105f0..9c1581400 100644
--- a/wrap/StaticMethod.h
+++ b/wrap/StaticMethod.h
@@ -25,6 +25,7 @@
 #include "Argument.h"
 #include "ReturnValue.h"
 #include "TypeAttributesTable.h"
+#include <boost/algorithm/string.hpp>
 
 namespace wrap {
 
diff --git a/wrap/tests/expected/Point2.m b/wrap/tests/expected/Point2.m
index 8a2718377..85fb369dc 100644
--- a/wrap/tests/expected/Point2.m
+++ b/wrap/tests/expected/Point2.m
@@ -1,14 +1,16 @@
 %-------Constructors-------
-%Point2()
-%Point2(double x, double y)
+%POINT2()
+%POINT2(double x, double y)
+% 
 %-------Methods-------
-%argChar(char a)
-%argUChar(unsigned char a)
-%dim()
-%returnChar()
-%vectorConfusion()
-%x()
-%y()
+%ARGCHAR(char a) : returns void
+%ARGUCHAR(unsigned char a) : returns void
+%DIM() : returns int
+%RETURNCHAR() : returns char
+%VECTORCONFUSION() : returns VectorNotEigen
+%X() : returns double
+%Y() : returns double
+% 
 %-------Static Methods-------
 %
 %For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
@@ -40,7 +42,8 @@ classdef Point2 < handle
     function disp(obj), obj.display; end
 
     function varargout = argChar(this, varargin)
-      % argChar  argChar(char a) : 
+      % ARGCHAR usage: ARGCHAR(char a) : returns void
+
       % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
       % 
       % Method Overloads
@@ -53,7 +56,8 @@ classdef Point2 < handle
     end
 
     function varargout = argUChar(this, varargin)
-      % argUChar  argUChar(unsigned char a) : 
+      % ARGUCHAR usage: ARGUCHAR(unsigned char a) : returns void
+
       % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
       % 
       % Method Overloads
@@ -66,7 +70,8 @@ classdef Point2 < handle
     end
 
     function varargout = dim(this, varargin)
-      % dim  dim() : 
+      % DIM usage: DIM() : returns int
+
       % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
       % 
       % Method Overloads
@@ -79,7 +84,8 @@ classdef Point2 < handle
     end
 
     function varargout = returnChar(this, varargin)
-      % returnChar  returnChar() : 
+      % RETURNCHAR usage: RETURNCHAR() : returns char
+
       % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
       % 
       % Method Overloads
@@ -92,7 +98,8 @@ classdef Point2 < handle
     end
 
     function varargout = vectorConfusion(this, varargin)
-      % vectorConfusion  vectorConfusion() : 
+      % VECTORCONFUSION usage: VECTORCONFUSION() : returns VectorNotEigen
+
       % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
       % 
       % Method Overloads
@@ -105,7 +112,8 @@ classdef Point2 < handle
     end
 
     function varargout = x(this, varargin)
-      % x  x() : 
+      % X usage: X() : returns double
+
       % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
       % 
       % Method Overloads
@@ -118,7 +126,8 @@ classdef Point2 < handle
     end
 
     function varargout = y(this, varargin)
-      % y  y() : 
+      % Y usage: Y() : returns double
+
       % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
       % 
       % Method Overloads
diff --git a/wrap/tests/expected/Point3.m b/wrap/tests/expected/Point3.m
index 4cd50f4d5..88dd174e1 100644
--- a/wrap/tests/expected/Point3.m
+++ b/wrap/tests/expected/Point3.m
@@ -1,10 +1,12 @@
 %-------Constructors-------
-%Point3(double x, double y, double z)
+%POINT3(double x, double y, double z)
+% 
 %-------Methods-------
-%norm()
+%NORM() : returns double
+% 
 %-------Static Methods-------
-%StaticFunctionRet(double z)
-%staticFunction()
+%STATICFUNCTIONRET(double z) : returns Point3
+%STATICFUNCTION() : returns double
 %
 %For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
 classdef Point3 < handle
@@ -33,7 +35,8 @@ classdef Point3 < handle
     function disp(obj), obj.display; end
 
     function varargout = norm(this, varargin)
-      % norm  norm() : 
+      % NORM usage: NORM() : returns double
+
       % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
       % 
       % Method Overloads
@@ -49,11 +52,12 @@ classdef Point3 < handle
 
   methods(Static = true)
     function varargout = StaticFunctionRet(varargin)
-      % StaticFunctionRet  StaticFunctionRet(double z) : 
+      % STATICFUNCTIONRET usage: STATICFUNCTIONRET(double z) : returns Point3
+
       % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
       % 
-      % Method Overloads
-      % StaticFunctionRet(double z)
+      % Usage
+      % STATICFUNCTIONRET(double z)
       if length(varargin) == 1 && isa(varargin{1},'double')
         varargout{1} = geometry_wrapper(15, varargin{:});
       else
@@ -62,11 +66,12 @@ classdef Point3 < handle
     end
 
     function varargout = StaticFunction(varargin)
-      % staticFunction  staticFunction() : 
+      % STATICFUNCTION usage: STATICFUNCTION() : returns double
+
       % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
       % 
-      % Method Overloads
-      % staticFunction()
+      % Usage
+      % STATICFUNCTION()
       if length(varargin) == 0
         varargout{1} = geometry_wrapper(16, varargin{:});
       else
diff --git a/wrap/tests/expected/Test.m b/wrap/tests/expected/Test.m
index 4ce501fb0..b9cc86403 100644
--- a/wrap/tests/expected/Test.m
+++ b/wrap/tests/expected/Test.m
@@ -1,26 +1,28 @@
 %-------Constructors-------
-%Test()
-%Test(double a, Matrix b)
+%TEST()
+%TEST(double a, Matrix b)
+% 
 %-------Methods-------
-%arg_EigenConstRef(Matrix value)
-%create_MixedPtrs()
-%create_ptrs()
-%print()
-%return_Point2Ptr(bool value)
-%return_Test(Test value)
-%return_TestPtr(Test value)
-%return_bool(bool value)
-%return_double(double value)
-%return_field(Test t)
-%return_int(int value)
-%return_matrix1(Matrix value)
-%return_matrix2(Matrix value)
-%return_pair(Vector v, Matrix A)
-%return_ptrs(Test p1, Test p2)
-%return_size_t(size_t value)
-%return_string(string value)
-%return_vector1(Vector value)
-%return_vector2(Vector value)
+%ARG_EIGENCONSTREF(Matrix value) : returns void
+%CREATE_MIXEDPTRS() : returns pair< Test, SharedTest >
+%CREATE_PTRS() : returns pair< SharedTest, SharedTest >
+%PRINT() : returns void
+%RETURN_POINT2PTR(bool value) : returns Point2
+%RETURN_TEST(Test value) : returns Test
+%RETURN_TESTPTR(Test value) : returns Test
+%RETURN_BOOL(bool value) : returns bool
+%RETURN_DOUBLE(double value) : returns double
+%RETURN_FIELD(Test t) : returns bool
+%RETURN_INT(int value) : returns int
+%RETURN_MATRIX1(Matrix value) : returns Matrix
+%RETURN_MATRIX2(Matrix value) : returns Matrix
+%RETURN_PAIR(Vector v, Matrix A) : returns pair< Vector, Matrix >
+%RETURN_PTRS(Test p1, Test p2) : returns pair< SharedTest, SharedTest >
+%RETURN_SIZE_T(size_t value) : returns size_t
+%RETURN_STRING(string value) : returns string
+%RETURN_VECTOR1(Vector value) : returns Vector
+%RETURN_VECTOR2(Vector value) : returns Vector
+% 
 %-------Static Methods-------
 %
 %For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
@@ -52,7 +54,8 @@ classdef Test < handle
     function disp(obj), obj.display; end
 
     function varargout = arg_EigenConstRef(this, varargin)
-      % arg_EigenConstRef  arg_EigenConstRef(Matrix value) : 
+      % ARG_EIGENCONSTREF usage: ARG_EIGENCONSTREF(Matrix value) : returns void
+
       % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
       % 
       % Method Overloads
@@ -65,7 +68,8 @@ classdef Test < handle
     end
 
     function varargout = create_MixedPtrs(this, varargin)
-      % create_MixedPtrs  create_MixedPtrs() : 
+      % CREATE_MIXEDPTRS usage: CREATE_MIXEDPTRS() : returns pair< Test, SharedTest >
+
       % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
       % 
       % Method Overloads
@@ -78,7 +82,8 @@ classdef Test < handle
     end
 
     function varargout = create_ptrs(this, varargin)
-      % create_ptrs  create_ptrs() : 
+      % CREATE_PTRS usage: CREATE_PTRS() : returns pair< SharedTest, SharedTest >
+
       % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
       % 
       % Method Overloads
@@ -91,7 +96,8 @@ classdef Test < handle
     end
 
     function varargout = print(this, varargin)
-      % print  print() : 
+      % PRINT usage: PRINT() : returns void
+
       % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
       % 
       % Method Overloads
@@ -104,7 +110,8 @@ classdef Test < handle
     end
 
     function varargout = return_Point2Ptr(this, varargin)
-      % return_Point2Ptr  return_Point2Ptr(bool value) : 
+      % RETURN_POINT2PTR usage: RETURN_POINT2PTR(bool value) : returns Point2
+
       % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
       % 
       % Method Overloads
@@ -117,7 +124,8 @@ classdef Test < handle
     end
 
     function varargout = return_Test(this, varargin)
-      % return_Test  return_Test(Test value) : 
+      % RETURN_TEST usage: RETURN_TEST(Test value) : returns Test
+
       % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
       % 
       % Method Overloads
@@ -130,7 +138,8 @@ classdef Test < handle
     end
 
     function varargout = return_TestPtr(this, varargin)
-      % return_TestPtr  return_TestPtr(Test value) : 
+      % RETURN_TESTPTR usage: RETURN_TESTPTR(Test value) : returns Test
+
       % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
       % 
       % Method Overloads
@@ -143,7 +152,8 @@ classdef Test < handle
     end
 
     function varargout = return_bool(this, varargin)
-      % return_bool  return_bool(bool value) : 
+      % RETURN_BOOL usage: RETURN_BOOL(bool value) : returns bool
+
       % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
       % 
       % Method Overloads
@@ -156,7 +166,8 @@ classdef Test < handle
     end
 
     function varargout = return_double(this, varargin)
-      % return_double  return_double(double value) : 
+      % RETURN_DOUBLE usage: RETURN_DOUBLE(double value) : returns double
+
       % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
       % 
       % Method Overloads
@@ -169,7 +180,8 @@ classdef Test < handle
     end
 
     function varargout = return_field(this, varargin)
-      % return_field  return_field(Test t) : 
+      % RETURN_FIELD usage: RETURN_FIELD(Test t) : returns bool
+
       % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
       % 
       % Method Overloads
@@ -182,7 +194,8 @@ classdef Test < handle
     end
 
     function varargout = return_int(this, varargin)
-      % return_int  return_int(int value) : 
+      % RETURN_INT usage: RETURN_INT(int value) : returns int
+
       % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
       % 
       % Method Overloads
@@ -195,7 +208,8 @@ classdef Test < handle
     end
 
     function varargout = return_matrix1(this, varargin)
-      % return_matrix1  return_matrix1(Matrix value) : 
+      % RETURN_MATRIX1 usage: RETURN_MATRIX1(Matrix value) : returns Matrix
+
       % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
       % 
       % Method Overloads
@@ -208,7 +222,8 @@ classdef Test < handle
     end
 
     function varargout = return_matrix2(this, varargin)
-      % return_matrix2  return_matrix2(Matrix value) : 
+      % RETURN_MATRIX2 usage: RETURN_MATRIX2(Matrix value) : returns Matrix
+
       % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
       % 
       % Method Overloads
@@ -221,7 +236,8 @@ classdef Test < handle
     end
 
     function varargout = return_pair(this, varargin)
-      % return_pair  return_pair(Vector v, Matrix A) : 
+      % RETURN_PAIR usage: RETURN_PAIR(Vector v, Matrix A) : returns pair< Vector, Matrix >
+
       % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
       % 
       % Method Overloads
@@ -234,7 +250,8 @@ classdef Test < handle
     end
 
     function varargout = return_ptrs(this, varargin)
-      % return_ptrs  return_ptrs(Test p1, Test p2) : 
+      % RETURN_PTRS usage: RETURN_PTRS(Test p1, Test p2) : returns pair< SharedTest, SharedTest >
+
       % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
       % 
       % Method Overloads
@@ -247,7 +264,8 @@ classdef Test < handle
     end
 
     function varargout = return_size_t(this, varargin)
-      % return_size_t  return_size_t(size_t value) : 
+      % RETURN_SIZE_T usage: RETURN_SIZE_T(size_t value) : returns size_t
+
       % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
       % 
       % Method Overloads
@@ -260,7 +278,8 @@ classdef Test < handle
     end
 
     function varargout = return_string(this, varargin)
-      % return_string  return_string(string value) : 
+      % RETURN_STRING usage: RETURN_STRING(string value) : returns string
+
       % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
       % 
       % Method Overloads
@@ -273,7 +292,8 @@ classdef Test < handle
     end
 
     function varargout = return_vector1(this, varargin)
-      % return_vector1  return_vector1(Vector value) : 
+      % RETURN_VECTOR1 usage: RETURN_VECTOR1(Vector value) : returns Vector
+
       % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
       % 
       % Method Overloads
@@ -286,7 +306,8 @@ classdef Test < handle
     end
 
     function varargout = return_vector2(this, varargin)
-      % return_vector2  return_vector2(Vector value) : 
+      % RETURN_VECTOR2 usage: RETURN_VECTOR2(Vector value) : returns Vector
+
       % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
       % 
       % Method Overloads
diff --git a/wrap/tests/expected_namespaces/+ns1/ClassA.m b/wrap/tests/expected_namespaces/+ns1/ClassA.m
index bcca78cdf..f557bc621 100644
--- a/wrap/tests/expected_namespaces/+ns1/ClassA.m
+++ b/wrap/tests/expected_namespaces/+ns1/ClassA.m
@@ -1,6 +1,8 @@
 %-------Constructors-------
-%ClassA()
+%CLASSA()
+% 
 %-------Methods-------
+% 
 %-------Static Methods-------
 %
 %For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
diff --git a/wrap/tests/expected_namespaces/+ns1/ClassB.m b/wrap/tests/expected_namespaces/+ns1/ClassB.m
index 99be93023..70be8a2ff 100644
--- a/wrap/tests/expected_namespaces/+ns1/ClassB.m
+++ b/wrap/tests/expected_namespaces/+ns1/ClassB.m
@@ -1,6 +1,8 @@
 %-------Constructors-------
-%ClassB()
+%CLASSB()
+% 
 %-------Methods-------
+% 
 %-------Static Methods-------
 %
 %For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
diff --git a/wrap/tests/expected_namespaces/+ns2/+ns3/ClassB.m b/wrap/tests/expected_namespaces/+ns2/+ns3/ClassB.m
index f2a32111a..07d496ddc 100644
--- a/wrap/tests/expected_namespaces/+ns2/+ns3/ClassB.m
+++ b/wrap/tests/expected_namespaces/+ns2/+ns3/ClassB.m
@@ -1,6 +1,8 @@
 %-------Constructors-------
-%ClassB()
+%CLASSB()
+% 
 %-------Methods-------
+% 
 %-------Static Methods-------
 %
 %For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
diff --git a/wrap/tests/expected_namespaces/+ns2/ClassA.m b/wrap/tests/expected_namespaces/+ns2/ClassA.m
index e795deb71..46e43bdc6 100644
--- a/wrap/tests/expected_namespaces/+ns2/ClassA.m
+++ b/wrap/tests/expected_namespaces/+ns2/ClassA.m
@@ -1,11 +1,13 @@
 %-------Constructors-------
-%ClassA()
+%CLASSA()
+% 
 %-------Methods-------
-%memberFunction()
-%nsArg(ClassB arg)
-%nsReturn(double q)
+%MEMBERFUNCTION() : returns double
+%NSARG(ClassB arg) : returns int
+%NSRETURN(double q) : returns ns2::ns3::ClassB
+% 
 %-------Static Methods-------
-%afunction()
+%AFUNCTION() : returns double
 %
 %For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
 classdef ClassA < handle
@@ -34,7 +36,8 @@ classdef ClassA < handle
     function disp(obj), obj.display; end
 
     function varargout = memberFunction(this, varargin)
-      % memberFunction  memberFunction() : 
+      % MEMBERFUNCTION usage: MEMBERFUNCTION() : returns double
+
       % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
       % 
       % Method Overloads
@@ -47,7 +50,8 @@ classdef ClassA < handle
     end
 
     function varargout = nsArg(this, varargin)
-      % nsArg  nsArg(ClassB arg) : 
+      % NSARG usage: NSARG(ClassB arg) : returns int
+
       % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
       % 
       % Method Overloads
@@ -60,7 +64,8 @@ classdef ClassA < handle
     end
 
     function varargout = nsReturn(this, varargin)
-      % nsReturn  nsReturn(double q) : 
+      % NSRETURN usage: NSRETURN(double q) : returns ns2::ns3::ClassB
+
       % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
       % 
       % Method Overloads
@@ -76,11 +81,12 @@ classdef ClassA < handle
 
   methods(Static = true)
     function varargout = Afunction(varargin)
-      % afunction  afunction() : 
+      % AFUNCTION usage: AFUNCTION() : returns double
+
       % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
       % 
-      % Method Overloads
-      % afunction()
+      % Usage
+      % AFUNCTION()
       if length(varargin) == 0
         varargout{1} = testNamespaces_wrapper(12, varargin{:});
       else
diff --git a/wrap/tests/expected_namespaces/+ns2/ClassC.m b/wrap/tests/expected_namespaces/+ns2/ClassC.m
index 2d6cb21d8..a5485afcc 100644
--- a/wrap/tests/expected_namespaces/+ns2/ClassC.m
+++ b/wrap/tests/expected_namespaces/+ns2/ClassC.m
@@ -1,6 +1,8 @@
 %-------Constructors-------
-%ClassC()
+%CLASSC()
+% 
 %-------Methods-------
+% 
 %-------Static Methods-------
 %
 %For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
diff --git a/wrap/tests/expected_namespaces/ClassD.m b/wrap/tests/expected_namespaces/ClassD.m
index 98a4df3a6..1e672466c 100644
--- a/wrap/tests/expected_namespaces/ClassD.m
+++ b/wrap/tests/expected_namespaces/ClassD.m
@@ -1,6 +1,8 @@
 %-------Constructors-------
-%ClassD()
+%CLASSD()
+% 
 %-------Methods-------
+% 
 %-------Static Methods-------
 %
 %For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html