diff --git a/wrap/Module.cpp b/wrap/Module.cpp
index fdd550f5a..24257c96b 100644
--- a/wrap/Module.cpp
+++ b/wrap/Module.cpp
@@ -21,6 +21,7 @@
 //#define BOOST_SPIRIT_DEBUG
 #include <boost/spirit/include/classic_core.hpp>
 #include <boost/spirit/include/classic_confix.hpp>
+#include <boost/spirit/include/classic_clear_actor.hpp>
 #include <boost/foreach.hpp>
 
 #include <iostream>
@@ -52,7 +53,7 @@ Module::Module(const string& interfacePath,
   Method method0(enable_verbose), method(enable_verbose);
   StaticMethod static_method0(enable_verbose), static_method(enable_verbose);
   Class cls0(enable_verbose),cls(enable_verbose);
-  vector<string> namespaces, namespaces_parent, namespaces_temp;
+  vector<string> namespaces, namespaces_return;
 
   //----------------------------------------------------------------------------
   // Grammar with actions that build the Class object. Actions are
@@ -69,12 +70,15 @@ Module::Module(const string& interfacePath,
   Rule basisType_p =
     (str_p("string") | "bool" | "size_t" | "int" | "double");
 
+  Rule keywords_p =
+  	(str_p("const") | "static" | "namespace" | basisType_p);
+
   Rule eigenType_p =
     (str_p("Vector") | "Matrix");
 
-  Rule className_p  = lexeme_d[upper_p >> *(alnum_p | '_')] - eigenType_p - basisType_p;
+  Rule className_p  = lexeme_d[upper_p >> *(alnum_p | '_')] - eigenType_p - keywords_p;
 
-  Rule namespace_name_p = lexeme_d[lower_p >> *(alnum_p | '_')];
+  Rule namespace_name_p = lexeme_d[lower_p >> *(alnum_p | '_')] - keywords_p;
 
   Rule namespace_arg_p = namespace_name_p[push_back_a(arg.namespaces)] >> str_p("::");
 
@@ -116,15 +120,19 @@ Module::Module(const string& interfacePath,
     [push_back_a(cls.constructors, constructor)]
     [assign_a(constructor,constructor0)];
 
+  Rule namespace_ret_p = namespace_name_p[push_back_a(namespaces_return)] >> str_p("::");
+
   Rule returnType1_p =
 		(basisType_p[assign_a(retVal.type1)][assign_a(retVal.category1, ReturnValue::BASIS)]) |
-		((className_p[assign_a(retVal.type1)][assign_a(retVal.category1, ReturnValue::CLASS)]) >>
+		((*namespace_ret_p)[assign_a(retVal.namespaces1, namespaces_return)][clear_a(namespaces_return)]
+				>> (className_p[assign_a(retVal.type1)][assign_a(retVal.category1, ReturnValue::CLASS)]) >>
 				!ch_p('*')[assign_a(retVal.isPtr1,true)]) |
 		(eigenType_p[assign_a(retVal.type1)][assign_a(retVal.category1, ReturnValue::EIGEN)]);
 
   Rule returnType2_p =
 		(basisType_p[assign_a(retVal.type2)][assign_a(retVal.category2, ReturnValue::BASIS)]) |
-		((className_p[assign_a(retVal.type2)][assign_a(retVal.category2, ReturnValue::CLASS)]) >>
+		((*namespace_ret_p)[assign_a(retVal.namespaces2, namespaces_return)][clear_a(namespaces_return)]
+				>> (className_p[assign_a(retVal.type2)][assign_a(retVal.category2, ReturnValue::CLASS)]) >>
 				!ch_p('*')  [assign_a(retVal.isPtr2,true)]) |
 		(eigenType_p[assign_a(retVal.type2)][assign_a(retVal.category2, ReturnValue::EIGEN)]);
 
diff --git a/wrap/ReturnValue.cpp b/wrap/ReturnValue.cpp
index 9d8606c5b..c10c173d7 100644
--- a/wrap/ReturnValue.cpp
+++ b/wrap/ReturnValue.cpp
@@ -5,6 +5,8 @@
  * @author Alex Cunningham
  */
 
+#include <boost/foreach.hpp>
+
 #include "ReturnValue.h"
 #include "utilities.h"
 
@@ -15,21 +17,43 @@ using namespace wrap;
 string ReturnValue::return_type(bool add_ptr, pairing p) {
   if (p==pair && isPair) {
     string str = "pair< " +
-    		wrap::maybe_shared_ptr(add_ptr && isPtr1, type1) + ", " +
-      wrap::maybe_shared_ptr(add_ptr && isPtr2, type2) + " >";
+    		maybe_shared_ptr(add_ptr && isPtr1, qualifiedType1("::")) + ", " +
+      maybe_shared_ptr(add_ptr && isPtr2, qualifiedType2("::")) + " >";
     return str;
   } else
-    return wrap::maybe_shared_ptr(add_ptr && isPtr1, (p==arg2)? type2 : type1);
+    return maybe_shared_ptr(add_ptr && isPtr1, (p==arg2)? qualifiedType2("::") : qualifiedType1("::"));
+}
+
+/* ************************************************************************* */
+string ReturnValue::matlab_returnType() const {
+	return isPair? "[first,second]" : "result";
+}
+
+/* ************************************************************************* */
+string ReturnValue::qualifiedType1(const string& delim) {
+	string result;
+	BOOST_FOREACH(const string& ns, namespaces1) result += ns + delim;
+	return result + type1;
+}
+
+/* ************************************************************************* */
+string ReturnValue::qualifiedType2(const string& delim) {
+	string result;
+	BOOST_FOREACH(const string& ns, namespaces2) result += ns + delim;
+	return result + type2;
 }
 
 /* ************************************************************************* */
 void ReturnValue::wrap_result(std::ostream& ofs) {
+	string cppType1 = qualifiedType1("::"), matlabType1 = qualifiedType1();
+	string cppType2 = qualifiedType2("::"), matlabType2 = qualifiedType2();
+
   if (isPair) {
   	// first return value in pair
     if (isPtr1) // if we already have a pointer
-      ofs << "  out[0] = wrap_shared_ptr(result.first,\"" << type1 << "\");\n";
+      ofs << "  out[0] = wrap_shared_ptr(result.first,\"" << matlabType1 << "\");\n";
     else if (category1 == ReturnValue::CLASS) // if we are going to make one
-    	ofs << "  out[0] = wrap_shared_ptr(make_shared< " << type1 << " >(result.first),\"" << type1 << "\");\n";
+    	ofs << "  out[0] = wrap_shared_ptr(make_shared< " << cppType1 << " >(result.first),\"" << matlabType1 << "\");\n";
     else // if basis type
       ofs << "  out[0] = wrap< " << return_type(true,arg1) << " >(result.first);\n";
 
@@ -37,14 +61,14 @@ void ReturnValue::wrap_result(std::ostream& ofs) {
     if (isPtr2) // if we already have a pointer
       ofs << "  out[1] = wrap_shared_ptr(result.second,\"" << type2 << "\");\n";
     else if (category2 == ReturnValue::CLASS) // if we are going to make one
-    	ofs << "  out[1] = wrap_shared_ptr(make_shared< " << type2 << " >(result.second),\"" << type2 << "\");\n";
+    	ofs << "  out[1] = wrap_shared_ptr(make_shared< " << cppType2 << " >(result.second),\"" << matlabType2 << "\");\n";
     else
       ofs << "  out[1] = wrap< " << return_type(true,arg2) << " >(result.second);\n";
   }
   else if (isPtr1)
     ofs << "  out[0] = wrap_shared_ptr(result,\"" << type1 << "\");\n";
   else if (category1 == ReturnValue::CLASS)
-  	ofs << "  out[0] = wrap_shared_ptr(make_shared< " << type1 << " >(result),\"" << type1 << "\");\n";
+  	ofs << "  out[0] = wrap_shared_ptr(make_shared< " << cppType1 << " >(result),\"" << matlabType1 << "\");\n";
   else if (type1!="void")
     ofs << "  out[0] = wrap< " << return_type(true,arg1) << " >(result);\n";
 }
diff --git a/wrap/ReturnValue.h b/wrap/ReturnValue.h
index c6d7864d3..ba606ad9c 100644
--- a/wrap/ReturnValue.h
+++ b/wrap/ReturnValue.h
@@ -7,6 +7,7 @@
  * @author Alex Cunningham
  */
 
+#include <vector>
 #include <ostream>
 
 #pragma once
@@ -30,6 +31,7 @@ struct ReturnValue {
 	bool verbose;
 	std::string type1, type2;
 	bool isPtr1, isPtr2, isPair;
+	std::vector<std::string> namespaces1, namespaces2;
 
 	return_category category1, category2;
 
@@ -39,7 +41,10 @@ struct ReturnValue {
 
 	std::string return_type(bool add_ptr, pairing p);
 
-	std::string matlab_returnType() const { return isPair? "[first,second]" : "result"; }
+	std::string qualifiedType1(const std::string& delim = "");
+	std::string qualifiedType2(const std::string& delim = "");
+
+	std::string matlab_returnType() const;
 
 	void wrap_result(std::ostream& ofs);
 
diff --git a/wrap/tests/expected_namespaces/Makefile b/wrap/tests/expected_namespaces/Makefile
index d15278938..4fe9b0655 100644
--- a/wrap/tests/expected_namespaces/Makefile
+++ b/wrap/tests/expected_namespaces/Makefile
@@ -27,8 +27,10 @@ ns2ClassA_afunction.$(MEXENDING): ns2ClassA_afunction.cpp
 	$(MEX) $(mex_flags) @ns2ClassA/memberFunction.cpp  -output @ns2ClassA/memberFunction
 @ns2ClassA/nsArg.$(MEXENDING): @ns2ClassA/nsArg.cpp
 	$(MEX) $(mex_flags) @ns2ClassA/nsArg.cpp  -output @ns2ClassA/nsArg
+@ns2ClassA/nsReturn.$(MEXENDING): @ns2ClassA/nsReturn.cpp
+	$(MEX) $(mex_flags) @ns2ClassA/nsReturn.cpp  -output @ns2ClassA/nsReturn
 
-ns2ClassA: new_ns2ClassA_.$(MEXENDING) ns2ClassA_afunction.$(MEXENDING) @ns2ClassA/memberFunction.$(MEXENDING) @ns2ClassA/nsArg.$(MEXENDING) 
+ns2ClassA: new_ns2ClassA_.$(MEXENDING) ns2ClassA_afunction.$(MEXENDING) @ns2ClassA/memberFunction.$(MEXENDING) @ns2ClassA/nsArg.$(MEXENDING) @ns2ClassA/nsReturn.$(MEXENDING) 
 
 # ns2ns3ClassB
 new_ns2ns3ClassB_.$(MEXENDING): new_ns2ns3ClassB_.cpp
diff --git a/wrap/tests/expected_namespaces/make_testNamespaces.m b/wrap/tests/expected_namespaces/make_testNamespaces.m
index 95b4633de..59d850c42 100644
--- a/wrap/tests/expected_namespaces/make_testNamespaces.m
+++ b/wrap/tests/expected_namespaces/make_testNamespaces.m
@@ -27,6 +27,7 @@ mex -O5 ns2ClassA_afunction.cpp
 cd @ns2ClassA
 mex -O5 memberFunction.cpp
 mex -O5 nsArg.cpp
+mex -O5 nsReturn.cpp
 
 %% ns2ns3ClassB
 cd(toolboxpath)
diff --git a/wrap/tests/testNamespaces.h b/wrap/tests/testNamespaces.h
index f6b4efa95..f27a518c6 100644
--- a/wrap/tests/testNamespaces.h
+++ b/wrap/tests/testNamespaces.h
@@ -21,6 +21,7 @@ class ClassA {
 	static double afunction();
 	double memberFunction();
 	int nsArg(const ns1::ClassB& arg);
+	ns2::ns3::ClassB nsReturn(double q);
 };
 
 namespace ns3 {