diff --git a/.cproject b/.cproject
index 61f731517..45011fdf4 100644
--- a/.cproject
+++ b/.cproject
@@ -1890,6 +1890,22 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="wrap_gtsam" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>wrap_gtsam</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="wrapmac_gtsam" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>wrapmac_gtsam</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 			<target name="tests/testDSFVector.run" path="build/gtsam/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j2</buildArguments>
diff --git a/wrap/CMakeLists.txt b/wrap/CMakeLists.txt
index 4583ac007..4f855386f 100644
--- a/wrap/CMakeLists.txt
+++ b/wrap/CMakeLists.txt
@@ -21,7 +21,7 @@ file(GLOB wrap_test_srcs "tests/test*.cpp")
 add_definitions(-DTOPSRCDIR="${CMAKE_SOURCE_DIR}")
 foreach(test_src ${wrap_test_srcs} )
     get_filename_component(test_base ${test_src} NAME_WE)
-    set( test_bin wrap_${test_base} )
+    set( test_bin wrap.${test_base} )
     add_executable(${test_bin} EXCLUDE_FROM_ALL ${test_src})
     add_test(${test_base} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
     add_dependencies(check ${test_bin})
@@ -29,3 +29,40 @@ foreach(test_src ${wrap_test_srcs} )
     target_link_libraries(${test_bin} CppUnitLite gtsam-static wrap_lib)
     add_custom_target(${test_bin}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
 endforeach(test_src)
+
+# Wrap codegen
+#usage: wrap mexExtension interfacePath moduleName toolboxPath
+#  mexExtension  : OS/CPU-dependent extension for MEX binaries
+#  interfacePath : *absolute* path to directory of module interface file
+#  moduleName    : the name of the module, interface file must be called moduleName.h
+#  toolboxPath   : the directory in which to generate the wrappers
+#  [mexFlags]    : extra flags for the mex command
+
+set(gtsam_matlab_toolbox ${CMAKE_INSTALL_PREFIX}/borg/toolbox)
+set(mexFlags "${Boost_INCLUDE_DIR} -I${CMAKE_INSTALL_PREFIX}/include -I${CMAKE_INSTALL_PREFIX}/include/gtsam -I${CMAKE_INSTALL_PREFIX}/include/gtsam/base -I${CMAKE_INSTALL_PREFIX}/include/gtsam/geometry -I${CMAKE_INSTALL_PREFIX}/include/gtsam/linear -I${CMAKE_INSTALL_PREFIX}/include/gtsam/nonlinear -I${CMAKE_INSTALL_PREFIX}/include/gtsam/slam -L${CMAKE_BINARY_DIR} -lgtsam")
+set(toolbox_path ${CMAKE_BINARY_DIR}/wrap/gtsam)
+set(moduleName gtsam)
+
+# Actual build commands - separated by OS
+# FIXME: use mexext utility or flags to set this variable correctly
+add_custom_target(wrap_gtsam COMMAND 
+    ./wrap mexa64 ${CMAKE_SOURCE_DIR} ${moduleName} ${toolbox_path} "${mexFlags}")
+add_custom_target(wrapmac_gtsam COMMAND 
+    ./wrap mexmaci64 ${CMAKE_SOURCE_DIR} ${moduleName} ${toolbox_path} "${mexFlags}")
+
+# Install toolbox 
+# FIXME: parameterize this install path
+set(toolbox_install_path ${CMAKE_INSTALL_PREFIX}/borg/toolbox)
+
+# Primary toolbox files
+install(DIRECTORY ${toolbox_path} DESTINATION ${toolbox_install_path} FILES_MATCHING PATTERN "*.m")
+install(DIRECTORY ${toolbox_path} DESTINATION ${toolbox_install_path} FILES_MATCHING PATTERN "*.cpp")
+install(DIRECTORY ${toolbox_path} DESTINATION ${toolbox_install_path} FILES_MATCHING PATTERN "Makefile")
+
+# Examples
+file(GLOB matlab_examples "${CMAKE_SOURCE_DIR}/examples/matlab/*.m")
+install(FILES ${matlab_examples} DESTINATION ${toolbox_install_path}/gtsam/examples)
+
+# Tests
+file(GLOB matlab_tests "${CMAKE_SOURCE_DIR}/tests/matlab/*.m")
+install(FILES ${matlab_tests} DESTINATION ${toolbox_install_path}/gtsam/tests)