diff --git a/wrap/Function.cpp b/wrap/Function.cpp
new file mode 100644
index 000000000..8fd1d0655
--- /dev/null
+++ b/wrap/Function.cpp
@@ -0,0 +1,71 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file Function.ccp
+ * @author Frank Dellaert
+ * @date Nov 13, 2014
+ **/
+
+#include "Function.h"
+#include "utilities.h"
+
+#include <boost/foreach.hpp>
+#include <boost/lexical_cast.hpp>
+#include <boost/algorithm/string.hpp>
+
+#include <iostream>
+#include <fstream>
+
+using namespace std;
+using namespace wrap;
+
+/* ************************************************************************* */
+void Function::addOverload(bool verbose, const std::string& name,
+    const ArgumentList& args, const ReturnValue& retVal,
+    const Qualified& instName) {
+
+  // Check if this overload is give to the correct method
+  if (name_.empty())
+    name_ = name;
+  else if (name_ != name)
+    throw std::runtime_error(
+        "Function::addOverload: tried to add overload with name " + name
+            + " instead of expected " + name_);
+
+  // Check if this overload is give to the correct method
+  if (templateArgValue_.empty())
+    templateArgValue_ = instName;
+  else if (templateArgValue_ != instName)
+    throw std::runtime_error(
+        "Function::addOverload: tried to add overload with template argument "
+            + instName.qualifiedName(":") + " instead of expected "
+            + templateArgValue_.qualifiedName(":"));
+
+  verbose_ = verbose;
+  argLists.push_back(args);
+  returnVals.push_back(retVal);
+}
+
+/* ************************************************************************* */
+vector<ArgumentList> Function::expandArgumentListsTemplate(
+    const string& templateArg, const Qualified& qualifiedType,
+    const Qualified& expandedClass) const {
+  vector<ArgumentList> result;
+  BOOST_FOREACH(const ArgumentList& argList, argLists) {
+    ArgumentList instArgList = argList.expandTemplate(templateArg,
+        qualifiedType, expandedClass);
+    result.push_back(instArgList);
+  }
+  return result;
+}
+
+/* ************************************************************************* */
diff --git a/wrap/Function.h b/wrap/Function.h
new file mode 100644
index 000000000..76b513907
--- /dev/null
+++ b/wrap/Function.h
@@ -0,0 +1,109 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file Function.h
+ * @brief Base class for global functions and methods
+ * @author Frank Dellaert
+ * @date Nov 13, 2014
+ **/
+
+#pragma once
+
+#include "Argument.h"
+#include "ReturnValue.h"
+#include "TypeAttributesTable.h"
+
+#include <string>
+#include <list>
+
+namespace wrap {
+
+/// Function class
+struct Function {
+
+  /// Constructor creates empty object
+  Function(bool verbose = true) :
+      verbose_(verbose) {
+  }
+
+  Function(const std::string& name, bool verbose = true) :
+      verbose_(verbose), name_(name) {
+  }
+
+  bool verbose_;
+  std::string name_; ///< name of method
+  Qualified templateArgValue_; ///< value of template argument if applicable
+  std::vector<ArgumentList> argLists;
+  std::vector<ReturnValue> returnVals;
+
+  // The first time this function is called, it initializes the class members
+  // with those in rhs, but in subsequent calls it adds additional argument
+  // lists as function overloads.
+  void addOverload(bool verbose, const std::string& name,
+      const ArgumentList& args, const ReturnValue& retVal,
+      const Qualified& instName = Qualified());
+
+  std::vector<ArgumentList> expandArgumentListsTemplate(
+      const std::string& templateArg, const Qualified& qualifiedType,
+      const Qualified& expandedClass) const;
+};
+
+// Templated checking functions
+// TODO: do this via polymorphism ?
+
+template<class FUNCTION>
+FUNCTION expandMethodTemplate(const FUNCTION& method,
+    const std::string& templateArg, const Qualified& qualifiedType,
+    const Qualified& expandedClass) {
+  // Create new instance
+  FUNCTION instMethod = method;
+  // substitute template in arguments
+  instMethod.argLists = method.expandArgumentListsTemplate(templateArg,
+      qualifiedType, expandedClass);
+  // do the same for return types
+  instMethod.returnVals = ReturnValue::ExpandTemplate(method.returnVals,
+      templateArg, qualifiedType, expandedClass);
+  // return new method
+  return instMethod;
+}
+
+// TODO use transform
+template<class FUNCTION>
+static std::map<std::string, FUNCTION> expandMethodTemplate(
+    const std::map<std::string, FUNCTION>& methods,
+    const std::string& templateArg, const Qualified& qualifiedType,
+    const Qualified& expandedClass) {
+  std::map<std::string, FUNCTION> result;
+  typedef std::pair<const std::string, FUNCTION> NamedMethod;
+  BOOST_FOREACH(NamedMethod namedMethod, methods) {
+    namedMethod.second = expandMethodTemplate(namedMethod.second, templateArg,
+        qualifiedType, expandedClass);
+    result.insert(namedMethod);
+  }
+  return result;
+}
+template<class T>
+inline void verifyReturnTypes(const std::vector<std::string>& validtypes,
+    const std::map<std::string, T>& vt) {
+  typedef typename std::map<std::string, T>::value_type NamedMethod;
+  BOOST_FOREACH(const NamedMethod& namedMethod, vt) {
+    const T& t = namedMethod.second;
+    BOOST_FOREACH(const ReturnValue& retval, t.returnVals) {
+      retval.type1.verify(validtypes, t.name_);
+      if (retval.isPair)
+        retval.type2.verify(validtypes, t.name_);
+    }
+  }
+}
+
+} // \namespace wrap
+