diff --git a/gtsam.h b/gtsam.h
index 42a419230..dc2f8363a 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -1247,6 +1247,26 @@ class ISAM2DoglegParams {
   void setVerbose(bool verbose);
 };
 
+class ISAM2ThresholdMapValue {
+  ISAM2ThresholdMapValue(char c, Vector thresholds);
+  ISAM2ThresholdMapValue(const gtsam::ISAM2ThresholdMapValue& other);
+};
+
+class ISAM2ThresholdMap {
+  ISAM2ThresholdMap();
+  ISAM2ThresholdMap(const gtsam::ISAM2ThresholdMap& other);
+
+  // Note: no print function
+
+  // common STL methods
+  size_t size() const;
+  bool empty() const;
+  void clear();
+
+  // structure specific methods
+  void insert(const gtsam::ISAM2ThresholdMapValue& value) const;
+};
+
 class ISAM2Params {
   ISAM2Params();
 
@@ -1256,8 +1276,7 @@ class ISAM2Params {
   void setOptimizationParams(const gtsam::ISAM2GaussNewtonParams& params);
   void setOptimizationParams(const gtsam::ISAM2DoglegParams& params);
   void setRelinearizeThreshold(double relinearizeThreshold);
-  // TODO: wrap this
-  //void setRelinearizeThreshold(const FastMap<char,Vector>& relinearizeThreshold);
+  void setRelinearizeThreshold(const gtsam::ISAM2ThresholdMap& relinearizeThreshold);
   int getRelinearizeSkip() const;
   void setRelinearizeSkip(int relinearizeSkip);
   bool isEnableRelinearization() const;
diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h
index ab94e60f0..52e5bccef 100644
--- a/gtsam/nonlinear/ISAM2.h
+++ b/gtsam/nonlinear/ISAM2.h
@@ -98,6 +98,8 @@ struct ISAM2DoglegParams {
  * @addtogroup ISAM2
  * Parameters for the ISAM2 algorithm.  Default parameter values are listed below.
  */
+typedef FastMap<char,Vector> ISAM2ThresholdMap;
+typedef ISAM2ThresholdMap::value_type ISAM2ThresholdMapValue;
 struct ISAM2Params {
   typedef boost::variant<ISAM2GaussNewtonParams, ISAM2DoglegParams> OptimizationParams; ///< Either ISAM2GaussNewtonParams or ISAM2DoglegParams
   typedef boost::variant<double, FastMap<char,Vector> > RelinearizationThreshold; ///< Either a constant relinearization threshold or a per-variable-type set of thresholds
@@ -189,7 +191,12 @@ struct ISAM2Params {
     if(relinearizeThreshold.type() == typeid(double))
       std::cout << "relinearizeThreshold:              " << boost::get<double>(relinearizeThreshold) << "\n";
     else
+    {
       std::cout << "relinearizeThreshold:              " << "{mapped}" << "\n";
+      BOOST_FOREACH(const ISAM2ThresholdMapValue& value, boost::get<ISAM2ThresholdMap>(relinearizeThreshold)) {
+        std::cout << "                                   '" << value.first << "' -> [" << value.second.transpose() << " ]\n";
+      }
+    }
     std::cout << "relinearizeSkip:                   " << relinearizeSkip << "\n";
     std::cout << "enableRelinearization:             " << enableRelinearization << "\n";
     std::cout << "evaluateNonlinearError:            " << evaluateNonlinearError << "\n";