diff --git a/gtsam/nonlinear/Values.cpp b/gtsam/nonlinear/Values.cpp
index b9a3f714b..372bced8e 100644
--- a/gtsam/nonlinear/Values.cpp
+++ b/gtsam/nonlinear/Values.cpp
@@ -148,6 +148,24 @@ namespace gtsam {
       throw ValuesKeyAlreadyExists(j);
   }
 
+  /* ************************************************************************* */
+  void Values::insertFixed(Key j, const Vector& v, size_t n) {
+    switch (n) {
+    case 1: insert<Vector1>(j,v); break;
+    case 2: insert<Vector2>(j,v); break;
+    case 3: insert<Vector3>(j,v); break;
+    case 4: insert<Vector4>(j,v); break;
+    case 5: insert<Vector5>(j,v); break;
+    case 6: insert<Vector6>(j,v); break;
+    case 7: insert<Vector7>(j,v); break;
+    case 8: insert<Vector8>(j,v); break;
+    case 9: insert<Vector9>(j,v); break;
+    default:
+      throw runtime_error(
+          "Values::insert fixed size can only handle n in 1..9");
+    }
+  }
+
   /* ************************************************************************* */
   void Values::insert(const Values& values) {
     for(const_iterator key_value = values.begin(); key_value != values.end(); ++key_value) {