diff --git a/.cproject b/.cproject
index d42d2b0e0..9c03c5b7d 100644
--- a/.cproject
+++ b/.cproject
@@ -592,7 +592,6 @@
 			</target>
 			<target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>tests/testBayesTree.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -600,7 +599,6 @@
 			</target>
 			<target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>testBinaryBayesNet.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -648,7 +646,6 @@
 			</target>
 			<target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>testSymbolicBayesNet.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -656,7 +653,6 @@
 			</target>
 			<target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>tests/testSymbolicFactor.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -664,7 +660,6 @@
 			</target>
 			<target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>testSymbolicFactorGraph.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -680,7 +675,6 @@
 			</target>
 			<target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>tests/testBayesTree</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -1128,7 +1122,6 @@
 			</target>
 			<target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>testErrors.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -1358,46 +1351,6 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="testBTree.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
-				<buildTarget>testBTree.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="testDSF.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
-				<buildTarget>testDSF.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="testDSFMap.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
-				<buildTarget>testDSFMap.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="testDSFVector.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
-				<buildTarget>testDSFVector.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="testFixedVector.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
-				<buildTarget>testFixedVector.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
 			<target name="all" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j2</buildArguments>
@@ -1480,6 +1433,7 @@
 			</target>
 			<target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
+				<buildArguments/>
 				<buildTarget>testSimulated2DOriented.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -1519,6 +1473,7 @@
 			</target>
 			<target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
+				<buildArguments/>
 				<buildTarget>testSimulated2D.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -1526,6 +1481,7 @@
 			</target>
 			<target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
+				<buildArguments/>
 				<buildTarget>testSimulated3D.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -1539,6 +1495,46 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="testBTree.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>testBTree.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="testDSF.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>testDSF.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="testDSFMap.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>testDSFMap.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="testDSFVector.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>testDSFVector.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="testFixedVector.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>testFixedVector.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 			<target name="testEliminationTree.run" path="build/gtsam/inference/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j5</buildArguments>
@@ -1796,7 +1792,6 @@
 			</target>
 			<target name="Generate DEB Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>cpack</buildCommand>
-				<buildArguments/>
 				<buildTarget>-G DEB</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -1804,7 +1799,6 @@
 			</target>
 			<target name="Generate RPM Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>cpack</buildCommand>
-				<buildArguments/>
 				<buildTarget>-G RPM</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -1812,7 +1806,6 @@
 			</target>
 			<target name="Generate TGZ Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>cpack</buildCommand>
-				<buildArguments/>
 				<buildTarget>-G TGZ</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -1820,7 +1813,6 @@
 			</target>
 			<target name="Generate TGZ Source Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>cpack</buildCommand>
-				<buildArguments/>
 				<buildTarget>--config CPackSourceConfig.cmake</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -2635,7 +2627,6 @@
 			</target>
 			<target name="testGraph.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>testGraph.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -2643,7 +2634,6 @@
 			</target>
 			<target name="testJunctionTree.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>testJunctionTree.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -2651,7 +2641,6 @@
 			</target>
 			<target name="testSymbolicBayesNetB.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>testSymbolicBayesNetB.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -2737,14 +2726,6 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="testExpression.run" path="build/gtsam_unstable/nonlinear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
-				<buildTarget>testExpression.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
 			<target name="testExpressionMeta.run" path="build/gtsam_unstable/nonlinear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j5</buildArguments>
@@ -3137,6 +3118,14 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="testExpression.run" path="build/gtsam/nonlinear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j4</buildArguments>
+				<buildTarget>testExpression.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 			<target name="testImuFactor.run" path="build-debug/gtsam_unstable/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j4</buildArguments>
@@ -3195,6 +3184,7 @@
 			</target>
 			<target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
+				<buildArguments/>
 				<buildTarget>tests/testGaussianISAM2</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
diff --git a/gtsam_unstable/nonlinear/Expression-inl.h b/gtsam/nonlinear/Expression-inl.h
similarity index 100%
rename from gtsam_unstable/nonlinear/Expression-inl.h
rename to gtsam/nonlinear/Expression-inl.h
diff --git a/gtsam_unstable/nonlinear/Expression.h b/gtsam/nonlinear/Expression.h
similarity index 99%
rename from gtsam_unstable/nonlinear/Expression.h
rename to gtsam/nonlinear/Expression.h
index 68a79ed6b..85b223440 100644
--- a/gtsam_unstable/nonlinear/Expression.h
+++ b/gtsam/nonlinear/Expression.h
@@ -19,7 +19,7 @@
 
 #pragma once
 
-#include "Expression-inl.h"
+#include <gtsam/nonlinear/Expression-inl.h>
 #include <gtsam/base/FastVector.h>
 #include <gtsam/inference/Symbol.h>
 
diff --git a/gtsam_unstable/nonlinear/tests/testExpression.cpp b/gtsam/nonlinear/tests/testExpression.cpp
similarity index 99%
rename from gtsam_unstable/nonlinear/tests/testExpression.cpp
rename to gtsam/nonlinear/tests/testExpression.cpp
index 6156d103c..dfa60e54e 100644
--- a/gtsam_unstable/nonlinear/tests/testExpression.cpp
+++ b/gtsam/nonlinear/tests/testExpression.cpp
@@ -17,9 +17,9 @@
  * @brief unit tests for Block Automatic Differentiation
  */
 
+#include <gtsam/nonlinear/Expression.h>
 #include <gtsam/geometry/PinholeCamera.h>
 #include <gtsam/geometry/Cal3_S2.h>
-#include <gtsam_unstable/nonlinear/Expression.h>
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/LieScalar.h>
 
diff --git a/gtsam_unstable/examples/SmartStereoProjectionFactorExample.cpp b/gtsam_unstable/examples/SmartStereoProjectionFactorExample.cpp
index f5e59b1b2..770c5f18c 100644
--- a/gtsam_unstable/examples/SmartStereoProjectionFactorExample.cpp
+++ b/gtsam_unstable/examples/SmartStereoProjectionFactorExample.cpp
@@ -49,7 +49,6 @@ int main(int argc, char** argv){
   typedef SmartStereoProjectionPoseFactor<Pose3, Point3, Cal3_S2Stereo> SmartFactor;
 
   bool output_poses = true;
-  bool output_initial_poses = true;
   string poseOutput("../../../examples/data/optimized_poses.txt");
   string init_poseOutput("../../../examples/data/initial_poses.txt");
   Values initial_estimate;
diff --git a/gtsam_unstable/nonlinear/ExpressionFactor.h b/gtsam_unstable/nonlinear/ExpressionFactor.h
index f763915e0..95c4d71a8 100644
--- a/gtsam_unstable/nonlinear/ExpressionFactor.h
+++ b/gtsam_unstable/nonlinear/ExpressionFactor.h
@@ -19,7 +19,7 @@
 
 #pragma once
 
-#include <gtsam_unstable/nonlinear/Expression.h>
+#include <gtsam/nonlinear/Expression.h>
 #include <gtsam/nonlinear/NonlinearFactor.h>
 #include <gtsam/base/Testable.h>
 #include <numeric>
diff --git a/gtsam_unstable/nonlinear/ceres_rotation.h b/gtsam_unstable/nonlinear/ceres_rotation.h
index 83627291c..b02c10211 100644
--- a/gtsam_unstable/nonlinear/ceres_rotation.h
+++ b/gtsam_unstable/nonlinear/ceres_rotation.h
@@ -47,6 +47,7 @@
 
 #include <algorithm>
 #include <cmath>
+#include <assert.h>
 #define DCHECK assert
 
 namespace ceres {
diff --git a/gtsam_unstable/nonlinear/expressionTesting.h b/gtsam_unstable/nonlinear/expressionTesting.h
index 92c8f71e8..4fd47eb76 100644
--- a/gtsam_unstable/nonlinear/expressionTesting.h
+++ b/gtsam_unstable/nonlinear/expressionTesting.h
@@ -19,14 +19,16 @@
 
 #pragma once
 
-#include "Expression.h"
-#include "ExpressionFactor.h"
+#include <gtsam_unstable/nonlinear/ExpressionFactor.h>
+#include <gtsam/nonlinear/Expression.h>
 #include <gtsam/base/Matrix.h>
 #include <gtsam/base/Testable.h>
+#include <gtsam/base/numericalDerivative.h>
+#include <gtsam/linear/VectorValues.h>
+
 #include <CppUnitLite/TestResult.h>
 #include <CppUnitLite/Test.h>
 #include <CppUnitLite/Failure.h>
-#include <gtsam/base/numericalDerivative.h>
 
 namespace gtsam {
 
diff --git a/gtsam_unstable/nonlinear/expressions.h b/gtsam_unstable/nonlinear/expressions.h
index eba85c33c..2490100d6 100644
--- a/gtsam_unstable/nonlinear/expressions.h
+++ b/gtsam_unstable/nonlinear/expressions.h
@@ -7,7 +7,7 @@
 
 #pragma once
 
-#include <gtsam_unstable/nonlinear/Expression.h>
+#include <gtsam/nonlinear/Expression.h>
 #include <boost/bind.hpp>
 
 namespace gtsam {
diff --git a/gtsam_unstable/nonlinear/tests/testAdaptAutoDiff.cpp b/gtsam_unstable/nonlinear/tests/testAdaptAutoDiff.cpp
index cd281f4d8..a8151ec11 100644
--- a/gtsam_unstable/nonlinear/tests/testAdaptAutoDiff.cpp
+++ b/gtsam_unstable/nonlinear/tests/testAdaptAutoDiff.cpp
@@ -17,8 +17,9 @@
  * @brief unit tests for Block Automatic Differentiation
  */
 
+#include <gtsam_unstable/nonlinear/ceres_example.h>
 #include <gtsam_unstable/nonlinear/AdaptAutoDiff.h>
-#include <gtsam_unstable/nonlinear/Expression.h>
+#include <gtsam/nonlinear/Expression.h>
 #include <gtsam/geometry/PinholeCamera.h>
 #include <gtsam/geometry/Pose3.h>
 #include <gtsam/geometry/Cal3_S2.h>
@@ -27,8 +28,6 @@
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/LieScalar.h>
 
-#include <gtsam_unstable/nonlinear/ceres_example.h>
-
 #include <CppUnitLite/TestHarness.h>
 
 #include <boost/assign/list_of.hpp>
diff --git a/gtsam_unstable/nonlinear/tests/testCustomChartExpression.cpp b/gtsam_unstable/nonlinear/tests/testCustomChartExpression.cpp
index bc2055c55..440400fb4 100644
--- a/gtsam_unstable/nonlinear/tests/testCustomChartExpression.cpp
+++ b/gtsam_unstable/nonlinear/tests/testCustomChartExpression.cpp
@@ -17,12 +17,7 @@
  * @brief unit tests for Block Automatic Differentiation
  */
 
-#include <gtsam_unstable/nonlinear/Expression.h>
-#include <gtsam_unstable/nonlinear/ExpressionFactor.h>
 #include <gtsam_unstable/nonlinear/expressionTesting.h>
-#include <gtsam/base/Testable.h>
-#include <gtsam/linear/VectorValues.h>
-
 #include <CppUnitLite/TestHarness.h>
 
 using namespace gtsam;
diff --git a/tests/testManifold.cpp b/tests/testManifold.cpp
index 32f04225f..1927ba5c6 100644
--- a/tests/testManifold.cpp
+++ b/tests/testManifold.cpp
@@ -22,9 +22,8 @@
 #include <gtsam/geometry/Pose3.h>
 #include <gtsam/geometry/Cal3_S2.h>
 #include <gtsam/geometry/Cal3Bundler.h>
-#include <gtsam_unstable/nonlinear/Expression.h>
+#include <gtsam/base/Manifold.h>
 #include <gtsam/base/Testable.h>
-#include <gtsam/base/LieScalar.h>
 
 #undef CHECK
 #include <CppUnitLite/TestHarness.h>