diff --git a/gtsam/geometry/Quaternion.h b/gtsam/geometry/Quaternion.h
new file mode 100644
index 000000000..dce47beca
--- /dev/null
+++ b/gtsam/geometry/Quaternion.h
@@ -0,0 +1,124 @@
+/* ----------------------------------------------------------------------------
+
+ * 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   Quaternion.h
+ * @brief  Unit tests for unit quaternions
+ * @author Frank Dellaert
+ **/
+
+#include <gtsam/base/concepts.h>
+
+namespace gtsam {
+
+namespace traits {
+
+/// Define Eigen::Quaternion to be a model of the Lie Group concept
+template<typename S, int O>
+struct structure_category<Eigen::Quaternion<S, O> > {
+  typedef lie_group_tag type;
+};
+
+} // \namespace gtsam::traits
+
+namespace manifold {
+
+/// Chart for Eigen Quaternions
+template<typename S, int O>
+struct QuaternionChart {
+
+  // required
+  typedef Eigen::Quaternion<S, O> ManifoldType;
+
+  // internal
+  typedef ManifoldType Q;
+  typedef typename traits::TangentVector<Q>::type Omega;
+
+  /// Exponential map, simply be converting omega to AngleAxis
+  static Q Expmap(const Omega& omega) {
+    double theta = omega.norm();
+    if (std::abs(theta) < 1e-10)
+      return Q::Identity();
+    return Q(Eigen::AngleAxisd(theta, omega / theta));
+  }
+
+  /// retract, simply be converting omega to AngleAxis
+  static Q Retract(const Q& p, const Omega& omega) {
+    return p * Expmap(omega);
+  }
+
+  /// We use our own Logmap, as there is a slight bug in Eigen
+  static Omega Logmap(const Q& q) {
+    using std::acos;
+    using std::sqrt;
+    static const double twoPi = 2.0 * M_PI,
+    // define these compile time constants to avoid std::abs:
+        NearlyOne = 1.0 - 1e-10, NearlyNegativeOne = -1.0 + 1e-10;
+
+    const double qw = q.w();
+    if (qw > NearlyOne) {
+      // Taylor expansion of (angle / s) at 1
+      return (2 - 2 * (qw - 1) / 3) * q.vec();
+    } else if (qw < NearlyNegativeOne) {
+      // Angle is zero, return zero vector
+      return Vector3::Zero();
+    } else {
+      // Normal, away from zero case
+      double angle = 2 * acos(qw), s = sqrt(1 - qw * qw);
+      // Important:  convert to [-pi,pi] to keep error continuous
+      if (angle > M_PI)
+        angle -= twoPi;
+      else if (angle < -M_PI)
+        angle += twoPi;
+      return (angle / s) * q.vec();
+    }
+  }
+
+  /// local is our own, as there is a slight bug in Eigen
+  static Omega Local(const Q& q1, const Q& q2) {
+    return Logmap(q1.inverse() * q2);
+  }
+};
+
+namespace traits {
+
+/// Define the trait that asserts Quaternion manifold has dimension 3
+template<typename S, int O>
+struct dimension<Eigen::Quaternion<S, O> > : public boost::integral_constant<
+    int, 3> {
+};
+
+/// Define the trait that asserts Quaternion TangentVector is Vector3
+template<typename S, int O>
+struct TangentVector<Eigen::Quaternion<S, O> > {
+  typedef Eigen::Matrix<S, 3, 1, O, 3, 1> type;
+};
+
+/// Define the trait that asserts Quaternion TangentVector is Vector3
+template<typename S, int O>
+struct DefaultChart<Eigen::Quaternion<S, O> > {
+  typedef QuaternionChart<S, O> type;
+};
+
+} // \namespace gtsam::manifold::traits
+} // \namespace gtsam::manifold
+
+GTSAM_MULTIPLICATIVE_GROUP2(typename,_Scalar, int,_Options ,Eigen::Quaternion)
+
+} // \namespace gtsam
+
+/**
+ *  GSAM typedef to an Eigen::Quaternion<double>, we disable alignment because
+ *  geometry objects are stored in boost pool allocators, in Values containers,
+ *  and and these pool allocators do not support alignment.
+ */
+typedef Eigen::Quaternion<double, Eigen::DontAlign> Quaternion;
+
diff --git a/gtsam/geometry/tests/testQuaternion.cpp b/gtsam/geometry/tests/testQuaternion.cpp
index eaef53230..534fe155a 100644
--- a/gtsam/geometry/tests/testQuaternion.cpp
+++ b/gtsam/geometry/tests/testQuaternion.cpp
@@ -10,127 +10,12 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file   Quaternion.h
- * @brief  Unit tests for unit quaternions
+ * @file   testQuaternion.cpp
+ * @brief  Unit tests for Quaternion, as a GTSAM-adapted Lie Group
  * @author Frank Dellaert
  **/
 
-#include <gtsam/base/concepts.h>
-
-namespace gtsam {
-
-namespace traits {
-
-/// Define Eigen::Quaternion to be a model of the Lie Group concept
-template<typename S, int O>
-struct structure_category<Eigen::Quaternion<S, O> > {
-  typedef lie_group_tag type;
-};
-
-} // \namespace gtsam::traits
-
-namespace manifold {
-
-/// Chart for Eigen Quaternions
-template<typename S, int O>
-struct QuaternionChart {
-
-  // required
-  typedef Eigen::Quaternion<S, O> ManifoldType;
-
-  // internal
-  typedef ManifoldType Q;
-  typedef typename traits::TangentVector<Q>::type Omega;
-
-  /// Exponential map, simply be converting omega to AngleAxis
-  static Q Expmap(const Omega& omega) {
-    double theta = omega.norm();
-    if (std::abs(theta) < 1e-10)
-      return Q::Identity();
-    return Q(Eigen::AngleAxisd(theta, omega / theta));
-  }
-
-  /// retract, simply be converting omega to AngleAxis
-  static Q Retract(const Q& p, const Omega& omega) {
-    return p * Expmap(omega);
-  }
-
-  /// We use our own Logmap, as there is a slight bug in Eigen
-  static Omega Logmap(const Q& q) {
-    using std::acos;
-    using std::sqrt;
-    static const double twoPi = 2.0 * M_PI,
-    // define these compile time constants to avoid std::abs:
-        NearlyOne = 1.0 - 1e-10, NearlyNegativeOne = -1.0 + 1e-10;
-
-    const double qw = q.w();
-    if (qw > NearlyOne) {
-      // Taylor expansion of (angle / s) at 1
-      return (2 - 2 * (qw - 1) / 3) * q.vec();
-    } else if (qw < NearlyNegativeOne) {
-      // Angle is zero, return zero vector
-      return Vector3::Zero();
-    } else {
-      // Normal, away from zero case
-      double angle = 2 * acos(qw), s = sqrt(1 - qw * qw);
-      // Important:  convert to [-pi,pi] to keep error continuous
-      if (angle > M_PI)
-        angle -= twoPi;
-      else if (angle < -M_PI)
-        angle += twoPi;
-      return (angle / s) * q.vec();
-    }
-  }
-
-  /// local is our own, as there is a slight bug in Eigen
-  static Omega Local(const Q& q1, const Q& q2) {
-    return Logmap(q1.inverse() * q2);
-  }
-};
-
-namespace traits {
-
-/// Define the trait that asserts Quaternion manifold has dimension 3
-template<typename S, int O>
-struct dimension<Eigen::Quaternion<S, O> > : public boost::integral_constant<
-    int, 3> {
-};
-
-/// Define the trait that asserts Quaternion TangentVector is Vector3
-template<typename S, int O>
-struct TangentVector<Eigen::Quaternion<S, O> > {
-  typedef Eigen::Matrix<S, 3, 1, O, 3, 1> type;
-};
-
-/// Define the trait that asserts Quaternion TangentVector is Vector3
-template<typename S, int O>
-struct DefaultChart<Eigen::Quaternion<S, O> > {
-  typedef QuaternionChart<S, O> type;
-};
-
-} // \namespace gtsam::manifold::traits
-} // \namespace gtsam::manifold
-
-GTSAM_MULTIPLICATIVE_GROUP2(typename,_Scalar, int,_Options ,Eigen::Quaternion)
-
-} // \namespace gtsam
-
-/**
- *  GSAM typedef to an Eigen::Quaternion<double>, we disable alignment because
- *  geometry objects are stored in boost pool allocators, in Values containers,
- *  and and these pool allocators do not support alignment.
- */
-typedef Eigen::Quaternion<double, Eigen::DontAlign> Quaternion;
-
-/**
- * @file   testCyclic.cpp
- * @brief  Unit tests for cyclic group
- * @author Frank Dellaert
- **/
-
-//#include <gtsam/geometry/Quaternion.h>
-#include <gtsam/base/Testable.h>
-#include <gtsam/base/Vector.h>
+#include <gtsam/geometry/Quaternion.h>
 #include <CppUnitLite/TestHarness.h>
 
 using namespace std;