diff --git a/gtsam/nonlinear/lago.cpp b/gtsam/nonlinear/lago.cpp
index f8b089539..c2a7d9454 100644
--- a/gtsam/nonlinear/lago.cpp
+++ b/gtsam/nonlinear/lago.cpp
@@ -37,8 +37,16 @@ static const noiseModel::Diagonal::shared_ptr priorPose2Noise =
     noiseModel::Diagonal::Variances((Vector(3) << 1e-6, 1e-6, 1e-8));
 
 /* ************************************************************************* */
-double computeThetaToRoot(const Key nodeKey, const PredecessorMap<Key>& tree,
-    const key2doubleMap& deltaThetaMap, const key2doubleMap& thetaFromRootMap) {
+/**
+ * Compute the cumulative orientation (without wrapping) wrt the root of a
+ * spanning tree (tree) for a node (nodeKey). The function starts at the nodes and
+ * moves towards the root summing up the (directed) rotation measurements.
+ * Relative measurements are encoded in "deltaThetaMap".
+ * The root is assumed to have orientation zero.
+ */
+static double computeThetaToRoot(const Key nodeKey,
+    const PredecessorMap<Key>& tree, const key2doubleMap& deltaThetaMap,
+    const key2doubleMap& thetaFromRootMap) {
 
   double nodeTheta = 0;
   Key key_child = nodeKey; // the node
@@ -122,7 +130,8 @@ void getSymbolicGraph(
 }
 
 /* ************************************************************************* */
-void getDeltaThetaAndNoise(NonlinearFactor::shared_ptr factor,
+// Retrieve the deltaTheta and the corresponding noise model from a BetweenFactor<Pose2>
+static void getDeltaThetaAndNoise(NonlinearFactor::shared_ptr factor,
     Vector& deltaTheta, noiseModel::Diagonal::shared_ptr& model_deltaTheta) {
 
   // Get the relative rotation measurement from the between factor
@@ -187,7 +196,8 @@ GaussianFactorGraph buildLinearOrientationGraph(
 }
 
 /* ************************************************************************* */
-NonlinearFactorGraph buildPose2graph(const NonlinearFactorGraph& graph) {
+// Select the subgraph of betweenFactors and transforms priors into between wrt a fictitious node
+static NonlinearFactorGraph buildPose2graph(const NonlinearFactorGraph& graph) {
   NonlinearFactorGraph pose2Graph;
 
   BOOST_FOREACH(const boost::shared_ptr<NonlinearFactor>& factor, graph) {
@@ -210,7 +220,8 @@ NonlinearFactorGraph buildPose2graph(const NonlinearFactorGraph& graph) {
 }
 
 /* ************************************************************************* */
-PredecessorMap<Key> findOdometricPath(const NonlinearFactorGraph& pose2Graph) {
+static PredecessorMap<Key> findOdometricPath(
+    const NonlinearFactorGraph& pose2Graph) {
 
   PredecessorMap<Key> tree;
   Key minKey;
@@ -236,7 +247,8 @@ PredecessorMap<Key> findOdometricPath(const NonlinearFactorGraph& pose2Graph) {
 }
 
 /* ************************************************************************* */
-VectorValues computeOrientations(const NonlinearFactorGraph& pose2Graph,
+// Return the orientations of a graph including only BetweenFactors<Pose2>
+static VectorValues computeOrientations(const NonlinearFactorGraph& pose2Graph,
     bool useOdometricPath) {
 
   // Find a minimum spanning tree
diff --git a/gtsam/nonlinear/lago.h b/gtsam/nonlinear/lago.h
index fa8eef995..0df80ac42 100644
--- a/gtsam/nonlinear/lago.h
+++ b/gtsam/nonlinear/lago.h
@@ -44,17 +44,6 @@ namespace lago {
 
 typedef std::map<Key, double> key2doubleMap;
 
-/**
- * Compute the cumulative orientation (without wrapping) wrt the root of a
- * spanning tree (tree) for a node (nodeKey). The function starts at the nodes and
- * moves towards the root summing up the (directed) rotation measurements.
- * Relative measurements are encoded in "deltaThetaMap".
- * The root is assumed to have orientation zero.
- */
-GTSAM_EXPORT double computeThetaToRoot(const Key nodeKey,
-    const PredecessorMap<Key>& tree, const key2doubleMap& deltaThetaMap,
-    const key2doubleMap& thetaFromRootMap);
-
 /**
  * Compute the cumulative orientations (without wrapping)
  * for all nodes wrt the root (root has zero orientation).
@@ -75,26 +64,12 @@ GTSAM_EXPORT void getSymbolicGraph(
     key2doubleMap& deltaThetaMap,
     /*INPUTS*/const PredecessorMap<Key>& tree, const NonlinearFactorGraph& g);
 
-/**
- * Retrieve the deltaTheta and the corresponding noise model from a BetweenFactor<Pose2>
- */
-GTSAM_EXPORT void getDeltaThetaAndNoise(NonlinearFactor::shared_ptr factor,
-    Vector& deltaTheta, noiseModel::Diagonal::shared_ptr& model_deltaTheta);
-
 /** Linear factor graph with regularized orientation measurements */
 GTSAM_EXPORT GaussianFactorGraph buildLinearOrientationGraph(
     const std::vector<size_t>& spanningTreeIds,
     const std::vector<size_t>& chordsIds, const NonlinearFactorGraph& g,
     const key2doubleMap& orientationsToRoot, const PredecessorMap<Key>& tree);
 
-/** Select the subgraph of betweenFactors and transforms priors into between wrt a fictitious node */
-GTSAM_EXPORT NonlinearFactorGraph buildPose2graph(
-    const NonlinearFactorGraph& graph);
-
-/** Return the orientations of a graph including only BetweenFactors<Pose2> */
-GTSAM_EXPORT VectorValues computeOrientations(
-    const NonlinearFactorGraph& pose2Graph, bool useOdometricPath = true);
-
 /** LAGO: Return the orientations of the Pose2 in a generic factor graph */
 GTSAM_EXPORT VectorValues initializeOrientations(
     const NonlinearFactorGraph& graph, bool useOdometricPath = true);