diff --git a/.cproject b/.cproject
index c19b1a91a..ec6a2bf6f 100644
--- a/.cproject
+++ b/.cproject
@@ -663,6 +663,14 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="testGeneralSFMFactor_Cal3Bundler.run" path="build/gtsam/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>testGeneralSFMFactor_Cal3Bundler.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 			<target name="testValues.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j5</buildArguments>
diff --git a/examples/PlanarSLAMExample_easy.cpp b/examples/PlanarSLAMExample_easy.cpp
index cd4a7aefd..fc371033e 100644
--- a/examples/PlanarSLAMExample_easy.cpp
+++ b/examples/PlanarSLAMExample_easy.cpp
@@ -18,6 +18,9 @@
 // pull in the planar SLAM domain with all typedefs and helper functions defined
 #include <gtsam/slam/planarSLAM.h>
 
+// we will use Symbol keys
+#include <gtsam/nonlinear/Symbol.h>
+
 using namespace std;
 using namespace gtsam;
 
diff --git a/examples/easyPoint2KalmanFilter.cpp b/examples/easyPoint2KalmanFilter.cpp
index b13058a07..2b4d2476a 100644
--- a/examples/easyPoint2KalmanFilter.cpp
+++ b/examples/easyPoint2KalmanFilter.cpp
@@ -22,6 +22,7 @@
  */
 
 #include <gtsam/nonlinear/ExtendedKalmanFilter-inl.h>
+#include <gtsam/nonlinear/Symbol.h>
 #include <gtsam/slam/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/geometry/Point2.h>
diff --git a/examples/vSLAMexample/vISAMexample.cpp b/examples/vSLAMexample/vISAMexample.cpp
index 6b47c9633..d23ea9b10 100644
--- a/examples/vSLAMexample/vISAMexample.cpp
+++ b/examples/vSLAMexample/vISAMexample.cpp
@@ -18,15 +18,16 @@
 #include "vSLAMutils.h"
 #include "Feature2D.h"
 
-#include <gtsam/nonlinear/NonlinearFactorGraph.h>
-#include <gtsam/nonlinear/NonlinearOptimizer.h>
 #include <gtsam/slam/visualSLAM.h>
 #include <gtsam/slam/PriorFactor.h>
 #include <gtsam/nonlinear/NonlinearISAM.h>
+#include <gtsam/nonlinear/Symbol.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
+#include <gtsam/nonlinear/NonlinearOptimizer.h>
 
 #include <boost/shared_ptr.hpp>
 #include <boost/foreach.hpp>
-using namespace boost;
+using boost::shared_ptr;
 
 using namespace std;
 using namespace gtsam;
diff --git a/examples/vSLAMexample/vSFMexample.cpp b/examples/vSLAMexample/vSFMexample.cpp
index 6eb3955f2..be41ad831 100644
--- a/examples/vSLAMexample/vSFMexample.cpp
+++ b/examples/vSLAMexample/vSFMexample.cpp
@@ -18,13 +18,14 @@
 #include "vSLAMutils.h"
 #include "Feature2D.h"
 
-#include <gtsam/nonlinear/NonlinearFactorGraph.h>
-#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
 #include <gtsam/slam/visualSLAM.h>
 #include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/Symbol.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
+#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
 
 #include <boost/shared_ptr.hpp>
-using namespace boost;
+using boost::shared_ptr;
 
 using namespace std;
 using namespace gtsam;
diff --git a/gtsam/nonlinear/ISAM2-impl.cpp b/gtsam/nonlinear/ISAM2-impl.cpp
index 8fe117e34..46fbe94f9 100644
--- a/gtsam/nonlinear/ISAM2-impl.cpp
+++ b/gtsam/nonlinear/ISAM2-impl.cpp
@@ -12,13 +12,15 @@
 /**
  * @file    ISAM2-impl.cpp
  * @brief   Incremental update functionality (ISAM2) for BayesTree, with fluid relinearization.
- * @author  Michael Kaess, Richard Roberts
+ * @author  Michael Kaess
+ * @author  Richard Roberts
  */
 
+#include <gtsam/nonlinear/ISAM2-impl.h>
+#include <gtsam/nonlinear/Symbol.h> // for selective linearization thresholds
+#include <gtsam/base/debug.h>
 #include <boost/range/adaptors.hpp>
 #include <boost/range/algorithm.hpp>
-#include <gtsam/nonlinear/ISAM2-impl.h>
-#include <gtsam/base/debug.h>
 
 namespace gtsam {
 
diff --git a/gtsam/nonlinear/NonlinearFactor.h b/gtsam/nonlinear/NonlinearFactor.h
index bf6527599..12001551c 100644
--- a/gtsam/nonlinear/NonlinearFactor.h
+++ b/gtsam/nonlinear/NonlinearFactor.h
@@ -33,7 +33,6 @@
 
 #include <gtsam/nonlinear/Values.h>
 #include <gtsam/nonlinear/Ordering.h>
-#include <gtsam/nonlinear/Symbol.h>
 
 /**
  * Macro to add a standard clone function to a derived factor
diff --git a/gtsam/nonlinear/Ordering.h b/gtsam/nonlinear/Ordering.h
index 879b50677..f775f168b 100644
--- a/gtsam/nonlinear/Ordering.h
+++ b/gtsam/nonlinear/Ordering.h
@@ -17,14 +17,14 @@
 
 #pragma once
 
-#include <set>
-#include <gtsam/base/FastMap.h>
+#include <gtsam/nonlinear/Key.h>
 #include <gtsam/inference/inference.h>
-#include <gtsam/nonlinear/Symbol.h>
+#include <gtsam/base/FastMap.h>
 
 #include <boost/foreach.hpp>
 #include <boost/assign/list_inserter.hpp>
 #include <boost/pool/pool_alloc.hpp>
+#include <set>
 
 namespace gtsam {
 
diff --git a/gtsam/nonlinear/tests/testOrdering.cpp b/gtsam/nonlinear/tests/testOrdering.cpp
index f57e3281a..beb16f741 100644
--- a/gtsam/nonlinear/tests/testOrdering.cpp
+++ b/gtsam/nonlinear/tests/testOrdering.cpp
@@ -14,9 +14,10 @@
  * @author Alex Cunningham
  */
 
-#include <CppUnitLite/TestHarness.h>
-#include <gtsam/base/TestableAssertions.h>
 #include <gtsam/nonlinear/Ordering.h>
+#include <gtsam/nonlinear/Symbol.h>
+#include <gtsam/base/TestableAssertions.h>
+#include <CppUnitLite/TestHarness.h>
 
 using namespace std;
 using namespace gtsam;
diff --git a/gtsam/nonlinear/tests/testSerializationNonlinear.cpp b/gtsam/nonlinear/tests/testSerializationNonlinear.cpp
index 120a9fa94..bc023f115 100644
--- a/gtsam/nonlinear/tests/testSerializationNonlinear.cpp
+++ b/gtsam/nonlinear/tests/testSerializationNonlinear.cpp
@@ -16,11 +16,12 @@
  * @date Feb 7, 2012
  */
 
+#include <gtsam/nonlinear/Values.h>
+#include <gtsam/nonlinear/Symbol.h>
 #include <gtsam/geometry/PinholeCamera.h>
 #include <gtsam/geometry/Cal3_S2.h>
 #include <gtsam/geometry/Cal3DS2.h>
 #include <gtsam/geometry/Cal3Bundler.h>
-#include <gtsam/nonlinear/Values.h>
 
 #include <gtsam/base/serializationTestHelpers.h>
 #include <CppUnitLite/TestHarness.h>
diff --git a/gtsam/nonlinear/tests/testValues.cpp b/gtsam/nonlinear/tests/testValues.cpp
index 6ccd3b083..f5caa846b 100644
--- a/gtsam/nonlinear/tests/testValues.cpp
+++ b/gtsam/nonlinear/tests/testValues.cpp
@@ -10,28 +10,29 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file testDynamicValues.cpp
+ * @file testValues.cpp
  * @author Richard Roberts
  */
 
-#include <CppUnitLite/TestHarness.h>
-#include <stdexcept>
-#include <limits>
-#include <boost/assign/std/list.hpp> // for operator +=
-using namespace boost::assign;
-
+#include <gtsam/nonlinear/Values.h>
+#include <gtsam/nonlinear/Symbol.h>
+#include <gtsam/geometry/Pose2.h>
+#include <gtsam/geometry/Pose3.h>
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/TestableAssertions.h>
 #include <gtsam/base/LieVector.h>
-#include <gtsam/geometry/Pose2.h>
-#include <gtsam/geometry/Pose3.h>
-#include <gtsam/nonlinear/Values.h>
+
+#include <CppUnitLite/TestHarness.h>
+#include <boost/assign/std/list.hpp> // for operator +=
+using namespace boost::assign;
+#include <stdexcept>
+#include <limits>
 
 using namespace gtsam;
 using namespace std;
 static double inf = std::numeric_limits<double>::infinity();
 
-const Key key1(Symbol('v',1)), key2(Symbol('v',2)), key3(Symbol('v',3)), key4(Symbol('v',4));
+const Symbol key1('v',1), key2('v',2), key3('v',3), key4('v',4);
 
 /* ************************************************************************* */
 TEST( Values, equals1 )
diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h
index d046d0e1b..d64585b7d 100644
--- a/gtsam/slam/GeneralSFMFactor.h
+++ b/gtsam/slam/GeneralSFMFactor.h
@@ -20,9 +20,10 @@
 
 #pragma once
 
-#include <gtsam/geometry/Point2.h>
 #include <gtsam/nonlinear/NonlinearFactor.h>
-
+#include <gtsam/geometry/CalibratedCamera.h>
+#include <gtsam/geometry/Point2.h>
+#include <gtsam/geometry/Point3.h>
 
 namespace gtsam {
 
diff --git a/gtsam/slam/pose2SLAM.h b/gtsam/slam/pose2SLAM.h
index 337ab9f7a..84fbc528f 100644
--- a/gtsam/slam/pose2SLAM.h
+++ b/gtsam/slam/pose2SLAM.h
@@ -19,7 +19,6 @@
 
 #include <gtsam/slam/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
-#include <gtsam/nonlinear/Symbol.h>
 #include <gtsam/nonlinear/Values.h>
 #include <gtsam/nonlinear/NonlinearEquality.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
diff --git a/gtsam/slam/pose3SLAM.h b/gtsam/slam/pose3SLAM.h
index e42238892..f81070818 100644
--- a/gtsam/slam/pose3SLAM.h
+++ b/gtsam/slam/pose3SLAM.h
@@ -20,7 +20,6 @@
 #include <gtsam/geometry/Pose3.h>
 #include <gtsam/slam/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
-#include <gtsam/nonlinear/Symbol.h>
 #include <gtsam/nonlinear/NonlinearEquality.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
diff --git a/gtsam/slam/smallExample.cpp b/gtsam/slam/smallExample.cpp
index 2e9194466..b0e709a80 100644
--- a/gtsam/slam/smallExample.cpp
+++ b/gtsam/slam/smallExample.cpp
@@ -18,6 +18,7 @@
  */
 
 #include <gtsam/slam/smallExample.h>
+#include <gtsam/nonlinear/Symbol.h>
 #include <gtsam/nonlinear/Ordering.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/NonlinearFactor.h>
diff --git a/gtsam/slam/tests/testGeneralSFMFactor.cpp b/gtsam/slam/tests/testGeneralSFMFactor.cpp
index 5b8a217bc..f9911ce7d 100644
--- a/gtsam/slam/tests/testGeneralSFMFactor.cpp
+++ b/gtsam/slam/tests/testGeneralSFMFactor.cpp
@@ -16,23 +16,24 @@
  * @brief unit tests for GeneralSFMFactor
  */
 
-#include <iostream>
-#include <vector>
+#include <gtsam/slam/GeneralSFMFactor.h>
+#include <gtsam/slam/RangeFactor.h>
+#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/NonlinearEquality.h>
+#include <gtsam/nonlinear/Symbol.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
+#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
+#include <gtsam/linear/VectorValues.h>
+#include <gtsam/geometry/Cal3_S2.h>
+#include <gtsam/geometry/PinholeCamera.h>
+#include <gtsam/base/Testable.h>
 
 #include <boost/shared_ptr.hpp>
 #include <CppUnitLite/TestHarness.h>
 using namespace boost;
 
-#include <gtsam/base/Testable.h>
-#include <gtsam/geometry/Cal3_S2.h>
-#include <gtsam/geometry/PinholeCamera.h>
-#include <gtsam/nonlinear/NonlinearFactorGraph.h>
-#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
-#include <gtsam/linear/VectorValues.h>
-#include <gtsam/nonlinear/NonlinearEquality.h>
-#include <gtsam/slam/GeneralSFMFactor.h>
-#include <gtsam/slam/RangeFactor.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <iostream>
+#include <vector>
 
 using namespace std;
 using namespace gtsam;
diff --git a/gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp b/gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp
index 76cf7d180..7698acae4 100644
--- a/gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp
+++ b/gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp
@@ -10,28 +10,30 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file testGeneralSFMFactor.cpp
+ * @file testGeneralSFMFactor_Cal3Bundler.cpp
  * @date Dec 27, 2010
  * @author nikai
  * @brief unit tests for GeneralSFMFactor
  */
 
-#include <iostream>
-#include <vector>
+#include <gtsam/slam/GeneralSFMFactor.h>
+#include <gtsam/slam/RangeFactor.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
+#include <gtsam/nonlinear/NonlinearEquality.h>
+#include <gtsam/nonlinear/Ordering.h>
+#include <gtsam/nonlinear/Symbol.h>
+#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
+#include <gtsam/linear/VectorValues.h>
+#include <gtsam/geometry/Point3.h>
+#include <gtsam/geometry/Cal3Bundler.h>
+#include <gtsam/geometry/PinholeCamera.h>
+#include <gtsam/base/Testable.h>
 
 #include <boost/shared_ptr.hpp>
 #include <CppUnitLite/TestHarness.h>
-using namespace boost;
 
-#include <gtsam/base/Testable.h>
-#include <gtsam/geometry/Cal3Bundler.h>
-#include <gtsam/geometry/PinholeCamera.h>
-#include <gtsam/nonlinear/NonlinearFactorGraph.h>
-#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
-#include <gtsam/linear/VectorValues.h>
-#include <gtsam/nonlinear/NonlinearEquality.h>
-#include <gtsam/slam/GeneralSFMFactor.h>
-#include <gtsam/slam/RangeFactor.h>
+#include <iostream>
+#include <vector>
 
 using namespace std;
 using namespace gtsam;
@@ -146,8 +148,8 @@ vector<GeneralCamera> genCameraVariableCalibration() {
   return X ;
 }
 
-shared_ptr<Ordering> getOrdering(const vector<GeneralCamera>& X, const vector<Point3>& L) {
-  shared_ptr<Ordering> ordering(new Ordering);
+boost::shared_ptr<Ordering> getOrdering(const std::vector<GeneralCamera>& X, const std::vector<Point3>& L) {
+  boost::shared_ptr<Ordering> ordering(new Ordering);
   for ( size_t i = 0 ; i < L.size() ; ++i ) ordering->push_back(Symbol('l', i)) ;
   for ( size_t i = 0 ; i < X.size() ; ++i ) ordering->push_back(Symbol('x', i)) ;
   return ordering ;
diff --git a/gtsam/slam/tests/testPlanarSLAM.cpp b/gtsam/slam/tests/testPlanarSLAM.cpp
index 8859f7a08..11efc7b5e 100644
--- a/gtsam/slam/tests/testPlanarSLAM.cpp
+++ b/gtsam/slam/tests/testPlanarSLAM.cpp
@@ -14,16 +14,16 @@
  *  @author Frank Dellaert
  **/
 
+#include <gtsam/slam/planarSLAM.h>
+#include <gtsam/slam/BearingRangeFactor.h>
+#include <gtsam/nonlinear/Symbol.h>
+#include <gtsam/base/TestableAssertions.h>
+
 #include <iostream>
 #include <CppUnitLite/TestHarness.h>
 
-#include <gtsam/base/TestableAssertions.h>
-#include <gtsam/slam/planarSLAM.h>
-#include <gtsam/slam/BearingRangeFactor.h>
-
 using namespace std;
 using namespace gtsam;
-using namespace planarSLAM;
 
 // some shared test values
 static Pose2 x1, x2(1, 1, 0), x3(1, 1, M_PI_4);
diff --git a/gtsam/slam/tests/testProjectionFactor.cpp b/gtsam/slam/tests/testProjectionFactor.cpp
index 80b35f269..2ec97f301 100644
--- a/gtsam/slam/tests/testProjectionFactor.cpp
+++ b/gtsam/slam/tests/testProjectionFactor.cpp
@@ -17,6 +17,7 @@
  */
 
 #include <gtsam/slam/visualSLAM.h>
+#include <gtsam/nonlinear/Symbol.h>
 #include <CppUnitLite/TestHarness.h>
 
 using namespace std;
diff --git a/gtsam/slam/tests/testSerializationSLAM.cpp b/gtsam/slam/tests/testSerializationSLAM.cpp
index 4442d73fc..23093a28e 100644
--- a/gtsam/slam/tests/testSerializationSLAM.cpp
+++ b/gtsam/slam/tests/testSerializationSLAM.cpp
@@ -16,12 +16,12 @@
  * @date Feb 7, 2012
  */
 
-#include <gtsam/linear/GaussianISAM.h>
-#include <gtsam/linear/GaussianMultifrontalSolver.h>
 #include <gtsam/slam/smallExample.h>
 #include <gtsam/slam/planarSLAM.h>
 #include <gtsam/slam/visualSLAM.h>
-
+#include <gtsam/nonlinear/Symbol.h>
+#include <gtsam/linear/GaussianISAM.h>
+#include <gtsam/linear/GaussianMultifrontalSolver.h>
 #include <gtsam/base/serializationTestHelpers.h>
 #include <CppUnitLite/TestHarness.h>
 
diff --git a/gtsam/slam/tests/testSimulated2DOriented.cpp b/gtsam/slam/tests/testSimulated2DOriented.cpp
index b3d6e8d9e..afca72402 100644
--- a/gtsam/slam/tests/testSimulated2DOriented.cpp
+++ b/gtsam/slam/tests/testSimulated2DOriented.cpp
@@ -16,17 +16,17 @@
  * @brief unit tests for simulated2DOriented
  */
 
-#include <iostream>
-#include <CppUnitLite/TestHarness.h>
-
-#include <gtsam/base/Testable.h>
-#include <gtsam/base/numericalDerivative.h>
 #include <gtsam/slam/simulated2D.h>
 #include <gtsam/slam/simulated2DOriented.h>
+#include <gtsam/nonlinear/Symbol.h>
+#include <gtsam/base/Testable.h>
+#include <gtsam/base/numericalDerivative.h>
 
 using namespace std;
 using namespace gtsam;
-using namespace simulated2DOriented;
+
+#include <iostream>
+#include <CppUnitLite/TestHarness.h>
 
 // Convenience for named keys
 Key kx(size_t i) { return Symbol('x',i); }
diff --git a/gtsam/slam/tests/testStereoFactor.cpp b/gtsam/slam/tests/testStereoFactor.cpp
index ffa512d96..9a8a27054 100644
--- a/gtsam/slam/tests/testStereoFactor.cpp
+++ b/gtsam/slam/tests/testStereoFactor.cpp
@@ -19,6 +19,7 @@
 #include <gtsam/slam/StereoFactor.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/GaussNewtonOptimizer.h>
+#include <gtsam/nonlinear/Symbol.h>
 #include <gtsam/geometry/StereoCamera.h>
 #include <gtsam/geometry/Pose3.h>
 
diff --git a/gtsam/slam/tests/testVisualSLAM.cpp b/gtsam/slam/tests/testVisualSLAM.cpp
index 27b930022..dc9b64f4d 100644
--- a/gtsam/slam/tests/testVisualSLAM.cpp
+++ b/gtsam/slam/tests/testVisualSLAM.cpp
@@ -20,6 +20,7 @@
 #include <gtsam/slam/visualSLAM.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
+#include <gtsam/nonlinear/Symbol.h>
 
 #include <CppUnitLite/TestHarness.h>
 #include <boost/shared_ptr.hpp>
diff --git a/gtsam/slam/visualSLAM.h b/gtsam/slam/visualSLAM.h
index 9933c4d9f..32824b60e 100644
--- a/gtsam/slam/visualSLAM.h
+++ b/gtsam/slam/visualSLAM.h
@@ -23,7 +23,6 @@
 #include <gtsam/slam/ProjectionFactor.h>
 #include <gtsam/slam/StereoFactor.h>
 #include <gtsam/slam/RangeFactor.h>
-#include <gtsam/nonlinear/Symbol.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/NonlinearEquality.h>
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
diff --git a/gtsam_unstable/slam/simulated3D.h b/gtsam_unstable/slam/simulated3D.h
index 66552b926..ef79991b8 100644
--- a/gtsam_unstable/slam/simulated3D.h
+++ b/gtsam_unstable/slam/simulated3D.h
@@ -23,7 +23,6 @@
 #include <gtsam/geometry/Point3.h>
 #include <gtsam/linear/VectorValues.h>
 #include <gtsam/nonlinear/NonlinearFactor.h>
-#include <gtsam/nonlinear/Symbol.h>
 
 // \namespace
 
diff --git a/gtsam_unstable/slam/tests/testSimulated3D.cpp b/gtsam_unstable/slam/tests/testSimulated3D.cpp
index 5aca0ce3a..d7633f473 100644
--- a/gtsam_unstable/slam/tests/testSimulated3D.cpp
+++ b/gtsam_unstable/slam/tests/testSimulated3D.cpp
@@ -18,10 +18,11 @@
 #include <iostream>
 #include <CppUnitLite/TestHarness.h>
 
+#include <gtsam_unstable/slam/simulated3D.h>
+#include <gtsam/nonlinear/Symbol.h>
+#include <gtsam/geometry/Pose3.h>
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/numericalDerivative.h>
-#include <gtsam/geometry/Pose3.h>
-#include <gtsam_unstable/slam/simulated3D.h>
 
 using namespace gtsam;
 using namespace simulated3D;
diff --git a/tests/testBoundingConstraint.cpp b/tests/testBoundingConstraint.cpp
index 35b1833ee..d728742f7 100644
--- a/tests/testBoundingConstraint.cpp
+++ b/tests/testBoundingConstraint.cpp
@@ -15,12 +15,13 @@
  * @author Alex Cunningham
  */
 
-#include <CppUnitLite/TestHarness.h>
-
 #include <gtsam/slam/simulated2DConstraints.h>
+#include <gtsam/nonlinear/Symbol.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
 
+#include <CppUnitLite/TestHarness.h>
+
 namespace iq2D = simulated2D::inequality_constraints;
 using namespace std;
 using namespace gtsam;
diff --git a/tests/testDoglegOptimizer.cpp b/tests/testDoglegOptimizer.cpp
index ae8c6e00e..f175ca9f3 100644
--- a/tests/testDoglegOptimizer.cpp
+++ b/tests/testDoglegOptimizer.cpp
@@ -15,15 +15,17 @@
  * @author  Richard Roberts
  */
 
-#include <CppUnitLite/TestHarness.h>
-#include <gtsam/base/numericalDerivative.h>
-#include <gtsam/inference/BayesTree-inl.h>
+#include <gtsam/slam/pose2SLAM.h>
+#include <gtsam/slam/smallExample.h>
+#include <gtsam/nonlinear/DoglegOptimizerImpl.h>
+#include <gtsam/nonlinear/Symbol.h>
 #include <gtsam/linear/JacobianFactor.h>
 #include <gtsam/linear/GaussianSequentialSolver.h>
 #include <gtsam/linear/GaussianBayesTree.h>
-#include <gtsam/nonlinear/DoglegOptimizerImpl.h>
-#include <gtsam/slam/pose2SLAM.h>
-#include <gtsam/slam/smallExample.h>
+#include <gtsam/inference/BayesTree-inl.h>
+#include <gtsam/base/numericalDerivative.h>
+
+#include <CppUnitLite/TestHarness.h>
 
 #include <boost/bind.hpp>
 #include <boost/assign/list_of.hpp> // for 'list_of()'
diff --git a/tests/testExtendedKalmanFilter.cpp b/tests/testExtendedKalmanFilter.cpp
index c0e5af4f7..9071d9c63 100644
--- a/tests/testExtendedKalmanFilter.cpp
+++ b/tests/testExtendedKalmanFilter.cpp
@@ -14,14 +14,15 @@
  * @author Stephen Williams
  */
 
-#include <CppUnitLite/TestHarness.h>
-
 #include <gtsam/slam/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/nonlinear/ExtendedKalmanFilter-inl.h>
 #include <gtsam/nonlinear/NonlinearFactor.h>
+#include <gtsam/nonlinear/Symbol.h>
 #include <gtsam/geometry/Point2.h>
 
+#include <CppUnitLite/TestHarness.h>
+
 using namespace gtsam;
 
 /* ************************************************************************* */
diff --git a/tests/testGaussianFactor.cpp b/tests/testGaussianFactor.cpp
index 2cfb7a076..f380ad4e2 100644
--- a/tests/testGaussianFactor.cpp
+++ b/tests/testGaussianFactor.cpp
@@ -16,7 +16,14 @@
  *  @author Frank Dellaert
  **/
 
-#include <iostream>
+#include <gtsam/slam/smallExample.h>
+#include <gtsam/nonlinear/Symbol.h>
+#include <gtsam/nonlinear/Ordering.h>
+#include <gtsam/linear/GaussianConditional.h>
+#include <gtsam/base/Matrix.h>
+#include <gtsam/base/Testable.h>
+
+#include <CppUnitLite/TestHarness.h>
 
 #include <boost/tuple/tuple.hpp>
 #include <boost/assign/std/list.hpp> // for operator +=
@@ -24,18 +31,10 @@
 #include <boost/assign/std/map.hpp> // for insert
 using namespace boost::assign;
 
-#include <CppUnitLite/TestHarness.h>
-
-#include <gtsam/base/Matrix.h>
-#include <gtsam/base/Testable.h>
-#include <gtsam/linear/GaussianConditional.h>
-#include <gtsam/slam/smallExample.h>
-#include <gtsam/nonlinear/Ordering.h>
+#include <iostream>
 
 using namespace std;
 using namespace gtsam;
-using namespace example;
-using namespace boost;
 
 static SharedDiagonal
 	sigma0_1 = sharedSigma(2,0.1), sigma_02 = sharedSigma(2,0.2),
@@ -53,7 +52,7 @@ TEST( GaussianFactor, linearFactor )
 	JacobianFactor expected(ordering[kx1], -10*I,ordering[kx2], 10*I, b, noiseModel::Unit::Create(2));
 
 	// create a small linear factor graph
-	FactorGraph<JacobianFactor> fg = createGaussianFactorGraph(ordering);
+	FactorGraph<JacobianFactor> fg = example::createGaussianFactorGraph(ordering);
 
 	// get the factor kf2 from the factor graph
 	JacobianFactor::shared_ptr lf = fg[1];
@@ -94,7 +93,7 @@ TEST( GaussianFactor, getDim )
 {
 	// get a factor
   Ordering ordering; ordering += kx1,kx2,kl1;
-  GaussianFactorGraph fg = createGaussianFactorGraph(ordering);
+  GaussianFactorGraph fg = example::createGaussianFactorGraph(ordering);
 	GaussianFactor::shared_ptr factor = fg[0];
 
 	// get the size of a variable
@@ -166,13 +165,13 @@ TEST( GaussianFactor, error )
 {
 	// create a small linear factor graph
   Ordering ordering; ordering += kx1,kx2,kl1;
-  GaussianFactorGraph fg = createGaussianFactorGraph(ordering);
+  GaussianFactorGraph fg = example::createGaussianFactorGraph(ordering);
 
 	// get the first factor from the factor graph
 	GaussianFactor::shared_ptr lf = fg[0];
 
 	// check the error of the first factor with noisy config
-	VectorValues cfg = createZeroDelta(ordering);
+	VectorValues cfg = example::createZeroDelta(ordering);
 
 	// calculate the error from the factor kf1
 	// note the error is the same as in testNonlinearFactor
@@ -226,7 +225,7 @@ TEST( GaussianFactor, matrix )
 {
 	// create a small linear factor graph
   Ordering ordering; ordering += kx1,kx2,kl1;
-  FactorGraph<JacobianFactor> fg = createGaussianFactorGraph(ordering);
+  FactorGraph<JacobianFactor> fg = example::createGaussianFactorGraph(ordering);
 
 	// get the factor kf2 from the factor graph
 	//GaussianFactor::shared_ptr lf = fg[1]; // NOTE: using the older version
@@ -263,7 +262,7 @@ TEST( GaussianFactor, matrix )
 	EQUALITY(b_act2,b2);
 
 	// Ensure that whitening is consistent
-	shared_ptr<noiseModel::Gaussian> model = lf->get_model();
+	boost::shared_ptr<noiseModel::Gaussian> model = lf->get_model();
 	model->WhitenSystem(A_act2, b_act2);
 	EQUALITY(A_act1, A_act2);
 	EQUALITY(b_act1, b_act2);
@@ -274,7 +273,7 @@ TEST( GaussianFactor, matrix_aug )
 {
 	// create a small linear factor graph
   Ordering ordering; ordering += kx1,kx2,kl1;
-  FactorGraph<JacobianFactor> fg = createGaussianFactorGraph(ordering);
+  FactorGraph<JacobianFactor> fg = example::createGaussianFactorGraph(ordering);
 
 	// get the factor kf2 from the factor graph
 	//GaussianFactor::shared_ptr lf = fg[1];
@@ -307,7 +306,7 @@ TEST( GaussianFactor, matrix_aug )
 	EQUALITY(Ab_act2,Ab2);
 
 	// Ensure that whitening is consistent
-	shared_ptr<noiseModel::Gaussian> model = lf->get_model();
+	boost::shared_ptr<noiseModel::Gaussian> model = lf->get_model();
 	model->WhitenInPlace(Ab_act1);
 	EQUALITY(Ab_act1, Ab_act2);
 }
@@ -385,7 +384,7 @@ TEST( GaussianFactor, size )
 {
 	// create a linear factor graph
   Ordering ordering; ordering += kx1,kx2,kl1;
-  GaussianFactorGraph fg = createGaussianFactorGraph(ordering);
+  GaussianFactorGraph fg = example::createGaussianFactorGraph(ordering);
 
 	// get some factors from the graph
 	boost::shared_ptr<GaussianFactor> factor1 = fg[0];
diff --git a/tests/testGaussianFactorGraphB.cpp b/tests/testGaussianFactorGraphB.cpp
index 2e68200f5..6eb673018 100644
--- a/tests/testGaussianFactorGraphB.cpp
+++ b/tests/testGaussianFactorGraphB.cpp
@@ -15,9 +15,16 @@
  *  @author Christian Potthast
  **/
 
-#include <string.h>
-#include <iostream>
-using namespace std;
+#include <gtsam/slam/smallExample.h>
+#include <gtsam/nonlinear/Symbol.h>
+#include <gtsam/linear/GaussianBayesNet.h>
+#include <gtsam/linear/GaussianSequentialSolver.h>
+#include <gtsam/inference/SymbolicFactorGraph.h>
+#include <gtsam/base/numericalDerivative.h>
+#include <gtsam/base/Matrix.h>
+#include <gtsam/base/Testable.h>
+
+#include <CppUnitLite/TestHarness.h>
 
 #include <boost/foreach.hpp>
 #include <boost/tuple/tuple.hpp>
@@ -26,16 +33,10 @@ using namespace std;
 #include <boost/assign/std/vector.hpp> // for operator +=
 using namespace boost::assign;
 
-#include <CppUnitLite/TestHarness.h>
-
-#include <gtsam/base/Matrix.h>
-#include <gtsam/base/Testable.h>
-#include <gtsam/base/numericalDerivative.h>
-#include <gtsam/inference/SymbolicFactorGraph.h>
-#include <gtsam/linear/GaussianBayesNet.h>
-#include <gtsam/linear/GaussianSequentialSolver.h>
-#include <gtsam/slam/smallExample.h>
+#include <string.h>
+#include <iostream>
 
+using namespace std;
 using namespace gtsam;
 using namespace example;
 
diff --git a/tests/testGaussianISAM.cpp b/tests/testGaussianISAM.cpp
index 4c798aa8d..d4946a625 100644
--- a/tests/testGaussianISAM.cpp
+++ b/tests/testGaussianISAM.cpp
@@ -15,20 +15,21 @@
  * @author  Michael Kaess
  */
 
-#include <boost/foreach.hpp>
-#include <boost/assign/std/list.hpp> // for operator +=
-using namespace boost::assign;
-
-#include <CppUnitLite/TestHarness.h>
-
-#include <gtsam/geometry/Rot2.h>
+#include <gtsam/slam/smallExample.h>
 #include <gtsam/nonlinear/Ordering.h>
+#include <gtsam/nonlinear/Symbol.h>
 #include <gtsam/linear/GaussianBayesNet.h>
-#include <gtsam/inference/ISAM.h>
 #include <gtsam/linear/GaussianISAM.h>
 #include <gtsam/linear/GaussianSequentialSolver.h>
 #include <gtsam/linear/GaussianMultifrontalSolver.h>
-#include <gtsam/slam/smallExample.h>
+#include <gtsam/inference/ISAM.h>
+#include <gtsam/geometry/Rot2.h>
+
+#include <CppUnitLite/TestHarness.h>
+
+#include <boost/foreach.hpp>
+#include <boost/assign/std/list.hpp> // for operator +=
+using namespace boost::assign;
 
 using namespace std;
 using namespace gtsam;
diff --git a/tests/testGaussianJunctionTreeB.cpp b/tests/testGaussianJunctionTreeB.cpp
index 6ec160a5d..7d73ef83b 100644
--- a/tests/testGaussianJunctionTreeB.cpp
+++ b/tests/testGaussianJunctionTreeB.cpp
@@ -15,9 +15,20 @@
  * @author nikai
  */
 
-#include <iostream>
-#include <CppUnitLite/TestHarness.h>
+#include <gtsam/slam/smallExample.h>
+#include <gtsam/slam/planarSLAM.h>
+#include <gtsam/slam/pose2SLAM.h>
+#include <gtsam/nonlinear/Ordering.h>
+#include <gtsam/nonlinear/Symbol.h>
+#include <gtsam/linear/GaussianJunctionTree.h>
+#include <gtsam/linear/GaussianSequentialSolver.h>
+#include <gtsam/linear/GaussianMultifrontalSolver.h>
+#include <gtsam/inference/BayesTree-inl.h>
 #include <gtsam/base/TestableAssertions.h>
+#include <gtsam/base/debug.h>
+#include <gtsam/base/cholesky.h>
+
+#include <CppUnitLite/TestHarness.h>
 
 #include <boost/assign/list_of.hpp>
 #include <boost/assign/std/list.hpp> // for operator +=
@@ -25,16 +36,7 @@
 #include <boost/assign/std/vector.hpp>
 using namespace boost::assign;
 
-#include <gtsam/base/debug.h>
-#include <gtsam/base/cholesky.h>
-#include <gtsam/inference/BayesTree-inl.h>
-#include <gtsam/nonlinear/Ordering.h>
-#include <gtsam/linear/GaussianJunctionTree.h>
-#include <gtsam/linear/GaussianSequentialSolver.h>
-#include <gtsam/linear/GaussianMultifrontalSolver.h>
-#include <gtsam/slam/smallExample.h>
-#include <gtsam/slam/planarSLAM.h>
-#include <gtsam/slam/pose2SLAM.h>
+#include <iostream>
 
 using namespace std;
 using namespace gtsam;
diff --git a/tests/testInferenceB.cpp b/tests/testInferenceB.cpp
index 05573c686..e023fe7e3 100644
--- a/tests/testInferenceB.cpp
+++ b/tests/testInferenceB.cpp
@@ -17,6 +17,7 @@
 
 #include <CppUnitLite/TestHarness.h>
 
+#include <gtsam/nonlinear/Symbol.h>
 #include <gtsam/linear/GaussianSequentialSolver.h>
 #include <gtsam/linear/GaussianMultifrontalSolver.h>
 #include <gtsam/slam/smallExample.h>
diff --git a/tests/testNonlinearEquality.cpp b/tests/testNonlinearEquality.cpp
index 639e67591..2b35e9f60 100644
--- a/tests/testNonlinearEquality.cpp
+++ b/tests/testNonlinearEquality.cpp
@@ -14,15 +14,16 @@
  * @author Alex Cunningham
  */
 
-#include <CppUnitLite/TestHarness.h>
-
-#include <gtsam/geometry/Pose2.h>
 #include <gtsam/slam/PriorFactor.h>
 #include <gtsam/slam/simulated2DConstraints.h>
 #include <gtsam/slam/visualSLAM.h>
+#include <gtsam/nonlinear/Symbol.h>
 #include <gtsam/nonlinear/NonlinearEquality.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
+#include <gtsam/geometry/Pose2.h>
+
+#include <CppUnitLite/TestHarness.h>
 
 using namespace std;
 using namespace gtsam;
diff --git a/tests/testNonlinearFactor.cpp b/tests/testNonlinearFactor.cpp
index d1a891356..eac14d480 100644
--- a/tests/testNonlinearFactor.cpp
+++ b/tests/testNonlinearFactor.cpp
@@ -32,6 +32,7 @@
 #include <gtsam/slam/simulated2D.h>
 #include <gtsam/linear/GaussianFactor.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
+#include <gtsam/nonlinear/Symbol.h>
 
 using namespace std;
 using namespace gtsam;
diff --git a/tests/testNonlinearFactorGraph.cpp b/tests/testNonlinearFactorGraph.cpp
index 4f3e7560f..59ee0977e 100644
--- a/tests/testNonlinearFactorGraph.cpp
+++ b/tests/testNonlinearFactorGraph.cpp
@@ -32,6 +32,7 @@ using namespace boost::assign;
 #include <gtsam/slam/smallExample.h>
 #include <gtsam/inference/FactorGraph.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
+#include <gtsam/nonlinear/Symbol.h>
 
 using namespace gtsam;
 using namespace example;
diff --git a/tests/testNonlinearISAM.cpp b/tests/testNonlinearISAM.cpp
index cf8782e09..28926ff5d 100644
--- a/tests/testNonlinearISAM.cpp
+++ b/tests/testNonlinearISAM.cpp
@@ -7,6 +7,7 @@
 
 #include <gtsam/linear/Sampler.h>
 #include <gtsam/nonlinear/NonlinearISAM.h>
+#include <gtsam/nonlinear/Symbol.h>
 #include <gtsam/slam/planarSLAM.h>
 
 using namespace gtsam;
diff --git a/tests/testNonlinearOptimizer.cpp b/tests/testNonlinearOptimizer.cpp
index 1a134b8a3..a59584c96 100644
--- a/tests/testNonlinearOptimizer.cpp
+++ b/tests/testNonlinearOptimizer.cpp
@@ -17,6 +17,7 @@
 
 #include <gtsam/slam/smallExample.h>
 #include <gtsam/slam/pose2SLAM.h>
+#include <gtsam/nonlinear/Symbol.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/GaussNewtonOptimizer.h>
 #include <gtsam/nonlinear/DoglegOptimizer.h>
diff --git a/tests/testRot3Optimization.cpp b/tests/testRot3Optimization.cpp
index df2471933..3e78414e9 100644
--- a/tests/testRot3Optimization.cpp
+++ b/tests/testRot3Optimization.cpp
@@ -24,6 +24,7 @@
 #include <gtsam/geometry/Rot3.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/GaussNewtonOptimizer.h>
+#include <gtsam/nonlinear/Symbol.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/slam/PriorFactor.h>
 
diff --git a/tests/testSymbolicBayesNetB.cpp b/tests/testSymbolicBayesNetB.cpp
index e25cf33ca..356f4bb34 100644
--- a/tests/testSymbolicBayesNetB.cpp
+++ b/tests/testSymbolicBayesNetB.cpp
@@ -26,6 +26,7 @@ using namespace boost::assign;
 #include <gtsam/inference/SymbolicFactorGraph.h>
 #include <gtsam/inference/SymbolicSequentialSolver.h>
 #include <gtsam/nonlinear/Ordering.h>
+#include <gtsam/nonlinear/Symbol.h>
 
 using namespace std;
 using namespace gtsam;
diff --git a/tests/testSymbolicFactorGraphB.cpp b/tests/testSymbolicFactorGraphB.cpp
index 9b195e0c1..cb64ddb4a 100644
--- a/tests/testSymbolicFactorGraphB.cpp
+++ b/tests/testSymbolicFactorGraphB.cpp
@@ -15,20 +15,20 @@
  * @author  Frank Dellaert
  */
 
-#include <boost/assign/std/list.hpp> // for operator +=
-using namespace boost::assign;
-
-#include <CppUnitLite/TestHarness.h>
-
 #include <gtsam/slam/smallExample.h>
+#include <gtsam/nonlinear/Ordering.h>
+#include <gtsam/nonlinear/Symbol.h>
 #include <gtsam/inference/SymbolicFactorGraph.h>
 #include <gtsam/inference/BayesNet-inl.h>
 #include <gtsam/inference/SymbolicSequentialSolver.h>
-#include <gtsam/nonlinear/Ordering.h>
+
+#include <CppUnitLite/TestHarness.h>
+
+#include <boost/assign/std/list.hpp> // for operator +=
+using namespace boost::assign;
 
 using namespace std;
 using namespace gtsam;
-using namespace example;
 
 Key kx(size_t i) { return Symbol('x',i); }
 Key kl(size_t i) { return Symbol('l',i); }
@@ -45,7 +45,7 @@ TEST( SymbolicFactorGraph, symbolicFactorGraph )
 	expected.push_factor(o[kx(2)],o[kl(1)]);
 
 	// construct it from the factor graph
-	GaussianFactorGraph factorGraph = createGaussianFactorGraph(o);
+	GaussianFactorGraph factorGraph = example::createGaussianFactorGraph(o);
 	SymbolicFactorGraph actual(factorGraph);
 
 	CHECK(assert_equal(expected, actual));
@@ -55,7 +55,7 @@ TEST( SymbolicFactorGraph, symbolicFactorGraph )
 //TEST( SymbolicFactorGraph, findAndRemoveFactors )
 //{
 //	// construct it from the factor graph graph
-//	GaussianFactorGraph factorGraph = createGaussianFactorGraph();
+//	GaussianFactorGraph factorGraph = example::createGaussianFactorGraph();
 //	SymbolicFactorGraph actual(factorGraph);
 //  SymbolicFactor::shared_ptr f1 = actual[0];
 //  SymbolicFactor::shared_ptr f3 = actual[2];
@@ -75,7 +75,7 @@ TEST( SymbolicFactorGraph, symbolicFactorGraph )
 //TEST( SymbolicFactorGraph, factors)
 //{
 //	// create a test graph
-//	GaussianFactorGraph factorGraph = createGaussianFactorGraph();
+//	GaussianFactorGraph factorGraph = example::createGaussianFactorGraph();
 //	SymbolicFactorGraph fg(factorGraph);
 //
 //	// ask for all factor indices connected to x1
@@ -95,7 +95,7 @@ TEST( SymbolicFactorGraph, symbolicFactorGraph )
 //TEST( SymbolicFactorGraph, removeAndCombineFactors )
 //{
 //	// create a test graph
-//	GaussianFactorGraph factorGraph = createGaussianFactorGraph();
+//	GaussianFactorGraph factorGraph = example::createGaussianFactorGraph();
 //	SymbolicFactorGraph fg(factorGraph);
 //
 //  // combine all factors connected to x1
@@ -111,7 +111,7 @@ TEST( SymbolicFactorGraph, symbolicFactorGraph )
 //{
 //  Ordering o; o += kx(1),kl(1),kx(2);
 //	// create a test graph
-//	GaussianFactorGraph factorGraph = createGaussianFactorGraph(o);
+//	GaussianFactorGraph factorGraph = example::createGaussianFactorGraph(o);
 //	SymbolicFactorGraph fg(factorGraph);
 //
 //	// eliminate
@@ -139,7 +139,7 @@ TEST( SymbolicFactorGraph, eliminate )
   expected.push_back(x1);
 
   // create a test graph
-	GaussianFactorGraph factorGraph = createGaussianFactorGraph(o);
+	GaussianFactorGraph factorGraph = example::createGaussianFactorGraph(o);
 	SymbolicFactorGraph fg(factorGraph);
 
 	// eliminate it