diff --git a/gtsam/slam/tests/testBetweenFactor.cpp b/gtsam/slam/tests/testBetweenFactor.cpp
deleted file mode 100644
index 415524071..000000000
--- a/gtsam/slam/tests/testBetweenFactor.cpp
+++ /dev/null
@@ -1,49 +0,0 @@
-/**
- * @file 	 testBetweenFactor.cpp
- * @brief  
- * @author Duy-Nguyen Ta
- * @date 	 Aug 2, 2013
- */
-
-#include <gtsam/base/numericalDerivative.h>
-#include <gtsam/geometry/Rot3.h>
-#include <gtsam/nonlinear/Symbol.h>
-#include <gtsam/slam/BetweenFactor.h>
-#include <CppUnitLite/TestHarness.h>
-
-using namespace gtsam;
-using namespace gtsam::symbol_shorthand;
-using namespace gtsam::noiseModel;
-
-TEST(BetweenFactor, Rot3) {
-  Rot3 R1 = Rot3::rodriguez(0.1, 0.2, 0.3);
-  Rot3 R2 = Rot3::rodriguez(0.4, 0.5, 0.6);
-  Rot3 noise = Rot3::rodriguez(0.01, 0.01, 0.01);
-  Rot3 measured = R1.between(R2)*noise  ;
-
-  BetweenFactor<Rot3> factor(R(1), R(2), measured, Isotropic::Sigma(3, 0.05));
-  Matrix actualH1, actualH2;
-  Vector actual = factor.evaluateError(R1, R2, actualH1, actualH2);
-
-  Vector expected = Rot3::Logmap(measured.inverse() * R1.between(R2));
-  CHECK(assert_equal(expected,actual, 1e-100));
-
-  Matrix numericalH1 = numericalDerivative21(
-      boost::function<Vector(const Rot3&, const Rot3&)>(boost::bind(
-          &BetweenFactor<Rot3>::evaluateError, factor, _1, _2, boost::none,
-          boost::none)), R1, R2, 1e-5);
-  CHECK(assert_equal(numericalH1,actualH1));
-
-  Matrix numericalH2 = numericalDerivative22(
-      boost::function<Vector(const Rot3&, const Rot3&)>(boost::bind(
-          &BetweenFactor<Rot3>::evaluateError, factor, _1, _2, boost::none,
-          boost::none)), R1, R2, 1e-5);
-  CHECK(assert_equal(numericalH2,actualH2));
-}
-
-/* ************************************************************************* */
-int main() {
-  TestResult tr;
-  return TestRegistry::runAllTests(tr);
-}
-/* ************************************************************************* */