diff --git a/cpp/testIterative.cpp b/cpp/testIterative.cpp
index 68a52bb62..56abd4ed3 100644
--- a/cpp/testIterative.cpp
+++ b/cpp/testIterative.cpp
@@ -115,8 +115,8 @@ TEST( Iterative, conjugateGradientDescent_soft_constraint )
 	config.insert(2, Pose2(1.5,0.,0.));
 
 	Pose2Graph graph;
-	graph.addPrior(1, Pose2(0.,0.,0.), sharedGaussian(Vector_(3, 1e-10, 1e-10, 1e-10)));
-	graph.addConstraint(1,2, Pose2(1.,0.,0.), eye(3));
+	graph.addPrior(1, Pose2(0.,0.,0.), Isotropic::Sigma(3, 1e-10));
+	graph.addConstraint(1,2, Pose2(1.,0.,0.), Isotropic::Sigma(3, 1));
 
 	VectorConfig zeros;
 	zeros.insert("x1",zero(3));
@@ -141,8 +141,8 @@ TEST( Iterative, subgraphPCG )
 	theta_bar.insert(2, Pose2(1.5,0.,0.));
 
 	Pose2Graph graph;
-	graph.addPrior(1, Pose2(0.,0.,0.), sharedGaussian(Vector_(3, 1e-10, 1e-10, 1e-10)));
-	graph.addConstraint(1,2, Pose2(1.,0.,0.), eye(3));
+	graph.addPrior(1, Pose2(0.,0.,0.), Isotropic::Sigma(3, 1e-10));
+	graph.addConstraint(1,2, Pose2(1.,0.,0.), Isotropic::Sigma(3, 1));
 
 	VectorConfig zeros;
 	zeros.insert("x1",zero(3));
diff --git a/cpp/testNonlinearOptimizer.cpp b/cpp/testNonlinearOptimizer.cpp
index e703e2ed1..b8303c8d9 100644
--- a/cpp/testNonlinearOptimizer.cpp
+++ b/cpp/testNonlinearOptimizer.cpp
@@ -161,8 +161,8 @@ TEST( NonlinearOptimizer, Factorization )
 	config->insert(2, Pose2(1.5,0.,0.));
 
 	boost::shared_ptr<Pose2Graph> graph(new Pose2Graph);
-	graph->addPrior(1, Pose2(0.,0.,0.), Diagonal::Sigmas(Vector_(3, 1e-10, 1e-10, 1e-10)));
-	graph->addConstraint(1,2, Pose2(1.,0.,0.), Diagonal::Sigmas(Vector_(3, 1, 1, 1)));
+	graph->addPrior(1, Pose2(0.,0.,0.), Isotropic::Sigma(3, 1e-10));
+	graph->addConstraint(1,2, Pose2(1.,0.,0.), Isotropic::Sigma(3, 1));
 
 	boost::shared_ptr<Ordering> ordering(new Ordering);
 	ordering->push_back(Pose2Config::Key(1));
@@ -187,8 +187,8 @@ TEST( NonlinearOptimizer, SubgraphPCG )
 	config->insert(2, Pose2(1.5,0.,0.));
 
 	boost::shared_ptr<Pose2Graph> graph(new Pose2Graph);
-	graph->addPrior(1, Pose2(0.,0.,0.), Diagonal::Sigmas(Vector_(3, 1e-10, 1e-10, 1e-10)));
-	graph->addConstraint(1,2, Pose2(1.,0.,0.), Diagonal::Sigmas(Vector_(3, 1, 1, 1)));
+	graph->addPrior(1, Pose2(0.,0.,0.), Isotropic::Sigma(3, 1e-10));
+	graph->addConstraint(1,2, Pose2(1.,0.,0.), Isotropic::Sigma(3, 1));
 
 	boost::shared_ptr<Ordering> ordering(new Ordering);
 	ordering->push_back(Pose2Config::Key(1));