diff --git a/gtsam_unstable/nonlinear/tests/testBADFactor.cpp b/gtsam_unstable/nonlinear/tests/testBADFactor.cpp
index efbafec80..7b9dcd765 100644
--- a/gtsam_unstable/nonlinear/tests/testBADFactor.cpp
+++ b/gtsam_unstable/nonlinear/tests/testBADFactor.cpp
@@ -77,7 +77,7 @@ TEST(BADFactor, test) {
 
 /* ************************************************************************* */
 
-TEST(BADFactor, compose) {
+TEST(BADFactor, compose1) {
 
   // Create expression
   Rot3_ R1(1), R2(2);
diff --git a/gtsam_unstable/nonlinear/tests/testExpression.cpp b/gtsam_unstable/nonlinear/tests/testExpression.cpp
index d6da6bc01..941d21dd8 100644
--- a/gtsam_unstable/nonlinear/tests/testExpression.cpp
+++ b/gtsam_unstable/nonlinear/tests/testExpression.cpp
@@ -63,7 +63,7 @@ TEST(Expression, test) {
 
 /* ************************************************************************* */
 
-TEST(Expression, compose) {
+TEST(Expression, compose1) {
 
   // Create expression
   Expression<Rot3> R1(1), R2(2);
@@ -90,6 +90,20 @@ TEST(Expression, compose2) {
   EXPECT(expectedKeys == R3.keys());
 }
 
+/* ************************************************************************* */
+// Test compose with one arguments referring to a constant same rotation
+TEST(Expression, compose3) {
+
+  // Create expression
+  Expression<Rot3> R1(Rot3::identity()), R2(3);
+  Expression<Rot3> R3 = R1 * R2;
+
+  // Check keys
+  std::set<Key> expectedKeys;
+  expectedKeys.insert(3);
+  EXPECT(expectedKeys == R3.keys());
+}
+
 /* ************************************************************************* */
 int main() {
   TestResult tr;