diff --git a/cpp/NonlinearConstraint-inl.h b/cpp/NonlinearConstraint-inl.h
index 3c90dd44a..c02ba2a0c 100644
--- a/cpp/NonlinearConstraint-inl.h
+++ b/cpp/NonlinearConstraint-inl.h
@@ -10,6 +10,10 @@
 #include <boost/bind.hpp>
 #include "NonlinearConstraint.h"
 
+#define INSTANTIATE_NONLINEAR_CONSTRAINT(C) \
+  INSTANTIATE_FACTOR_GRAPH(NonlinearConstraint<C>); \
+  template class NonlinearConstraint<C>;
+
 namespace gtsam {
 
 /* ************************************************************************* */
diff --git a/cpp/TupleConfig-inl.h b/cpp/TupleConfig-inl.h
index 6ccbc2084..fa56118e6 100644
--- a/cpp/TupleConfig-inl.h
+++ b/cpp/TupleConfig-inl.h
@@ -18,9 +18,27 @@
   /*template void PairConfig<J1,X1,J2,X2>::print(const std::string&) const;*/ \
   template PairConfig<J1,X1,J2,X2> expmap(PairConfig<J1,X1,J2,X2>, const VectorConfig&);
 
-#define INSTANTIATE_TUPLE_CONFIG(CONFIG) \
-		template class CONFIG; \
-		template CONFIG expmap(CONFIG, const VectorConfig&);
+// TupleConfig instantiations for N = 1-6
+#define INSTANTIATE_TUPLE_CONFIG2(Config1, Config2) \
+		template class TupleConfig2<Config1, Config2>; \
+		template TupleConfig2<Config1, Config2> expmap(const TupleConfig2<Config1, Config2>, const VectorConfig&);
+
+#define INSTANTIATE_TUPLE_CONFIG3(Config1, Config2, Config3) \
+		template class TupleConfig3<Config1, Config2, Config3>; \
+		template TupleConfig3<Config1, Config2, Config3> expmap(const TupleConfig3<Config1, Config2, Config3>, const VectorConfig&);
+
+#define INSTANTIATE_TUPLE_CONFIG4(Config1, Config2, Config3, Config4) \
+		template class TupleConfig4<Config1, Config2, Config3, Config4>; \
+		template TupleConfig4<Config1, Config2, Config3, Config4> expmap(const TupleConfig4<Config1, Config2, Config3, Config4>, const VectorConfig&);
+
+#define INSTANTIATE_TUPLE_CONFIG5(Config1, Config2, Config3, Config4, Config5) \
+		template class TupleConfig5<Config1, Config2, Config3, Config4, Config5>; \
+		template TupleConfig5<Config1, Config2, Config3, Config4, Config5> expmap(const TupleConfig5<Config1, Config2, Config3, Config4, Config5>, const VectorConfig&);
+
+#define INSTANTIATE_TUPLE_CONFIG6(Config1, Config2, Config3, Config4, Config5, Config6) \
+		template class TupleConfig6<Config1, Config2, Config3, Config4, Config5, Config6>; \
+		template TupleConfig6<Config1, Config2, Config3, Config4, Config5, Config6> expmap(const TupleConfig6<Config1, Config2, Config3, Config4, Config5, Config6>, const VectorConfig&);
+
 
 namespace gtsam {
 
diff --git a/cpp/TupleConfig.h b/cpp/TupleConfig.h
index 433d7bb8b..089284d1f 100644
--- a/cpp/TupleConfig.h
+++ b/cpp/TupleConfig.h
@@ -210,6 +210,11 @@ namespace gtsam {
 	  inline const Config2_t& second() const { return this->rest().config(); }
   };
 
+  template<class Config1, class Config2>
+  TupleConfig2<Config1, Config2> exmap(const TupleConfig2<Config1, Config2> c, const VectorConfig& delta) {
+	  return c.exmap(delta);
+  }
+
   template<class Config1, class Config2, class Config3>
   class TupleConfig3 : public TupleConfig<Config1, TupleConfig<Config2, TupleConfigEnd<Config3> > > {
   public:
@@ -229,6 +234,11 @@ namespace gtsam {
 	  inline const Config3_t& third() const { return this->rest().rest().config(); }
   };
 
+  template<class Config1, class Config2, class Config3>
+  TupleConfig3<Config1, Config2, Config3> exmap(const TupleConfig3<Config1, Config2, Config3> c, const VectorConfig& delta) {
+	  return c.exmap(delta);
+  }
+
   template<class Config1, class Config2, class Config3, class Config4>
   class TupleConfig4 : public TupleConfig<Config1, TupleConfig<Config2,TupleConfig<Config3, TupleConfigEnd<Config4> > > > {
   public:
@@ -250,6 +260,11 @@ namespace gtsam {
 	  inline const Config4_t& fourth() const { return this->rest().rest().rest().config(); }
   };
 
+  template<class Config1, class Config2, class Config3, class Config4>
+  TupleConfig4<Config1, Config2, Config3, Config4> exmap(const TupleConfig4<Config1, Config2, Config3, Config4> c, const VectorConfig& delta) {
+	  return c.exmap(delta);
+  }
+
   template<class Config1, class Config2, class Config3, class Config4, class Config5>
   class TupleConfig5 : public TupleConfig<Config1, TupleConfig<Config2, TupleConfig<Config3, TupleConfig<Config4, TupleConfigEnd<Config5> > > > > {
   public:
@@ -274,6 +289,11 @@ namespace gtsam {
 	  inline const Config5_t& fifth() const { return this->rest().rest().rest().rest().config(); }
   };
 
+  template<class Config1, class Config2, class Config3, class Config4, class Config5>
+  TupleConfig5<Config1, Config2, Config3, Config4, Config5> exmap(const TupleConfig5<Config1, Config2, Config3, Config4, Config5> c, const VectorConfig& delta) {
+	  return c.exmap(delta);
+  }
+
   template<class Config1, class Config2, class Config3, class Config4, class Config5, class Config6>
   class TupleConfig6 : public TupleConfig<Config1, TupleConfig<Config2, TupleConfig<Config3, TupleConfig<Config4, TupleConfig<Config5, TupleConfigEnd<Config6> > > > > > {
   public:
@@ -299,6 +319,11 @@ namespace gtsam {
 	  inline const Config6_t& sixth() const { return this->rest().rest().rest().rest().rest().config(); }
   };
 
+  template<class Config1, class Config2, class Config3, class Config4, class Config5, class Config6>
+  TupleConfig6<Config1, Config2, Config3, Config4, Config5, Config6> exmap(const TupleConfig6<Config1, Config2, Config3, Config4, Config5, Config6> c, const VectorConfig& delta) {
+	  return c.exmap(delta);
+  }
+
   /**
    * PairConfig: an alias for a pair of configs using TupleConfig2
    * STILL IN TESTING - will soon replace PairConfig