diff --git a/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp b/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp
index d210be789..af6954341 100644
--- a/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp
+++ b/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp
@@ -167,7 +167,7 @@ Camera camera(Pose3(Rot3().retract(Vector3(0.1, 0.2, 0.3)), Point3(0, 5, 0)),
               Cal3Bundler0(1, 0, 0));
 Point3 point(10, 0, -5);  // negative Z-axis convention of Snavely!
 Vector9 P = Camera().localCoordinates(camera);
-Vector3 X = point.vector();
+Vector3 X = point;
 Vector2 expectedMeasurement(1.2431567, 1.2525694);
 Matrix E1 = numericalDerivative21<Vector2, Vector9, Vector3>(adapted, P, X);
 Matrix E2 = numericalDerivative22<Vector2, Vector9, Vector3>(adapted, P, X);
diff --git a/gtsam/nonlinear/tests/testExpression.cpp b/gtsam/nonlinear/tests/testExpression.cpp
index 75af5f634..6c9588d38 100644
--- a/gtsam/nonlinear/tests/testExpression.cpp
+++ b/gtsam/nonlinear/tests/testExpression.cpp
@@ -81,7 +81,7 @@ double f2(const Point3& p, OptionalJacobian<1, 3> H) {
   return 0.0;
 }
 Vector f3(const Point3& p, OptionalJacobian<Eigen::Dynamic, 3> H) {
-  return p.vector();
+  return p;
 }
 Expression<Point3> p(1);
 set<Key> expected = list_of(1);
@@ -108,7 +108,7 @@ TEST(Expression, NullaryMethod) {
 
   // Create expression
   Expression<Point3> p(67);
-  Expression<double> norm(p, &Point3::norm);
+  Expression<double> norm(&gtsam::norm, p);
 
   // Create Values
   Values values;
diff --git a/gtsam/sam/tests/testRangeFactor.cpp b/gtsam/sam/tests/testRangeFactor.cpp
index 706c20e78..73ff34d2a 100644
--- a/gtsam/sam/tests/testRangeFactor.cpp
+++ b/gtsam/sam/tests/testRangeFactor.cpp
@@ -361,10 +361,10 @@ TEST( RangeFactor, Camera) {
 
 namespace gtsam{
 template <>
-struct Range<Vector3, Vector3> {
+struct Range<Vector4, Vector4> {
   typedef double result_type;
-  double operator()(const Vector3& v1, const Vector3& v2,
-                    OptionalJacobian<1, 3> H1, OptionalJacobian<1, 3> H2) {
+  double operator()(const Vector4& v1, const Vector4& v2,
+                    OptionalJacobian<1, 4> H1, OptionalJacobian<1, 4> H2) {
     return (v2 - v1).norm();
     // derivatives not implemented
   }
@@ -376,11 +376,11 @@ TEST(RangeFactor, NonGTSAM) {
   Key poseKey(1);
   Key pointKey(2);
   double measurement(10.0);
-  RangeFactor<Vector3> factor(poseKey, pointKey, measurement, model);
+  RangeFactor<Vector4> factor(poseKey, pointKey, measurement, model);
 
   // Set the linearization point
-  Vector3 pose(1.0, 2.0, 00);
-  Vector3 point(-4.0, 11.0, 0);
+  Vector4 pose(1.0, 2.0, 00, 0);
+  Vector4 point(-4.0, 11.0, 0, 0);
 
   // The expected error is ||(5.0, 9.0)|| - 10.0 = 0.295630141 meter / UnitCovariance
   Vector expectedError = (Vector(1) << 0.295630141).finished();
diff --git a/gtsam/slam/EssentialMatrixFactor.h b/gtsam/slam/EssentialMatrixFactor.h
index e9a117745..e668d27d3 100644
--- a/gtsam/slam/EssentialMatrixFactor.h
+++ b/gtsam/slam/EssentialMatrixFactor.h
@@ -139,7 +139,7 @@ public:
       const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
     Base::print(s);
     std::cout << "  EssentialMatrixFactor2 with measurements\n  ("
-        << dP1_.vector().transpose() << ")' and (" << pn_.vector().transpose()
+        << dP1_.transpose() << ")' and (" << pn_.vector().transpose()
         << ")'" << std::endl;
   }
 
@@ -191,7 +191,7 @@ public:
 
       if (Dd) // efficient backwards computation:
         //      (2*3)    * (3*3)      * (3*1)
-        *Dd = -f_ * (Dpn_dP2 * (DP2_point * _1T2.vector()));
+        *Dd = -f_ * (Dpn_dP2 * (DP2_point * _1T2));
 
     }
     Point2 reprojectionError = pn - pn_;
diff --git a/gtsam/slam/PoseTranslationPrior.h b/gtsam/slam/PoseTranslationPrior.h
index e9914955c..a24421b34 100644
--- a/gtsam/slam/PoseTranslationPrior.h
+++ b/gtsam/slam/PoseTranslationPrior.h
@@ -70,19 +70,19 @@ public:
       (*H).middleCols(transInterval.first, tDim) = R.matrix();
     }
 
-    return newTrans.vector() - measured_.vector();
+    return traits<Translation>::Local(measured_, newTrans);
   }
 
   /** equals specialized to this factor */
   virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const {
     const This *e = dynamic_cast<const This*> (&expected);
-    return e != NULL && Base::equals(*e, tol) && measured_.equals(e->measured_, tol);
+    return e != NULL && Base::equals(*e, tol) && traits<Translation>::Equals(measured_, e->measured_, tol);
   }
 
   /** print contents */
   void print(const std::string& s="", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
     Base::print(s + "PoseTranslationPrior", keyFormatter);
-    measured_.print("Measured Translation");
+    traits<Translation>::Print(measured_, "Measured Translation");
   }
 
 private:
diff --git a/gtsam/slam/RotateFactor.h b/gtsam/slam/RotateFactor.h
index ea8811d17..2ac217ac1 100644
--- a/gtsam/slam/RotateFactor.h
+++ b/gtsam/slam/RotateFactor.h
@@ -44,9 +44,9 @@ public:
   virtual void print(const std::string& s = "",
       const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
     Base::print(s);
-    std::cout << "RotateFactor:" << std::endl;
-    p_.print("p");
-    z_.print("z");
+    std::cout << "RotateFactor:]\n";
+    std::cout << "p: " << p_.transpose() << std::endl;
+    std::cout << "z: " << z_.transpose() << std::endl;
   }
 
   /// vector of errors returns 2D vector
diff --git a/gtsam_unstable/dynamics/FullIMUFactor.h b/gtsam_unstable/dynamics/FullIMUFactor.h
index 66538e802..1aa85b6fe 100644
--- a/gtsam_unstable/dynamics/FullIMUFactor.h
+++ b/gtsam_unstable/dynamics/FullIMUFactor.h
@@ -87,7 +87,7 @@ public:
     Vector9 z;
     z.head(3).operator=(accel_); // Strange syntax to work around ambiguous operator error with clang
     z.segment(3, 3).operator=(gyro_); // Strange syntax to work around ambiguous operator error with clang
-    z.tail(3).operator=(x2.t().vector()); // Strange syntax to work around ambiguous operator error with clang
+    z.tail(3).operator=(x2.t()); // Strange syntax to work around ambiguous operator error with clang
     if (H1) *H1 = numericalDerivative21<Vector9, PoseRTV, PoseRTV>(
         boost::bind(This::predict_proxy, _1, _2, dt_), x1, x2, 1e-5);
     if (H2) *H2 = numericalDerivative22<Vector9, PoseRTV, PoseRTV>(
@@ -109,7 +109,7 @@ private:
   static Vector9 predict_proxy(const PoseRTV& x1, const PoseRTV& x2, double dt) {
     Vector9 hx;
     hx.head(6).operator=(x1.imuPrediction(x2, dt)); // Strange syntax to work around ambiguous operator error with clang
-    hx.tail(3).operator=(x1.translationIntegration(x2, dt).vector()); // Strange syntax to work around ambiguous operator error with clang
+    hx.tail(3).operator=(x1.translationIntegration(x2, dt)); // Strange syntax to work around ambiguous operator error with clang
     return hx;
   }
 };
diff --git a/gtsam_unstable/dynamics/VelocityConstraint.h b/gtsam_unstable/dynamics/VelocityConstraint.h
index d9674b415..ed3797015 100644
--- a/gtsam_unstable/dynamics/VelocityConstraint.h
+++ b/gtsam_unstable/dynamics/VelocityConstraint.h
@@ -115,7 +115,7 @@ private:
     case dynamics::EULER_END  : hx = p1 + Point3(v2 * dt); break;
     default: assert(false); break;
     }
-    return p2.vector() - hx.vector();
+    return p2 - hx;
   }
 };
 
diff --git a/gtsam_unstable/dynamics/tests/testSimpleHelicopter.cpp b/gtsam_unstable/dynamics/tests/testSimpleHelicopter.cpp
index 1fb2cf39e..8b224f510 100644
--- a/gtsam_unstable/dynamics/tests/testSimpleHelicopter.cpp
+++ b/gtsam_unstable/dynamics/tests/testSimpleHelicopter.cpp
@@ -89,7 +89,8 @@ Vector newtonEuler(const Vector& Vb, const Vector& Fb, const Matrix& Inertia) {
 
 TEST( DiscreteEulerPoincareHelicopter, evaluateError) {
   Vector Fu = computeFu(gamma2, u2);
-  Vector fGravity_g1 = zero(6);  subInsert(fGravity_g1, g1.rotation().unrotate(Point3(0.0, 0.0, -mass*9.81)).vector(), 3); // gravity force in g1 frame
+  Vector fGravity_g1 = zero(6);
+  subInsert(fGravity_g1, g1.rotation().unrotate(Point3(0.0, 0.0, -mass*9.81)), 3); // gravity force in g1 frame
   Vector Fb = Fu+fGravity_g1;
 
   Vector dV = newtonEuler(V1_g1, Fb, Inertia);
diff --git a/gtsam_unstable/geometry/tests/testSimilarity3.cpp b/gtsam_unstable/geometry/tests/testSimilarity3.cpp
index 713ea3054..e2f2a2a86 100644
--- a/gtsam_unstable/geometry/tests/testSimilarity3.cpp
+++ b/gtsam_unstable/geometry/tests/testSimilarity3.cpp
@@ -64,7 +64,7 @@ TEST(Similarity3, Constructors) {
   Similarity3 sim3_Construct1;
   Similarity3 sim3_Construct2(s);
   Similarity3 sim3_Construct3(R, P, s);
-  Similarity3 sim4_Construct4(R.matrix(), P.vector(), s);
+  Similarity3 sim4_Construct4(R.matrix(), P, s);
 }
 
 //******************************************************************************
diff --git a/gtsam_unstable/slam/BiasedGPSFactor.h b/gtsam_unstable/slam/BiasedGPSFactor.h
index 6f39ce1b6..df1873765 100644
--- a/gtsam_unstable/slam/BiasedGPSFactor.h
+++ b/gtsam_unstable/slam/BiasedGPSFactor.h
@@ -58,15 +58,15 @@ namespace gtsam {
     virtual void print(const std::string& s, const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
       std::cout << s << "BiasedGPSFactor("
           << keyFormatter(this->key1()) << ","
-          << keyFormatter(this->key2()) << ")\n";
-      measured_.print("  measured: ");
+          << keyFormatter(this->key2()) << ")\n"
+          << "  measured: " << measured_.transpose() << std::endl;
       this->noiseModel_->print("  noise model: ");
     }
 
     /** equals */
     virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const {
       const This *e =  dynamic_cast<const This*> (&expected);
-      return e != NULL && Base::equals(*e, tol) && this->measured_.equals(e->measured_, tol);
+      return e != NULL && Base::equals(*e, tol) && traits<Point3>::Equals(this->measured_, e->measured_, tol);
     }
 
     /** implement functions needed to derive from Factor */
@@ -82,7 +82,7 @@ namespace gtsam {
         H2->resize(3,3); // jacobian wrt bias
         (*H2) << Matrix3::Identity();
       }
-      return pose.translation().vector() + bias.vector() - measured_.vector();
+      return pose.translation() + bias - measured_;
     }
 
     /** return the measured */
diff --git a/gtsam_unstable/slam/InertialNavFactor_GlobalVelocity.h b/gtsam_unstable/slam/InertialNavFactor_GlobalVelocity.h
index d8fceeb68..30d3a216d 100644
--- a/gtsam_unstable/slam/InertialNavFactor_GlobalVelocity.h
+++ b/gtsam_unstable/slam/InertialNavFactor_GlobalVelocity.h
@@ -187,7 +187,7 @@ public:
       Vector GyroCorrected(Bias1.correctGyroscope(measurement_gyro_));
       body_omega_body = body_R_sensor * GyroCorrected;
       Matrix body_omega_body__cross = skewSymmetric(body_omega_body);
-      body_a_body = body_R_sensor * AccCorrected - body_omega_body__cross * body_omega_body__cross * body_P_sensor_->translation().vector();
+      body_a_body = body_R_sensor * AccCorrected - body_omega_body__cross * body_omega_body__cross * body_P_sensor_->translation();
     } else {
       body_a_body = AccCorrected;
     }
diff --git a/gtsam_unstable/slam/InvDepthFactorVariant2.h b/gtsam_unstable/slam/InvDepthFactorVariant2.h
index 879e1e1dd..fdba78445 100644
--- a/gtsam_unstable/slam/InvDepthFactorVariant2.h
+++ b/gtsam_unstable/slam/InvDepthFactorVariant2.h
@@ -79,7 +79,7 @@ public:
         && Base::equals(p, tol)
         && this->measured_.equals(e->measured_, tol)
         && this->K_->equals(*e->K_, tol)
-        && this->referencePoint_.equals(e->referencePoint_, tol);
+        && traits<Point3>::Equals(this->referencePoint_, e->referencePoint_, tol);
   }
 
   Vector inverseDepthError(const Pose3& pose, const Vector3& landmark) const {
diff --git a/gtsam_unstable/slam/tests/testInertialNavFactor_GlobalVelocity.cpp b/gtsam_unstable/slam/tests/testInertialNavFactor_GlobalVelocity.cpp
index efe1df640..75535eebc 100644
--- a/gtsam_unstable/slam/tests/testInertialNavFactor_GlobalVelocity.cpp
+++ b/gtsam_unstable/slam/tests/testInertialNavFactor_GlobalVelocity.cpp
@@ -233,7 +233,7 @@ Vector predictionErrorVel(const Pose3& p1, const Vector3& v1,
 
 ///* VADIM - START ************************************************************************* */
 //Vector3 predictionRq(const Vector3 angles, const Vector3 q) {
-//  return (Rot3().RzRyRx(angles) * q).vector();
+//  return (Rot3().RzRyRx(angles) * q);
 //}
 //
 //TEST (InertialNavFactor_GlobalVelocity, Rotation_Deriv ) {
@@ -435,7 +435,7 @@ Vector predictionErrorVel(const Pose3& p1, const Vector3& v1,
   Vector measurement_acc = Vector3(0.2, 0.1, -0.3 + 9.81)
       + omega__cross * omega__cross
           * body_P_sensor.rotation().inverse().matrix()
-          * body_P_sensor.translation().vector(); // Measured in ENU orientation
+          * body_P_sensor.translation(); // Measured in ENU orientation
 
   InertialNavFactor_GlobalVelocity<Pose3, Vector3, imuBias::ConstantBias> f(
       PoseKey1, VelKey1, BiasKey1, PoseKey2, VelKey2, measurement_acc,
@@ -474,7 +474,7 @@ Vector predictionErrorVel(const Pose3& p1, const Vector3& v1,
   Vector measurement_acc = Vector3(0.2, 0.1, -0.3 + 9.81)
       + omega__cross * omega__cross
           * body_P_sensor.rotation().inverse().matrix()
-          * body_P_sensor.translation().vector(); // Measured in ENU orientation
+          * body_P_sensor.translation(); // Measured in ENU orientation
 
   InertialNavFactor_GlobalVelocity<Pose3, Vector3, imuBias::ConstantBias> f(
       PoseKey1, VelKey1, BiasKey1, PoseKey2, VelKey2, measurement_acc,
@@ -512,7 +512,7 @@ Vector predictionErrorVel(const Pose3& p1, const Vector3& v1,
   Vector measurement_acc = Vector3(0.0, 0.0, 0.0 + 9.81)
       + omega__cross * omega__cross
           * body_P_sensor.rotation().inverse().matrix()
-          * body_P_sensor.translation().vector(); // Measured in ENU orientation
+          * body_P_sensor.translation(); // Measured in ENU orientation
 
   InertialNavFactor_GlobalVelocity<Pose3, Vector3, imuBias::ConstantBias> f(
       PoseKey1, VelKey1, BiasKey1, PoseKey2, VelKey2, measurement_acc,
@@ -554,7 +554,7 @@ Vector predictionErrorVel(const Pose3& p1, const Vector3& v1,
       Vector3(-6.763926150509185, 6.501390843381716, +2.300389940090343)
           + omega__cross * omega__cross
               * body_P_sensor.rotation().inverse().matrix()
-              * body_P_sensor.translation().vector(); // Measured in ENU orientation
+              * body_P_sensor.translation(); // Measured in ENU orientation
 
   InertialNavFactor_GlobalVelocity<Pose3, Vector3, imuBias::ConstantBias> f(
       PoseKey1, VelKey1, BiasKey1, PoseKey2, VelKey2, measurement_acc,
@@ -605,7 +605,7 @@ Vector predictionErrorVel(const Pose3& p1, const Vector3& v1,
       Vector3(-6.763926150509185, 6.501390843381716, +2.300389940090343)
           + omega__cross * omega__cross
               * body_P_sensor.rotation().inverse().matrix()
-              * body_P_sensor.translation().vector(); // Measured in ENU orientation
+              * body_P_sensor.translation(); // Measured in ENU orientation
 
   InertialNavFactor_GlobalVelocity<Pose3, Vector3, imuBias::ConstantBias> factor(
       PoseKey1, VelKey1, BiasKey1, PoseKey2, VelKey2, measurement_acc,
diff --git a/tests/simulated3D.h b/tests/simulated3D.h
index cf69a8fa3..84d9ec8cd 100644
--- a/tests/simulated3D.h
+++ b/tests/simulated3D.h
@@ -91,7 +91,7 @@ struct PointPrior3D: public NoiseModelFactor1<Point3> {
    */
   Vector evaluateError(const Point3& x, boost::optional<Matrix&> H =
       boost::none) const {
-    return prior(x, H).vector() - measured_.vector();
+    return prior(x, H) - measured_;
   }
 };
 
@@ -122,7 +122,7 @@ struct Simulated3DMeasurement: public NoiseModelFactor2<Point3, Point3> {
    */
   Vector evaluateError(const Point3& x1, const Point3& x2,
       boost::optional<Matrix&> H1 = boost::none, boost::optional<Matrix&> H2 = boost::none) const {
-    return mea(x1, x2, H1, H2).vector() - measured_.vector();
+    return mea(x1, x2, H1, H2) - measured_;
   }
 };
 
diff --git a/tests/testExpressionFactor.cpp b/tests/testExpressionFactor.cpp
index 57f03cca6..bda23b3f6 100644
--- a/tests/testExpressionFactor.cpp
+++ b/tests/testExpressionFactor.cpp
@@ -139,7 +139,7 @@ TEST(ExpressionFactor, Unary) {
 typedef Eigen::Matrix<double,9,3> Matrix93;
 Vector9 wide(const Point3& p, OptionalJacobian<9,3> H) {
   Vector9 v;
-  v << p.vector(), p.vector(), p.vector();
+  v << p, p, p;
   if (H) *H << eye(3), eye(3), eye(3);
   return v;
 }