diff --git a/cython/gtsam/tests/experiments.py b/cython/gtsam/tests/experiments.py
deleted file mode 100644
index 425180173..000000000
--- a/cython/gtsam/tests/experiments.py
+++ /dev/null
@@ -1,112 +0,0 @@
-"""
-This file is not a real python unittest. It contains small experiments
-to test the wrapper with gtsam_test, a short version of gtsam.h.
-Its name convention is different from other tests so it won't be discovered.
-"""
-import gtsam
-import numpy as np
-
-r = gtsam.Rot3()
-print(r)
-print(r.pitch())
-r2 = gtsam.Rot3()
-r3 = r.compose(r2)
-print("r3 pitch:", r3.pitch())
-
-v = np.array([1, 1, 1]) 
-print("v = ", v)
-r4 = r3.retract(v)
-print("r4 pitch:", r4.pitch())
-r4.print_(b'r4: ')
-r3.print_(b"r3: ")
-
-v = r3.localCoordinates(r4)
-print("localCoordinates:", v)
-
-Rmat = np.array([
-    [0.990074, -0.0942928, 0.104218], 
-    [0.104218,  0.990074, -0.0942928], 
-    [-0.0942928, 0.104218, 0.990074]
-    ])
-r5 = gtsam.Rot3(Rmat)
-r5.print_(b"r5: ")
-
-l = gtsam.Rot3.Logmap(r5)
-print("l = ", l)
-
-
-noise = gtsam.noiseModel_Gaussian.Covariance(Rmat)
-noise.print_(b"noise:")
-
-D = np.array([1.,2.,3.])
-diag = gtsam.noiseModel_Diagonal.Variances(D)
-print("diag:", diag)
-diag.print_(b"diag:")
-print("diag R:", diag.R())
-
-p = gtsam.Point3()
-p.print_("p:")
-factor = gtsam.BetweenFactorPoint3(1,2,p, noise)
-factor.print_(b"factor:")
-
-vv = gtsam.VectorValues()
-vv.print_(b"vv:")
-vv.insert(1, np.array([1.,2.,3.]))
-vv.insert(2, np.array([3.,4.]))
-vv.insert(3, np.array([5.,6.,7.,8.]))
-vv.print_(b"vv:")
-
-vv2 = gtsam.VectorValues(vv)
-vv2.insert(4, np.array([4.,2.,1]))
-vv2.print_(b"vv2:")
-vv.print_(b"vv:")
-
-vv.insert(4, np.array([1.,2.,4.]))
-vv.print_(b"vv:")
-vv3 = vv.add(vv2)
-
-vv3.print_(b"vv3:")
-
-values = gtsam.Values()
-values.insert(1, gtsam.Point3())
-values.insert(2, gtsam.Rot3())
-values.print_(b"values:")
-
-factor = gtsam.PriorFactorVector(1, np.array([1.,2.,3.]), diag)
-print "Prior factor vector: ", factor
-
-
-
-keys = gtsam.KeyVector()
-
-keys.push_back(1)
-keys.push_back(2)
-print 'size: ', keys.size()
-print keys.at(0)
-print keys.at(1)
-
-noise = gtsam.noiseModel_Isotropic.Precision(2, 3.0)
-noise.print_('noise:')
-print 'noise print:', noise
-f = gtsam.JacobianFactor(7, np.ones([2,2]), model=noise,  b=np.ones(2))
-print 'JacobianFactor(7):\n', f
-print "A = ", f.getA()
-print "b = ", f.getb()
-
-f = gtsam.JacobianFactor(np.ones(2))
-f.print_('jacoboian b_in:')
-
-
-print "JacobianFactor initalized with b_in:", f
-
-diag = gtsam.noiseModel_Diagonal.Sigmas(np.array([1.,2.,3.]))
-fv = gtsam.PriorFactorVector(1, np.array([4.,5.,6.]), diag)
-print "priorfactorvector: ", fv
-
-print "base noise: ", fv.get_noiseModel()
-print "casted to gaussian2: ", gtsam.dynamic_cast_noiseModel_Diagonal_noiseModel_Base(fv.get_noiseModel())
-
-X = gtsam.symbol(65, 19)
-print X 
-print gtsam.symbolChr(X)
-print gtsam.symbolIndex(X)
diff --git a/cython/gtsam/tests/gtsam_test.h b/cython/gtsam/tests/gtsam_test.h
deleted file mode 100644
index 659a7cd0c..000000000
--- a/cython/gtsam/tests/gtsam_test.h
+++ /dev/null
@@ -1,772 +0,0 @@
-namespace gtsam {
-
-#include <gtsam/inference/Key.h>
-typedef size_t Key;
-
-#include <gtsam/base/FastVector.h>
-template<T> class FastVector {
-  FastVector();
-  FastVector(const This& f);
-  void push_back(const T& e);
-  //T& operator[](int);
-  T at(int i);
-  size_t size() const;
-};
-
-typedef gtsam::FastVector<gtsam::Key> KeyVector;
-
-//*************************************************************************
-// geometry
-//*************************************************************************
-
-#include <gtsam/geometry/Point2.h>
-class Point2 {
-  // Standard Constructors
-  Point2();
-  Point2(double x, double y);
-  Point2(Vector v);
-  //Point2(const gtsam::Point2& l);
-
-  // Testable
-  void print(string s) const;
-  bool equals(const gtsam::Point2& pose, double tol) const;
-
-  // Group
-  static gtsam::Point2 identity();
-
-  // Standard Interface
-  double x() const;
-  double y() const;
-  Vector vector() const;
-  double distance(const gtsam::Point2& p2) const;
-  double norm() const;
-
-  // enabling serialization functionality
-  void serialize() const;
-};
-
-#include <gtsam/geometry/Point3.h>
-class Point3 {
-  // Standard Constructors
-  Point3();
-  Point3(double x, double y, double z);
-  Point3(Vector v);
-  //Point3(const gtsam::Point3& l);
-
-  // Testable
-  void print(string s) const;
-  bool equals(const gtsam::Point3& p, double tol) const;
-
-  // Group
-  static gtsam::Point3 identity();
-
-  // Standard Interface
-  Vector vector() const;
-  double x() const;
-  double y() const;
-  double z() const;
-
-  // enabling serialization functionality
-  void serialize() const;
-};
-
-#include <gtsam/geometry/Rot2.h>
-class Rot2 {
-  // Standard Constructors and Named Constructors
-  Rot2();
-  Rot2(double theta);
-  //Rot2(const gtsam::Rot2& l);
-
-  static gtsam::Rot2 fromAngle(double theta);
-  static gtsam::Rot2 fromDegrees(double theta);
-  static gtsam::Rot2 fromCosSin(double c, double s);
-
-  // Testable
-  void print(string s) const;
-  bool equals(const gtsam::Rot2& rot, double tol) const;
-
-  // Group
-  static gtsam::Rot2 identity();
-  gtsam::Rot2 inverse();
-  gtsam::Rot2 compose(const gtsam::Rot2& p2) const;
-  gtsam::Rot2 between(const gtsam::Rot2& p2) const;
-
-  // Manifold
-  gtsam::Rot2 retract(Vector v) const;
-  Vector localCoordinates(const gtsam::Rot2& p) const;
-
-  // Lie Group
-  static gtsam::Rot2 Expmap(Vector v);
-  static Vector Logmap(const gtsam::Rot2& p);
-
-  // Group Action on Point2
-  gtsam::Point2 rotate(const gtsam::Point2& point) const;
-  gtsam::Point2 unrotate(const gtsam::Point2& point) const;
-
-  // Standard Interface
-  static gtsam::Rot2 relativeBearing(const gtsam::Point2& d); // Ignoring derivative
-  static gtsam::Rot2 atan2(double y, double x);
-  double theta() const;
-  double degrees() const;
-  double c() const;
-  double s() const;
-  Matrix matrix() const;
-
-  // enabling serialization functionality
-  void serialize() const;
-};
-
-#include <gtsam/geometry/Rot3.h>
-class Rot3 {
-  // Standard Constructors and Named Constructors
-  Rot3();
-  Rot3(Matrix R);
-  //Rot3(const gtsam::Rot3& l);
-
-  static gtsam::Rot3 Rx(double t);
-  static gtsam::Rot3 Ry(double t);
-  static gtsam::Rot3 Rz(double t);
-  static gtsam::Rot3 RzRyRx(double x, double y, double z);
-  static gtsam::Rot3 RzRyRx(Vector xyz);
-  static gtsam::Rot3 Yaw(double t); // positive yaw is to right (as in aircraft heading)
-  static gtsam::Rot3 Pitch(double t); // positive pitch is up (increasing aircraft altitude)
-  static gtsam::Rot3 Roll(double t); // positive roll is to right (increasing yaw in aircraft)
-  static gtsam::Rot3 Ypr(double y, double p, double r);
-  static gtsam::Rot3 Quaternion(double w, double x, double y, double z);
-  static gtsam::Rot3 Rodrigues(Vector v);
-
-  // Testable
-  void print(string s) const;
-  bool equals(const gtsam::Rot3& rot, double tol) const;
-
-  // Group
-  static gtsam::Rot3 identity();
-    gtsam::Rot3 inverse() const;
-  gtsam::Rot3 compose(const gtsam::Rot3& p2) const;
-  gtsam::Rot3 between(const gtsam::Rot3& p2) const;
-
-  // Manifold
-  //gtsam::Rot3 retractCayley(Vector v) const; // FIXME, does not exist in both Matrix and Quaternion options
-  gtsam::Rot3 retract(Vector v) const;
-  Vector localCoordinates(const gtsam::Rot3& p) const;
-
-  // Group Action on Point3
-  gtsam::Point3 rotate(const gtsam::Point3& p) const;
-  gtsam::Point3 unrotate(const gtsam::Point3& p) const;
-
-  // Standard Interface
-  static gtsam::Rot3 Expmap(Vector v);
-  static Vector Logmap(const gtsam::Rot3& p);
-  Matrix matrix() const;
-  Matrix transpose() const;
-  gtsam::Point3 column(size_t index) const;
-  Vector xyz() const;
-  Vector ypr() const;
-  Vector rpy() const;
-  double roll() const;
-  double pitch() const;
-  double yaw() const;
-//  Vector toQuaternion() const;  // FIXME: Can't cast to Vector properly
-  Vector quaternion() const;
-
-  // enabling serialization functionality
-  void serialize() const;
-};
-
-#include <gtsam/geometry/Pose2.h>
-class Pose2 {
-  // Standard Constructor
-  Pose2();
-  //Pose2(const gtsam::Pose2& pose);
-  Pose2(double x, double y, double theta);
-  Pose2(double theta, const gtsam::Point2& t);
-  Pose2(const gtsam::Rot2& r, const gtsam::Point2& t);
-  Pose2(Vector v);
-
-  // Testable
-  void print(string s) const;
-  bool equals(const gtsam::Pose2& pose, double tol) const;
-
-  // Group
-  static gtsam::Pose2 identity();
-  gtsam::Pose2 inverse() const;
-  gtsam::Pose2 compose(const gtsam::Pose2& p2) const;
-  gtsam::Pose2 between(const gtsam::Pose2& p2) const;
-
-  // Manifold
-  gtsam::Pose2 retract(Vector v) const;
-  Vector localCoordinates(const gtsam::Pose2& p) const;
-
-  // Lie Group
-  static gtsam::Pose2 Expmap(Vector v);
-  static Vector Logmap(const gtsam::Pose2& p);
-  Matrix AdjointMap() const;
-  Vector Adjoint(const Vector& xi) const;
-  static Matrix wedge(double vx, double vy, double w);
-
-  // Group Actions on Point2
-  gtsam::Point2 transform_from(const gtsam::Point2& p) const;
-  gtsam::Point2 transform_to(const gtsam::Point2& p) const;
-
-  // Standard Interface
-  double x() const;
-  double y() const;
-  double theta() const;
-  gtsam::Rot2 bearing(const gtsam::Point2& point) const;
-  double range(const gtsam::Point2& point) const;
-  gtsam::Point2 translation() const;
-  gtsam::Rot2 rotation() const;
-  Matrix matrix() const;
-
-  // enabling serialization functionality
-  void serialize() const;
-};
-
-
-#include <gtsam/geometry/Pose3.h>
-class Pose3 {
-  // Standard Constructors
-  Pose3();
-  //Pose3(const gtsam::Pose3& pose);
-  Pose3(const gtsam::Rot3& r, const gtsam::Point3& t);
-  Pose3(const gtsam::Pose2& pose2); // FIXME: shadows Pose3(Pose3 pose)
-  Pose3(Matrix t);
-
-  // Testable
-  void print(string s) const;
-  bool equals(const gtsam::Pose3& pose, double tol) const;
-
-  // Group
-  static gtsam::Pose3 identity();
-  gtsam::Pose3 inverse() const;
-  gtsam::Pose3 compose(const gtsam::Pose3& p2) const;
-  gtsam::Pose3 between(const gtsam::Pose3& p2) const;
-
-  // Manifold
-  gtsam::Pose3 retract(Vector v) const;
-  Vector localCoordinates(const gtsam::Pose3& T2) const;
-
-  // Lie Group
-  static gtsam::Pose3 Expmap(Vector v);
-  static Vector Logmap(const gtsam::Pose3& p);
-  Matrix AdjointMap() const;
-  Vector Adjoint(Vector xi) const;
-  static Matrix wedge(double wx, double wy, double wz, double vx, double vy, double vz);
-
-  // Group Action on Point3
-  gtsam::Point3 transform_from(const gtsam::Point3& p) const;
-  gtsam::Point3 transform_to(const gtsam::Point3& p) const;
-
-  // Standard Interface
-  gtsam::Rot3 rotation() const;
-  gtsam::Point3 translation() const;
-  double x() const;
-  double y() const;
-  double z() const;
-  Matrix matrix() const;
-  gtsam::Pose3 transform_to(const gtsam::Pose3& pose) const; // FIXME: shadows other transform_to()
-  double range(const gtsam::Point3& point);
-  double range(const gtsam::Pose3& pose);
-
-  // enabling serialization functionality
-  void serialize() const;
-};
-
-//*************************************************************************
-// noise
-//*************************************************************************
-
-namespace noiseModel {
-#include <gtsam/linear/NoiseModel.h>
-virtual class Base {
-};
-
-virtual class Gaussian : gtsam::noiseModel::Base {
-  static gtsam::noiseModel::Gaussian* SqrtInformation(Matrix R);
-  static gtsam::noiseModel::Gaussian* Covariance(Matrix R);
-  Matrix R() const;
-  bool equals(gtsam::noiseModel::Base& expected, double tol);
-  void print(string s) const;
-
-  // enabling serialization functionality
-  void serializable() const;
-};
-
-virtual class Diagonal : gtsam::noiseModel::Gaussian {
-  static gtsam::noiseModel::Diagonal* Sigmas(Vector sigmas);
-  static gtsam::noiseModel::Diagonal* Variances(Vector variances);
-  static gtsam::noiseModel::Diagonal* Precisions(Vector precisions);
-  Matrix R() const;
-  void print(string s) const;
-
-  // enabling serialization functionality
-  void serializable() const;
-};
-
-virtual class Constrained : gtsam::noiseModel::Diagonal {
-    static gtsam::noiseModel::Constrained* MixedSigmas(const Vector& mu, const Vector& sigmas);
-    static gtsam::noiseModel::Constrained* MixedSigmas(double m, const Vector& sigmas);
-    static gtsam::noiseModel::Constrained* MixedVariances(const Vector& mu, const Vector& variances);
-    static gtsam::noiseModel::Constrained* MixedVariances(const Vector& variances);
-    static gtsam::noiseModel::Constrained* MixedPrecisions(const Vector& mu, const Vector& precisions);
-    static gtsam::noiseModel::Constrained* MixedPrecisions(const Vector& precisions);
-
-    static gtsam::noiseModel::Constrained* All(size_t dim);
-    static gtsam::noiseModel::Constrained* All(size_t dim, double mu);
-
-    gtsam::noiseModel::Constrained* unit() const;
-
-    // enabling serialization functionality
-    void serializable() const;
-};
-
-virtual class Isotropic : gtsam::noiseModel::Diagonal {
-  static gtsam::noiseModel::Isotropic* Sigma(size_t dim, double sigma);
-  static gtsam::noiseModel::Isotropic* Variance(size_t dim, double varianace);
-  static gtsam::noiseModel::Isotropic* Precision(size_t dim, double precision);
-  void print(string s) const;
-
-  // enabling serialization functionality
-  void serializable() const;
-};
-
-virtual class Unit : gtsam::noiseModel::Isotropic {
-  static gtsam::noiseModel::Unit* Create(size_t dim);
-  void print(string s) const;
-
-  // enabling serialization functionality
-  void serializable() const;
-};
-
-namespace mEstimator {
-virtual class Base {
-};
-
-virtual class Null: gtsam::noiseModel::mEstimator::Base {
-  Null();
-  //Null(const gtsam::noiseModel::mEstimator::Null& other);
-  void print(string s) const;
-  static gtsam::noiseModel::mEstimator::Null* Create();
-
-  // enabling serialization functionality
-  void serializable() const;
-};
-
-virtual class Fair: gtsam::noiseModel::mEstimator::Base {
-  Fair(double c);
-  //Fair(const gtsam::noiseModel::mEstimator::Fair& other);
-  void print(string s) const;
-  static gtsam::noiseModel::mEstimator::Fair* Create(double c);
-
-  // enabling serialization functionality
-  void serializable() const;
-};
-
-virtual class Huber: gtsam::noiseModel::mEstimator::Base {
-  Huber(double k);
-  //Huber(const gtsam::noiseModel::mEstimator::Huber& other);
-
-  void print(string s) const;
-  static gtsam::noiseModel::mEstimator::Huber* Create(double k);
-
-  // enabling serialization functionality
-  void serializable() const;
-};
-
-virtual class Tukey: gtsam::noiseModel::mEstimator::Base {
-  Tukey(double k);
-  //Tukey(const gtsam::noiseModel::mEstimator::Tukey& other);
-
-  void print(string s) const;
-  static gtsam::noiseModel::mEstimator::Tukey* Create(double k);
-
-  // enabling serialization functionality
-  void serializable() const;
-};
-
-}///\namespace mEstimator
-
-virtual class Robust : gtsam::noiseModel::Base {
-  Robust(const gtsam::noiseModel::mEstimator::Base* robust, const gtsam::noiseModel::Base* noise);
-  //Robust(const gtsam::noiseModel::Robust& other);
-
-  static gtsam::noiseModel::Robust* Create(const gtsam::noiseModel::mEstimator::Base* robust, const gtsam::noiseModel::Base* noise);
-  void print(string s) const;
-
-  // enabling serialization functionality
-  void serializable() const;
-};
-
-}///\namespace noiseModel
-
-#include <gtsam/linear/Sampler.h>
-class Sampler {
-    //Constructors
-  Sampler(gtsam::noiseModel::Diagonal* model, int seed);
-  Sampler(Vector sigmas, int seed);
-  Sampler(int seed);
-  //Sampler(const gtsam::Sampler& other);
-
-
-    //Standard Interface
-  size_t dim() const;
-  Vector sigmas() const;
-  gtsam::noiseModel::Diagonal* model() const;
-  Vector sample();
-  Vector sampleNewModel(gtsam::noiseModel::Diagonal* model);
-};
-
-#include <gtsam/linear/VectorValues.h>
-class VectorValues {
-    //Constructors
-  VectorValues();
-  VectorValues(const gtsam::VectorValues& other);
-
-  //Named Constructors
-  static gtsam::VectorValues Zero(const gtsam::VectorValues& model);
-
-  //Standard Interface
-  size_t size() const;
-  size_t dim(size_t j) const;
-  bool exists(size_t j) const;
-  void print(string s) const;
-  bool equals(const gtsam::VectorValues& expected, double tol) const;
-  void insert(size_t j, Vector value);
-  Vector vector() const;
-  Vector at(size_t j) const;
-  void update(const gtsam::VectorValues& values);
-
-  //Advanced Interface
-  void setZero();
-
-  gtsam::VectorValues add(const gtsam::VectorValues& c) const;
-  void addInPlace(const gtsam::VectorValues& c);
-  gtsam::VectorValues subtract(const gtsam::VectorValues& c) const;
-  gtsam::VectorValues scale(double a) const;
-  void scaleInPlace(double a);
-
-  bool hasSameStructure(const gtsam::VectorValues& other)  const;
-  double dot(const gtsam::VectorValues& V) const;
-  double norm() const;
-  double squaredNorm() const;
-
-  // enabling serialization functionality
-  void serialize() const;
-};
-
-#include <gtsam/linear/GaussianFactor.h>
-virtual class GaussianFactor {
-  gtsam::KeyVector keys() const;
-  void print(string s) const;
-  bool equals(const gtsam::GaussianFactor& lf, double tol) const;
-  double error(const gtsam::VectorValues& c) const;
-  gtsam::GaussianFactor* clone() const;
-  gtsam::GaussianFactor* negate() const;
-  Matrix augmentedInformation() const;
-  Matrix information() const;
-  Matrix augmentedJacobian() const;
-  pair<Matrix, Vector> jacobian() const;
-  size_t size() const;
-  bool empty() const;
-};
-
-#include <gtsam/linear/JacobianFactor.h>
-virtual class JacobianFactor : gtsam::GaussianFactor {
-  //Constructors
-  JacobianFactor();
-  JacobianFactor(const gtsam::GaussianFactor& factor);
-  JacobianFactor(Vector b_in);
-  JacobianFactor(size_t i1, Matrix A1, Vector b,
-      const gtsam::noiseModel::Diagonal* model);
-  JacobianFactor(size_t i1, Matrix A1, size_t i2, Matrix A2, Vector b,
-      const gtsam::noiseModel::Diagonal* model);
-  JacobianFactor(size_t i1, Matrix A1, size_t i2, Matrix A2, size_t i3, Matrix A3,
-      Vector b, const gtsam::noiseModel::Diagonal* model);
-  //JacobianFactor(const gtsam::GaussianFactorGraph& graph);
-  //JacobianFactor(const gtsam::JacobianFactor& other);
-
-  //Testable
-  void print(string s) const;
-  void printKeys(string s) const;
-  bool equals(const gtsam::GaussianFactor& lf, double tol) const;
-  size_t size() const;
-  Vector unweighted_error(const gtsam::VectorValues& c) const;
-  Vector error_vector(const gtsam::VectorValues& c) const;
-  double error(const gtsam::VectorValues& c) const;
-
-  //Standard Interface
-  Matrix getA() const;
-  Vector getb() const;
-  size_t rows() const;
-  size_t cols() const;
-  bool isConstrained() const;
-  pair<Matrix, Vector> jacobianUnweighted() const;
-  Matrix augmentedJacobianUnweighted() const;
-
-  void transposeMultiplyAdd(double alpha, const Vector& e, gtsam::VectorValues& x) const;
-  gtsam::JacobianFactor whiten() const;
-
-  //pair<gtsam::GaussianConditional*, gtsam::JacobianFactor*> eliminate(const gtsam::Ordering& keys) const;
-
-  void setModel(bool anyConstrained, const Vector& sigmas);
-
-  gtsam::noiseModel::Diagonal* get_model() const;
-
-  // enabling serialization functionality
-  void serialize() const;
-};
-
-#include <gtsam/linear/HessianFactor.h>
-virtual class HessianFactor : gtsam::GaussianFactor {
-  //Constructors
-  HessianFactor();
-  HessianFactor(const gtsam::GaussianFactor& factor);
-  HessianFactor(size_t j, Matrix G, Vector g, double f);
-  HessianFactor(size_t j, Vector mu, Matrix Sigma);
-  HessianFactor(size_t j1, size_t j2, Matrix G11, Matrix G12, Vector g1, Matrix G22,
-      Vector g2, double f);
-  HessianFactor(size_t j1, size_t j2, size_t j3, Matrix G11, Matrix G12, Matrix G13,
-      Vector g1, Matrix G22, Matrix G23, Vector g2, Matrix G33, Vector g3,
-      double f);
-  //HessianFactor(const gtsam::GaussianFactorGraph& factors);
-  //HessianFactor(const gtsam::HessianFactor& other);
-
-  //Testable
-  size_t size() const;
-  void print(string s) const;
-  void printKeys(string s) const;
-  bool equals(const gtsam::GaussianFactor& lf, double tol) const;
-  double error(const gtsam::VectorValues& c) const;
-
-  //Standard Interface
-  size_t rows() const;
-  Matrix information() const;
-  double constantTerm() const;
-  Vector linearTerm() const;
-
-  // enabling serialization functionality
-  void serialize() const;
-};
-
-#include <gtsam/nonlinear/Values.h>
-class Values {
-  Values();
-  //Values(const gtsam::Values& other);
-
-  size_t size() const;
-  bool empty() const;
-  void clear();
-  size_t dim() const;
-
-  void print(string s) const;
-  bool equals(const gtsam::Values& other, double tol) const;
-
-  void insert(const gtsam::Values& values);
-  void update(const gtsam::Values& values);
-  void erase(size_t j);
-  void swap(gtsam::Values& values);
-
-  bool exists(size_t j) const;
-  gtsam::KeyVector keys() const;
-
-  gtsam::VectorValues zeroVectors() const;
-
-  gtsam::Values retract(const gtsam::VectorValues& delta) const;
-  gtsam::VectorValues localCoordinates(const gtsam::Values& cp) const;
-
-  // enabling serialization functionality
-  void serialize() const;
-
-  // New in 4.0, we have to specialize every insert/update/at to generate wrappers
-  // Instead of the old:
-  // void insert(size_t j, const gtsam::Value& value);
-  // void update(size_t j, const gtsam::Value& val);
-  // gtsam::Value at(size_t j) const;
-
-  // template <T = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
-  //                gtsam::Rot3, gtsam::Pose3}>
-  // void insert(size_t j, const T& t);
-
-  // template <T = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
-  //                gtsam::Rot3, gtsam::Pose3}>
-  // void update(size_t j, const T& t);
-  void insert(size_t j, const gtsam::Point2& t);
-  void insert(size_t j, const gtsam::Point3& t);
-  void insert(size_t j, const gtsam::Rot2& t);
-  void insert(size_t j, const gtsam::Pose2& t);
-  void insert(size_t j, const gtsam::Rot3& t);
-  void insert(size_t j, const gtsam::Pose3& t);
-  void insert(size_t j, Vector t);
-  void insert(size_t j, Matrix t);
-
-  void update(size_t j, const gtsam::Point2& t);
-  void update(size_t j, const gtsam::Point3& t);
-  void update(size_t j, const gtsam::Rot2& t);
-  void update(size_t j, const gtsam::Pose2& t);
-  void update(size_t j, const gtsam::Rot3& t);
-  void update(size_t j, const gtsam::Pose3& t);
-  void update(size_t j, Vector t);
-  void update(size_t j, Matrix t);
-
-  template <T = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
-                 gtsam::Rot3, gtsam::Pose3, Vector, Matrix}>
-  T at(size_t j);
-
-  /// version for double
-  void insertDouble(size_t j, double c);
-  double atDouble(size_t j) const;
-};
-
-#include <gtsam/nonlinear/NonlinearFactor.h>
-virtual class NonlinearFactor {
-  // Factor base class
-  size_t size() const;
-  gtsam::KeyVector keys() const;
-  void print(string s) const;
-  void printKeys(string s) const;
-  // NonlinearFactor
-  bool equals(const gtsam::NonlinearFactor& other, double tol) const;
-
-  double error(const gtsam::Values& c) const;
-  size_t dim() const;
-  bool active(const gtsam::Values& c) const;
-  gtsam::GaussianFactor* linearize(const gtsam::Values& c) const;
-  gtsam::NonlinearFactor* clone() const;
-  // gtsam::NonlinearFactor* rekey(const gtsam::KeyVector& newKeys) const; //FIXME: Conversion from KeyVector to std::vector does not happen
-};
-
-#include <gtsam/nonlinear/NonlinearFactorGraph.h>
-class NonlinearFactorGraph {
-  NonlinearFactorGraph();
-  //NonlinearFactorGraph(const gtsam::NonlinearFactorGraph& graph);
-
-  // FactorGraph
-  void print(string s) const;
-  bool equals(const gtsam::NonlinearFactorGraph& fg, double tol) const;
-  size_t size() const;
-  bool empty() const;
-  void remove(size_t i);
-  size_t nrFactors() const;
-  gtsam::NonlinearFactor* at(size_t idx) const;
-  void push_back(const gtsam::NonlinearFactorGraph& factors);
-  void push_back(gtsam::NonlinearFactor* factor);
-  void add(gtsam::NonlinearFactor* factor);
-  bool exists(size_t idx) const;
-  // gtsam::KeySet keys() const;
-
-  // NonlinearFactorGraph
-  double error(const gtsam::Values& values) const;
-  double probPrime(const gtsam::Values& values) const;
-  //gtsam::Ordering orderingCOLAMD() const;
-  // Ordering* orderingCOLAMDConstrained(const gtsam::Values& c, const std::map<gtsam::Key,int>& constraints) const;
-  //gtsam::GaussianFactorGraph* linearize(const gtsam::Values& values) const;
-  gtsam::NonlinearFactorGraph clone() const;
-
-  // enabling serialization functionality
-  void serialize() const;
-};
-
-#include <gtsam/nonlinear/NonlinearFactor.h>
-virtual class NoiseModelFactor: gtsam::NonlinearFactor {
-  void equals(const gtsam::NoiseModelFactor& other, double tol) const;
-  gtsam::noiseModel::Base* get_noiseModel() const; // deprecated by below
-  gtsam::noiseModel::Base* noiseModel() const;
-  Vector unwhitenedError(const gtsam::Values& x) const;
-  Vector whitenedError(const gtsam::Values& x) const;
-};
-
-#include <gtsam/slam/PriorFactor.h>
-template<T = {Vector, gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3}>
-virtual class PriorFactor : gtsam::NoiseModelFactor {
-  PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
-  //PriorFactor(const This& other);
-  T prior() const;
-
-  // enabling serialization functionality
-  void serialize() const;
-};
-
-
-#include <gtsam/slam/BetweenFactor.h>
-template<T = {Vector, gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3}>
-virtual class BetweenFactor : gtsam::NoiseModelFactor {
-  BetweenFactor(size_t key1, size_t key2, const T& relativePose, const gtsam::noiseModel::Base* noiseModel);
-  //BetweenFactor(const This& other);
-  T measured() const;
-
-  // enabling serialization functionality
-  void serialize() const;
-};
-
-#include <gtsam/inference/Symbol.h>
-size_t symbol(char chr, size_t index);
-char symbolChr(size_t key);
-size_t symbolIndex(size_t key);
-
-#include <gtsam/inference/Key.h>
-// Default keyformatter
-void PrintKeyVector(const gtsam::KeyVector& keys);
-void PrintKeyVector(const gtsam::KeyVector& keys, string s);
-
-#include <gtsam/nonlinear/NonlinearOptimizer.h>
-bool checkConvergence(double relativeErrorTreshold,
-    double absoluteErrorTreshold, double errorThreshold,
-    double currentError, double newError);
-
-#include <gtsam/slam/dataset.h>
-pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename,
-    gtsam::noiseModel::Diagonal* model, int maxID, bool addNoise, bool smart);
-pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename,
-    gtsam::noiseModel::Diagonal* model, int maxID, bool addNoise);
-pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename,
-    gtsam::noiseModel::Diagonal* model, int maxID);
-pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename,
-    gtsam::noiseModel::Diagonal* model);
-pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename);
-pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D_robust(string filename,
-    gtsam::noiseModel::Base* model);
-void save2D(const gtsam::NonlinearFactorGraph& graph,
-    const gtsam::Values& config, gtsam::noiseModel::Diagonal* model,
-    string filename);
-
-pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> readG2o(string filename);
-void writeG2o(const gtsam::NonlinearFactorGraph& graph,
-    const gtsam::Values& estimate, string filename);
-
-//*************************************************************************
-// Utilities
-//*************************************************************************
-
-namespace utilities {
-
-  #include <gtsam/nonlinear/utilities.h>
-  // gtsam::KeyList createKeyList(Vector I);
-  // gtsam::KeyList createKeyList(string s, Vector I);
-  gtsam::KeyVector createKeyVector(Vector I);
-  gtsam::KeyVector createKeyVector(string s, Vector I);
-  // gtsam::KeySet createKeySet(Vector I);
-  // gtsam::KeySet createKeySet(string s, Vector I);
-  Matrix extractPoint2(const gtsam::Values& values);
-  Matrix extractPoint3(const gtsam::Values& values);
-  Matrix extractPose2(const gtsam::Values& values);
-  gtsam::Values allPose3s(gtsam::Values& values);
-  Matrix extractPose3(const gtsam::Values& values);
-  void perturbPoint2(gtsam::Values& values, double sigma, int seed);
-  void perturbPose2 (gtsam::Values& values, double sigmaT, double sigmaR, int seed);
-  void perturbPoint3(gtsam::Values& values, double sigma, int seed);
-  // void insertBackprojections(gtsam::Values& values, const gtsam::SimpleCamera& c, Vector J, Matrix Z, double depth);
-  // void insertProjectionFactors(gtsam::NonlinearFactorGraph& graph, size_t i, Vector J, Matrix Z, const gtsam::noiseModel::Base* model, const gtsam::Cal3_S2* K);
-  // void insertProjectionFactors(gtsam::NonlinearFactorGraph& graph, size_t i, Vector J, Matrix Z, const gtsam::noiseModel::Base* model, const gtsam::Cal3_S2* K, const gtsam::Pose3& body_P_sensor);
-  Matrix reprojectionErrors(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& values);
-  gtsam::Values localToWorld(const gtsam::Values& local, const gtsam::Pose2& base);
-  gtsam::Values localToWorld(const gtsam::Values& local, const gtsam::Pose2& base, const gtsam::KeyVector& keys);
-
-} //\namespace utilities
-
-#include <gtsam/nonlinear/utilities.h>
-class RedirectCout {
-  RedirectCout();
-  string str();
-};
-
-} //\namespace gtsam
diff --git a/cython/gtsam/tests/test_Pose2.py b/cython/gtsam/tests/test_Pose2.py
new file mode 100644
index 000000000..afd0c5773
--- /dev/null
+++ b/cython/gtsam/tests/test_Pose2.py
@@ -0,0 +1,21 @@
+"""Pose2 unit tests."""
+import unittest
+
+import numpy as np
+
+from gtsam import Pose2
+
+
+class TestPose2(unittest.TestCase):
+    """Test selected Pose2 methods."""
+
+    def test_adjoint(self):
+        """Test adjoint method."""
+        xi = np.array([1, 2, 3])
+        expected = np.dot(Pose2.adjointMap_(xi), xi)
+        actual = Pose2.adjoint_(xi, xi)
+        np.testing.assert_array_equal(actual, expected)
+
+
+if __name__ == "__main__":
+    unittest.main()
diff --git a/cython/gtsam/tests/test_Pose3.py b/cython/gtsam/tests/test_Pose3.py
index 4752a4b02..b878a9551 100644
--- a/cython/gtsam/tests/test_Pose3.py
+++ b/cython/gtsam/tests/test_Pose3.py
@@ -49,8 +49,8 @@ class TestPose3(unittest.TestCase):
     def test_adjoint(self):
         """Test adjoint method."""
         xi = np.array([1, 2, 3, 4, 5, 6])
-        expected = np.dot(Pose3.adjointMap(xi), xi)
-        actual = Pose3.adjoint(xi, xi)
+        expected = np.dot(Pose3.adjointMap_(xi), xi)
+        actual = Pose3.adjoint_(xi, xi)
         np.testing.assert_array_equal(actual, expected)
 
 
diff --git a/gtsam.h b/gtsam.h
index 3d4ee5c29..48768db40 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -577,9 +577,9 @@ class Pose2 {
   static Matrix LogmapDerivative(const gtsam::Pose2& v);
   Matrix AdjointMap() const;
   Vector Adjoint(Vector xi) const;
-  static Matrix adjointMap(Vector v);
-  Vector adjoint(Vector xi, Vector y);
-  Vector adjointTranspose(Vector xi, Vector y);
+  static Matrix adjointMap_(Vector v);
+  static Vector adjoint_(Vector xi, Vector y);
+  static Vector adjointTranspose(Vector xi, Vector y);
   static Matrix wedge(double vx, double vy, double w);
 
   // Group Actions on Point2
@@ -628,8 +628,8 @@ class Pose3 {
   static Vector Logmap(const gtsam::Pose3& pose);
   Matrix AdjointMap() const;
   Vector Adjoint(Vector xi) const;
-  static Matrix adjointMap(Vector xi);
-  static Vector adjoint(Vector xi, Vector y);
+  static Matrix adjointMap_(Vector xi);
+  static Vector adjoint_(Vector xi, Vector y);
   static Vector adjointTranspose(Vector xi, Vector y);
   static Matrix ExpmapDerivative(Vector xi);
   static Matrix LogmapDerivative(const gtsam::Pose3& xi);
diff --git a/gtsam/geometry/Pose2.h b/gtsam/geometry/Pose2.h
index 603c3a421..6937ff78d 100644
--- a/gtsam/geometry/Pose2.h
+++ b/gtsam/geometry/Pose2.h
@@ -146,17 +146,21 @@ public:
   /**
    * Action of the adjointMap on a Lie-algebra vector y, with optional derivatives
    */
-  Vector3 adjoint(const Vector3& xi, const Vector3& y) {
+  static Vector3 adjoint(const Vector3& xi, const Vector3& y) {
     return adjointMap(xi) * y;
   }
 
   /**
    * The dual version of adjoint action, acting on the dual space of the Lie-algebra vector space.
    */
-  Vector3 adjointTranspose(const Vector3& xi, const Vector3& y) {
+  static Vector3 adjointTranspose(const Vector3& xi, const Vector3& y) {
     return adjointMap(xi).transpose() * y;
   }
 
+  // temporary fix for wrappers until case issue is resolved
+  static Matrix3 adjointMap_(const Vector3 &xi) { return adjointMap(xi);}
+  static Vector3 adjoint_(const Vector3 &xi, const Vector3 &y) { return adjoint(xi, y);}
+
   /**
    * wedge for SE(2):
    * @param xi 3-dim twist (v,omega) where
diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h
index ca0fdff10..757c4fdd4 100644
--- a/gtsam/geometry/Pose3.h
+++ b/gtsam/geometry/Pose3.h
@@ -160,6 +160,10 @@ public:
   static Vector6 adjoint(const Vector6 &xi, const Vector6 &y,
       OptionalJacobian<6, 6> = boost::none);
 
+  // temporary fix for wrappers until case issue is resolved
+  static Matrix6 adjointMap_(const Vector6 &xi) { return adjointMap(xi);}
+  static Vector6 adjoint_(const Vector6 &xi, const Vector6 &y) { return adjoint(xi, y);}
+
   /**
    * The dual version of adjoint action, acting on the dual space of the Lie-algebra vector space.
    */
diff --git a/gtsam/slam/dataset.cpp b/gtsam/slam/dataset.cpp
index 6efd01feb..34370d4e2 100644
--- a/gtsam/slam/dataset.cpp
+++ b/gtsam/slam/dataset.cpp
@@ -51,7 +51,6 @@ using namespace gtsam::symbol_shorthand;
 
 namespace gtsam {
 
-#ifndef MATLAB_MEX_FILE
 /* ************************************************************************* */
 string findExampleDataFile(const string& name) {
   // Search source tree and installed location
@@ -100,9 +99,6 @@ string createRewrittenFileName(const string& name) {
   return newpath.string();
 }
 
-/* ************************************************************************* */
-#endif
-
 /* ************************************************************************* */
 GraphAndValues load2D(pair<string, SharedNoiseModel> dataset, int maxID,
     bool addNoise, bool smart, NoiseFormat noiseFormat,
diff --git a/gtsam/slam/dataset.h b/gtsam/slam/dataset.h
index 929ada2c1..7c9b54a6f 100644
--- a/gtsam/slam/dataset.h
+++ b/gtsam/slam/dataset.h
@@ -37,7 +37,6 @@
 
 namespace gtsam {
 
-#ifndef MATLAB_MEX_FILE
 /**
  * Find the full path to an example dataset distributed with gtsam.  The name
  * may be specified with or without a file extension - if no extension is
@@ -56,7 +55,6 @@ GTSAM_EXPORT std::string findExampleDataFile(const std::string& name);
  * for checking read-write oprations
  */
 GTSAM_EXPORT std::string createRewrittenFileName(const std::string& name);
-#endif
 
 /// Indicates how noise parameters are stored in file
 enum NoiseFormat {