diff --git a/gtsam/geometry/tests/testQuaternion.cpp b/gtsam/geometry/tests/testQuaternion.cpp
index 51ea99d14..90aeffe28 100644
--- a/gtsam/geometry/tests/testQuaternion.cpp
+++ b/gtsam/geometry/tests/testQuaternion.cpp
@@ -19,47 +19,54 @@
 
 namespace gtsam {
 
-/// Typedef to an Eigen Quaternion<double>, we disable alignment because
-/// geometry objects are stored in boost pool allocators, in Values
-/// containers, and and these pool allocators do not support alignment.
-typedef Eigen::Quaternion<double, Eigen::DontAlign> Quaternion;
-
 namespace traits {
-/// Define Quaternion to be a model of the Group concept
-template<>
-struct structure_category<Quaternion> {
+/// Define Eigen::Quaternion to be a model of the Group concept
+template<typename _Scalar, int _Options>
+struct structure_category<Eigen::Quaternion<_Scalar, _Options> > {
   typedef group_tag type;
 };
 } // \namespace gtsam::traits
 
 namespace group {
 
-Quaternion compose(const Quaternion&g, const Quaternion& h) {
+template<typename _Scalar, int _Options>
+Eigen::Quaternion<_Scalar, _Options> compose(
+    const Eigen::Quaternion<_Scalar, _Options> &g,
+    const Eigen::Quaternion<_Scalar, _Options> & h) {
   return g * h;
 }
 
-Quaternion between(const Quaternion&g, const Quaternion& h) {
+template<typename _Scalar, int _Options>
+Eigen::Quaternion<_Scalar, _Options> between(
+    const Eigen::Quaternion<_Scalar, _Options> &g,
+    const Eigen::Quaternion<_Scalar, _Options> & h) {
   return g.inverse() * h;
 }
 
-Quaternion inverse(const Quaternion&g) {
+template<typename _Scalar, int _Options>
+Eigen::Quaternion<_Scalar, _Options> inverse(
+    const Eigen::Quaternion<_Scalar, _Options> &g) {
   return g.inverse();
 }
 
 namespace traits {
 
-/// Define the trait that specifies Quaternion's identity element
-template<>
-struct identity<Quaternion> {
-  static const Quaternion value;
-  typedef Quaternion value_type;
+/// Declare the trait that specifies a quaternion's identity element
+template<typename _Scalar, int _Options>
+struct identity<Eigen::Quaternion<_Scalar, _Options> > {
+  static const Eigen::Quaternion<_Scalar, _Options> value;
+  typedef Eigen::Quaternion<_Scalar, _Options> value_type;
 };
 
-const Quaternion identity<Quaternion>::value = Quaternion::Identity();
+/// Out of line definition of identity
+template<typename _Scalar, int _Options>
+const Eigen::Quaternion<_Scalar, _Options> identity<
+    Eigen::Quaternion<_Scalar, _Options> >::value = Eigen::Quaternion<_Scalar,
+    _Options>::Identity();
 
-/// Define the trait that asserts Quaternion is an additive group
-template<>
-struct flavor<Quaternion> {
+/// Define the trait that asserts quaternions are a multiplicative group
+template<typename _Scalar, int _Options>
+struct flavor<Eigen::Quaternion<_Scalar, _Options> > {
   typedef multiplicative_tag type;
 };
 
@@ -67,6 +74,13 @@ struct flavor<Quaternion> {
 } // \namespace gtsam::group
 } // \namespace gtsam
 
+/**
+ *  GSAM typedef to an Eigen::Quaternion<double>, we disable alignment because
+ *  geometry objects are stored in boost pool allocators, in Values containers,
+ *  and and these pool allocators do not support alignment.
+ */
+typedef Eigen::Quaternion<double, Eigen::DontAlign> Quaternion;
+
 /**
  * @file   testCyclic.cpp
  * @brief  Unit tests for cyclic group
@@ -84,25 +98,25 @@ using namespace gtsam;
 typedef Quaternion Q; // Typedef
 
 //******************************************************************************
-TEST(Quaternion, Concept) {
-  BOOST_CONCEPT_ASSERT((IsGroup<Quaternion>));
+TEST(Quaternion , Concept) {
+  BOOST_CONCEPT_ASSERT((IsGroup<Quaternion >));
 }
 
 //******************************************************************************
-TEST(Quaternion, Constructor) {
-  Q g(Eigen::AngleAxisd(1, Vector3(0,0,1)));
+TEST(Quaternion , Constructor) {
+  Q g(Eigen::AngleAxisd(1, Vector3(0, 0, 1)));
 }
 
 //******************************************************************************
-TEST(Quaternion, Compose) {
+TEST(Quaternion , Compose) {
 }
 
 //******************************************************************************
-TEST(Quaternion, Between) {
+TEST(Quaternion , Between) {
 }
 
 //******************************************************************************
-TEST(Quaternion, Ivnverse) {
+TEST(Quaternion , Ivnverse) {
 }
 
 //******************************************************************************