diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6b5dddb21..c2918f1cb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -79,7 +79,6 @@ option(GTSAM_WITH_EIGEN_MKL_OPENMP       "Eigen, when using Intel MKL, will also
 option(GTSAM_THROW_CHEIRALITY_EXCEPTION  "Throw exception when a triangulated point is behind a camera" ON)
 option(GTSAM_BUILD_PYTHON                "Enable/Disable building & installation of Python module with pybind11" OFF)
 option(GTSAM_ALLOW_DEPRECATED_SINCE_V41  "Allow use of methods/functions deprecated in GTSAM 4.1" ON)
-option(GTSAM_TYPEDEF_POINTS_TO_VECTORS   "Typedef Point2 and Point3 to Eigen::Vector equivalents" OFF)
 option(GTSAM_SUPPORT_NESTED_DISSECTION   "Support Metis-based nested dissection" ON)
 option(GTSAM_TANGENT_PREINTEGRATION      "Use new ImuFactor with integration on tangent space" ON)
 if(NOT MSVC AND NOT XCODE_VERSION)
@@ -114,10 +113,6 @@ if(GTSAM_INSTALL_MATLAB_TOOLBOX AND NOT BUILD_SHARED_LIBS)
 endif()
 
 if(GTSAM_BUILD_PYTHON)
-    if (NOT GTSAM_TYPEDEF_POINTS_TO_VECTORS)
-        message(FATAL_ERROR "GTSAM_BUILD_PYTHON requires GTSAM_TYPEDEF_POINTS_TO_VECTORS to be enabled but it is not.")
-    endif()
-
     if(GTSAM_UNSTABLE_BUILD_PYTHON)
         if (NOT GTSAM_BUILD_UNSTABLE)
             message(WARNING "GTSAM_UNSTABLE_BUILD_PYTHON requires the unstable module to be enabled.")
@@ -586,7 +581,6 @@ print_enabled_config(${GTSAM_ENABLE_CONSISTENCY_CHECKS}   "Runtime consistency c
 print_enabled_config(${GTSAM_ROT3_EXPMAP}                 "Rot3 retract is full ExpMap     ")
 print_enabled_config(${GTSAM_POSE3_EXPMAP}                "Pose3 retract is full ExpMap    ")
 print_enabled_config(${GTSAM_ALLOW_DEPRECATED_SINCE_V41}  "Allow features deprecated in GTSAM 4.1")
-print_enabled_config(${GTSAM_TYPEDEF_POINTS_TO_VECTORS}   "Point3 is typedef to Vector3    ")
 print_enabled_config(${GTSAM_SUPPORT_NESTED_DISSECTION}   "Metis-based Nested Dissection   ")
 print_enabled_config(${GTSAM_TANGENT_PREINTEGRATION}      "Use tangent-space preintegration")
 
diff --git a/gtsam/config.h.in b/gtsam/config.h.in
index 9dc10c36a..9d1bd4ebd 100644
--- a/gtsam/config.h.in
+++ b/gtsam/config.h.in
@@ -72,9 +72,6 @@
 // Make sure dependent projects that want it can see deprecated functions
 #cmakedefine GTSAM_ALLOW_DEPRECATED_SINCE_V41
 
-// Publish flag about Eigen typedef
-#cmakedefine GTSAM_TYPEDEF_POINTS_TO_VECTORS
-
 // Support Metis-based nested dissection
 #cmakedefine GTSAM_SUPPORT_NESTED_DISSECTION
 
diff --git a/gtsam/geometry/Point2.cpp b/gtsam/geometry/Point2.cpp
index 4cead869f..d8060cfcf 100644
--- a/gtsam/geometry/Point2.cpp
+++ b/gtsam/geometry/Point2.cpp
@@ -50,37 +50,6 @@ double distance2(const Point2& p, const Point2& q, OptionalJacobian<1, 2> H1,
   }
 }
 
-#ifndef GTSAM_TYPEDEF_POINTS_TO_VECTORS
-
-/* ************************************************************************* */
-void Point2::print(const string& s) const {
-  cout << s << *this << endl;
-}
-
-/* ************************************************************************* */
-bool Point2::equals(const Point2& q, double tol) const {
-  return (std::abs(x() - q.x()) < tol && std::abs(y() - q.y()) < tol);
-}
-
-/* ************************************************************************* */
-double Point2::norm(OptionalJacobian<1,2> H) const {
-  return gtsam::norm2(*this, H);
-}
-
-/* ************************************************************************* */
-double Point2::distance(const Point2& point, OptionalJacobian<1,2> H1,
-    OptionalJacobian<1,2> H2) const {
-  return gtsam::distance2(*this, point, H1, H2);
-}
-
-/* ************************************************************************* */
-ostream &operator<<(ostream &os, const Point2& p) {
-  os << '(' << p.x() << ", " << p.y() << ')';
-  return os;
-}
-
-#endif // GTSAM_TYPEDEF_POINTS_TO_VECTORS
-
 /* ************************************************************************* */
 // Math inspired by http://paulbourke.net/geometry/circlesphere/
 boost::optional<Point2> circleCircleIntersection(double R_d, double r_d,
diff --git a/gtsam/geometry/Point2.h b/gtsam/geometry/Point2.h
index e186f7b67..e6574fe41 100644
--- a/gtsam/geometry/Point2.h
+++ b/gtsam/geometry/Point2.h
@@ -22,111 +22,9 @@
 
 namespace gtsam {
 
-#ifdef GTSAM_TYPEDEF_POINTS_TO_VECTORS
-
-  /// As of GTSAM 4, in order to make GTSAM more lean,
-  /// it is now possible to just typedef Point2 to Vector2
-  typedef Vector2 Point2;
-
-#else
-
-/**
- * A 2D point
- * Complies with the Testable Concept
- * Functional, so no set functions: once created, a point is constant.
- * @addtogroup geometry
- * \nosubgrouping
- */
-class Point2 : public Vector2 {
-private:
-
-public:
-  enum { dimension = 2 };
-  /// @name Standard Constructors
-  /// @{
-
-  /// default constructor
-  Point2() {}
-
-  using Vector2::Vector2;
-
-  /// @}
-  /// @name Advanced Constructors
-  /// @{
-
-  /// construct from 2D vector
-  explicit Point2(const Vector2& v):Vector2(v) {}
-  /// @}
-  /// @name Testable
-  /// @{
-
-  /// print with optional string
-  GTSAM_EXPORT void print(const std::string& s = "") const;
-
-  /// equals with an tolerance, prints out message if unequal
-  GTSAM_EXPORT bool equals(const Point2& q, double tol = 1e-9) const;
-
-  /// @}
-  /// @name Group
-  /// @{
-
-  /// identity
-  inline static Point2 identity() {return Point2(0,0);}
-
-  /// @}
-  /// @name Vector Space
-  /// @{
-
-  /** creates a unit vector */
-  Point2 unit() const { return *this/norm(); }
-
-  /** norm of point, with derivative */
-  GTSAM_EXPORT double norm(OptionalJacobian<1,2> H = boost::none) const;
-
-  /** distance between two points */
-  GTSAM_EXPORT double distance(const Point2& p2, OptionalJacobian<1,2> H1 = boost::none,
-      OptionalJacobian<1,2> H2 = boost::none) const;
-
-  /// @}
-  /// @name Standard Interface
-  /// @{
-
-  /// equality
-  inline bool operator ==(const Point2& q) const {return x()==q.x() && y()==q.y();}
-
-  /// get x
-  inline double x() const {return (*this)[0];}
-
-  /// get y
-  inline double y() const {return (*this)[1];}
-
-  /// return vectorized form (column-wise).
-  const Vector2& vector() const { return *this; }
-
-  /// @}
-
-  /// Streaming
-  GTSAM_EXPORT friend std::ostream &operator<<(std::ostream &os, const Point2& p);
-
- private:
-  /// @name Advanced Interface
-  /// @{
-
-  /** Serialization function */
-  friend class boost::serialization::access;
-  template<class ARCHIVE>
-  void serialize(ARCHIVE & ar, const unsigned int /*version*/)
-  {
-    ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Vector2);}
-
- /// @}
-};
-
-template<>
-struct traits<Point2> : public internal::VectorSpace<Point2> {
-};
-
-#endif // GTSAM_TYPEDEF_POINTS_TO_VECTORS
+/// As of GTSAM 4, in order to make GTSAM more lean,
+/// it is now possible to just typedef Point2 to Vector2
+typedef Vector2 Point2;
 
 /// Distance of the point from the origin, with Jacobian
 GTSAM_EXPORT double norm2(const Point2& p, OptionalJacobian<1, 2> H = boost::none);
diff --git a/gtsam/geometry/Point3.cpp b/gtsam/geometry/Point3.cpp
index 25fb9b92d..7a46f5988 100644
--- a/gtsam/geometry/Point3.cpp
+++ b/gtsam/geometry/Point3.cpp
@@ -22,47 +22,6 @@ using namespace std;
 
 namespace gtsam {
 
-#ifndef GTSAM_TYPEDEF_POINTS_TO_VECTORS
-bool Point3::equals(const Point3 &q, double tol) const {
-  return (std::abs(x() - q.x()) < tol && std::abs(y() - q.y()) < tol &&
-          std::abs(z() - q.z()) < tol);
-}
-
-void Point3::print(const string& s) const {
-  cout << s << *this << endl;
-}
-
-/* ************************************************************************* */
-double Point3::distance(const Point3 &q, OptionalJacobian<1, 3> H1,
-                        OptionalJacobian<1, 3> H2) const {
-  return gtsam::distance3(*this,q,H1,H2);
-}
-
-double Point3::norm(OptionalJacobian<1,3> H) const {
-  return gtsam::norm3(*this, H);
-}
-
-Point3 Point3::normalized(OptionalJacobian<3,3> H) const {
-  return gtsam::normalize(*this, H);
-}
-
-Point3 Point3::cross(const Point3 &q, OptionalJacobian<3, 3> H1,
-                     OptionalJacobian<3, 3> H2) const {
-  return gtsam::cross(*this, q, H1, H2);
-}
-
-double Point3::dot(const Point3 &q, OptionalJacobian<1, 3> H1,
-                   OptionalJacobian<1, 3> H2) const {
-  return gtsam::dot(*this, q, H1, H2);
-}
-
-/* ************************************************************************* */
-ostream &operator<<(ostream &os, const Point3& p) {
-  os << '[' << p.x() << ", " << p.y() << ", " << p.z() << "]'";
-  return os;
-}
-
-#endif
 /* ************************************************************************* */
 double distance3(const Point3 &p1, const Point3 &q, OptionalJacobian<1, 3> H1,
                  OptionalJacobian<1, 3> H2) {
diff --git a/gtsam/geometry/Point3.h b/gtsam/geometry/Point3.h
index 1ab5c313e..19e328022 100644
--- a/gtsam/geometry/Point3.h
+++ b/gtsam/geometry/Point3.h
@@ -29,106 +29,9 @@
 
 namespace gtsam {
 
-#ifdef GTSAM_TYPEDEF_POINTS_TO_VECTORS
-
-  /// As of GTSAM 4, in order to make GTSAM more lean,
-  /// it is now possible to just typedef Point3 to Vector3
-  typedef Vector3 Point3;
-
-#else
-
-/**
-   * A 3D point is just a Vector3 with some additional methods
-   * @addtogroup geometry
-   * \nosubgrouping
-   */
-class Point3 : public Vector3 {
-
-  public:
-
-    enum { dimension = 3 };
-
-    /// @name Standard Constructors
-    /// @{
-
-    using Vector3::Vector3;
-
-    /// @}
-    /// @name Testable
-    /// @{
-
-    /** print with optional string */
-	GTSAM_EXPORT void print(const std::string& s = "") const;
-
-    /** equals with an tolerance */
-	GTSAM_EXPORT bool equals(const Point3& p, double tol = 1e-9) const;
-
-    /// @}
-    /// @name Group
-    /// @{
-
-    /// identity for group operation
-    inline static Point3 identity() { return Point3(0.0, 0.0, 0.0); }
-
-    /// @}
-    /// @name Vector Space
-    /// @{
-
-    /** distance between two points */
-	GTSAM_EXPORT double distance(const Point3& p2, OptionalJacobian<1, 3> H1 = boost::none,
-                    OptionalJacobian<1, 3> H2 = boost::none) const;
-
-    /** Distance of the point from the origin, with Jacobian */
-	GTSAM_EXPORT double norm(OptionalJacobian<1,3> H = boost::none) const;
-
-    /** normalize, with optional Jacobian */
-	GTSAM_EXPORT Point3 normalized(OptionalJacobian<3, 3> H = boost::none) const;
-
-    /** cross product @return this x q */
-	GTSAM_EXPORT Point3 cross(const Point3 &q, OptionalJacobian<3, 3> H_p = boost::none, //
-                                  OptionalJacobian<3, 3> H_q = boost::none) const;
-
-    /** dot product @return this * q*/
-	GTSAM_EXPORT double dot(const Point3 &q, OptionalJacobian<1, 3> H_p = boost::none, //
-                                OptionalJacobian<1, 3> H_q = boost::none) const;
-
-    /// @}
-    /// @name Standard Interface
-    /// @{
-
-    /// return as Vector3
-    const Vector3& vector() const { return *this; }
-
-    /// get x
-    inline double x() const {return (*this)[0];}
-
-    /// get y
-    inline double y() const {return (*this)[1];}
-
-    /// get z
-    inline double z() const {return (*this)[2];}
-
-    /// @}
-
-    /// Output stream operator
-    GTSAM_EXPORT friend std::ostream &operator<<(std::ostream &os, const Point3& p);
-
-   private:
-    /** Serialization function */
-    friend class boost::serialization::access;
-    template<class ARCHIVE>
-    void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
-      ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Vector3);
-    }
-  };
-
-template<>
-struct traits<Point3> : public internal::VectorSpace<Point3> {};
-
-template<>
-struct traits<const Point3> : public internal::VectorSpace<Point3> {};
-
-#endif // GTSAM_TYPEDEF_POINTS_TO_VECTORS
+/// As of GTSAM 4, in order to make GTSAM more lean,
+/// it is now possible to just typedef Point3 to Vector3
+typedef Vector3 Point3;
 
 // Convenience typedef
 typedef std::pair<Point3, Point3> Point3Pair;
diff --git a/gtsam/geometry/tests/testPoint2.cpp b/gtsam/geometry/tests/testPoint2.cpp
index 8b9e8a7e6..6e4d408c7 100644
--- a/gtsam/geometry/tests/testPoint2.cpp
+++ b/gtsam/geometry/tests/testPoint2.cpp
@@ -237,16 +237,6 @@ TEST( Point2, circleCircleIntersection) {
 
 }
 
-/* ************************************************************************* */
-#ifndef GTSAM_TYPEDEF_POINTS_TO_VECTORS
-TEST( Point2, stream) {
-  Point2 p(1, 2);
-  std::ostringstream os;
-  os << p;
-  EXPECT(os.str() == "(1, 2)");
-}
-#endif
-
 /* ************************************************************************* */
 int main () {
   TestResult tr;
diff --git a/gtsam/geometry/tests/testPoint3.cpp b/gtsam/geometry/tests/testPoint3.cpp
index e2396f7e9..a7c2ac50c 100644
--- a/gtsam/geometry/tests/testPoint3.cpp
+++ b/gtsam/geometry/tests/testPoint3.cpp
@@ -153,16 +153,6 @@ TEST( Point3, cross2) {
   }
 }
 
-/* ************************************************************************* */
-#ifndef GTSAM_TYPEDEF_POINTS_TO_VECTORS
-TEST( Point3, stream) {
-  Point3 p(1, 2, -3);
-  std::ostringstream os;
-  os << p;
-  EXPECT(os.str() == "[1, 2, -3]'");
-}
-#endif
-
 //*************************************************************************
 TEST (Point3, normalize) {
   Matrix actualH;
diff --git a/gtsam/geometry/tests/testPose3.cpp b/gtsam/geometry/tests/testPose3.cpp
index 596fa8957..c94e21ba5 100644
--- a/gtsam/geometry/tests/testPose3.cpp
+++ b/gtsam/geometry/tests/testPose3.cpp
@@ -864,11 +864,7 @@ TEST( Pose3, stream)
   os << T;
 
   string expected;
-#ifdef GTSAM_TYPEDEF_POINTS_TO_VECTORS
   expected = "R: [\n\t1, 0, 0;\n\t0, 1, 0;\n\t0, 0, 1\n]\nt: 0\n0\n0";;
-#else
-  expected = "R: [\n\t1, 0, 0;\n\t0, 1, 0;\n\t0, 0, 1\n]\nt: [0, 0, 0]'";
-#endif
 
   EXPECT(os.str() == expected);
 }
@@ -1043,13 +1039,9 @@ TEST(Pose3, print) {
   // Add expected rotation
   expected << "R: [\n\t1, 0, 0;\n\t0, 1, 0;\n\t0, 0, 1\n]\n";
 
-#ifdef GTSAM_TYPEDEF_POINTS_TO_VECTORS
   expected << "t: 1\n"
               "2\n"
               "3\n";
-#else
-  expected << "t: [" << translation.x() << ", " << translation.y() << ", " << translation.z() << "]'\n";
-#endif
 
   // reset cout to the original stream
   std::cout.rdbuf(oldbuf);
diff --git a/gtsam/navigation/tests/testNavState.cpp b/gtsam/navigation/tests/testNavState.cpp
index c07240752..d38b76255 100644
--- a/gtsam/navigation/tests/testNavState.cpp
+++ b/gtsam/navigation/tests/testNavState.cpp
@@ -215,11 +215,7 @@ TEST(NavState, Stream)
   os << state;
 
   string expected;
-#ifdef GTSAM_TYPEDEF_POINTS_TO_VECTORS
   expected = "R: [\n\t1, 0, 0;\n\t0, 1, 0;\n\t0, 0, 1\n]\np: 0\n0\n0\nv: 0\n0\n0";
-#else
-  expected = "R: [\n\t1, 0, 0;\n\t0, 1, 0;\n\t0, 0, 1\n]\np: [0, 0, 0]'\nv: [0, 0, 0]'";
-#endif
 
   EXPECT(os.str() == expected);
 }
diff --git a/gtsam/slam/expressions.h b/gtsam/slam/expressions.h
index d60923d8e..680f2d175 100644
--- a/gtsam/slam/expressions.h
+++ b/gtsam/slam/expressions.h
@@ -75,30 +75,6 @@ inline Unit3_ unrotate(const Rot3_& x, const Unit3_& p) {
   return Unit3_(x, &Rot3::unrotate, p);
 }
 
-#ifndef GTSAM_TYPEDEF_POINTS_TO_VECTORS
-namespace internal {
-// define a rotate and unrotate for Vector3
-inline Vector3 rotate(const Rot3& R, const Vector3& v,
-               OptionalJacobian<3, 3> H1 = boost::none,
-               OptionalJacobian<3, 3> H2 = boost::none) {
-  return R.rotate(v, H1, H2);
-}
-inline Vector3 unrotate(const Rot3& R, const Vector3& v,
-                 OptionalJacobian<3, 3> H1 = boost::none,
-                 OptionalJacobian<3, 3> H2 = boost::none) {
-  return R.unrotate(v, H1, H2);
-}
-}  // namespace internal
-inline Expression<Vector3> rotate(const Rot3_& R,
-                                  const Expression<Vector3>& v) {
-  return Expression<Vector3>(internal::rotate, R, v);
-}
-inline Expression<Vector3> unrotate(const Rot3_& R,
-                                    const Expression<Vector3>& v) {
-  return Expression<Vector3>(internal::unrotate, R, v);
-}
-#endif
-
 // Projection
 
 typedef Expression<Cal3_S2> Cal3_S2_;