diff --git a/cpp/NonlinearFactor.cpp b/cpp/NonlinearFactor.cpp
index 4beeb3a96..ef8d92f62 100644
--- a/cpp/NonlinearFactor.cpp
+++ b/cpp/NonlinearFactor.cpp
@@ -26,7 +26,7 @@ NonlinearFactor1::NonlinearFactor1(const Vector& z,
 
 /* ************************************************************************* */
 void NonlinearFactor1::print(const string& s) const {
-	cout << "NonGaussianFactor1 " << s << endl;
+	cout << "NonlinearFactor1 " << s << endl;
   cout << "h  : " << (void*)h_ << endl;
   cout << "key: " << key_      << endl;
   cout << "H  : " << (void*)H_ << endl;
@@ -77,7 +77,7 @@ NonlinearFactor2::NonlinearFactor2(const Vector& z,
 
 /* ************************************************************************* */
 void NonlinearFactor2::print(const string& s) const {
-	cout << "NonGaussianFactor2 " << s << endl;
+	cout << "NonlinearFactor2 " << s << endl;
   cout << "h   : " << (void*)h_  << endl;
   cout << "key1: " << key1_      << endl;
   cout << "H2  : " << (void*)H2_ << endl;
diff --git a/cpp/NonlinearFactor.h b/cpp/NonlinearFactor.h
index 1113e0bfd..c02e5cbed 100644
--- a/cpp/NonlinearFactor.h
+++ b/cpp/NonlinearFactor.h
@@ -66,7 +66,7 @@ namespace gtsam {
 
     /** print */
     void print(const std::string& s = "") const {
-    	std::cout << "NonGaussianFactor " << s << std::endl;
+    	std::cout << "NonlinearFactor " << s << std::endl;
     	gtsam::print(z_, "  z = ");
     	std::cout << "  sigma = " << sigma_ << std::endl;
     }
diff --git a/cpp/NonlinearFactorGraph.h b/cpp/NonlinearFactorGraph.h
index 5b64c6bd9..42e383167 100644
--- a/cpp/NonlinearFactorGraph.h
+++ b/cpp/NonlinearFactorGraph.h
@@ -17,7 +17,7 @@ namespace gtsam {
 
 	/**
 	 * A non-linear factor graph is templated on a configuration, but the factor type
-	 * is fixed as a NonGaussianFactor. The configurations are typically (in SAM) more general
+	 * is fixed as a NonlinearFactor. The configurations are typically (in SAM) more general
 	 * than just vectors, e.g., Rot3 or Pose3, which are objects in non-linear manifolds.
 	 * Linearizing the non-linear factor graph creates a linear factor graph on the 
 	 * tangent vector space at the linearization point. Because the tangent space is a true
diff --git a/cpp/Testable.h b/cpp/Testable.h
index fe5432bff..cf9ba148c 100644
--- a/cpp/Testable.h
+++ b/cpp/Testable.h
@@ -32,7 +32,7 @@ namespace gtsam {
 
 		/**
 		 * equality up to tolerance
-		 * tricky to implement, see NonGaussianFactor1 for an example
+		 * tricky to implement, see NonlinearFactor1 for an example
 		 * equals is not supposed to print out *anything*, just return true|false
 		 */
 		virtual bool equals(const Derived& expected, double tol) const = 0;
diff --git a/cpp/testNonlinearEquality.cpp b/cpp/testNonlinearEquality.cpp
index 241811e3d..7aaa5efbe 100644
--- a/cpp/testNonlinearEquality.cpp
+++ b/cpp/testNonlinearEquality.cpp
@@ -8,7 +8,7 @@
 #include "NonlinearEquality.h"
 
 TEST ( NonlinearEquality, construction ) {
-	
+
 }
 
 /* ************************************************************************* */
diff --git a/cpp/testNonlinearFactor.cpp b/cpp/testNonlinearFactor.cpp
index a5e6dbdec..6e1551d30 100644
--- a/cpp/testNonlinearFactor.cpp
+++ b/cpp/testNonlinearFactor.cpp
@@ -21,7 +21,7 @@ using namespace gtsam;
 typedef boost::shared_ptr<NonlinearFactor<VectorConfig> > shared_nlf;
 
 /* ************************************************************************* */
-TEST( NonGaussianFactor, equals )
+TEST( NonlinearFactor, equals )
 {
 	double sigma = 1.0;
 
@@ -40,7 +40,7 @@ TEST( NonGaussianFactor, equals )
 }
 
 /* ************************************************************************* */
-TEST( NonGaussianFactor, equals2 )
+TEST( NonlinearFactor, equals2 )
 {
   // create a non linear factor graph
   ExampleNonlinearFactorGraph fg = createNonlinearFactorGraph();
@@ -54,7 +54,7 @@ TEST( NonGaussianFactor, equals2 )
 }
 
 /* ************************************************************************* */
-TEST( NonGaussianFactor, NonlinearFactor )
+TEST( NonlinearFactor, NonlinearFactor )
 {
   // create a non linear factor graph
   ExampleNonlinearFactorGraph fg = createNonlinearFactorGraph();
@@ -81,7 +81,7 @@ TEST( NonGaussianFactor, NonlinearFactor )
 }
 
 /* ************************************************************************* */
-TEST( NonGaussianFactor, linearize_f1 )
+TEST( NonlinearFactor, linearize_f1 )
 {
   // Grab a non-linear factor
   ExampleNonlinearFactorGraph nfg = createNonlinearFactorGraph();
@@ -99,7 +99,7 @@ TEST( NonGaussianFactor, linearize_f1 )
 }
 
 /* ************************************************************************* */
-TEST( NonGaussianFactor, linearize_f2 )
+TEST( NonlinearFactor, linearize_f2 )
 {
   // Grab a non-linear factor
   ExampleNonlinearFactorGraph nfg = createNonlinearFactorGraph();
@@ -117,7 +117,7 @@ TEST( NonGaussianFactor, linearize_f2 )
 }
 
 /* ************************************************************************* */
-TEST( NonGaussianFactor, linearize_f3 )
+TEST( NonlinearFactor, linearize_f3 )
 {
   // Grab a non-linear factor
   ExampleNonlinearFactorGraph nfg = createNonlinearFactorGraph();
@@ -135,7 +135,7 @@ TEST( NonGaussianFactor, linearize_f3 )
 }
 
 /* ************************************************************************* */
-TEST( NonGaussianFactor, linearize_f4 )
+TEST( NonlinearFactor, linearize_f4 )
 {
   // Grab a non-linear factor
   ExampleNonlinearFactorGraph nfg = createNonlinearFactorGraph();
@@ -153,7 +153,7 @@ TEST( NonGaussianFactor, linearize_f4 )
 }
 
 /* ************************************************************************* */
-TEST( NonGaussianFactor, size )
+TEST( NonlinearFactor, size )
 {
 	// create a non linear factor graph
 	ExampleNonlinearFactorGraph fg = createNonlinearFactorGraph();