diff --git a/.cproject b/.cproject
index 4dc49b994..b9fdfae51 100644
--- a/.cproject
+++ b/.cproject
@@ -2999,6 +2999,14 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="testBetweenFactor.run" path="build/gtsam/slam/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j4</buildArguments>
+				<buildTarget>testBetweenFactor.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 			<target name="SimpleRotation.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j2</buildArguments>
diff --git a/gtsam/geometry/tests/testRot3.cpp b/gtsam/geometry/tests/testRot3.cpp
index 4c0333f69..0d8432d51 100644
--- a/gtsam/geometry/tests/testRot3.cpp
+++ b/gtsam/geometry/tests/testRot3.cpp
@@ -38,6 +38,13 @@ static Rot3 R = Rot3::rodriguez(0.1, 0.4, 0.2);
 static Point3 P(0.2, 0.7, -2.0);
 static double error = 1e-9, epsilon = 0.001;
 
+//******************************************************************************
+TEST(Rot3 , Concept) {
+  BOOST_CONCEPT_ASSERT((IsGroup<Rot3 >));
+  BOOST_CONCEPT_ASSERT((IsManifold<Rot3 >));
+  BOOST_CONCEPT_ASSERT((IsLieGroup<Rot3 >));
+}
+
 /* ************************************************************************* */
 TEST( Rot3, chart)
 {
@@ -601,6 +608,45 @@ TEST( Rot3, slerp)
   EXPECT(assert_equal(R1, R1.slerp(0.5,R1)));
 }
 
+//******************************************************************************
+TEST(Rot3 , Traits) {
+  Rot3 R1(Rot3::rodriguez(Vector3(0, 0, 1), 1));
+  Rot3 R2(Rot3::rodriguez(Vector3(0, 1, 0), 2));
+  check_group_invariants(R1, R2);
+  check_manifold_invariants(R1, R2);
+
+  Rot3 expected, actual;
+  Matrix actualH1, actualH2;
+  Matrix numericalH1, numericalH2;
+
+  expected = R1 * R2;
+  actual = traits_x<Rot3>::Compose(R1, R2, actualH1, actualH2);
+  EXPECT(assert_equal(expected,actual));
+
+  numericalH1 = numericalDerivative21(traits_x<Rot3>::Compose, R1, R2);
+  EXPECT(assert_equal(numericalH1,actualH1));
+
+  numericalH2 = numericalDerivative22(traits_x<Rot3>::Compose, R1, R2);
+  EXPECT(assert_equal(numericalH2,actualH2));
+
+  expected = R1.inverse() * R2;
+  actual = traits_x<Rot3>::Between(R1, R2, actualH1, actualH2);
+  EXPECT(assert_equal(expected,actual));
+
+  numericalH1 = numericalDerivative21(traits_x<Rot3>::Between, R1, R2);
+  EXPECT(assert_equal(numericalH1,actualH1));
+
+  numericalH2 = numericalDerivative22(traits_x<Rot3>::Between, R1, R2);
+  EXPECT(assert_equal(numericalH2,actualH2));
+
+  expected = R1.inverse();
+  actual = traits_x<Rot3>::Inverse(R1, actualH1);
+  EXPECT(assert_equal(expected,actual));
+
+  numericalH1 = numericalDerivative11(traits_x<Rot3>::Inverse, R1);
+  EXPECT(assert_equal(numericalH1,actualH1));
+}
+
 /* ************************************************************************* */
 int main() {
   TestResult tr;
diff --git a/gtsam/slam/BetweenFactor.h b/gtsam/slam/BetweenFactor.h
index 5889f6d03..ccb981de7 100644
--- a/gtsam/slam/BetweenFactor.h
+++ b/gtsam/slam/BetweenFactor.h
@@ -93,12 +93,18 @@ namespace gtsam {
             boost::none) const {
       T hx = traits_x<T>::Between(p1, p2, H1, H2); // h(x)
       // manifold equivalent of h(x)-z -> log(z,h(x))
-      typename traits_x<T>::ChartJacobian Hlocal;
-      //OptionalJacobian<traits_x<T>::dimension, traits_x<T>::dimension> Hlocal;
-      Vector rval = traits_x<T>::Local(measured_, hx, boost::none, Hlocal);
-      (*H1) = ((*Hlocal) * (*H1)).eval();
-      (*H2) = ((*Hlocal) * (*H2)).eval();
+#ifdef BETWEENFACTOR_ASSUME_SMALL
+      return traits_x<T>::Local(measured_, hx);
+#else
+      return traits_x<T>::Local(measured_, hx);
+      static const int N = traits_x<T>::dimension;
+      Eigen::Matrix<double,N,N> Hlocal;
+    Vector rval = traits_x<T>::Local(measured_, hx, boost::none,
+        (H1 || H2) ? &Hlocal : 0);
+      if (H1) *H1 = Hlocal * (*H1);
+      if (H1) *H2 = Hlocal * (*H2);
       return rval;
+#endif
     }
 
     /** return the measured */