diff --git a/gtsam/slam/JacobianFactorQ.h b/gtsam/slam/JacobianFactorQ.h
index c18ad07d1..ed6213058 100644
--- a/gtsam/slam/JacobianFactorQ.h
+++ b/gtsam/slam/JacobianFactorQ.h
@@ -17,16 +17,16 @@
 
 #pragma once
 
-#include "JacobianSchurFactor.h"
+#include "RegularJacobianFactor.h"
 
 namespace gtsam {
 /**
  * JacobianFactor for Schur complement that uses Q noise model
  */
 template<size_t D, size_t ZDim>
-class JacobianFactorQ: public JacobianSchurFactor<D> {
+class JacobianFactorQ: public RegularJacobianFactor<D> {
 
-  typedef JacobianSchurFactor<D> Base;
+  typedef RegularJacobianFactor<D> Base;
   typedef Eigen::Matrix<double, ZDim, D> MatrixZD;
   typedef std::pair<Key, MatrixZD> KeyMatrixZD;
 
diff --git a/gtsam/slam/JacobianFactorQR.h b/gtsam/slam/JacobianFactorQR.h
index cf72fd0b3..4c1b0ff14 100644
--- a/gtsam/slam/JacobianFactorQR.h
+++ b/gtsam/slam/JacobianFactorQR.h
@@ -6,7 +6,7 @@
  */
 
 #pragma once
-#include <gtsam/slam/JacobianSchurFactor.h>
+#include <gtsam/slam/RegularJacobianFactor.h>
 #include <gtsam/linear/GaussianFactorGraph.h>
 #include <gtsam/inference/Symbol.h>
 
@@ -18,9 +18,9 @@ class GaussianBayesNet;
  * JacobianFactor for Schur complement that uses Q noise model
  */
 template<size_t D, size_t ZDim>
-class JacobianFactorQR: public JacobianSchurFactor<D> {
+class JacobianFactorQR: public RegularJacobianFactor<D> {
 
-  typedef JacobianSchurFactor<D> Base;
+  typedef RegularJacobianFactor<D> Base;
   typedef Eigen::Matrix<double, ZDim, D> MatrixZD;
   typedef std::pair<Key, MatrixZD> KeyMatrixZD;
 
diff --git a/gtsam/slam/JacobianFactorSVD.h b/gtsam/slam/JacobianFactorSVD.h
index 37043f448..b4389d681 100644
--- a/gtsam/slam/JacobianFactorSVD.h
+++ b/gtsam/slam/JacobianFactorSVD.h
@@ -5,16 +5,16 @@
  */
 
 #pragma once
-#include "gtsam/slam/JacobianSchurFactor.h"
+#include "gtsam/slam/RegularJacobianFactor.h"
 
 namespace gtsam {
 /**
  * JacobianFactor for Schur complement that uses Q noise model
  */
 template<size_t D, size_t ZDim>
-class JacobianFactorSVD: public JacobianSchurFactor<D> {
+class JacobianFactorSVD: public RegularJacobianFactor<D> {
 
-  typedef JacobianSchurFactor<D> Base;
+  typedef RegularJacobianFactor<D> Base;
   typedef Eigen::Matrix<double, ZDim, D> MatrixZD; // e.g 2 x 6 with Z=Point2
   typedef std::pair<Key, MatrixZD> KeyMatrixZD;
   typedef std::pair<Key, Matrix> KeyMatrix;