diff --git a/gtsam/geometry/tests/testPoint3.cpp b/gtsam/geometry/tests/testPoint3.cpp
index e457da887..da7696d0d 100644
--- a/gtsam/geometry/tests/testPoint3.cpp
+++ b/gtsam/geometry/tests/testPoint3.cpp
@@ -93,20 +93,20 @@ TEST( Point3, dot) {
 
   // Use numerical derivatives to calculate the expected Jacobians
   Matrix H1, H2;
-  boost::function<double(const Point3&, const Point3&)> f = boost::bind(&Point3::dot, _1, _2,  //
-                                                                      boost::none, boost::none);
+  boost::function<double(const Point3&, const Point3&)> f =
+      [](const Point3& p, const Point3& q) { return gtsam::dot(p, q); };
   {
-    p.dot(q, H1, H2);
+    gtsam::dot(p, q, H1, H2);
     EXPECT(assert_equal(numericalDerivative21<double,Point3>(f, p, q), H1, 1e-9));
     EXPECT(assert_equal(numericalDerivative22<double,Point3>(f, p, q), H2, 1e-9));
   }
   {
-    p.dot(r, H1, H2);
+    gtsam::dot(p, r, H1, H2);
     EXPECT(assert_equal(numericalDerivative21<double,Point3>(f, p, r), H1, 1e-9));
     EXPECT(assert_equal(numericalDerivative22<double,Point3>(f, p, r), H2, 1e-9));
   }
   {
-    p.dot(t, H1, H2);
+    gtsam::dot(p, t, H1, H2);
     EXPECT(assert_equal(numericalDerivative21<double,Point3>(f, p, t), H1, 1e-9));
     EXPECT(assert_equal(numericalDerivative22<double,Point3>(f, p, t), H2, 1e-9));
   }
@@ -134,15 +134,15 @@ TEST( Point3, cross2) {
 
   // Use numerical derivatives to calculate the expected Jacobians
   Matrix H1, H2;
-  boost::function<Point3(const Point3&, const Point3&)> f = boost::bind(&Point3::cross, _1, _2,  //
+  boost::function<Point3(const Point3&, const Point3&)> f = boost::bind(&gtsam::cross, _1, _2,  //
                                                                       boost::none, boost::none);
   {
-    p.cross(q, H1, H2);
+    gtsam::cross(p, q, H1, H2);
     EXPECT(assert_equal(numericalDerivative21<Point3,Point3>(f, p, q), H1, 1e-9));
     EXPECT(assert_equal(numericalDerivative22<Point3,Point3>(f, p, q), H2, 1e-9));
   }
   {
-    p.cross(r, H1, H2);
+    gtsam::cross(p, r, H1, H2);
     EXPECT(assert_equal(numericalDerivative21<Point3,Point3>(f, p, r), H1, 1e-9));
     EXPECT(assert_equal(numericalDerivative22<Point3,Point3>(f, p, r), H2, 1e-9));
   }
diff --git a/gtsam/navigation/GPSFactor.cpp b/gtsam/navigation/GPSFactor.cpp
index 782c98148..05b7259bf 100644
--- a/gtsam/navigation/GPSFactor.cpp
+++ b/gtsam/navigation/GPSFactor.cpp
@@ -66,20 +66,21 @@ pair<Pose3, Vector3> GPSFactor::EstimateState(double t1, const Point3& NED1,
 //***************************************************************************
 void GPSFactor2::print(const string& s, const KeyFormatter& keyFormatter) const {
   cout << s << "GPSFactor2 on " << keyFormatter(key()) << "\n";
-  nT_.print("  GPS measurement: ");
+  cout << "  GPS measurement: " << nT_.transpose() << endl;
   noiseModel_->print("  noise model: ");
 }
 
 //***************************************************************************
 bool GPSFactor2::equals(const NonlinearFactor& expected, double tol) const {
   const This* e = dynamic_cast<const This*>(&expected);
-  return e != NULL && Base::equals(*e, tol) && nT_.equals(e->nT_, tol);
+  return e != NULL && Base::equals(*e, tol) &&
+         traits<Point3>::Equals(nT_, e->nT_, tol);
 }
 
 //***************************************************************************
 Vector GPSFactor2::evaluateError(const NavState& p,
     boost::optional<Matrix&> H) const {
-  return p.position(H).vector() -nT_.vector();
+  return p.position(H) -nT_;
 }
 
 //***************************************************************************
diff --git a/gtsam/nonlinear/tests/testExpression.cpp b/gtsam/nonlinear/tests/testExpression.cpp
index bbf19869d..43f1cd017 100644
--- a/gtsam/nonlinear/tests/testExpression.cpp
+++ b/gtsam/nonlinear/tests/testExpression.cpp
@@ -372,7 +372,7 @@ TEST(Expression, TripleSum) {
 /* ************************************************************************* */
 TEST(Expression, SumOfUnaries) {
   const Key key(67);
-  const double_ norm_(Point3_(key), &Point3::norm);
+  const double_ norm_(&gtsam::norm, Point3_(key));
   const double_ sum_ = norm_ + norm_;
 
   Values values;
@@ -391,7 +391,7 @@ TEST(Expression, SumOfUnaries) {
 TEST(Expression, UnaryOfSum) {
   const Key key1(42), key2(67);
   const Point3_ sum_ = Point3_(key1) + Point3_(key2);
-  const double_ norm_(sum_, &Point3::norm);
+  const double_ norm_(&gtsam::norm, sum_);
 
   map<Key, int> actual_dims, expected_dims = map_list_of<Key, int>(key1, 3)(key2, 3);
   norm_.dims(actual_dims);
@@ -455,7 +455,7 @@ TEST(Expression, Subtract) {
 /* ************************************************************************* */
 TEST(Expression, LinearExpression) {
   const Key key(67);
-  const boost::function<Vector3(Point3)> f = boost::bind(&Point3::vector, _1);
+  const boost::function<Vector3(Point3)> f = [](const Point3& p) { return (Vector3)p; };
   const Matrix3 kIdentity = I_3x3;
   const Expression<Vector3> linear_ = linearExpression(f, Point3_(key), kIdentity);