diff --git a/gtsam_unstable/nonlinear/tests/testBatchFixedLagSmoother.cpp b/gtsam_unstable/nonlinear/tests/testBatchFixedLagSmoother.cpp
index 37d5b3f51..e3a5d651e 100644
--- a/gtsam_unstable/nonlinear/tests/testBatchFixedLagSmoother.cpp
+++ b/gtsam_unstable/nonlinear/tests/testBatchFixedLagSmoother.cpp
@@ -60,8 +60,8 @@ TEST( BatchFixedLagSmoother, Example )
 //  SETDEBUG("BatchFixedLagSmoother calculateMarginalFactors", true);
 
   // Set up parameters
-  SharedDiagonal odometerNoise = noiseModel::Diagonal::Sigmas(Vector_(2, 0.1, 0.1));
-  SharedDiagonal loopNoise = noiseModel::Diagonal::Sigmas(Vector_(2, 0.1, 0.1));
+  SharedDiagonal odometerNoise = noiseModel::Diagonal::Sigmas((Vec(2) << 0.1, 0.1));
+  SharedDiagonal loopNoise = noiseModel::Diagonal::Sigmas((Vec(2) << 0.1, 0.1));
 
   // Create a Fixed-Lag Smoother
   typedef BatchFixedLagSmoother::KeyTimestampMap Timestamps;
diff --git a/gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp b/gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp
index ced9721f1..4fd088d55 100644
--- a/gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp
+++ b/gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp
@@ -39,13 +39,13 @@ namespace {
 
 // Set up initial pose, odometry difference, loop closure difference, and initialization errors
 const Pose3 poseInitial;
-const Pose3 poseOdometry( Rot3::RzRyRx(Vector_(3, 0.05, 0.10, -0.75)), Point3(1.0, -0.25, 0.10) );
-const Pose3 poseError( Rot3::RzRyRx(Vector_(3, 0.01, 0.02, -0.1)), Point3(0.05, -0.05, 0.02) );
+const Pose3 poseOdometry( Rot3::RzRyRx((Vec(3) << 0.05, 0.10, -0.75)), Point3(1.0, -0.25, 0.10) );
+const Pose3 poseError( Rot3::RzRyRx((Vec(3) << 0.01, 0.02, -0.1)), Point3(0.05, -0.05, 0.02) );
 
 // Set up noise models for the factors
 const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
-const SharedDiagonal noiseOdometery = noiseModel::Diagonal::Sigmas(Vector_(6, 0.1, 0.1, 0.1, 0.5, 0.5, 0.5));
-const SharedDiagonal noiseLoop = noiseModel::Diagonal::Sigmas(Vector_(6, 0.25, 0.25, 0.25, 1.0, 1.0, 1.0));
+const SharedDiagonal noiseOdometery = noiseModel::Diagonal::Sigmas((Vec(6) << 0.1, 0.1, 0.1, 0.5, 0.5, 0.5));
+const SharedDiagonal noiseLoop = noiseModel::Diagonal::Sigmas((Vec(6) << 0.25, 0.25, 0.25, 1.0, 1.0, 1.0));
 
 /* ************************************************************************* */
 Values BatchOptimize(const NonlinearFactorGraph& graph, const Values& theta, int maxIter = 100) {
diff --git a/gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp b/gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp
index d2a74f1a6..ee3b2b5da 100644
--- a/gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp
+++ b/gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp
@@ -39,13 +39,13 @@ namespace {
 
 // Set up initial pose, odometry difference, loop closure difference, and initialization errors
 const Pose3 poseInitial;
-const Pose3 poseOdometry( Rot3::RzRyRx(Vector_(3, 0.05, 0.10, -0.75)), Point3(1.0, -0.25, 0.10) );
-const Pose3 poseError( Rot3::RzRyRx(Vector_(3, 0.01, 0.02, -0.1)), Point3(0.05, -0.05, 0.02) );
+const Pose3 poseOdometry( Rot3::RzRyRx((Vec(3) << 0.05, 0.10, -0.75)), Point3(1.0, -0.25, 0.10) );
+const Pose3 poseError( Rot3::RzRyRx((Vec(3) << 0.01, 0.02, -0.1)), Point3(0.05, -0.05, 0.02) );
 
 // Set up noise models for the factors
 const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
-const SharedDiagonal noiseOdometery = noiseModel::Diagonal::Sigmas(Vector_(6, 0.1, 0.1, 0.1, 0.5, 0.5, 0.5));
-const SharedDiagonal noiseLoop = noiseModel::Diagonal::Sigmas(Vector_(6, 0.25, 0.25, 0.25, 1.0, 1.0, 1.0));
+const SharedDiagonal noiseOdometery = noiseModel::Diagonal::Sigmas((Vec(6) << 0.1, 0.1, 0.1, 0.5, 0.5, 0.5));
+const SharedDiagonal noiseLoop = noiseModel::Diagonal::Sigmas((Vec(6) << 0.25, 0.25, 0.25, 1.0, 1.0, 1.0));
 
 /* ************************************************************************* */
 Values BatchOptimize(const NonlinearFactorGraph& graph, const Values& theta, int maxIter = 100) {
diff --git a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter.cpp b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter.cpp
index c831e9d94..435965087 100644
--- a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter.cpp
+++ b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter.cpp
@@ -38,14 +38,14 @@ namespace {
 
 // Set up initial pose, odometry difference, loop closure difference, and initialization errors
 const Pose3 poseInitial;
-const Pose3 poseOdometry( Rot3::RzRyRx(Vector_(3, 0.05, 0.10, -0.75)), Point3(1.0, -0.25, 0.10) );
-//const Pose3 poseError( Rot3::RzRyRx(Vector_(3, 0.01, 0.02, -0.1)), Point3(0.05, -0.05, 0.02) );
-const Pose3 poseError( Rot3::RzRyRx(Vector_(3, 0.1, 0.02, -0.1)), Point3(0.5, -0.05, 0.2) );
+const Pose3 poseOdometry( Rot3::RzRyRx((Vec(3) << 0.05, 0.10, -0.75)), Point3(1.0, -0.25, 0.10) );
+//const Pose3 poseError( Rot3::RzRyRx((Vec(3) << 0.01, 0.02, -0.1)), Point3(0.05, -0.05, 0.02) );
+const Pose3 poseError( Rot3::RzRyRx((Vec(3) << 0.1, 0.02, -0.1)), Point3(0.5, -0.05, 0.2) );
 
 // Set up noise models for the factors
 const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
-const SharedDiagonal noiseOdometery = noiseModel::Diagonal::Sigmas(Vector_(6, 0.1, 0.1, 0.1, 0.5, 0.5, 0.5));
-const SharedDiagonal noiseLoop = noiseModel::Diagonal::Sigmas(Vector_(6, 0.25, 0.25, 0.25, 1.0, 1.0, 1.0));
+const SharedDiagonal noiseOdometery = noiseModel::Diagonal::Sigmas((Vec(6) << 0.1, 0.1, 0.1, 0.5, 0.5, 0.5));
+const SharedDiagonal noiseLoop = noiseModel::Diagonal::Sigmas((Vec(6) << 0.25, 0.25, 0.25, 1.0, 1.0, 1.0));
 
 /* ************************************************************************* */
 Values BatchOptimize(const NonlinearFactorGraph& graph, const Values& theta, int maxIter = 100) {
diff --git a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherDL.cpp b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherDL.cpp
index b17344ef1..a25b97550 100644
--- a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherDL.cpp
+++ b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherDL.cpp
@@ -39,13 +39,13 @@ namespace {
 
 // Set up initial pose, odometry difference, loop closure difference, and initialization errors
 const Pose3 poseInitial;
-const Pose3 poseOdometry( Rot3::RzRyRx(Vector_(3, 0.05, 0.10, -0.75)), Point3(1.0, -0.25, 0.10) );
-const Pose3 poseError( Rot3::RzRyRx(Vector_(3, 0.01, 0.02, -0.1)), Point3(0.05, -0.05, 0.02) );
+const Pose3 poseOdometry( Rot3::RzRyRx((Vec(3) << 0.05, 0.10, -0.75)), Point3(1.0, -0.25, 0.10) );
+const Pose3 poseError( Rot3::RzRyRx((Vec(3) << 0.01, 0.02, -0.1)), Point3(0.05, -0.05, 0.02) );
 
 // Set up noise models for the factors
 const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
-const SharedDiagonal noiseOdometery = noiseModel::Diagonal::Sigmas(Vector_(6, 0.1, 0.1, 0.1, 0.5, 0.5, 0.5));
-const SharedDiagonal noiseLoop = noiseModel::Diagonal::Sigmas(Vector_(6, 0.25, 0.25, 0.25, 1.0, 1.0, 1.0));
+const SharedDiagonal noiseOdometery = noiseModel::Diagonal::Sigmas((Vec(6) << 0.1, 0.1, 0.1, 0.5, 0.5, 0.5));
+const SharedDiagonal noiseLoop = noiseModel::Diagonal::Sigmas((Vec(6) << 0.25, 0.25, 0.25, 1.0, 1.0, 1.0));
 
 /* ************************************************************************* */
 Values BatchOptimize(const NonlinearFactorGraph& graph, const Values& theta, int maxIter = 100) {
diff --git a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherGN.cpp b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherGN.cpp
index 158c584b5..73d2a0e9e 100644
--- a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherGN.cpp
+++ b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherGN.cpp
@@ -38,13 +38,13 @@ namespace {
 
 // Set up initial pose, odometry difference, loop closure difference, and initialization errors
 const Pose3 poseInitial;
-const Pose3 poseOdometry( Rot3::RzRyRx(Vector_(3, 0.05, 0.10, -0.75)), Point3(1.0, -0.25, 0.10) );
-const Pose3 poseError( Rot3::RzRyRx(Vector_(3, 0.01, 0.02, -0.1)), Point3(0.05, -0.05, 0.02) );
+const Pose3 poseOdometry( Rot3::RzRyRx((Vec(3) << 0.05, 0.10, -0.75)), Point3(1.0, -0.25, 0.10) );
+const Pose3 poseError( Rot3::RzRyRx((Vec(3) << 0.01, 0.02, -0.1)), Point3(0.05, -0.05, 0.02) );
 
 // Set up noise models for the factors
 const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
-const SharedDiagonal noiseOdometery = noiseModel::Diagonal::Sigmas(Vector_(6, 0.1, 0.1, 0.1, 0.5, 0.5, 0.5));
-const SharedDiagonal noiseLoop = noiseModel::Diagonal::Sigmas(Vector_(6, 0.25, 0.25, 0.25, 1.0, 1.0, 1.0));
+const SharedDiagonal noiseOdometery = noiseModel::Diagonal::Sigmas((Vec(6) << 0.1, 0.1, 0.1, 0.5, 0.5, 0.5));
+const SharedDiagonal noiseLoop = noiseModel::Diagonal::Sigmas((Vec(6) << 0.25, 0.25, 0.25, 1.0, 1.0, 1.0));
 
 /* ************************************************************************* */
 Values BatchOptimize(const NonlinearFactorGraph& graph, const Values& theta, int maxIter = 100) {
diff --git a/gtsam_unstable/nonlinear/tests/testIncrementalFixedLagSmoother.cpp b/gtsam_unstable/nonlinear/tests/testIncrementalFixedLagSmoother.cpp
index 56675187d..a770de6e0 100644
--- a/gtsam_unstable/nonlinear/tests/testIncrementalFixedLagSmoother.cpp
+++ b/gtsam_unstable/nonlinear/tests/testIncrementalFixedLagSmoother.cpp
@@ -59,8 +59,8 @@ TEST( IncrementalFixedLagSmoother, Example )
   SETDEBUG("IncrementalFixedLagSmoother update", true);
 
   // Set up parameters
-  SharedDiagonal odometerNoise = noiseModel::Diagonal::Sigmas(Vector_(2, 0.1, 0.1));
-  SharedDiagonal loopNoise = noiseModel::Diagonal::Sigmas(Vector_(2, 0.1, 0.1));
+  SharedDiagonal odometerNoise = noiseModel::Diagonal::Sigmas((Vec(2) << 0.1, 0.1));
+  SharedDiagonal loopNoise = noiseModel::Diagonal::Sigmas((Vec(2) << 0.1, 0.1));
 
   // Create a Fixed-Lag Smoother
   typedef IncrementalFixedLagSmoother::KeyTimestampMap Timestamps;