diff --git a/.cproject b/.cproject
index bc7ae6d9a..1ac3c8ca9 100644
--- a/.cproject
+++ b/.cproject
@@ -2436,6 +2436,22 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="gtsam_unstable-shared" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j6 -j8</buildArguments>
+				<buildTarget>gtsam_unstable-shared</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="gtsam_unstable-static" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j6 -j8</buildArguments>
+				<buildTarget>gtsam_unstable-static</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 			<target name="testSpirit.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j5</buildArguments>
diff --git a/gtsam_unstable/CMakeLists.txt b/gtsam_unstable/CMakeLists.txt
index 07a913355..bc120756b 100644
--- a/gtsam_unstable/CMakeLists.txt
+++ b/gtsam_unstable/CMakeLists.txt
@@ -7,7 +7,7 @@ set (gtsam_unstable_subdirs
     linear 
     dynamics
     nonlinear
-    slam
+    #slam
 )
 
 set(GTSAM_UNSTABLE_BOOST_LIBRARIES ${GTSAM_BOOST_LIBRARIES})
@@ -19,10 +19,26 @@ add_custom_target(check.unstable COMMAND ${CMAKE_CTEST_COMMAND} --output-on-fail
 # Sources to remove from builds
 set (excluded_sources # "")
     "${CMAKE_CURRENT_SOURCE_DIR}/slam/serialization.cpp"
+
+    "${CMAKE_CURRENT_SOURCE_DIR}/nonlinear/BatchFixedLagSmoother.cpp"
+    "${CMAKE_CURRENT_SOURCE_DIR}/nonlinear/ConcurrentBatchFilter.cpp"
+    "${CMAKE_CURRENT_SOURCE_DIR}/nonlinear/ConcurrentBatchSmoother.cpp"
+    "${CMAKE_CURRENT_SOURCE_DIR}/nonlinear/ConcurrentFilteringAndSmoothing.cpp"
+    "${CMAKE_CURRENT_SOURCE_DIR}/nonlinear/FixedLagSmoother.cpp"
+    "${CMAKE_CURRENT_SOURCE_DIR}/nonlinear/IncrementalFixedLagSmoother.cpp"
+#    "${CMAKE_CURRENT_SOURCE_DIR}/nonlinear/LinearizedFactor.cpp"
 )
 
 set (excluded_headers # "")
     "${CMAKE_CURRENT_SOURCE_DIR}/slam/serialization.h"
+    
+    "${CMAKE_CURRENT_SOURCE_DIR}/nonlinear/BatchFixedLagSmoother.h"
+    "${CMAKE_CURRENT_SOURCE_DIR}/nonlinear/ConcurrentBatchFilter.h"
+    "${CMAKE_CURRENT_SOURCE_DIR}/nonlinear/ConcurrentBatchSmoother.h"
+    "${CMAKE_CURRENT_SOURCE_DIR}/nonlinear/ConcurrentFilteringAndSmoothing.h"
+    "${CMAKE_CURRENT_SOURCE_DIR}/nonlinear/FixedLagSmoother.h"
+    "${CMAKE_CURRENT_SOURCE_DIR}/nonlinear/IncrementalFixedLagSmoother.h"
+#    "${CMAKE_CURRENT_SOURCE_DIR}/nonlinear/LinearizedFactor.h"
 )
 
 # assemble core libaries
diff --git a/gtsam_unstable/linear/bayesTreeOperations.cpp b/gtsam_unstable/linear/bayesTreeOperations.cpp
index c2e84dec3..d9c9eda32 100644
--- a/gtsam_unstable/linear/bayesTreeOperations.cpp
+++ b/gtsam_unstable/linear/bayesTreeOperations.cpp
@@ -13,14 +13,6 @@ using namespace std;
 
 namespace gtsam {
 
-/* ************************************************************************* */
-std::set<Index> keysToIndices(const KeySet& keys, const Ordering& ordering) {
-  std::set<Index> result;
-  BOOST_FOREACH(const Key& key, keys)
-    result.insert(ordering[key]);
-  return result;
-}
-
 /* ************************************************************************* */
 GaussianFactorGraph splitFactors(const GaussianFactorGraph& fullgraph) {
   GaussianFactorGraph result;
@@ -55,9 +47,9 @@ GaussianFactorGraph splitFactor(const GaussianFactor::shared_ptr& factor) {
     size_t nrRows = std::min(rowsRemaining, varDim);
 
     // Extract submatrices
-    std::vector<std::pair<Index, Matrix> > matrices;
+    std::vector<std::pair<Key, Matrix> > matrices;
     for (colIt = rowIt; colIt != jf->end(); ++colIt) {
-      Index idx = *colIt;
+      Key idx = *colIt;
       const Matrix subA = jf->getA(colIt).middleRows(startRow, nrRows);
       matrices.push_back(make_pair(idx, subA));
     }
@@ -103,11 +95,11 @@ void findCliques(const GaussianBayesTree::sharedClique& current_clique,
 
 /* ************************************************************************* */
 std::set<GaussianConditional::shared_ptr> findAffectedCliqueConditionals(
-    const GaussianBayesTree& bayesTree, const std::set<Index>& savedIndices) {
+    const GaussianBayesTree& bayesTree, const std::set<Key>& savedIndices) {
   std::set<GaussianConditional::shared_ptr> affected_cliques;
   // FIXME: track previously found keys more efficiently
-  BOOST_FOREACH(const Index& index, savedIndices) {
-    GaussianBayesTree::sharedClique clique = bayesTree.nodes()[index];
+  BOOST_FOREACH(const Key& index, savedIndices) {
+    GaussianBayesTree::sharedClique clique = bayesTree[index];
 
     // add path back to root to affected set
     findCliques(clique, affected_cliques);
diff --git a/gtsam_unstable/linear/bayesTreeOperations.h b/gtsam_unstable/linear/bayesTreeOperations.h
index 3f85dc12c..b29ead520 100644
--- a/gtsam_unstable/linear/bayesTreeOperations.h
+++ b/gtsam_unstable/linear/bayesTreeOperations.h
@@ -12,15 +12,9 @@
 #include <gtsam_unstable/base/dllexport.h>
 #include <gtsam/linear/GaussianFactorGraph.h>
 #include <gtsam/linear/GaussianBayesTree.h>
-#include <gtsam/nonlinear/Ordering.h>
 
 namespace gtsam {
 
-// Managing orderings
-
-/** Converts sets of keys to indices by way of orderings */
-GTSAM_UNSTABLE_EXPORT std::set<Index> keysToIndices(const KeySet& keys, const Ordering& ordering);
-
 // Linear Graph Operations
 
 /**
@@ -47,7 +41,7 @@ GTSAM_UNSTABLE_EXPORT GaussianFactorGraph removePriors(const GaussianFactorGraph
  * @return the set of conditionals extracted from cliques.
  */
 GTSAM_UNSTABLE_EXPORT std::set<GaussianConditional::shared_ptr> findAffectedCliqueConditionals(
-    const GaussianBayesTree& bayesTree, const std::set<Index>& savedIndices);
+    const GaussianBayesTree& bayesTree, const std::set<Key>& savedIndices);
 
 /**
  * Recursively traverses from a given clique in a Bayes Tree and collects all of the conditionals
@@ -78,9 +72,9 @@ GaussianFactorGraph liquefy(const typename BAYESTREE::sharedClique& root, bool s
   if (root && root->conditional()) {
     GaussianConditional::shared_ptr conditional = root->conditional();
     if (!splitConditionals)
-      result.push_back(conditional->toFactor());
+      result.push_back(conditional);
     else
-      result.push_back(splitFactor(conditional->toFactor()));
+      result.push_back(splitFactor(conditional));
   }
   BOOST_FOREACH(const typename BAYESTREE::sharedClique& child, root->children())
     result.push_back(liquefy<BAYESTREE>(child, splitConditionals));
diff --git a/gtsam_unstable/linear/conditioning.cpp b/gtsam_unstable/linear/conditioning.cpp
index c02f4d48c..63871776c 100644
--- a/gtsam_unstable/linear/conditioning.cpp
+++ b/gtsam_unstable/linear/conditioning.cpp
@@ -8,13 +8,16 @@
 #include <gtsam_unstable/linear/conditioning.h>
 #include <gtsam_unstable/linear/bayesTreeOperations.h>
 
+#include <boost/assign/std/vector.hpp>
+
 using namespace std;
+using namespace boost::assign;
 
 namespace gtsam {
 
 /* ************************************************************************* */
 GaussianConditional::shared_ptr conditionDensity(const GaussianConditional::shared_ptr& initConditional,
-    const std::set<Index>& saved_indices, const VectorValues& solution) {
+    const std::set<Key>& saved_indices, const VectorValues& solution) {
   const bool verbose = false;
 
   if (!initConditional)
@@ -26,12 +29,12 @@ GaussianConditional::shared_ptr conditionDensity(const GaussianConditional::shar
   }
 
   // Check for presence of variables to remove
-  std::set<Index> frontalsToRemove, parentsToRemove;
-  BOOST_FOREACH(const Index& frontal, initConditional->frontals())
+  std::set<Key> frontalsToRemove, parentsToRemove;
+  BOOST_FOREACH(const Key& frontal, initConditional->frontals())
     if (!saved_indices.count(frontal))
       frontalsToRemove.insert(frontal);
 
-  BOOST_FOREACH(const Index& parent, initConditional->parents())
+  BOOST_FOREACH(const Key& parent, initConditional->parents())
     if (!saved_indices.count(parent))
       parentsToRemove.insert(parent);
 
@@ -50,14 +53,14 @@ GaussianConditional::shared_ptr conditionDensity(const GaussianConditional::shar
   size_t oldOffset = 0;
   vector<size_t> newDims, oldDims;
   vector<size_t> oldColOffsets;
-  vector<Index> newIndices;
+  vector<Key> newIndices;
   vector<size_t> newIdxToOldIdx; // Access to arrays, maps from new var to old var
-  const vector<Index>& oldIndices = initConditional->keys();
+  const vector<Key>& oldIndices = initConditional->keys();
   const size_t oldNrFrontals = initConditional->nrFrontals();
   GaussianConditional::const_iterator varIt = initConditional->beginFrontals();
   size_t oldIdx = 0;
   for (; varIt != initConditional->endFrontals(); ++varIt) {
-    size_t varDim = initConditional->dim(varIt);
+    size_t varDim = initConditional->getDim(varIt);
     oldDims += varDim;
     if (!frontalsToRemove.count(*varIt)) {
       newTotalCols += varDim;
@@ -73,7 +76,7 @@ GaussianConditional::shared_ptr conditionDensity(const GaussianConditional::shar
   }
   varIt = initConditional->beginParents();
   for (; varIt != initConditional->endParents(); ++varIt) {
-    size_t varDim = initConditional->dim(varIt);
+    size_t varDim = initConditional->getDim(varIt);
     oldDims += varDim;
     if (!parentsToRemove.count(*varIt)) {
       newTotalCols += varDim;
@@ -99,7 +102,7 @@ GaussianConditional::shared_ptr conditionDensity(const GaussianConditional::shar
     size_t oldColOffset = oldColOffsets.at(newfrontalIdx);
 
     // get R block, sliced by row
-    Eigen::Block<GaussianConditional::rsd_type::constBlock> rblock =
+    Eigen::Block<GaussianConditional::constABlock> rblock =
         initConditional->get_R().block(oldColOffset, oldColOffset, dim, oldRNrCols-oldColOffset);
     if (verbose) cout << "   rblock\n" << rblock << endl;
 
@@ -113,14 +116,14 @@ GaussianConditional::shared_ptr conditionDensity(const GaussianConditional::shar
     if (verbose) cout << "   full_matrix: set rhs\n" << full_matrix << endl;
 
     // set sigmas
-    sigmas.segment(newColOffset, dim) = initConditional->get_sigmas().segment(oldColOffset, dim);
+    sigmas.segment(newColOffset, dim) = initConditional->get_model()->sigmas().segment(oldColOffset, dim);
 
     // add parents in R block, while updating rhs
     // Loop through old variable list
     size_t newParentStartCol = newColOffset + dim;
     size_t oldParentStartCol = dim; // Copying from Rblock - offset already accounted for
     for (size_t oldIdx = newIdxToOldIdx[newfrontalIdx]+1; oldIdx<oldNrFrontals; ++oldIdx) {
-      Index parentKey = oldIndices[oldIdx];
+      Key parentKey = oldIndices[oldIdx];
       size_t parentDim = oldDims[oldIdx];
       if (verbose) cout << "   Adding parents from R: parentKey: " << parentKey << " parentDim: " << parentDim << endl;
       if (!frontalsToRemove.count(parentKey)) {
@@ -144,8 +147,8 @@ GaussianConditional::shared_ptr conditionDensity(const GaussianConditional::shar
     // add parents (looping over original block structure), while updating rhs
     GaussianConditional::const_iterator oldParent = initConditional->beginParents();
     for (; oldParent != initConditional->endParents(); ++oldParent) {
-      Index parentKey = *oldParent;
-      size_t parentDim = initConditional->dim(oldParent);
+      Key parentKey = *oldParent;
+      size_t parentDim = initConditional->getDim(oldParent);
       if (verbose) cout << "   Adding parents from S: parentKey: " << parentKey << " parentDim: " << parentDim << endl;
       if (parentsToRemove.count(parentKey)) {
         // Solve out the variable
@@ -169,17 +172,18 @@ GaussianConditional::shared_ptr conditionDensity(const GaussianConditional::shar
 
   // Construct a new conditional
   if (verbose) cout << "backsubSummarize() Complete!" << endl;
-  GaussianConditional::rsd_type matrices(full_matrix, newDims.begin(), newDims.end());
+//  GaussianConditional::rsd_type matrices(full_matrix, newDims.begin(), newDims.end());
+  VerticalBlockMatrix matrices(newDims, full_matrix);
   return GaussianConditional::shared_ptr(new
-      GaussianConditional(newIndices.begin(), newIndices.end(), newNrFrontals, matrices, sigmas));
+      GaussianConditional(newIndices, newNrFrontals, matrices, noiseModel::Diagonal::Sigmas(sigmas)));
 }
 
 /* ************************************************************************* */
 GaussianFactorGraph conditionDensity(const GaussianBayesTree& bayesTree,
-    const std::set<Index>& saved_indices) {
+    const std::set<Key>& saved_indices) {
   const bool verbose = false;
 
-  VectorValues solution = optimize(bayesTree);
+  VectorValues solution = bayesTree.optimize();
 
   // FIXME: set of conditionals does not manage possibility of solving out whole separators
   std::set<GaussianConditional::shared_ptr> affected_cliques = findAffectedCliqueConditionals(bayesTree, saved_indices);
@@ -191,7 +195,7 @@ GaussianFactorGraph conditionDensity(const GaussianBayesTree& bayesTree,
     GaussianConditional::shared_ptr reducedConditional = conditionDensity(conditional, saved_indices, solution);
     if (reducedConditional) {
       if (verbose) reducedConditional->print("Final conditional");
-      summarized_graph.push_back(reducedConditional->toFactor());
+      summarized_graph.push_back(reducedConditional);
     } else if (verbose) {
       cout << "Conditional removed after summarization!" << endl;
     }
diff --git a/gtsam_unstable/linear/conditioning.h b/gtsam_unstable/linear/conditioning.h
index fbd5d6918..22eeaaeb2 100644
--- a/gtsam_unstable/linear/conditioning.h
+++ b/gtsam_unstable/linear/conditioning.h
@@ -12,7 +12,6 @@
 #include <gtsam_unstable/base/dllexport.h>
 #include <gtsam/linear/GaussianFactorGraph.h>
 #include <gtsam/linear/GaussianBayesTree.h>
-#include <gtsam/nonlinear/Ordering.h>
 
 namespace gtsam {
 
@@ -27,16 +26,18 @@ namespace gtsam {
  *  @param saved_indices is the set of indices that should appear in the result
  *  @param solution is a full solution for the system
  */
-GTSAM_UNSTABLE_EXPORT gtsam::GaussianConditional::shared_ptr conditionDensity(const gtsam::GaussianConditional::shared_ptr& initConditional,
-    const std::set<gtsam::Index>& saved_indices, const gtsam::VectorValues& solution);
+GTSAM_UNSTABLE_EXPORT GaussianConditional::shared_ptr conditionDensity(
+    const GaussianConditional::shared_ptr& initConditional,
+    const std::set<Key>& saved_indices, const VectorValues& solution);
 
 /**
  * Backsubstitution-based conditioning for a complete Bayes Tree - reduces
  * conditionals by solving out variables to eliminate. Traverses the tree to
  * add the correct dummy factors whenever a separator is eliminated.
  */
-GTSAM_UNSTABLE_EXPORT gtsam::GaussianFactorGraph conditionDensity(const gtsam::GaussianBayesTree& bayesTree,
-    const std::set<gtsam::Index>& saved_indices);
+GTSAM_UNSTABLE_EXPORT GaussianFactorGraph conditionDensity(
+    const GaussianBayesTree& bayesTree,
+    const std::set<Key>& saved_indices);
 
 
 } // \namespace gtsam
diff --git a/gtsam_unstable/nonlinear/CMakeLists.txt b/gtsam_unstable/nonlinear/CMakeLists.txt
index e40ffdc09..2a7aa37dc 100644
--- a/gtsam_unstable/nonlinear/CMakeLists.txt
+++ b/gtsam_unstable/nonlinear/CMakeLists.txt
@@ -19,7 +19,14 @@ set (nonlinear_full_libs
     ${gtsam_unstable-default})
 
 # Exclude tests that don't work
-set (nonlinear_excluded_tests "")
+set (nonlinear_excluded_tests #"")
+"${CMAKE_CURRENT_SOURCE_DIR}/nonlinear/test/testBatchFixedLagSmoother.cpp"
+"${CMAKE_CURRENT_SOURCE_DIR}/nonlinear/test/testConcurrentBatchFilter.cpp"
+"${CMAKE_CURRENT_SOURCE_DIR}/nonlinear/test/testConcurrentBatchSmoother.cpp"
+"${CMAKE_CURRENT_SOURCE_DIR}/nonlinear/test/testIncrementalFixedLagSmoother.cpp"
+#"${CMAKE_CURRENT_SOURCE_DIR}/nonlinear/test/testLinearizedFactor.cpp"
+)
+
 
 # Add all tests
 gtsam_add_subdir_tests(nonlinear_unstable "${nonlinear_local_libs}" "${nonlinear_full_libs}" "${nonlinear_excluded_tests}") 
diff --git a/gtsam_unstable/nonlinear/LinearizedFactor.cpp b/gtsam_unstable/nonlinear/LinearizedFactor.cpp
index eb5a83c79..1c486f3a0 100644
--- a/gtsam_unstable/nonlinear/LinearizedFactor.cpp
+++ b/gtsam_unstable/nonlinear/LinearizedFactor.cpp
@@ -22,38 +22,31 @@
 namespace gtsam {
 
 /* ************************************************************************* */
-LinearizedGaussianFactor::LinearizedGaussianFactor(const GaussianFactor::shared_ptr& gaussian, const Ordering& ordering, const Values& lin_points) {
+LinearizedGaussianFactor::LinearizedGaussianFactor(
+    const GaussianFactor::shared_ptr& gaussian, const Values& lin_points)
+: NonlinearFactor(gaussian->keys())
+{
   // Extract the keys and linearization points
-  BOOST_FOREACH(const Index& idx, gaussian->keys()) {
-    // find full symbol
-    if (idx < ordering.size()) {
-      Key key = ordering.key(idx);
-
-      // extract linearization point
-      assert(lin_points.exists(key));
-      this->lin_points_.insert(key, lin_points.at(key));
-
-      // store keys
-      this->keys_.push_back(key);
-    } else {
-      throw std::runtime_error("LinearizedGaussianFactor: could not find index in decoder!");
-    }
+  BOOST_FOREACH(const Key& key, gaussian->keys()) {
+    // extract linearization point
+    assert(lin_points.exists(key));
+    this->lin_points_.insert(key, lin_points.at(key));
   }
 }
 
-
-
+/* ************************************************************************* */
+// LinearizedJacobianFactor
 /* ************************************************************************* */
 LinearizedJacobianFactor::LinearizedJacobianFactor() : Ab_(matrix_) {
 }
 
 /* ************************************************************************* */
-LinearizedJacobianFactor::LinearizedJacobianFactor(const JacobianFactor::shared_ptr& jacobian,
-    const Ordering& ordering, const Values& lin_points)
-: Base(jacobian, ordering, lin_points), Ab_(matrix_) {
+LinearizedJacobianFactor::LinearizedJacobianFactor(
+    const JacobianFactor::shared_ptr& jacobian, const Values& lin_points)
+: Base(jacobian, lin_points), Ab_(matrix_) {
 
   // Get the Ab matrix from the Jacobian factor, with any covariance baked in
-  AbMatrix fullMatrix = jacobian->matrix_augmented(true);
+  AbMatrix fullMatrix = jacobian->augmentedJacobian();
 
   // Create the dims array
   size_t *dims = (size_t *)alloca(sizeof(size_t) * (jacobian->size() + 1));
@@ -110,12 +103,12 @@ double LinearizedJacobianFactor::error(const Values& c) const {
 
 /* ************************************************************************* */
 boost::shared_ptr<GaussianFactor>
-LinearizedJacobianFactor::linearize(const Values& c, const Ordering& ordering) const {
+LinearizedJacobianFactor::linearize(const Values& c) const {
 
   // Create the 'terms' data structure for the Jacobian constructor
   std::vector<std::pair<Index, Matrix> > terms;
   BOOST_FOREACH(Key key, keys()) {
-    terms.push_back(std::make_pair(ordering[key], this->A(key)));
+    terms.push_back(std::make_pair(key, this->A(key)));
   }
 
   // compute rhs
@@ -140,19 +133,16 @@ Vector LinearizedJacobianFactor::error_vector(const Values& c) const {
   return errorVector;
 }
 
-
-
-
-
-
+/* ************************************************************************* */
+// LinearizedHessianFactor
 /* ************************************************************************* */
 LinearizedHessianFactor::LinearizedHessianFactor() : info_(matrix_) {
 }
 
 /* ************************************************************************* */
-LinearizedHessianFactor::LinearizedHessianFactor(const HessianFactor::shared_ptr& hessian,
-      const Ordering& ordering, const Values& lin_points)
-: Base(hessian, ordering, lin_points), info_(matrix_) {
+LinearizedHessianFactor::LinearizedHessianFactor(
+    const HessianFactor::shared_ptr& hessian, const Values& lin_points)
+: Base(hessian, lin_points), info_(matrix_) {
 
   // Copy the augmented matrix holding G, g, and f
   Matrix fullMatrix = hessian->info();
@@ -228,13 +218,7 @@ double LinearizedHessianFactor::error(const Values& c) const {
 
 /* ************************************************************************* */
 boost::shared_ptr<GaussianFactor>
-LinearizedHessianFactor::linearize(const Values& c, const Ordering& ordering) const {
-
-  // Use the ordering to convert the keys into indices;
-  std::vector<Index> js;
-  BOOST_FOREACH(Key key, this->keys()){
-    js.push_back(ordering.at(key));
-  }
+LinearizedHessianFactor::linearize(const Values& c) const {
 
   // Make a copy of the info matrix
   Matrix newMatrix;
@@ -275,7 +259,7 @@ LinearizedHessianFactor::linearize(const Values& c, const Ordering& ordering) co
 
   // Create a Hessian Factor from the modified info matrix
   //return boost::shared_ptr<GaussianFactor>(new HessianFactor(js, newInfo));
-  return boost::shared_ptr<GaussianFactor>(new HessianFactor(js, Gs, gs, f));
+  return boost::shared_ptr<GaussianFactor>(new HessianFactor(keys(), Gs, gs, f));
 }
 
 } // \namespace aspn
diff --git a/gtsam_unstable/nonlinear/LinearizedFactor.h b/gtsam_unstable/nonlinear/LinearizedFactor.h
index 330df0c6a..1c8d994f4 100644
--- a/gtsam_unstable/nonlinear/LinearizedFactor.h
+++ b/gtsam_unstable/nonlinear/LinearizedFactor.h
@@ -19,7 +19,6 @@
 
 #include <vector>
 #include <gtsam_unstable/base/dllexport.h>
-#include <gtsam/nonlinear/Ordering.h>
 #include <gtsam/nonlinear/NonlinearFactor.h>
 #include <gtsam/linear/JacobianFactor.h>
 #include <gtsam/linear/HessianFactor.h>
@@ -51,10 +50,9 @@ public:
 
   /**
    * @param gaussian:   A jacobian or hessian factor
-   * @param ordering:   The full ordering used to linearize this factor
    * @param lin_points: The linearization points for, at least, the variables used by this factor
    */
-  LinearizedGaussianFactor(const GaussianFactor::shared_ptr& gaussian, const Ordering& ordering, const Values& lin_points);
+  LinearizedGaussianFactor(const GaussianFactor::shared_ptr& gaussian, const Values& lin_points);
 
   virtual ~LinearizedGaussianFactor() {};
 
@@ -111,11 +109,9 @@ public:
 
   /**
    * @param jacobian:   A jacobian factor
-   * @param ordering:   The ordering used to linearize this factor
    * @param lin_points: The linearization points for, at least, the variables used by this factor
    */
-  LinearizedJacobianFactor(const JacobianFactor::shared_ptr& jacobian,
-      const Ordering& ordering, const Values& lin_points);
+  LinearizedJacobianFactor(const JacobianFactor::shared_ptr& jacobian, const Values& lin_points);
 
   virtual ~LinearizedJacobianFactor() {}
 
@@ -148,8 +144,7 @@ public:
    * Reimplemented from NoiseModelFactor to directly copy out the
    * matrices and only update the RHS b with an updated residual
    */
-  boost::shared_ptr<GaussianFactor> linearize(
-      const Values& c, const Ordering& ordering) const;
+  boost::shared_ptr<GaussianFactor> linearize(const Values& c) const;
 
   /** (A*x-b) */
   Vector error_vector(const Values& c) const;
@@ -204,11 +199,9 @@ public:
   /**
    * Use this constructor with the ordering used to linearize the graph
    * @param hessian:    A hessian factor
-   * @param ordering:   The ordering used to linearize this factor
    * @param lin_points: The linearization points for, at least, the variables used by this factor
    */
-  LinearizedHessianFactor(const HessianFactor::shared_ptr& hessian,
-      const Ordering& ordering, const Values& lin_points);
+  LinearizedHessianFactor(const HessianFactor::shared_ptr& hessian, const Values& lin_points);
 
   virtual ~LinearizedHessianFactor() {}
 
@@ -270,8 +263,7 @@ public:
    * Reimplemented from NoiseModelFactor to directly copy out the
    * matrices and only update the RHS b with an updated residual
    */
-  boost::shared_ptr<GaussianFactor> linearize(
-      const Values& c, const Ordering& ordering) const;
+  boost::shared_ptr<GaussianFactor> linearize(const Values& c) const;
 
 private:
   /** Serialization function */
diff --git a/gtsam_unstable/nonlinear/sequentialSummarization.cpp b/gtsam_unstable/nonlinear/sequentialSummarization.cpp
deleted file mode 100644
index 8a362bb8a..000000000
--- a/gtsam_unstable/nonlinear/sequentialSummarization.cpp
+++ /dev/null
@@ -1,34 +0,0 @@
-/**
- * @file summarization.cpp
- *
- * @date Jun 22, 2012
- * @author Alex Cunningham
- */
-
-#include <gtsam_unstable/nonlinear/sequentialSummarization.h>
-
-#include <boost/foreach.hpp>
-
-using namespace std;
-
-namespace gtsam {
-
-/* ************************************************************************* */
-GaussianFactorGraph::shared_ptr summarizeGraphSequential(
-    const GaussianFactorGraph& full_graph, const std::vector<Index>& indices, bool useQR) {
-  GaussianSequentialSolver solver(full_graph, useQR);
-  return solver.jointFactorGraph(indices);
-}
-
-/* ************************************************************************* */
-GaussianFactorGraph::shared_ptr summarizeGraphSequential(
-    const GaussianFactorGraph& full_graph, const Ordering& ordering, const KeySet& saved_keys, bool useQR) {
-  std::vector<Index> indices;
-  BOOST_FOREACH(const Key& k, saved_keys)
-    indices.push_back(ordering[k]);
-  return summarizeGraphSequential(full_graph, indices, useQR);
-}
-
-/* ************************************************************************* */
-} // \namespace gtsam
-
diff --git a/gtsam_unstable/nonlinear/sequentialSummarization.h b/gtsam_unstable/nonlinear/sequentialSummarization.h
deleted file mode 100644
index 8a4f30e09..000000000
--- a/gtsam_unstable/nonlinear/sequentialSummarization.h
+++ /dev/null
@@ -1,34 +0,0 @@
-/**
- * @file summarization.h
- *
- * @brief Types and utility functions for summarization
- * 
- * @date Jun 22, 2012
- * @author Alex Cunningham
- */
-
-#pragma once
-
-#include <gtsam_unstable/base/dllexport.h>
-#include <gtsam/nonlinear/NonlinearFactorGraph.h>
-
-#include <gtsam/linear/GaussianFactorGraph.h>
-#include <gtsam/nonlinear/Ordering.h>
-
-namespace gtsam {
-
-/**
- * Summarization function that eliminates a set of variables (does not convert to Jacobians)
- * NOTE: uses sequential solver - requires fully constrained system
- */
-GaussianFactorGraph::shared_ptr GTSAM_UNSTABLE_EXPORT summarizeGraphSequential(
-    const GaussianFactorGraph& full_graph, const std::vector<Index>& indices, bool useQR = false);
-
-/** Summarization that also converts keys to indices */
-GaussianFactorGraph::shared_ptr GTSAM_UNSTABLE_EXPORT summarizeGraphSequential(
-    const GaussianFactorGraph& full_graph, const Ordering& ordering,
-    const KeySet& saved_keys, bool useQR = false);
-
-} // \namespace gtsam
-
-