diff --git a/gtsam/nonlinear/Expression-inl.h b/gtsam/nonlinear/Expression-inl.h
index 48445bba5..1074400c9 100644
--- a/gtsam/nonlinear/Expression-inl.h
+++ b/gtsam/nonlinear/Expression-inl.h
@@ -562,8 +562,7 @@ struct GenerateFunctionalNode: Argument<T, A, Base::N + 1>, Base {
     /// Given df/dT, multiply in dT/dA and continue reverse AD process
     // Cols is always known at compile time
     template<typename SomeMatrix>
-    void reverseAD4(const SomeMatrix & dFdT,
-        JacobianMap& jacobians) const {
+    void reverseAD4(const SomeMatrix & dFdT, JacobianMap& jacobians) const {
       Base::Record::reverseAD4(dFdT, jacobians);
       This::trace.reverseAD1(dFdT * This::dTdA, jacobians);
     }
@@ -669,10 +668,12 @@ struct FunctionalNode {
 template<class T, class A1>
 class UnaryExpression: public FunctionalNode<T, boost::mpl::vector<A1> >::type {
 
+  typedef typename MakeOptionalJacobian<T, A1>::type OJ1;
+
 public:
 
-  typedef boost::function<
-      T(const A1&, typename MakeOptionalJacobian<T, A1>::type)> Function;
+  typedef T (A1::*Method)(OJ1) const;
+  typedef boost::function<T(const A1&, OJ1)> Function;
   typedef typename FunctionalNode<T, boost::mpl::vector<A1> >::type Base;
   typedef typename Base::Record Record;
 
@@ -712,13 +713,16 @@ public:
 /// Binary Expression
 
 template<class T, class A1, class A2>
-class BinaryExpression: public FunctionalNode<T, boost::mpl::vector<A1, A2> >::type {
+class BinaryExpression:
+    public FunctionalNode<T, boost::mpl::vector<A1, A2> >::type {
+
+  typedef typename MakeOptionalJacobian<T, A1>::type OJ1;
+  typedef typename MakeOptionalJacobian<T, A2>::type OJ2;
 
 public:
 
-  typedef boost::function<
-      T(const A1&, const A2&, typename MakeOptionalJacobian<T, A1>::type,
-          typename MakeOptionalJacobian<T, A2>::type)> Function;
+  typedef T (A1::*Method)(const A2&, OJ1, OJ2) const;
+  typedef boost::function<T(const A1&, const A2&, OJ1, OJ2)> Function;
   typedef typename FunctionalNode<T, boost::mpl::vector<A1, A2> >::type Base;
   typedef typename Base::Record Record;
 
@@ -766,15 +770,17 @@ public:
 /// Ternary Expression
 
 template<class T, class A1, class A2, class A3>
-class TernaryExpression: public FunctionalNode<T, boost::mpl::vector<A1, A2, A3> >::type {
+class TernaryExpression:
+    public FunctionalNode<T, boost::mpl::vector<A1, A2, A3> >::type {
+
+  typedef typename MakeOptionalJacobian<T, A1>::type OJ1;
+  typedef typename MakeOptionalJacobian<T, A2>::type OJ2;
+  typedef typename MakeOptionalJacobian<T, A3>::type OJ3;
 
 public:
 
-  typedef boost::function<
-      T(const A1&, const A2&, const A3&,
-          typename MakeOptionalJacobian<T, A1>::type,
-          typename MakeOptionalJacobian<T, A2>::type,
-          typename MakeOptionalJacobian<T, A3>::type)> Function;
+  typedef T (A1::*Method)(const A2&, const A3&, OJ1, OJ2, OJ3) const;
+  typedef boost::function<T(const A1&, const A2&, const A3&, OJ1, OJ2, OJ3)> Function;
   typedef typename FunctionalNode<T, boost::mpl::vector<A1, A2, A3> >::type Base;
   typedef typename Base::Record Record;
 
diff --git a/gtsam/nonlinear/Expression.h b/gtsam/nonlinear/Expression.h
index e63fbc686..cf87ac2ce 100644
--- a/gtsam/nonlinear/Expression.h
+++ b/gtsam/nonlinear/Expression.h
@@ -75,7 +75,7 @@ public:
   /// Construct a nullary method expression
   template<typename A>
   Expression(const Expression<A>& expression,
-      T (A::*method)(typename MakeOptionalJacobian<T, A>::type) const) :
+      typename UnaryExpression<T, A>::Method method) :
       root_(new UnaryExpression<T, A>(boost::bind(method, _1, _2), expression)) {
   }
 
@@ -89,8 +89,7 @@ public:
   /// Construct a unary method expression
   template<typename A1, typename A2>
   Expression(const Expression<A1>& expression1,
-      T (A1::*method)(const A2&, typename MakeOptionalJacobian<T, A1>::type,
-          typename MakeOptionalJacobian<T, A2>::type) const,
+      typename BinaryExpression<T, A1, A2>::Method method,
       const Expression<A2>& expression2) :
       root_(
           new BinaryExpression<T, A1, A2>(boost::bind(method, _1, _2, _3, _4),
@@ -104,6 +103,17 @@ public:
       root_(new BinaryExpression<T, A1, A2>(function, expression1, expression2)) {
   }
 
+  /// Construct a binary method expression
+  template<typename A1, typename A2, typename A3>
+  Expression(const Expression<A1>& expression1,
+      typename TernaryExpression<T, A1, A2, A3>::Method method,
+      const Expression<A2>& expression2, const Expression<A3>& expression3) :
+      root_(
+          new TernaryExpression<T, A1, A2, A3>(
+              boost::bind(method, _1, _2, _3, _4, _5, _6), expression1,
+              expression2, expression3)) {
+  }
+
   /// Construct a ternary function expression
   template<typename A1, typename A2, typename A3>
   Expression(typename TernaryExpression<T, A1, A2, A3>::Function function,