diff --git a/gtsam/nonlinear/Expression-inl.h b/gtsam/nonlinear/Expression-inl.h
index 06a25ac23..6c6c155c7 100644
--- a/gtsam/nonlinear/Expression-inl.h
+++ b/gtsam/nonlinear/Expression-inl.h
@@ -135,7 +135,7 @@ T Expression<T>::value(const Values& values,
   if (H) {
     // Call private version that returns derivatives in H
     KeysAndDims pair = keysAndDims();
-    return value(values, pair.first, pair.second, *H);
+    return valueAndDerivatives(values, pair.first, pair.second, *H);
   } else
     // no derivatives needed, just return value
     return root_->value(values);
@@ -154,8 +154,9 @@ size_t Expression<T>::traceSize() const {
 // Private methods:
 
 template<typename T>
-T Expression<T>::value(const Values& values, const FastVector<Key>& keys,
-    const FastVector<int>& dims, std::vector<Matrix>& H) const {
+T Expression<T>::valueAndDerivatives(const Values& values,
+    const FastVector<Key>& keys, const FastVector<int>& dims,
+    std::vector<Matrix>& H) const {
 
   // H should be pre-allocated
   assert(H.size()==keys.size());
@@ -167,7 +168,7 @@ T Expression<T>::value(const Values& values, const FastVector<Key>& keys,
   internal::JacobianMap jacobianMap(keys, Ab);
 
   // Call unsafe version
-  T result = value(values, jacobianMap);
+  T result = valueAndJacobianMap(values, jacobianMap);
 
   // Copy blocks into the vector of jacobians passed in
   for (DenseIndex i = 0; i < static_cast<DenseIndex>(keys.size()); i++)
@@ -184,7 +185,8 @@ T Expression<T>::traceExecution(const Values& values,
 }
 
 template<typename T>
-T Expression<T>::value(const Values& values, internal::JacobianMap& jacobians) const {
+T Expression<T>::valueAndJacobianMap(const Values& values,
+    internal::JacobianMap& jacobians) const {
   // The following piece of code is absolutely crucial for performance.
   // We allocate a block of memory on the stack, which can be done at runtime
   // with modern C++ compilers. The traceExecution then fills this memory
diff --git a/gtsam/nonlinear/Expression.h b/gtsam/nonlinear/Expression.h
index faa884562..3985d8a58 100644
--- a/gtsam/nonlinear/Expression.h
+++ b/gtsam/nonlinear/Expression.h
@@ -170,7 +170,7 @@ private:
   KeysAndDims keysAndDims() const;
 
   /// private version that takes keys and dimensions, returns derivatives
-  T value(const Values& values, const FastVector<Key>& keys,
+  T valueAndDerivatives(const Values& values, const FastVector<Key>& keys,
       const FastVector<int>& dims, std::vector<Matrix>& H) const;
 
   /// trace execution, very unsafe
@@ -178,10 +178,11 @@ private:
       void* traceStorage) const;
 
   /// brief Return value and derivatives, reverse AD version
-  T value(const Values& values, internal::JacobianMap& jacobians) const;
+  T valueAndJacobianMap(const Values& values,
+      internal::JacobianMap& jacobians) const;
 
   // be very selective on who can access these private methods:
-  friend class ExpressionFactor<T>;
+  friend class ExpressionFactor<T> ;
   friend class internal::ExpressionNode<T>;
 
   // and add tests
diff --git a/gtsam/nonlinear/ExpressionFactor.h b/gtsam/nonlinear/ExpressionFactor.h
index afb487ff4..63e2b0ae8 100644
--- a/gtsam/nonlinear/ExpressionFactor.h
+++ b/gtsam/nonlinear/ExpressionFactor.h
@@ -65,8 +65,8 @@ public:
    */
   virtual Vector unwhitenedError(const Values& x,
       boost::optional<std::vector<Matrix>&> H = boost::none) const {
-     if (H) {
-      const T value = expression_.value(x, keys_, dims_, *H);
+    if (H) {
+      const T value = expression_.valueAndDerivatives(x, keys_, dims_, *H);
       return traits<T>::Local(measurement_, value);
     } else {
       const T value = expression_.value(x);
@@ -95,7 +95,7 @@ public:
     Ab.matrix().setZero();
 
     // Get value and Jacobians, writing directly into JacobianFactor
-    T value = expression_.value(x, jacobianMap); // <<< Reverse AD happens here !
+    T value = expression_.valueAndJacobianMap(x, jacobianMap); // <<< Reverse AD happens here !
 
     // Evaluate error and set RHS vector b
     Ab(size()).col(0) = -traits<T>::Local(measurement_, value);
@@ -109,5 +109,5 @@ public:
 };
 // ExpressionFactor
 
-} // \ namespace gtsam
+}// \ namespace gtsam