diff --git a/gtsam.h b/gtsam.h
index 25c34ebd1..da29b99b6 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -156,12 +156,6 @@ virtual class Value {
   size_t dim() const;
 };
 
-class Vector3 {
-  Vector3(Vector v);
-};
-class Vector6 {
-  Vector6(Vector v);
-};
 #include <gtsam/base/LieScalar.h>
 class LieScalar {
   // Standard constructors
@@ -758,10 +752,6 @@ class CalibratedCamera {
   gtsam::CalibratedCamera retract(const Vector& d) const;
   Vector localCoordinates(const gtsam::CalibratedCamera& T2) const;
 
-  // Group
-  gtsam::CalibratedCamera compose(const gtsam::CalibratedCamera& c) const;
-  gtsam::CalibratedCamera inverse() const;
-
   // Action on Point3
   gtsam::Point2 project(const gtsam::Point3& point) const;
   static gtsam::Point2 project_to_camera(const gtsam::Point3& cameraPoint);
@@ -1727,6 +1717,7 @@ class Values {
   // void insert(size_t j, const gtsam::Value& value);
   // void update(size_t j, const gtsam::Value& val);
   // gtsam::Value at(size_t j) const;
+
   void insert(size_t j, const gtsam::Point2& t);
   void insert(size_t j, const gtsam::Point3& t);
   void insert(size_t j, const gtsam::Rot2& t);
@@ -1758,6 +1749,16 @@ class Values {
 
   template<T = {gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Pose2, gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler, gtsam::EssentialMatrix, gtsam::imuBias::ConstantBias, Vector, Matrix}>
   T at(size_t j);
+
+  /// Fixed size versions, for n in 1..9
+  void insertFixed(size_t j, Vector t, size_t n);
+
+  /// Fixed size versions, for n in 1..9
+  Vector atFixed(size_t j, size_t n);
+  
+  /// version for double
+  void insertDouble(size_t j, double c);
+  double atDouble(size_t j) const;
 };
 
 // Actually a FastList<Key>
@@ -2199,10 +2200,14 @@ typedef gtsam::RangeFactor<gtsam::Pose2, gtsam::Point2> RangeFactorPosePoint2;
 typedef gtsam::RangeFactor<gtsam::Pose3, gtsam::Point3> RangeFactorPosePoint3;
 typedef gtsam::RangeFactor<gtsam::Pose2, gtsam::Pose2> RangeFactorPose2;
 typedef gtsam::RangeFactor<gtsam::Pose3, gtsam::Pose3> RangeFactorPose3;
-typedef gtsam::RangeFactor<gtsam::CalibratedCamera, gtsam::Point3> RangeFactorCalibratedCameraPoint;
-typedef gtsam::RangeFactor<gtsam::SimpleCamera, gtsam::Point3> RangeFactorSimpleCameraPoint;
-typedef gtsam::RangeFactor<gtsam::CalibratedCamera, gtsam::CalibratedCamera> RangeFactorCalibratedCamera;
-typedef gtsam::RangeFactor<gtsam::SimpleCamera, gtsam::SimpleCamera> RangeFactorSimpleCamera;
+
+// Commented out by Frank Dec 2014: not poses!
+// If needed, we need a RangeFactor that takes a camera, extracts the pose
+// Should be easy with Expressions
+//typedef gtsam::RangeFactor<gtsam::CalibratedCamera, gtsam::Point3> RangeFactorCalibratedCameraPoint;
+//typedef gtsam::RangeFactor<gtsam::SimpleCamera, gtsam::Point3> RangeFactorSimpleCameraPoint;
+//typedef gtsam::RangeFactor<gtsam::CalibratedCamera, gtsam::CalibratedCamera> RangeFactorCalibratedCamera;
+//typedef gtsam::RangeFactor<gtsam::SimpleCamera, gtsam::SimpleCamera> RangeFactorSimpleCamera;
 
 
 #include <gtsam/slam/BearingFactor.h>
@@ -2395,7 +2400,7 @@ class ConstantBias {
 
 #include <gtsam/navigation/ImuFactor.h>
 class PoseVelocity{
-    PoseVelocity(const gtsam::Pose3& pose, const gtsam::Vector3 velocity);
+    PoseVelocity(const gtsam::Pose3& pose, Vector velocity);
   };
 class ImuFactorPreintegratedMeasurements {
   // Standard Constructor
@@ -2434,7 +2439,7 @@ virtual class ImuFactor : gtsam::NonlinearFactor {
       const gtsam::Pose3& body_P_sensor);
   // Standard Interface
   gtsam::ImuFactorPreintegratedMeasurements preintegratedMeasurements() const;
-  gtsam::PoseVelocity Predict(const gtsam::Pose3& pose_i, const gtsam::Vector3& vel_i, const gtsam::imuBias::ConstantBias& bias,
+  gtsam::PoseVelocity Predict(const gtsam::Pose3& pose_i, Vector vel_i, const gtsam::imuBias::ConstantBias& bias,
       const gtsam::ImuFactorPreintegratedMeasurements& preintegratedMeasurements,
       Vector gravity, Vector omegaCoriolis) const;
 };
@@ -2480,7 +2485,7 @@ virtual class AHRSFactor : gtsam::NonlinearFactor {
 
 #include <gtsam/navigation/CombinedImuFactor.h>
 class PoseVelocityBias{
-    PoseVelocityBias(const gtsam::Pose3& pose, const gtsam::Vector3 velocity, const gtsam::imuBias::ConstantBias& bias);
+    PoseVelocityBias(const gtsam::Pose3& pose, Vector velocity, const gtsam::imuBias::ConstantBias& bias);
   };
 class CombinedImuFactorPreintegratedMeasurements {
   // Standard Constructor
@@ -2531,7 +2536,7 @@ virtual class CombinedImuFactor : gtsam::NonlinearFactor {
 
   // Standard Interface
   gtsam::CombinedImuFactorPreintegratedMeasurements preintegratedMeasurements() const;
-  gtsam::PoseVelocityBias Predict(const gtsam::Pose3& pose_i, const gtsam::Vector3& vel_i, const gtsam::imuBias::ConstantBias& bias_i,
+  gtsam::PoseVelocityBias Predict(const gtsam::Pose3& pose_i, Vector vel_i, const gtsam::imuBias::ConstantBias& bias_i,
       const gtsam::CombinedImuFactorPreintegratedMeasurements& preintegratedMeasurements,
       Vector gravity, Vector omegaCoriolis);
 };
diff --git a/gtsam/nonlinear/Values.cpp b/gtsam/nonlinear/Values.cpp
index b92e54143..b9a3f714b 100644
--- a/gtsam/nonlinear/Values.cpp
+++ b/gtsam/nonlinear/Values.cpp
@@ -112,6 +112,24 @@ namespace gtsam {
     return result;
   }
 
+  /* ************************************************************************* */
+  Vector Values::atFixed(Key j,  size_t n) {
+    switch (n) {
+    case 1: return at<Vector1>(j);
+    case 2: return at<Vector2>(j);
+    case 3: return at<Vector3>(j);
+    case 4: return at<Vector4>(j);
+    case 5: return at<Vector5>(j);
+    case 6: return at<Vector6>(j);
+    case 7: return at<Vector7>(j);
+    case 8: return at<Vector8>(j);
+    case 9: return at<Vector9>(j);
+    default:
+      throw runtime_error(
+          "Values::at fixed size can only handle n in 1..9");
+    }
+  }
+
   /* ************************************************************************* */
   const Value& Values::at(Key j) const {
     // Find the item
diff --git a/gtsam/nonlinear/Values.h b/gtsam/nonlinear/Values.h
index d00baa0d9..dcbc2a433 100644
--- a/gtsam/nonlinear/Values.h
+++ b/gtsam/nonlinear/Values.h
@@ -180,6 +180,13 @@ namespace gtsam {
     template<typename ValueType>
     const ValueType& at(Key j) const;
 
+    /// Special version for small fixed size vectors, for matlab/python
+    /// throws truntime error if n<1 || n>9
+    Vector atFixed(Key j, size_t n);
+
+    /// version for double
+    double atDouble(size_t key) const { return at<double>(key);}
+
     /** Retrieve a variable by key \c j.  This version returns a reference
      * to the base Value class, and needs to be casted before use.
      * @param j Retrieve the value associated with this key
@@ -258,6 +265,13 @@ namespace gtsam {
     template <typename ValueType>
     void insert(Key j, const ValueType& val);
 
+    /// Special version for small fixed size vectors, for matlab/python
+    /// throws truntime error if n<1 || n>9
+    void insertFixed(Key j, const Vector& v, size_t n);
+
+    /// version for double
+    void insertDouble(Key j, double c) { insert<double>(j,c); }
+
     /// overloaded insert version that also specifies a chart
     template <typename ValueType, typename Chart>
     void insert(Key j, const ValueType& val);