diff --git a/gtsam/base/LieVector.cpp b/gtsam/base/LieVector.cpp
index c86b51a24..f6cae28e2 100644
--- a/gtsam/base/LieVector.cpp
+++ b/gtsam/base/LieVector.cpp
@@ -30,19 +30,6 @@ LieVector::LieVector(size_t m, const double* const data)
     (*this)(i) = data[i];
 }
 
-/* ************************************************************************* */
-LieVector::LieVector(size_t m, ...)
-: Vector(m)
-{
-  va_list ap;
-  va_start(ap, m);
-  for( size_t i = 0 ; i < m ; i++) {
-    double value = va_arg(ap, double);
-    (*this)(i) = value;
-  }
-  va_end(ap);
-}
-
 /* ************************************************************************* */
 void LieVector::print(const std::string& name) const {
   gtsam::print(vector(), name);
diff --git a/gtsam/base/LieVector.h b/gtsam/base/LieVector.h
index f1b05b34b..6989bbfd2 100644
--- a/gtsam/base/LieVector.h
+++ b/gtsam/base/LieVector.h
@@ -44,9 +44,6 @@ struct LieVector : public Vector, public DerivedValue<LieVector> {
   /** constructor with size and initial data, row order ! */
   GTSAM_EXPORT LieVector(size_t m, const double* const data);
 
-  /** Specify arguments directly, as in Vector_() - always force these to be doubles */
-  GTSAM_EXPORT LieVector(size_t m, ...);
-
   /** get the underlying vector */
   Vector vector() const {
     return static_cast<Vector>(*this);
diff --git a/gtsam/base/tests/testLieVector.cpp b/gtsam/base/tests/testLieVector.cpp
index 67eed6656..f66678c25 100644
--- a/gtsam/base/tests/testLieVector.cpp
+++ b/gtsam/base/tests/testLieVector.cpp
@@ -39,14 +39,9 @@ TEST( testLieVector, construction ) {
 TEST( testLieVector, other_constructors ) {
   Vector init = (Vector(2) << 10.0, 20.0);
   LieVector exp(init);
-  LieVector a(2,10.0,20.0);
   double data[] = {10,20};
   LieVector b(2,data);
-  LieVector c(2.3), c_exp(LieVector(1, 2.3));
-  EXPECT(assert_equal(exp, a));
   EXPECT(assert_equal(exp, b));
-  EXPECT(assert_equal(b, a));
-  EXPECT(assert_equal(c_exp, c));
 }
 
 /* ************************************************************************* */
diff --git a/gtsam/base/tests/testNumericalDerivative.cpp b/gtsam/base/tests/testNumericalDerivative.cpp
index bd3c2c217..f7e4d3baa 100644
--- a/gtsam/base/tests/testNumericalDerivative.cpp
+++ b/gtsam/base/tests/testNumericalDerivative.cpp
@@ -48,7 +48,8 @@ double f2(const LieVector& x) {
 
 /* ************************************************************************* */
 TEST(testNumericalDerivative, numericalHessian2) {
-  LieVector center(2, 0.5, 1.0);
+  Vector v_center = (Vector(2) << 0.5, 1.0);
+  LieVector center(v_center);
 
   Matrix expected = (Matrix(2,2) <<
       -cos(center(1))*sin(center(0)), -sin(center(1))*cos(center(0)),
@@ -67,7 +68,9 @@ double f3(const LieVector& x1, const LieVector& x2) {
 
 /* ************************************************************************* */
 TEST(testNumericalDerivative, numericalHessian211) {
-  LieVector center1(1, 1.0), center2(1, 5.0);
+  Vector v_center1 = (Vector(1) << 1.0);
+  Vector v_center2 = (Vector(1) << 5.0);
+  LieVector center1(v_center1), center2(v_center2);
 
   Matrix expected11 = (Matrix(1, 1) << -sin(center1(0))*cos(center2(0)));
   Matrix actual11 = numericalHessian211(f3, center1, center2);
@@ -90,7 +93,11 @@ double f4(const LieVector& x, const LieVector& y, const LieVector& z) {
 
 /* ************************************************************************* */
 TEST(testNumericalDerivative, numericalHessian311) {
-  LieVector center1(1, 1.0), center2(1, 2.0), center3(1, 3.0);
+  Vector v_center1 = (Vector(1) << 1.0);
+  Vector v_center2 = (Vector(1) << 2.0);
+  Vector v_center3 = (Vector(1) << 3.0);
+  LieVector center1(v_center1), center2(v_center2), center3(v_center3);
+
   double x = center1(0), y = center2(0), z = center3(0);
   Matrix expected11 = (Matrix(1, 1) << -sin(x)*cos(y)*z*z);
   Matrix actual11 = numericalHessian311(f4, center1, center2, center3);
diff --git a/gtsam/navigation/tests/testCombinedImuFactor.cpp b/gtsam/navigation/tests/testCombinedImuFactor.cpp
index 25a2765eb..2d766dc6a 100644
--- a/gtsam/navigation/tests/testCombinedImuFactor.cpp
+++ b/gtsam/navigation/tests/testCombinedImuFactor.cpp
@@ -168,9 +168,9 @@ TEST( CombinedImuFactor, ErrorWithBiases )
   imuBias::ConstantBias bias(Vector3(0.2, 0, 0), Vector3(0, 0, 0.3)); // Biases (acc, rot)
   imuBias::ConstantBias bias2(Vector3(0.2, 0.2, 0), Vector3(1, 0, 0.3)); // Biases (acc, rot)
   Pose3 x1(Rot3::Expmap(Vector3(0, 0, M_PI/4.0)), Point3(5.0, 1.0, -50.0));
-  LieVector v1(3, 0.5, 0.0, 0.0);
+  LieVector v1((Vector(3) << 0.5, 0.0, 0.0));
   Pose3 x2(Rot3::Expmap(Vector3(0, 0, M_PI/4.0 + M_PI/10.0)), Point3(5.5, 1.0, -50.0));
-  LieVector v2(3, 0.5, 0.0, 0.0);
+  LieVector v2((Vector(3) << 0.5, 0.0, 0.0));
 
   // Measurements
   Vector3 gravity; gravity << 0, 0, 9.81;
diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp
index 2db7c7c68..cc88505bd 100644
--- a/gtsam/navigation/tests/testImuFactor.cpp
+++ b/gtsam/navigation/tests/testImuFactor.cpp
@@ -167,9 +167,9 @@ TEST( ImuFactor, Error )
   // Linearization point
   imuBias::ConstantBias bias; // Bias
   Pose3 x1(Rot3::RzRyRx(M_PI/12.0, M_PI/6.0, M_PI/4.0), Point3(5.0, 1.0, -50.0));
-  LieVector v1(3, 0.5, 0.0, 0.0);
+  LieVector v1((Vector(3) << 0.5, 0.0, 0.0));
   Pose3 x2(Rot3::RzRyRx(M_PI/12.0 + M_PI/100.0, M_PI/6.0, M_PI/4.0), Point3(5.5, 1.0, -50.0));
-  LieVector v2(3, 0.5, 0.0, 0.0);
+  LieVector v2((Vector(3) << 0.5, 0.0, 0.0));
 
   // Measurements
   Vector3 gravity; gravity << 0, 0, 9.81;
@@ -238,16 +238,16 @@ TEST( ImuFactor, ErrorWithBiases )
   // Linearization point
 //  Vector bias(6); bias << 0.2, 0, 0, 0.1, 0, 0; // Biases (acc, rot)
 //  Pose3 x1(Rot3::RzRyRx(M_PI/12.0, M_PI/6.0, M_PI/4.0), Point3(5.0, 1.0, -50.0));
-//  LieVector v1(3, 0.5, 0.0, 0.0);
+//  LieVector v1((Vector(3) << 0.5, 0.0, 0.0));
 //  Pose3 x2(Rot3::RzRyRx(M_PI/12.0 + M_PI/10.0, M_PI/6.0, M_PI/4.0), Point3(5.5, 1.0, -50.0));
-//  LieVector v2(3, 0.5, 0.0, 0.0);
+//  LieVector v2((Vector(3) << 0.5, 0.0, 0.0));
 
 
   imuBias::ConstantBias bias(Vector3(0.2, 0, 0), Vector3(0, 0, 0.3)); // Biases (acc, rot)
   Pose3 x1(Rot3::Expmap(Vector3(0, 0, M_PI/4.0)), Point3(5.0, 1.0, -50.0));
-  LieVector v1(3, 0.5, 0.0, 0.0);
+  LieVector v1((Vector(3) << 0.5, 0.0, 0.0));
   Pose3 x2(Rot3::Expmap(Vector3(0, 0, M_PI/4.0 + M_PI/10.0)), Point3(5.5, 1.0, -50.0));
-  LieVector v2(3, 0.5, 0.0, 0.0);
+  LieVector v2((Vector(3) << 0.5, 0.0, 0.0));
 
   // Measurements
   Vector3 gravity; gravity << 0, 0, 9.81;
@@ -445,9 +445,9 @@ TEST( ImuFactor, FirstOrderPreIntegratedMeasurements )
 //{
 //  // Linearization point
 //  Pose3 x1(Rot3::RzRyRx(M_PI/12.0, M_PI/6.0, M_PI/4.0), Point3(5.0, 1.0, -50.0));
-//  LieVector v1(3, 0.5, 0.0, 0.0);
+//  LieVector v1((Vector(3) << 0.5, 0.0, 0.0));
 //  Pose3 x2(Rot3::RzRyRx(M_PI/12.0 + M_PI/100.0, M_PI/6.0, M_PI/4.0), Point3(5.5, 1.0, -50.0));
-//  LieVector v2(3, 0.5, 0.0, 0.0);
+//  LieVector v2((Vector(3) << 0.5, 0.0, 0.0));
 //  imuBias::ConstantBias bias(Vector3(0.001, 0.002, 0.008), Vector3(0.002, 0.004, 0.012));
 //
 //  // Pre-integrator
@@ -501,9 +501,9 @@ TEST( ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement )
 
   imuBias::ConstantBias bias(Vector3(0.2, 0, 0), Vector3(0, 0, 0.3)); // Biases (acc, rot)
   Pose3 x1(Rot3::Expmap(Vector3(0, 0, M_PI/4.0)), Point3(5.0, 1.0, -50.0));
-  LieVector v1(3, 0.5, 0.0, 0.0);
+  LieVector v1((Vector(3) << 0.5, 0.0, 0.0));
   Pose3 x2(Rot3::Expmap(Vector3(0, 0, M_PI/4.0 + M_PI/10.0)), Point3(5.5, 1.0, -50.0));
-  LieVector v2(3, 0.5, 0.0, 0.0);
+  LieVector v2((Vector(3) << 0.5, 0.0, 0.0));
 
   // Measurements
   Vector3 gravity; gravity << 0, 0, 9.81;
diff --git a/gtsam/nonlinear/tests/testValues.cpp b/gtsam/nonlinear/tests/testValues.cpp
index ec386950d..041ea0387 100644
--- a/gtsam/nonlinear/tests/testValues.cpp
+++ b/gtsam/nonlinear/tests/testValues.cpp
@@ -65,7 +65,8 @@ public:
 TEST( Values, equals1 )
 {
   Values expected;
-  LieVector v(3, 5.0, 6.0, 7.0);
+  LieVector v((Vector(3) << 5.0, 6.0, 7.0));
+
   expected.insert(key1,v);
   Values actual;
   actual.insert(key1,v);
@@ -76,8 +77,9 @@ TEST( Values, equals1 )
 TEST( Values, equals2 )
 {
   Values cfg1, cfg2;
-  LieVector v1(3, 5.0, 6.0, 7.0);
-  LieVector v2(3, 5.0, 6.0, 8.0);
+  LieVector v1((Vector(3) << 5.0, 6.0, 7.0));
+  LieVector v2((Vector(3) << 5.0, 6.0, 8.0));
+
   cfg1.insert(key1, v1);
   cfg2.insert(key1, v2);
   CHECK(!cfg1.equals(cfg2));
@@ -88,8 +90,9 @@ TEST( Values, equals2 )
 TEST( Values, equals_nan )
 {
   Values cfg1, cfg2;
-  LieVector v1(3, 5.0, 6.0, 7.0);
-  LieVector v2(3, inf, inf, inf);
+  LieVector v1((Vector(3) << 5.0, 6.0, 7.0));
+  LieVector v2((Vector(3) << inf, inf, inf));
+
   cfg1.insert(key1, v1);
   cfg2.insert(key1, v2);
   CHECK(!cfg1.equals(cfg2));
@@ -100,10 +103,11 @@ TEST( Values, equals_nan )
 TEST( Values, insert_good )
 {
   Values cfg1, cfg2, expected;
-  LieVector v1(3, 5.0, 6.0, 7.0);
-  LieVector v2(3, 8.0, 9.0, 1.0);
-  LieVector v3(3, 2.0, 4.0, 3.0);
-  LieVector v4(3, 8.0, 3.0, 7.0);
+  LieVector v1((Vector(3) << 5.0, 6.0, 7.0));
+  LieVector v2((Vector(3) << 8.0, 9.0, 1.0));
+  LieVector v3((Vector(3) << 2.0, 4.0, 3.0));
+  LieVector v4((Vector(3) << 8.0, 3.0, 7.0));
+
   cfg1.insert(key1, v1);
   cfg1.insert(key2, v2);
   cfg2.insert(key3, v4);
@@ -121,10 +125,11 @@ TEST( Values, insert_good )
 TEST( Values, insert_bad )
 {
   Values cfg1, cfg2;
-  LieVector v1(3, 5.0, 6.0, 7.0);
-  LieVector v2(3, 8.0, 9.0, 1.0);
-  LieVector v3(3, 2.0, 4.0, 3.0);
-  LieVector v4(3, 8.0, 3.0, 7.0);
+  LieVector v1((Vector(3) << 5.0, 6.0, 7.0));
+  LieVector v2((Vector(3) << 8.0, 9.0, 1.0));
+  LieVector v3((Vector(3) << 2.0, 4.0, 3.0));
+  LieVector v4((Vector(3) << 8.0, 3.0, 7.0));
+
   cfg1.insert(key1, v1);
   cfg1.insert(key2, v2);
   cfg2.insert(key2, v3);
@@ -137,8 +142,8 @@ TEST( Values, insert_bad )
 TEST( Values, update_element )
 {
   Values cfg;
-  LieVector v1(3, 5.0, 6.0, 7.0);
-  LieVector v2(3, 8.0, 9.0, 1.0);
+  LieVector v1((Vector(3) << 5.0, 6.0, 7.0));
+  LieVector v2((Vector(3) << 8.0, 9.0, 1.0));
 
   cfg.insert(key1, v1);
   CHECK(cfg.size() == 1);
@@ -181,8 +186,8 @@ TEST(Values, basic_functions)
 //TEST(Values, dim_zero)
 //{
 //  Values config0;
-//  config0.insert(key1, LieVector(2, 2.0, 3.0));
-//  config0.insert(key2, LieVector(3, 5.0, 6.0, 7.0));
+//  config0.insert(key1, LieVector((Vector(2) << 2.0, 3.0));
+//  config0.insert(key2, LieVector((Vector(3) << 5.0, 6.0, 7.0));
 //  LONGS_EQUAL(5, config0.dim());
 //
 //  VectorValues expected;
@@ -195,16 +200,16 @@ TEST(Values, basic_functions)
 TEST(Values, expmap_a)
 {
   Values config0;
-  config0.insert(key1, LieVector(3, 1.0, 2.0, 3.0));
-  config0.insert(key2, LieVector(3, 5.0, 6.0, 7.0));
+  config0.insert(key1, LieVector((Vector(3) << 1.0, 2.0, 3.0)));
+  config0.insert(key2, LieVector((Vector(3) << 5.0, 6.0, 7.0)));
 
   VectorValues increment = pair_list_of<Key, Vector>
     (key1, (Vector(3) << 1.0, 1.1, 1.2))
     (key2, (Vector(3) << 1.3, 1.4, 1.5));
 
   Values expected;
-  expected.insert(key1, LieVector(3, 2.0, 3.1, 4.2));
-  expected.insert(key2, LieVector(3, 6.3, 7.4, 8.5));
+  expected.insert(key1, LieVector((Vector(3) << 2.0, 3.1, 4.2)));
+  expected.insert(key2, LieVector((Vector(3) << 6.3, 7.4, 8.5)));
 
   CHECK(assert_equal(expected, config0.retract(increment)));
 }
@@ -213,15 +218,15 @@ TEST(Values, expmap_a)
 TEST(Values, expmap_b)
 {
   Values config0;
-  config0.insert(key1, LieVector(3, 1.0, 2.0, 3.0));
-  config0.insert(key2, LieVector(3, 5.0, 6.0, 7.0));
+  config0.insert(key1, LieVector((Vector(3) << 1.0, 2.0, 3.0)));
+  config0.insert(key2, LieVector((Vector(3) << 5.0, 6.0, 7.0)));
 
   VectorValues increment = pair_list_of<Key, Vector>
     (key2, (Vector(3) << 1.3, 1.4, 1.5));
 
   Values expected;
-  expected.insert(key1, LieVector(3, 1.0, 2.0, 3.0));
-  expected.insert(key2, LieVector(3, 6.3, 7.4, 8.5));
+  expected.insert(key1, LieVector((Vector(3) << 1.0, 2.0, 3.0)));
+  expected.insert(key2, LieVector((Vector(3) << 6.3, 7.4, 8.5)));
 
   CHECK(assert_equal(expected, config0.retract(increment)));
 }
@@ -230,16 +235,16 @@ TEST(Values, expmap_b)
 //TEST(Values, expmap_c)
 //{
 //  Values config0;
-//  config0.insert(key1, LieVector(3, 1.0, 2.0, 3.0));
-//  config0.insert(key2, LieVector(3, 5.0, 6.0, 7.0));
+//  config0.insert(key1, LieVector((Vector(3) << 1.0, 2.0, 3.0)));
+//  config0.insert(key2, LieVector((Vector(3) << 5.0, 6.0, 7.0)));
 //
 //  Vector increment = LieVector(6,
 //      1.0, 1.1, 1.2,
 //      1.3, 1.4, 1.5);
 //
 //  Values expected;
-//  expected.insert(key1, LieVector(3, 2.0, 3.1, 4.2));
-//  expected.insert(key2, LieVector(3, 6.3, 7.4, 8.5));
+//  expected.insert(key1, LieVector((Vector(3) << 2.0, 3.1, 4.2)));
+//  expected.insert(key2, LieVector((Vector(3) << 6.3, 7.4, 8.5)));
 //
 //  CHECK(assert_equal(expected, config0.retract(increment)));
 //}
@@ -248,8 +253,8 @@ TEST(Values, expmap_b)
 TEST(Values, expmap_d)
 {
   Values config0;
-  config0.insert(key1, LieVector(3, 1.0, 2.0, 3.0));
-  config0.insert(key2, LieVector(3, 5.0, 6.0, 7.0));
+  config0.insert(key1, LieVector((Vector(3) << 1.0, 2.0, 3.0)));
+  config0.insert(key2, LieVector((Vector(3) << 5.0, 6.0, 7.0)));
   //config0.print("config0");
   CHECK(equal(config0, config0));
   CHECK(config0.equals(config0));
@@ -266,8 +271,8 @@ TEST(Values, expmap_d)
 TEST(Values, localCoordinates)
 {
   Values valuesA;
-  valuesA.insert(key1, LieVector(3, 1.0, 2.0, 3.0));
-  valuesA.insert(key2, LieVector(3, 5.0, 6.0, 7.0));
+  valuesA.insert(key1, LieVector((Vector(3) << 1.0, 2.0, 3.0)));
+  valuesA.insert(key2, LieVector((Vector(3) << 5.0, 6.0, 7.0)));
 
   VectorValues expDelta = pair_list_of<Key, Vector>
     (key1, (Vector(3) << 0.1, 0.2, 0.3))
@@ -314,17 +319,17 @@ TEST(Values, exists_)
 TEST(Values, update)
 {
   Values config0;
-  config0.insert(key1, LieVector(1, 1.));
-  config0.insert(key2, LieVector(1, 2.));
+  config0.insert(key1, LieVector((Vector(1) << 1.)));
+  config0.insert(key2, LieVector((Vector(1) << 2.)));
 
   Values superset;
-  superset.insert(key1, LieVector(1, -1.));
-  superset.insert(key2, LieVector(1, -2.));
+  superset.insert(key1, LieVector((Vector(1) << -1.)));
+  superset.insert(key2, LieVector((Vector(1) << -2.)));
   config0.update(superset);
 
   Values expected;
-  expected.insert(key1, LieVector(1, -1.));
-  expected.insert(key2, LieVector(1, -2.));
+  expected.insert(key1, LieVector((Vector(1) << -1.)));
+  expected.insert(key2, LieVector((Vector(1) << -2.)));
   CHECK(assert_equal(expected,config0));
 }
 
diff --git a/gtsam/slam/tests/testGeneralSFMFactor.cpp b/gtsam/slam/tests/testGeneralSFMFactor.cpp
index b37b36546..a7c91de3f 100644
--- a/gtsam/slam/tests/testGeneralSFMFactor.cpp
+++ b/gtsam/slam/tests/testGeneralSFMFactor.cpp
@@ -110,7 +110,7 @@ TEST( GeneralSFMFactor, error ) {
   Pose3 x1(R,t1);
   values.insert(X(1), GeneralCamera(x1));
   Point3 l1;  values.insert(L(1), l1);
-  EXPECT(assert_equal((Vector(2) << -3.0, 0.0), factor->unwhitenedError(values)));
+  EXPECT(assert_equal(((Vector) (Vector(2) << -3.0, 0.0)), factor->unwhitenedError(values)));
 }
 
 static const double baseline = 5.0 ;
diff --git a/gtsam_unstable/geometry/InvDepthCamera3.h b/gtsam_unstable/geometry/InvDepthCamera3.h
index c33505c54..4eb7992a2 100644
--- a/gtsam_unstable/geometry/InvDepthCamera3.h
+++ b/gtsam_unstable/geometry/InvDepthCamera3.h
@@ -166,7 +166,7 @@ public:
     gtsam::Point3 ray = pw - pt;
     double theta = atan2(ray.y(), ray.x()); // longitude
     double phi = atan2(ray.z(), sqrt(ray.x()*ray.x()+ray.y()*ray.y()));
-    return std::make_pair(gtsam::LieVector(5, pt.x(),pt.y(),pt.z(), theta, phi),
+    return std::make_pair(gtsam::LieVector((Vector(5) << pt.x(),pt.y(),pt.z(), theta, phi)),
         gtsam::LieScalar(1./depth));
   }
 
diff --git a/gtsam_unstable/geometry/tests/testInvDepthCamera3.cpp b/gtsam_unstable/geometry/tests/testInvDepthCamera3.cpp
index e899da0c9..b477d3e44 100644
--- a/gtsam_unstable/geometry/tests/testInvDepthCamera3.cpp
+++ b/gtsam_unstable/geometry/tests/testInvDepthCamera3.cpp
@@ -29,7 +29,7 @@ TEST( InvDepthFactor, Project1) {
   Point2 expected_uv = level_camera.project(landmark);
 
   InvDepthCamera3<Cal3_S2> inv_camera(level_pose, K);
-  LieVector inv_landmark(5, 1., 0., 1., 0., 0.);
+  LieVector inv_landmark((Vector(5) << 1., 0., 1., 0., 0.));
   LieScalar inv_depth(1./4);
   Point2 actual_uv = inv_camera.project(inv_landmark, inv_depth);
   EXPECT(assert_equal(expected_uv, actual_uv));
@@ -45,7 +45,7 @@ TEST( InvDepthFactor, Project2) {
   Point2 expected = level_camera.project(landmark);
 
   InvDepthCamera3<Cal3_S2> inv_camera(level_pose, K);
-  LieVector diag_landmark(5, 0., 0., 1., M_PI/4., atan(1.0/sqrt(2.0)));
+  LieVector diag_landmark((Vector(5) << 0., 0., 1., M_PI/4., atan(1.0/sqrt(2.0))));
   LieScalar inv_depth(1/sqrt(3.0));
   Point2 actual = inv_camera.project(diag_landmark, inv_depth);
   EXPECT(assert_equal(expected, actual));
@@ -60,7 +60,7 @@ TEST( InvDepthFactor, Project3) {
   Point2 expected = level_camera.project(landmark);
 
   InvDepthCamera3<Cal3_S2> inv_camera(level_pose, K);
-  LieVector diag_landmark(5, 0., 0., 0., M_PI/4., atan(2./sqrt(2.0)));
+  LieVector diag_landmark((Vector(5) << 0., 0., 0., M_PI/4., atan(2./sqrt(2.0))));
   LieScalar inv_depth( 1./sqrt(1.0+1+4));
   Point2 actual = inv_camera.project(diag_landmark, inv_depth);
   EXPECT(assert_equal(expected, actual));
@@ -75,7 +75,7 @@ TEST( InvDepthFactor, Project4) {
   Point2 expected = level_camera.project(landmark);
 
   InvDepthCamera3<Cal3_S2> inv_camera(level_pose, K);
-  LieVector diag_landmark(5, 0., 0., 0., atan(4.0/1), atan(2./sqrt(1.+16.)));
+  LieVector diag_landmark((Vector(5) << 0., 0., 0., atan(4.0/1), atan(2./sqrt(1.+16.))));
   LieScalar inv_depth(1./sqrt(1.+16.+4.));
   Point2 actual = inv_camera.project(diag_landmark, inv_depth);
   EXPECT(assert_equal(expected, actual));
@@ -88,7 +88,7 @@ Point2 project_(const Pose3& pose, const LieVector& landmark, const LieScalar& i
 
 TEST( InvDepthFactor, Dproject_pose)
 {
-  LieVector landmark(6,0.1,0.2,0.3, 0.1,0.2);
+  LieVector landmark((Vector(5) << 0.1,0.2,0.3, 0.1,0.2));
   LieScalar inv_depth(1./4);
   Matrix expected = numericalDerivative31<Point2,Pose3,LieVector>(project_,level_pose, landmark, inv_depth);
   InvDepthCamera3<Cal3_S2> inv_camera(level_pose,K);
@@ -100,7 +100,7 @@ TEST( InvDepthFactor, Dproject_pose)
 /* ************************************************************************* */
 TEST( InvDepthFactor, Dproject_landmark)
 {
-  LieVector landmark(5,0.1,0.2,0.3, 0.1,0.2);
+  LieVector landmark((Vector(5) << 0.1,0.2,0.3, 0.1,0.2));
   LieScalar inv_depth(1./4);
   Matrix expected = numericalDerivative32<Point2,Pose3,LieVector>(project_,level_pose, landmark, inv_depth);
   InvDepthCamera3<Cal3_S2> inv_camera(level_pose,K);
@@ -112,7 +112,7 @@ TEST( InvDepthFactor, Dproject_landmark)
 /* ************************************************************************* */
 TEST( InvDepthFactor, Dproject_inv_depth)
 {
-  LieVector landmark(5,0.1,0.2,0.3, 0.1,0.2);
+  LieVector landmark((Vector(5) << 0.1,0.2,0.3, 0.1,0.2));
   LieScalar inv_depth(1./4);
   Matrix expected = numericalDerivative33<Point2,Pose3,LieVector>(project_,level_pose, landmark, inv_depth);
   InvDepthCamera3<Cal3_S2> inv_camera(level_pose,K);
@@ -124,7 +124,7 @@ TEST( InvDepthFactor, Dproject_inv_depth)
 /* ************************************************************************* */
 TEST(InvDepthFactor, backproject)
 {
-  LieVector expected(5,0.,0.,1., 0.1,0.2);
+  LieVector expected((Vector(5) << 0.,0.,1., 0.1,0.2));
   LieScalar inv_depth(1./4);
   InvDepthCamera3<Cal3_S2> inv_camera(level_pose,K);
   Point2 z = inv_camera.project(expected, inv_depth);
@@ -140,7 +140,7 @@ TEST(InvDepthFactor, backproject)
 TEST(InvDepthFactor, backproject2)
 {
   // backwards facing camera
-  LieVector expected(5,-5.,-5.,2., 3., -0.1);
+  LieVector expected((Vector(5) << -5.,-5.,2., 3., -0.1));
   LieScalar inv_depth(1./10);
   InvDepthCamera3<Cal3_S2> inv_camera(Pose3(Rot3::ypr(1.5,0.1, -1.5), Point3(-5, -5, 2)),K);
   Point2 z = inv_camera.project(expected, inv_depth);
diff --git a/gtsam_unstable/slam/tests/testInertialNavFactor_GlobalVelocity.cpp b/gtsam_unstable/slam/tests/testInertialNavFactor_GlobalVelocity.cpp
index 53d94a4bc..7756e79d3 100644
--- a/gtsam_unstable/slam/tests/testInertialNavFactor_GlobalVelocity.cpp
+++ b/gtsam_unstable/slam/tests/testInertialNavFactor_GlobalVelocity.cpp
@@ -119,10 +119,10 @@ TEST( InertialNavFactor_GlobalVelocity, Predict)
   InertialNavFactor_GlobalVelocity<Pose3, LieVector, imuBias::ConstantBias> f(PoseKey1, VelKey1, BiasKey1, PoseKey2, VelKey2, measurement_acc, measurement_gyro, measurement_dt, world_g, world_rho, world_omega_earth, model);
 
   Pose3 Pose1(Rot3(), Point3(2.00, 1.00, 3.00));
-  LieVector Vel1(3, 0.50, -0.50, 0.40);
+  LieVector Vel1((Vector(3) << 0.50, -0.50, 0.40));
   imuBias::ConstantBias Bias1;
   Pose3 expectedPose2(Rot3(), Point3(2.05, 0.95, 3.04));
-  LieVector expectedVel2(3, 0.51, -0.48, 0.43);
+  LieVector expectedVel2((Vector(3) << 0.51, -0.48, 0.43));
   Pose3 actualPose2;
   LieVector actualVel2;
   f.predict(Pose1, Vel1, Bias1, actualPose2, actualVel2);
@@ -157,8 +157,8 @@ TEST( InertialNavFactor_GlobalVelocity, ErrorPosVel)
 
   Pose3 Pose1(Rot3(), Point3(2.00, 1.00, 3.00));
   Pose3 Pose2(Rot3(), Point3(2.05, 0.95, 3.04));
-  LieVector Vel1(3, 0.50, -0.50, 0.40);
-  LieVector Vel2(3, 0.51, -0.48, 0.43);
+  LieVector Vel1((Vector(3) << 0.50, -0.50, 0.40));
+  LieVector Vel2((Vector(3) << 0.51, -0.48, 0.43));
   imuBias::ConstantBias Bias1;
 
   Vector ActualErr(f.evaluateError(Pose1, Vel1, Bias1, Pose2, Vel2));
@@ -192,8 +192,8 @@ TEST( InertialNavFactor_GlobalVelocity, ErrorRot)
 
   Pose3 Pose1(Rot3(), Point3(2.0,1.0,3.0));
   Pose3 Pose2(Rot3::Expmap(measurement_gyro*measurement_dt), Point3(2.0,1.0,3.0));
-  LieVector Vel1(3,0.0,0.0,0.0);
-  LieVector Vel2(3,0.0,0.0,0.0);
+  LieVector Vel1((Vector(3) << 0.0, 0.0, 0.0));
+  LieVector Vel2((Vector(3) << 0.0, 0.0, 0.0));
   imuBias::ConstantBias Bias1;
 
   Vector ActualErr(f.evaluateError(Pose1, Vel1, Bias1, Pose2, Vel2));
@@ -230,7 +230,7 @@ TEST( InertialNavFactor_GlobalVelocity, ErrorRotPosVel)
       -0.652537293,   0.709880342,   0.265075427);
   Point3 t1(2.0,1.0,3.0);
   Pose3 Pose1(R1, t1);
-  LieVector Vel1(3,0.5,-0.5,0.4);
+  LieVector Vel1((Vector(3) << 0.5, -0.5, 0.4));
   Rot3 R2(0.473618898,   0.119523052,   0.872582019,
        0.609241153,    0.67099888,  -0.422594037,
       -0.636011287,   0.731761397,   0.244979388);
@@ -302,13 +302,13 @@ TEST (InertialNavFactor_GlobalVelocity, Jacobian ) {
       -0.652537293,   0.709880342,   0.265075427);
   Point3 t1(2.0,1.0,3.0);
   Pose3 Pose1(R1, t1);
-  LieVector Vel1(3,0.5,-0.5,0.4);
+  LieVector Vel1((Vector(3) << 0.5, -0.5, 0.4));
   Rot3 R2(0.473618898,   0.119523052,   0.872582019,
        0.609241153,    0.67099888,  -0.422594037,
       -0.636011287,   0.731761397,   0.244979388);
   Point3 t2(2.052670960415706,   0.977252139079380,   2.942482135362800);
   Pose3 Pose2(R2, t2);
-  LieVector Vel2(3,0.510000000000000,  -0.480000000000000,   0.430000000000000);
+  LieVector Vel2((Vector(3) << 0.510000000000000,  -0.480000000000000,   0.430000000000000));
   imuBias::ConstantBias Bias1;
 
   Matrix H1_actual, H2_actual, H3_actual, H4_actual, H5_actual;
@@ -447,10 +447,10 @@ TEST( InertialNavFactor_GlobalVelocity, PredictWithTransform)
   InertialNavFactor_GlobalVelocity<Pose3, LieVector, imuBias::ConstantBias> f(PoseKey1, VelKey1, BiasKey1, PoseKey2, VelKey2, measurement_acc, measurement_gyro, measurement_dt, world_g, world_rho, world_omega_earth, model, body_P_sensor);
 
   Pose3 Pose1(Rot3(), Point3(2.00, 1.00, 3.00));
-  LieVector Vel1(3, 0.50, -0.50, 0.40);
+  LieVector Vel1((Vector(3) << 0.50, -0.50, 0.40));
   imuBias::ConstantBias Bias1;
   Pose3 expectedPose2(Rot3(), Point3(2.05, 0.95, 3.04));
-  LieVector expectedVel2(3, 0.51, -0.48, 0.43);
+  LieVector expectedVel2((Vector(3) << 0.51, -0.48, 0.43));
   Pose3 actualPose2;
   LieVector actualVel2;
   f.predict(Pose1, Vel1, Bias1, actualPose2, actualVel2);
@@ -488,8 +488,8 @@ TEST( InertialNavFactor_GlobalVelocity, ErrorPosVelWithTransform)
 
   Pose3 Pose1(Rot3(), Point3(2.00, 1.00, 3.00));
   Pose3 Pose2(Rot3(), Point3(2.05, 0.95, 3.04));
-  LieVector Vel1(3, 0.50, -0.50, 0.40);
-  LieVector Vel2(3, 0.51, -0.48, 0.43);
+  LieVector Vel1((Vector(3) << 0.50, -0.50, 0.40));
+  LieVector Vel2((Vector(3) << 0.51, -0.48, 0.43));
   imuBias::ConstantBias Bias1;
 
   Vector ActualErr(f.evaluateError(Pose1, Vel1, Bias1, Pose2, Vel2));
@@ -527,8 +527,8 @@ TEST( InertialNavFactor_GlobalVelocity, ErrorRotWithTransform)
 
   Pose3 Pose1(Rot3(), Point3(2.0,1.0,3.0));
   Pose3 Pose2(Rot3::Expmap(body_P_sensor.rotation().matrix()*measurement_gyro*measurement_dt), Point3(2.0, 1.0, 3.0));
-  LieVector Vel1(3,0.0,0.0,0.0);
-  LieVector Vel2(3,0.0,0.0,0.0);
+  LieVector Vel1((Vector(3) << 0.0,0.0,0.0));
+  LieVector Vel2((Vector(3) << 0.0,0.0,0.0));
   imuBias::ConstantBias Bias1;
 
   Vector ActualErr(f.evaluateError(Pose1, Vel1, Bias1, Pose2, Vel2));
@@ -569,7 +569,7 @@ TEST( InertialNavFactor_GlobalVelocity, ErrorRotPosVelWithTransform)
       -0.652537293,  0.709880342,  0.265075427);
   Point3 t1(2.0,1.0,3.0);
   Pose3 Pose1(R1, t1);
-  LieVector Vel1(3,0.5,-0.5,0.4);
+  LieVector Vel1((Vector(3) << 0.5,-0.5,0.4));
   Rot3 R2(0.473618898,   0.119523052,  0.872582019,
        0.609241153,   0.67099888, -0.422594037,
       -0.636011287,  0.731761397,  0.244979388);
@@ -618,13 +618,13 @@ TEST (InertialNavFactor_GlobalVelocity, JacobianWithTransform ) {
       -0.652537293,  0.709880342,  0.265075427);
   Point3 t1(2.0,1.0,3.0);
   Pose3 Pose1(R1, t1);
-  LieVector Vel1(3,0.5,-0.5,0.4);
+  LieVector Vel1((Vector(3) << 0.5,-0.5,0.4));
   Rot3 R2(0.473618898,   0.119523052,  0.872582019,
        0.609241153,   0.67099888, -0.422594037,
       -0.636011287,  0.731761397,  0.244979388);
   Point3 t2(2.052670960415706,   0.977252139079380,   2.942482135362800);
   Pose3 Pose2(R2, t2);
-  LieVector Vel2(3,0.510000000000000,  -0.480000000000000,   0.430000000000000);
+  LieVector Vel2((Vector(3) << 0.510000000000000,  -0.480000000000000,   0.430000000000000));
   imuBias::ConstantBias Bias1;
 
   Matrix H1_actual, H2_actual, H3_actual, H4_actual, H5_actual;
diff --git a/gtsam_unstable/slam/tests/testInvDepthFactor3.cpp b/gtsam_unstable/slam/tests/testInvDepthFactor3.cpp
index 65cc1adbc..5ea9fe29d 100644
--- a/gtsam_unstable/slam/tests/testInvDepthFactor3.cpp
+++ b/gtsam_unstable/slam/tests/testInvDepthFactor3.cpp
@@ -38,7 +38,7 @@ TEST( InvDepthFactor, optimize) {
   Point2 expected_uv = level_camera.project(landmark);
 
   InvDepthCamera3<Cal3_S2> inv_camera(level_pose, K);
-  LieVector inv_landmark(5, 0., 0., 1., 0., 0.);
+  LieVector inv_landmark((Vector(5) << 0., 0., 1., 0., 0.));
   // initialize inverse depth with "incorrect" depth of 1/4
   // in reality this is 1/5, but initial depth is guessed
   LieScalar inv_depth(1./4);
diff --git a/gtsam_unstable/slam/tests/testInvDepthFactorVariant1.cpp b/gtsam_unstable/slam/tests/testInvDepthFactorVariant1.cpp
index 7bbee65ee..24535854d 100644
--- a/gtsam_unstable/slam/tests/testInvDepthFactorVariant1.cpp
+++ b/gtsam_unstable/slam/tests/testInvDepthFactorVariant1.cpp
@@ -45,7 +45,7 @@ TEST( InvDepthFactorVariant1, optimize) {
   double theta = atan2(ray.y(), ray.x());
   double phi = atan2(ray.z(), sqrt(ray.x()*ray.x()+ray.y()*ray.y()));
   double rho = 1./ray.norm();
-  LieVector expected(6, x, y, z, theta, phi, rho);
+  LieVector expected((Vector(6) << x, y, z, theta, phi, rho));
 
 
   
diff --git a/gtsam_unstable/slam/tests/testInvDepthFactorVariant2.cpp b/gtsam_unstable/slam/tests/testInvDepthFactorVariant2.cpp
index 1512d0fc2..e99c9bcdf 100644
--- a/gtsam_unstable/slam/tests/testInvDepthFactorVariant2.cpp
+++ b/gtsam_unstable/slam/tests/testInvDepthFactorVariant2.cpp
@@ -43,7 +43,7 @@ TEST( InvDepthFactorVariant2, optimize) {
   double theta = atan2(ray.y(), ray.x());
   double phi = atan2(ray.z(), sqrt(ray.x()*ray.x()+ray.y()*ray.y()));
   double rho = 1./ray.norm();
-  LieVector expected(3, theta, phi, rho);
+  LieVector expected((Vector(3) << theta, phi, rho));
 
 
   
diff --git a/gtsam_unstable/slam/tests/testInvDepthFactorVariant3.cpp b/gtsam_unstable/slam/tests/testInvDepthFactorVariant3.cpp
index 799ebdf36..e65b7cacb 100644
--- a/gtsam_unstable/slam/tests/testInvDepthFactorVariant3.cpp
+++ b/gtsam_unstable/slam/tests/testInvDepthFactorVariant3.cpp
@@ -43,7 +43,7 @@ TEST( InvDepthFactorVariant3, optimize) {
   double theta = atan2(landmark_p1.x(), landmark_p1.z());
   double phi = atan2(landmark_p1.y(), sqrt(landmark_p1.x()*landmark_p1.x()+landmark_p1.z()*landmark_p1.z()));
   double rho = 1./landmark_p1.norm();
-  LieVector expected(3, theta, phi, rho);
+  LieVector expected((Vector(3) << theta, phi, rho));
 
 
   
diff --git a/tests/testNonlinearFactor.cpp b/tests/testNonlinearFactor.cpp
index 247c6a6b0..390257f02 100644
--- a/tests/testNonlinearFactor.cpp
+++ b/tests/testNonlinearFactor.cpp
@@ -266,10 +266,10 @@ public:
 TEST(NonlinearFactor, NoiseModelFactor4) {
   TestFactor4 tf;
   Values tv;
-  tv.insert(X(1), LieVector(1, 1.0));
-  tv.insert(X(2), LieVector(1, 2.0));
-  tv.insert(X(3), LieVector(1, 3.0));
-  tv.insert(X(4), LieVector(1, 4.0));
+  tv.insert(X(1), LieVector((Vector(1) << 1.0)));
+  tv.insert(X(2), LieVector((Vector(1) << 2.0)));
+  tv.insert(X(3), LieVector((Vector(1) << 3.0)));
+  tv.insert(X(4), LieVector((Vector(1) << 4.0)));
   EXPECT(assert_equal((Vector(1) << 10.0), tf.unwhitenedError(tv)));
   DOUBLES_EQUAL(25.0/2.0, tf.error(tv), 1e-9);
   JacobianFactor jf(*boost::dynamic_pointer_cast<JacobianFactor>(tf.linearize(tv)));
@@ -312,11 +312,11 @@ public:
 TEST(NonlinearFactor, NoiseModelFactor5) {
   TestFactor5 tf;
   Values tv;
-  tv.insert(X(1), LieVector(1, 1.0));
-  tv.insert(X(2), LieVector(1, 2.0));
-  tv.insert(X(3), LieVector(1, 3.0));
-  tv.insert(X(4), LieVector(1, 4.0));
-  tv.insert(X(5), LieVector(1, 5.0));
+  tv.insert(X(1), LieVector((Vector(1) << 1.0)));
+  tv.insert(X(2), LieVector((Vector(1) << 2.0)));
+  tv.insert(X(3), LieVector((Vector(1) << 3.0)));
+  tv.insert(X(4), LieVector((Vector(1) << 4.0)));
+  tv.insert(X(5), LieVector((Vector(1) << 5.0)));
   EXPECT(assert_equal((Vector(1) << 15.0), tf.unwhitenedError(tv)));
   DOUBLES_EQUAL(56.25/2.0, tf.error(tv), 1e-9);
   JacobianFactor jf(*boost::dynamic_pointer_cast<JacobianFactor>(tf.linearize(tv)));
@@ -364,12 +364,12 @@ public:
 TEST(NonlinearFactor, NoiseModelFactor6) {
   TestFactor6 tf;
   Values tv;
-  tv.insert(X(1), LieVector(1, 1.0));
-  tv.insert(X(2), LieVector(1, 2.0));
-  tv.insert(X(3), LieVector(1, 3.0));
-  tv.insert(X(4), LieVector(1, 4.0));
-  tv.insert(X(5), LieVector(1, 5.0));
-  tv.insert(X(6), LieVector(1, 6.0));
+  tv.insert(X(1), LieVector((Vector(1) << 1.0)));
+  tv.insert(X(2), LieVector((Vector(1) << 2.0)));
+  tv.insert(X(3), LieVector((Vector(1) << 3.0)));
+  tv.insert(X(4), LieVector((Vector(1) << 4.0)));
+  tv.insert(X(5), LieVector((Vector(1) << 5.0)));
+  tv.insert(X(6), LieVector((Vector(1) << 6.0)));
   EXPECT(assert_equal((Vector(1) << 21.0), tf.unwhitenedError(tv)));
   DOUBLES_EQUAL(110.25/2.0, tf.error(tv), 1e-9);
   JacobianFactor jf(*boost::dynamic_pointer_cast<JacobianFactor>(tf.linearize(tv)));