diff --git a/gtsam/slam/tests/testOrientedPlane3Factor.cpp b/gtsam/slam/tests/testOrientedPlane3Factor.cpp
index 699829261..4a7b4c3fe 100644
--- a/gtsam/slam/tests/testOrientedPlane3Factor.cpp
+++ b/gtsam/slam/tests/testOrientedPlane3Factor.cpp
@@ -19,6 +19,7 @@
 #include <gtsam/slam/OrientedPlane3Factor.h>
 #include <gtsam/slam/PriorFactor.h>
 #include <gtsam/nonlinear/ISAM2.h>
+#include <gtsam/inference/Symbol.h>
 #include <gtsam/base/numericalDerivative.h>
 
 #include <CppUnitLite/TestHarness.h>
@@ -37,47 +38,46 @@ GTSAM_CONCEPT_MANIFOLD_INST(OrientedPlane3)
 TEST (OrientedPlane3Factor, lm_translation_error) {
   // Tests one pose, two measurements of the landmark that differ in range only.
   // Normal along -x, 3m away
-  gtsam::Symbol lm_sym('p', 0);
-  gtsam::OrientedPlane3 test_lm0(-1.0, 0.0, 0.0, 3.0);
+  Symbol lm_sym('p', 0);
+  OrientedPlane3 test_lm0(-1.0, 0.0, 0.0, 3.0);
 
-  gtsam::ISAM2 isam2;
-  gtsam::Values new_values;
-  gtsam::NonlinearFactorGraph new_graph;
+  ISAM2 isam2;
+  Values new_values;
+  NonlinearFactorGraph new_graph;
 
   // Init pose and prior.  Pose Prior is needed since a single plane measurement does not fully constrain the pose
-  gtsam::Symbol init_sym('x', 0);
-  gtsam::Pose3 init_pose(gtsam::Rot3::ypr(0.0, 0.0, 0.0),
-      gtsam::Point3(0.0, 0.0, 0.0));
-  gtsam::Vector sigmas(6);
+  Symbol init_sym('x', 0);
+  Pose3 init_pose(Rot3::ypr(0.0, 0.0, 0.0), Point3(0.0, 0.0, 0.0));
+  Vector sigmas(6);
   sigmas << 0.001, 0.001, 0.001, 0.001, 0.001, 0.001;
-  gtsam::PriorFactor<gtsam::Pose3> pose_prior(init_sym, init_pose,
-      gtsam::noiseModel::Diagonal::Sigmas(sigmas));
+  PriorFactor<Pose3> pose_prior(init_sym, init_pose,
+      noiseModel::Diagonal::Sigmas(sigmas));
   new_values.insert(init_sym, init_pose);
   new_graph.add(pose_prior);
 
   // Add two landmark measurements, differing in range
   new_values.insert(lm_sym, test_lm0);
-  gtsam::Vector sigmas3(3);
+  Vector sigmas3(3);
   sigmas3 << 0.1, 0.1, 0.1;
-  gtsam::Vector test_meas0_mean(4);
+  Vector test_meas0_mean(4);
   test_meas0_mean << -1.0, 0.0, 0.0, 3.0;
-  gtsam::OrientedPlane3Factor test_meas0(test_meas0_mean,
-      gtsam::noiseModel::Diagonal::Sigmas(sigmas3), init_sym, lm_sym);
+  OrientedPlane3Factor test_meas0(test_meas0_mean,
+      noiseModel::Diagonal::Sigmas(sigmas3), init_sym, lm_sym);
   new_graph.add(test_meas0);
-  gtsam::Vector test_meas1_mean(4);
+  Vector test_meas1_mean(4);
   test_meas1_mean << -1.0, 0.0, 0.0, 1.0;
-  gtsam::OrientedPlane3Factor test_meas1(test_meas1_mean,
-      gtsam::noiseModel::Diagonal::Sigmas(sigmas3), init_sym, lm_sym);
+  OrientedPlane3Factor test_meas1(test_meas1_mean,
+      noiseModel::Diagonal::Sigmas(sigmas3), init_sym, lm_sym);
   new_graph.add(test_meas1);
 
   // Optimize
-  gtsam::ISAM2Result result = isam2.update(new_graph, new_values);
-  gtsam::Values result_values = isam2.calculateEstimate();
-  gtsam::OrientedPlane3 optimized_plane_landmark = result_values.at<
-      gtsam::OrientedPlane3>(lm_sym);
+  ISAM2Result result = isam2.update(new_graph, new_values);
+  Values result_values = isam2.calculateEstimate();
+  OrientedPlane3 optimized_plane_landmark = result_values.at<OrientedPlane3>(
+      lm_sym);
 
   // Given two noisy measurements of equal weight, expect result between the two
-  gtsam::OrientedPlane3 expected_plane_landmark(-1.0, 0.0, 0.0, 2.0);
+  OrientedPlane3 expected_plane_landmark(-1.0, 0.0, 0.0, 2.0);
   EXPECT(assert_equal(optimized_plane_landmark, expected_plane_landmark));
 }
 
@@ -85,19 +85,18 @@ TEST (OrientedPlane3Factor, lm_translation_error) {
 TEST (OrientedPlane3Factor, lm_rotation_error) {
   // Tests one pose, two measurements of the landmark that differ in angle only.
   // Normal along -x, 3m away
-  gtsam::Symbol lm_sym('p', 0);
-  gtsam::OrientedPlane3 test_lm0(-1.0, 0.0, 0.0, 3.0);
+  Symbol lm_sym('p', 0);
+  OrientedPlane3 test_lm0(-1.0, 0.0, 0.0, 3.0);
 
-  gtsam::ISAM2 isam2;
-  gtsam::Values new_values;
-  gtsam::NonlinearFactorGraph new_graph;
+  ISAM2 isam2;
+  Values new_values;
+  NonlinearFactorGraph new_graph;
 
   // Init pose and prior.  Pose Prior is needed since a single plane measurement does not fully constrain the pose
-  gtsam::Symbol init_sym('x', 0);
-  gtsam::Pose3 init_pose(gtsam::Rot3::ypr(0.0, 0.0, 0.0),
-      gtsam::Point3(0.0, 0.0, 0.0));
-  gtsam::PriorFactor<gtsam::Pose3> pose_prior(init_sym, init_pose,
-      gtsam::noiseModel::Diagonal::Sigmas(
+  Symbol init_sym('x', 0);
+  Pose3 init_pose(Rot3::ypr(0.0, 0.0, 0.0), Point3(0.0, 0.0, 0.0));
+  PriorFactor<Pose3> pose_prior(init_sym, init_pose,
+      noiseModel::Diagonal::Sigmas(
           (Vector(6) << 0.001, 0.001, 0.001, 0.001, 0.001, 0.001).finished()));
   new_values.insert(init_sym, init_pose);
   new_graph.add(pose_prior);
@@ -106,26 +105,24 @@ TEST (OrientedPlane3Factor, lm_rotation_error) {
   new_values.insert(lm_sym, test_lm0);
   Vector test_meas0_mean(4);
   test_meas0_mean << -1.0, 0.0, 0.0, 3.0;
-  gtsam::OrientedPlane3Factor test_meas0(test_meas0_mean,
-      gtsam::noiseModel::Diagonal::Sigmas(Vector3(0.1, 0.1, 0.1)), init_sym,
-      lm_sym);
+  OrientedPlane3Factor test_meas0(test_meas0_mean,
+      noiseModel::Diagonal::Sigmas(Vector3(0.1, 0.1, 0.1)), init_sym, lm_sym);
   new_graph.add(test_meas0);
   Vector test_meas1_mean(4);
   test_meas1_mean << 0.0, -1.0, 0.0, 3.0;
-  gtsam::OrientedPlane3Factor test_meas1(test_meas1_mean,
-      gtsam::noiseModel::Diagonal::Sigmas(Vector3(0.1, 0.1, 0.1)), init_sym,
-      lm_sym);
+  OrientedPlane3Factor test_meas1(test_meas1_mean,
+      noiseModel::Diagonal::Sigmas(Vector3(0.1, 0.1, 0.1)), init_sym, lm_sym);
   new_graph.add(test_meas1);
 
   // Optimize
-  gtsam::ISAM2Result result = isam2.update(new_graph, new_values);
-  gtsam::Values result_values = isam2.calculateEstimate();
-  gtsam::OrientedPlane3 optimized_plane_landmark = result_values.at<
-      gtsam::OrientedPlane3>(lm_sym);
+  ISAM2Result result = isam2.update(new_graph, new_values);
+  Values result_values = isam2.calculateEstimate();
+  OrientedPlane3 optimized_plane_landmark = result_values.at<OrientedPlane3>(
+      lm_sym);
 
   // Given two noisy measurements of equal weight, expect result between the two
-  gtsam::OrientedPlane3 expected_plane_landmark(-sqrt(2.0) / 2.0,
-      -sqrt(2.0) / 2.0, 0.0, 3.0);
+  OrientedPlane3 expected_plane_landmark(-sqrt(2.0) / 2.0, -sqrt(2.0) / 2.0,
+      0.0, 3.0);
   EXPECT(assert_equal(optimized_plane_landmark, expected_plane_landmark));
 }
 
@@ -140,8 +137,7 @@ TEST( OrientedPlane3DirectionPrior, Constructor ) {
 
   // Factor
   Key key(1);
-  SharedGaussian model = gtsam::noiseModel::Diagonal::Sigmas(
-      Vector3(0.1, 0.1, 10.0));
+  SharedGaussian model = noiseModel::Diagonal::Sigmas(Vector3(0.1, 0.1, 10.0));
   OrientedPlane3DirectionPrior factor(key, planeOrientation, model);
 
   // Create a linearization point at the zero-error point