diff --git a/tests/testGradientDescentOptimizer.cpp b/tests/testGradientDescentOptimizer.cpp
index fefa2a05f..c72c6f716 100644
--- a/tests/testGradientDescentOptimizer.cpp
+++ b/tests/testGradientDescentOptimizer.cpp
@@ -5,8 +5,12 @@
  * @date   Jun 11, 2012
  */
 
-#include <gtsam/slam/pose2SLAM.h>
+#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/nonlinear/GradientDescentOptimizer.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
+#include <gtsam/nonlinear/Values.h>
+#include <gtsam/geometry/Pose2.h>
 
 #include <CppUnitLite/TestHarness.h>
 
@@ -19,34 +23,34 @@ using namespace std;
 using namespace gtsam;
 
 
-boost::tuple<pose2SLAM::Graph, Values> generateProblem() {
+boost::tuple<NonlinearFactorGraph, Values> generateProblem() {
 
   // 1. Create graph container and add factors to it
-  pose2SLAM::Graph graph ;
+  NonlinearFactorGraph graph ;
 
   // 2a. Add Gaussian prior
   Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin
   SharedDiagonal priorNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.3, 0.3, 0.1));
-  graph.addPosePrior(1, priorMean, priorNoise);
+  graph.add(PriorFactor<Pose2>(1, priorMean, priorNoise));
 
   // 2b. Add odometry factors
   SharedDiagonal odometryNoise = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1));
-  graph.addRelativePose(1, 2, Pose2(2.0, 0.0, 0.0   ), odometryNoise);
-  graph.addRelativePose(2, 3, Pose2(2.0, 0.0, M_PI_2), odometryNoise);
-  graph.addRelativePose(3, 4, Pose2(2.0, 0.0, M_PI_2), odometryNoise);
-  graph.addRelativePose(4, 5, Pose2(2.0, 0.0, M_PI_2), odometryNoise);
+  graph.add(BetweenFactor<Pose2>(1, 2, Pose2(2.0, 0.0, 0.0   ), odometryNoise));
+  graph.add(BetweenFactor<Pose2>(2, 3, Pose2(2.0, 0.0, M_PI_2), odometryNoise));
+  graph.add(BetweenFactor<Pose2>(3, 4, Pose2(2.0, 0.0, M_PI_2), odometryNoise));
+  graph.add(BetweenFactor<Pose2>(4, 5, Pose2(2.0, 0.0, M_PI_2), odometryNoise));
 
   // 2c. Add pose constraint
   SharedDiagonal constraintUncertainty = noiseModel::Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1));
-  graph.addRelativePose(5, 2, Pose2(2.0, 0.0, M_PI_2), constraintUncertainty);
+  graph.add(BetweenFactor<Pose2>(5, 2, Pose2(2.0, 0.0, M_PI_2), constraintUncertainty));
 
   // 3. Create the data structure to hold the initialEstimate estinmate to the solution
-  pose2SLAM::Values initialEstimate;
-  Pose2 x1(0.5, 0.0, 0.2   ); initialEstimate.insertPose(1, x1);
-  Pose2 x2(2.3, 0.1,-0.2   ); initialEstimate.insertPose(2, x2);
-  Pose2 x3(4.1, 0.1, M_PI_2); initialEstimate.insertPose(3, x3);
-  Pose2 x4(4.0, 2.0, M_PI  ); initialEstimate.insertPose(4, x4);
-  Pose2 x5(2.1, 2.1,-M_PI_2); initialEstimate.insertPose(5, x5);
+  Values initialEstimate;
+  Pose2 x1(0.5, 0.0, 0.2   ); initialEstimate.insert(1, x1);
+  Pose2 x2(2.3, 0.1,-0.2   ); initialEstimate.insert(2, x2);
+  Pose2 x3(4.1, 0.1, M_PI_2); initialEstimate.insert(3, x3);
+  Pose2 x4(4.0, 2.0, M_PI  ); initialEstimate.insert(4, x4);
+  Pose2 x5(2.1, 2.1,-M_PI_2); initialEstimate.insert(5, x5);
 
   return boost::tie(graph, initialEstimate);
 }
@@ -55,8 +59,8 @@ boost::tuple<pose2SLAM::Graph, Values> generateProblem() {
 /* ************************************************************************* */
 TEST(optimize, GradientDescentOptimizer) {
 
-  pose2SLAM::Graph graph ;
-  pose2SLAM::Values initialEstimate;
+  NonlinearFactorGraph graph;
+  Values initialEstimate;
 
   boost::tie(graph, initialEstimate) = generateProblem();
   // cout << "initial error = " << graph.error(initialEstimate) << endl ;
@@ -79,8 +83,8 @@ TEST(optimize, GradientDescentOptimizer) {
 /* ************************************************************************* */
 TEST(optimize, ConjugateGradientOptimizer) {
 
-  pose2SLAM::Graph graph ;
-  pose2SLAM::Values initialEstimate;
+  NonlinearFactorGraph graph;
+  Values initialEstimate;
 
   boost::tie(graph, initialEstimate) = generateProblem();
 //  cout << "initial error = " << graph.error(initialEstimate) << endl ;
@@ -102,8 +106,8 @@ TEST(optimize, ConjugateGradientOptimizer) {
 /* ************************************************************************* */
 TEST(optimize, GradientDescentOptimizer2) {
 
-  pose2SLAM::Graph graph ;
-  pose2SLAM::Values initialEstimate;
+  NonlinearFactorGraph graph;
+  Values initialEstimate;
 
   boost::tie(graph, initialEstimate) = generateProblem();
 //  cout << "initial error = " << graph.error(initialEstimate) << endl ;