diff --git a/gtsam/navigation/tests/testPreintegratedRotation.cpp b/gtsam/navigation/tests/testPreintegratedRotation.cpp
index 1e27ca1e4..bcd291eb2 100644
--- a/gtsam/navigation/tests/testPreintegratedRotation.cpp
+++ b/gtsam/navigation/tests/testPreintegratedRotation.cpp
@@ -36,40 +36,33 @@ const Vector3 measuredOmega = trueOmega + bias;
 const double deltaT = 0.5;
 }  // namespace biased_x_rotation
 
-// Create params where x and y axes are exchanged.
-static std::shared_ptr<PreintegratedRotationParams> paramsWithTransform() {
-  auto p = std::make_shared<PreintegratedRotationParams>();
-  p->setBodyPSensor({Rot3::Yaw(M_PI_2), {0, 0, 0}});
-  return p;
-}
-
 //******************************************************************************
 TEST(PreintegratedRotation, integrateGyroMeasurement) {
   // Example where IMU is identical to body frame, then omega is roll
   using namespace biased_x_rotation;
   auto p = std::make_shared<PreintegratedRotationParams>();
-  PreintegratedRotation pim(p);
 
   // Check the value.
   Matrix3 H_bias;
-  internal::IncrementalRotation f{measuredOmega, deltaT, p->getBodyPSensor()};
+  const internal::IncrementalRotation f{measuredOmega, deltaT, p->getBodyPSensor()};
   const Rot3 incrR = f(bias, H_bias);
-  Rot3 expected = Rot3::Roll(omega * deltaT);
-  EXPECT(assert_equal(expected, incrR, 1e-9));
+  const Rot3 expected = Rot3::Roll(omega * deltaT);
+  EXPECT(assert_equal(expected, incrR, 1e-9))
 
   // Check the derivative:
-  EXPECT(assert_equal(numericalDerivative11<Rot3, Vector3>(f, bias), H_bias));
+  EXPECT(assert_equal(numericalDerivative11<Rot3, Vector3>(f, bias), H_bias))
 
   // Check value of deltaRij() after integration.
   Matrix3 F;
+  PreintegratedRotation pim(p);
   pim.integrateGyroMeasurement(measuredOmega, bias, deltaT, F);
-  EXPECT(assert_equal(expected, pim.deltaRij(), 1e-9));
+  EXPECT(assert_equal(expected, pim.deltaRij(), 1e-9))
 
   // Check that system matrix F is the first derivative of compose:
-  EXPECT(assert_equal<Matrix3>(pim.deltaRij().inverse().AdjointMap(), F));
+  EXPECT(assert_equal<Matrix3>(pim.deltaRij().inverse().AdjointMap(), F))
 
   // Make sure delRdelBiasOmega is H_bias after integration.
-  EXPECT(assert_equal<Matrix3>(H_bias, pim.delRdelBiasOmega()));
+  EXPECT(assert_equal<Matrix3>(H_bias, pim.delRdelBiasOmega()))
 
   // Check if we make a correction to the bias, the value and Jacobian are
   // correct. Note that the bias is subtracted from the measurement, and the
@@ -78,8 +71,8 @@ TEST(PreintegratedRotation, integrateGyroMeasurement) {
   const double delta = 0.05;
   const Vector3 biasOmegaIncr(delta, 0, 0);
   Rot3 corrected = pim.biascorrectedDeltaRij(biasOmegaIncr, H);
-  EQUALITY(Vector3(-deltaT * delta, 0, 0), expected.logmap(corrected));
-  EXPECT(assert_equal(Rot3::Roll((omega - delta) * deltaT), corrected, 1e-9));
+  EQUALITY(Vector3(-deltaT * delta, 0, 0), expected.logmap(corrected))
+  EXPECT(assert_equal(Rot3::Roll((omega - delta) * deltaT), corrected, 1e-9))
 
   // TODO(frank): again the derivative is not the *sane* one!
   // auto g = [&](const Vector3& increment) {
@@ -89,39 +82,47 @@ TEST(PreintegratedRotation, integrateGyroMeasurement) {
 }
 
 //******************************************************************************
+
+// Create params where x and y axes are exchanged.
+static std::shared_ptr<PreintegratedRotationParams> paramsWithTransform() {
+  auto p = std::make_shared<PreintegratedRotationParams>();
+  p->setBodyPSensor({Rot3::Yaw(M_PI_2), {0, 0, 0}});
+  return p;
+}
+
 TEST(PreintegratedRotation, integrateGyroMeasurementWithTransform) {
   // Example where IMU is rotated, so measured omega indicates pitch.
   using namespace biased_x_rotation;
   auto p = paramsWithTransform();
-  PreintegratedRotation pim(p);
 
   // Check the value.
   Matrix3 H_bias;
-  internal::IncrementalRotation f{measuredOmega, deltaT, p->getBodyPSensor()};
-  Rot3 expected = Rot3::Pitch(omega * deltaT);
-  EXPECT(assert_equal(expected, f(bias, H_bias), 1e-9));
+  const internal::IncrementalRotation f{measuredOmega, deltaT, p->getBodyPSensor()};
+  const Rot3 expected = Rot3::Pitch(omega * deltaT); // Pitch, because of sensor-IMU rotation!
+  EXPECT(assert_equal(expected, f(bias, H_bias), 1e-9))
 
   // Check the derivative:
-  EXPECT(assert_equal(numericalDerivative11<Rot3, Vector3>(f, bias), H_bias));
+  EXPECT(assert_equal(numericalDerivative11<Rot3, Vector3>(f, bias), H_bias))
 
   // Check value of deltaRij() after integration.
   Matrix3 F;
+  PreintegratedRotation pim(p);
   pim.integrateGyroMeasurement(measuredOmega, bias, deltaT, F);
-  EXPECT(assert_equal(expected, pim.deltaRij(), 1e-9));
+  EXPECT(assert_equal(expected, pim.deltaRij(), 1e-9))
 
   // Check that system matrix F is the first derivative of compose:
-  EXPECT(assert_equal<Matrix3>(pim.deltaRij().inverse().AdjointMap(), F));
+  EXPECT(assert_equal<Matrix3>(pim.deltaRij().inverse().AdjointMap(), F))
 
   // Make sure delRdelBiasOmega is H_bias after integration.
-  EXPECT(assert_equal<Matrix3>(H_bias, pim.delRdelBiasOmega()));
+  EXPECT(assert_equal<Matrix3>(H_bias, pim.delRdelBiasOmega()))
 
   // Check the bias correction in same way, but will now yield pitch change.
   Matrix3 H;
   const double delta = 0.05;
   const Vector3 biasOmegaIncr(delta, 0, 0);
   Rot3 corrected = pim.biascorrectedDeltaRij(biasOmegaIncr, H);
-  EQUALITY(Vector3(0, -deltaT * delta, 0), expected.logmap(corrected));
-  EXPECT(assert_equal(Rot3::Pitch((omega - delta) * deltaT), corrected, 1e-9));
+  EQUALITY(Vector3(0, -deltaT * delta, 0), expected.logmap(corrected))
+  EXPECT(assert_equal(Rot3::Pitch((omega - delta) * deltaT), corrected, 1e-9))
 
   // TODO(frank): again the derivative is not the *sane* one!
   // auto g = [&](const Vector3& increment) {