diff --git a/examples/Pose2SLAMExample_lago.cpp b/examples/Pose2SLAMExample_lago.cpp
index cf82a05ca..1f5d80d7b 100644
--- a/examples/Pose2SLAMExample_lago.cpp
+++ b/examples/Pose2SLAMExample_lago.cpp
@@ -19,7 +19,7 @@
  * @author Luca Carlone
  */
 
-#include <gtsam/nonlinear/lago.h>
+#include <gtsam/slam/lago.h>
 #include <gtsam/slam/dataset.h>
 #include <gtsam/slam/PriorFactor.h>
 #include <fstream>
diff --git a/gtsam/nonlinear/lago.cpp b/gtsam/slam/lago.cpp
similarity index 99%
rename from gtsam/nonlinear/lago.cpp
rename to gtsam/slam/lago.cpp
index 0f69f6ef0..abb72021a 100644
--- a/gtsam/nonlinear/lago.cpp
+++ b/gtsam/slam/lago.cpp
@@ -16,7 +16,7 @@
  *  @date   May 14, 2014
  */
 
-#include <gtsam/nonlinear/lago.h>
+#include <gtsam/slam/lago.h>
 #include <gtsam/slam/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/inference/Symbol.h>
diff --git a/gtsam/nonlinear/lago.h b/gtsam/slam/lago.h
similarity index 100%
rename from gtsam/nonlinear/lago.h
rename to gtsam/slam/lago.h
diff --git a/gtsam/nonlinear/tests/testLago.cpp b/gtsam/slam/tests/testLago.cpp
similarity index 99%
rename from gtsam/nonlinear/tests/testLago.cpp
rename to gtsam/slam/tests/testLago.cpp
index 6a94588b4..2a143e9a5 100644
--- a/gtsam/nonlinear/tests/testLago.cpp
+++ b/gtsam/slam/tests/testLago.cpp
@@ -19,7 +19,7 @@
  *  @date   May 14, 2014
  */
 
-#include <gtsam/nonlinear/lago.h>
+#include <gtsam/slam/lago.h>
 #include <gtsam/slam/dataset.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/slam/PriorFactor.h>
diff --git a/gtsam/nonlinear/tests/timeLago.cpp b/gtsam/slam/tests/timeLago.cpp
similarity index 98%
rename from gtsam/nonlinear/tests/timeLago.cpp
rename to gtsam/slam/tests/timeLago.cpp
index d3c86d0a4..ff60c4a27 100644
--- a/gtsam/nonlinear/tests/timeLago.cpp
+++ b/gtsam/slam/tests/timeLago.cpp
@@ -18,7 +18,7 @@
 
 #include <gtsam/slam/dataset.h>
 #include <gtsam/slam/PriorFactor.h>
-#include <gtsam/nonlinear/lago.h>
+#include <gtsam/slam/lago.h>
 #include <gtsam/nonlinear/GaussNewtonOptimizer.h>
 #include <gtsam/linear/Sampler.h>
 #include <gtsam/base/timing.h>