diff --git a/.cproject b/.cproject
index dafdeed71..18175bec1 100644
--- a/.cproject
+++ b/.cproject
@@ -2793,14 +2793,6 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="testExpressionFactor.run" path="build/gtsam_unstable/nonlinear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
-				<buildTarget>testExpressionFactor.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
 			<target name="testExpressionMeta.run" path="build/gtsam_unstable/nonlinear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j5</buildArguments>
@@ -2809,22 +2801,6 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="testAdaptAutoDiff.run" path="build/gtsam_unstable/nonlinear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
-				<buildTarget>testAdaptAutoDiff.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="testCallRecord.run" path="build/gtsam_unstable/nonlinear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
-				<buildTarget>testCallRecord.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
 			<target name="testCustomChartExpression.run" path="build/gtsam_unstable/nonlinear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j4</buildArguments>
@@ -3201,6 +3177,30 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="testAdaptAutoDiff.run" path="build/gtsam/nonlinear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j4</buildArguments>
+				<buildTarget>testAdaptAutoDiff.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="testCallRecord.run" path="build/gtsam/nonlinear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j4</buildArguments>
+				<buildTarget>testCallRecord.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="testExpressionFactor.run" path="build/gtsam/nonlinear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j4</buildArguments>
+				<buildTarget>testExpressionFactor.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 			<target name="testImuFactor.run" path="build-debug/gtsam_unstable/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j4</buildArguments>
diff --git a/gtsam_unstable/nonlinear/CallRecord.h b/gtsam/nonlinear/CallRecord.h
similarity index 100%
rename from gtsam_unstable/nonlinear/CallRecord.h
rename to gtsam/nonlinear/CallRecord.h
diff --git a/gtsam_unstable/nonlinear/ExpressionFactor.h b/gtsam/nonlinear/ExpressionFactor.h
similarity index 100%
rename from gtsam_unstable/nonlinear/ExpressionFactor.h
rename to gtsam/nonlinear/ExpressionFactor.h
diff --git a/gtsam_unstable/nonlinear/expressionTesting.h b/gtsam/nonlinear/expressionTesting.h
similarity index 100%
rename from gtsam_unstable/nonlinear/expressionTesting.h
rename to gtsam/nonlinear/expressionTesting.h
diff --git a/gtsam_unstable/nonlinear/expressions.h b/gtsam/nonlinear/expressions.h
similarity index 100%
rename from gtsam_unstable/nonlinear/expressions.h
rename to gtsam/nonlinear/expressions.h
diff --git a/gtsam_unstable/nonlinear/tests/testCallRecord.cpp b/gtsam/nonlinear/tests/testCallRecord.cpp
similarity index 100%
rename from gtsam_unstable/nonlinear/tests/testCallRecord.cpp
rename to gtsam/nonlinear/tests/testCallRecord.cpp
diff --git a/gtsam_unstable/nonlinear/tests/testExpressionFactor.cpp b/gtsam/nonlinear/tests/testExpressionFactor.cpp
similarity index 100%
rename from gtsam_unstable/nonlinear/tests/testExpressionFactor.cpp
rename to gtsam/nonlinear/tests/testExpressionFactor.cpp
diff --git a/gtsam_unstable/slam/expressions.h b/gtsam/slam/expressions.h
similarity index 96%
rename from gtsam_unstable/slam/expressions.h
rename to gtsam/slam/expressions.h
index 7badc9dd7..1d9ddd6d4 100644
--- a/gtsam_unstable/slam/expressions.h
+++ b/gtsam/slam/expressions.h
@@ -7,7 +7,7 @@
 
 #pragma once
 
-#include <gtsam_unstable/nonlinear/expressions.h>
+#include <gtsam/nonlinear/expressions.h>
 #include <gtsam/geometry/Cal3_S2.h>
 #include <gtsam/geometry/PinholeCamera.h>