diff --git a/gtsam/slam/tests/testPoseRotationPrior.cpp b/gtsam/slam/tests/testPoseRotationPrior.cpp
index bb63533bb..db04a74eb 100644
--- a/gtsam/slam/tests/testPoseRotationPrior.cpp
+++ b/gtsam/slam/tests/testPoseRotationPrior.cpp
@@ -79,7 +79,7 @@ TEST( testPoseRotationFactor, level2_zero_error ) {
   Pose2RotationPrior factor(poseKey, rot2A, model1);
   Matrix actH1;
   EXPECT(assert_equal(zero(1), factor.evaluateError(pose1, actH1)));
-  Matrix expH1 = numericalDerivative22<Vector2,Pose2RotationPrior,Pose2>(evalFactorError2, factor, pose1, 1e-5);
+  Matrix expH1 = numericalDerivative22<Vector1,Pose2RotationPrior,Pose2>(evalFactorError2, factor, pose1, 1e-5);
   EXPECT(assert_equal(expH1, actH1, tol));
 }
 
@@ -89,7 +89,7 @@ TEST( testPoseRotationFactor, level2_error ) {
   Pose2RotationPrior factor(poseKey, rot2B, model1);
   Matrix actH1;
   EXPECT(assert_equal((Vector(1) << -M_PI_2).finished(), factor.evaluateError(pose1, actH1)));
-  Matrix expH1 = numericalDerivative22<Vector2,Pose2RotationPrior,Pose2>(evalFactorError2, factor, pose1, 1e-5);
+  Matrix expH1 = numericalDerivative22<Vector1,Pose2RotationPrior,Pose2>(evalFactorError2, factor, pose1, 1e-5);
   EXPECT(assert_equal(expH1, actH1, tol));
 }
 
@@ -99,7 +99,7 @@ TEST( testPoseRotationFactor, level2_error_wrap ) {
   Pose2RotationPrior factor(poseKey, rot2D, model1);
   Matrix actH1;
   EXPECT(assert_equal((Vector(1) << -0.02).finished(), factor.evaluateError(pose1, actH1)));
-  Matrix expH1 = numericalDerivative22<Vector2,Pose2RotationPrior,Pose2>(evalFactorError2, factor, pose1, 1e-5);
+  Matrix expH1 = numericalDerivative22<Vector1,Pose2RotationPrior,Pose2>(evalFactorError2, factor, pose1, 1e-5);
   EXPECT(assert_equal(expH1, actH1, tol));
 }