diff --git a/gtsam/base/Manifold.h b/gtsam/base/Manifold.h
index a5a3d5f34..2cd78a028 100644
--- a/gtsam/base/Manifold.h
+++ b/gtsam/base/Manifold.h
@@ -106,23 +106,23 @@ struct zero<double> {
 
 // Fixed size Eigen::Matrix type
 
-template<int M, int N, int Options>
-struct is_group<Eigen::Matrix<double, M, N, Options> > : public boost::true_type {
+template<int M, int N, int Options, int MaxRows, int MaxCols>
+struct is_group<Eigen::Matrix<double, M, N, Options, MaxRows, MaxCols> > : public boost::true_type {
 };
 
-template<int M, int N, int Options>
-struct is_manifold<Eigen::Matrix<double, M, N, Options> > : public boost::true_type {
+template<int M, int N, int Options, int MaxRows, int MaxCols>
+struct is_manifold<Eigen::Matrix<double, M, N, Options, MaxRows, MaxCols> > : public boost::true_type{
 };
 
-template<int M, int N, int Options>
-struct dimension<Eigen::Matrix<double, M, N, Options> > : public boost::integral_constant<int,
+template<int M, int N, int Options, int MaxRows, int MaxCols>
+struct dimension<Eigen::Matrix<double, M, N, Options, MaxRows, MaxCols> > : public boost::integral_constant<int,
     M == Eigen::Dynamic ? Eigen::Dynamic : (N == Eigen::Dynamic ? Eigen::Dynamic : M * N)> {
     //TODO after switch to c++11 : the above should should be extracted to a constexpr function
     // for readability and to reduce code duplication
 };
 
-template<int M, int N, int Options>
-struct zero<Eigen::Matrix<double, M, N, Options> > {
+template<int M, int N, int Options, int MaxRows, int MaxCols>
+struct zero<Eigen::Matrix<double, M, N, Options, MaxRows, MaxCols> > {
   BOOST_STATIC_ASSERT_MSG((M!=Eigen::Dynamic && N!=Eigen::Dynamic),
       "traits::zero is only supported for fixed-size matrices");
   static Eigen::Matrix<double, M, N, Options> value() {
diff --git a/gtsam/geometry/Cal3Bundler.h b/gtsam/geometry/Cal3Bundler.h
index 396659582..4c77fdf23 100644
--- a/gtsam/geometry/Cal3Bundler.h
+++ b/gtsam/geometry/Cal3Bundler.h
@@ -189,15 +189,15 @@ private:
 namespace traits {
 
 template<>
-struct is_manifold<Cal3Bundler> : public boost::true_type {
+struct GTSAM_EXPORT is_manifold<Cal3Bundler> : public boost::true_type{
 };
 
 template<>
-struct dimension<Cal3Bundler> : public boost::integral_constant<int, 3> {
+struct GTSAM_EXPORT dimension<Cal3Bundler> : public boost::integral_constant<int, 3>{
 };
 
 template<>
-struct zero<Cal3Bundler> {
+struct GTSAM_EXPORT zero<Cal3Bundler> {
   static Cal3Bundler value() {
     return Cal3Bundler(0, 0, 0);
   }
diff --git a/gtsam/geometry/Cal3DS2.h b/gtsam/geometry/Cal3DS2.h
index 95524e115..fb338431a 100644
--- a/gtsam/geometry/Cal3DS2.h
+++ b/gtsam/geometry/Cal3DS2.h
@@ -111,11 +111,11 @@ private:
 namespace traits {
 
 template<>
-struct is_manifold<Cal3DS2> : public boost::true_type {
+struct GTSAM_EXPORT is_manifold<Cal3DS2> : public boost::true_type{
 };
 
 template<>
-struct dimension<Cal3DS2> : public boost::integral_constant<int, 9> {
+struct GTSAM_EXPORT dimension<Cal3DS2> : public boost::integral_constant<int, 9>{
 };
 
 }
diff --git a/gtsam/geometry/Cal3Unified.h b/gtsam/geometry/Cal3Unified.h
index fb99592f7..d65093847 100644
--- a/gtsam/geometry/Cal3Unified.h
+++ b/gtsam/geometry/Cal3Unified.h
@@ -140,15 +140,15 @@ private:
 namespace traits {
 
 template<>
-struct is_manifold<Cal3Unified> : public boost::true_type {
+struct GTSAM_EXPORT is_manifold<Cal3Unified> : public boost::true_type{
 };
 
 template<>
-struct dimension<Cal3Unified> : public boost::integral_constant<int, 10> {
+struct GTSAM_EXPORT dimension<Cal3Unified> : public boost::integral_constant<int, 10>{
 };
 
 template<>
-struct zero<Cal3Unified> {
+struct GTSAM_EXPORT zero<Cal3Unified> {
   static Cal3Unified value() { return Cal3Unified();}
 };
 
diff --git a/gtsam/geometry/Cal3_S2.h b/gtsam/geometry/Cal3_S2.h
index cd1add116..2f0253e4f 100644
--- a/gtsam/geometry/Cal3_S2.h
+++ b/gtsam/geometry/Cal3_S2.h
@@ -241,15 +241,15 @@ private:
 namespace traits {
 
 template<>
-struct is_manifold<Cal3_S2> : public boost::true_type {
+struct GTSAM_EXPORT is_manifold<Cal3_S2> : public boost::true_type{
 };
 
 template<>
-struct dimension<Cal3_S2> : public boost::integral_constant<int, 5> {
+struct GTSAM_EXPORT dimension<Cal3_S2> : public boost::integral_constant<int, 5>{
 };
 
 template<>
-struct zero<Cal3_S2> {
+struct GTSAM_EXPORT zero<Cal3_S2> {
   static Cal3_S2 value() { return Cal3_S2();}
 };
 
diff --git a/gtsam/geometry/CalibratedCamera.h b/gtsam/geometry/CalibratedCamera.h
index 66d1c5125..c66941091 100644
--- a/gtsam/geometry/CalibratedCamera.h
+++ b/gtsam/geometry/CalibratedCamera.h
@@ -224,15 +224,15 @@ private:
 namespace traits {
 
 template<>
-struct is_group<CalibratedCamera> : public boost::true_type {
+struct GTSAM_EXPORT is_group<CalibratedCamera> : public boost::true_type{
 };
 
 template<>
-struct is_manifold<CalibratedCamera> : public boost::true_type {
+struct GTSAM_EXPORT is_manifold<CalibratedCamera> : public boost::true_type{
 };
 
 template<>
-struct dimension<CalibratedCamera> : public boost::integral_constant<int, 6> {
+struct GTSAM_EXPORT dimension<CalibratedCamera> : public boost::integral_constant<int, 6>{
 };
 
 }
diff --git a/gtsam/geometry/EssentialMatrix.h b/gtsam/geometry/EssentialMatrix.h
index 8763504c0..d596001e5 100644
--- a/gtsam/geometry/EssentialMatrix.h
+++ b/gtsam/geometry/EssentialMatrix.h
@@ -200,15 +200,15 @@ private:
 namespace traits {
 
 template<>
-struct is_manifold<EssentialMatrix> : public boost::true_type {
+struct GTSAM_EXPORT is_manifold<EssentialMatrix> : public boost::true_type{
 };
 
 template<>
-struct dimension<EssentialMatrix> : public boost::integral_constant<int, 5> {
+struct GTSAM_EXPORT dimension<EssentialMatrix> : public boost::integral_constant<int, 5>{
 };
 
 template<>
-struct zero<EssentialMatrix> {
+struct GTSAM_EXPORT zero<EssentialMatrix> {
   static EssentialMatrix value() { return EssentialMatrix();}
 };
 
diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h
index 83851e8c0..c5174ae65 100644
--- a/gtsam/geometry/PinholeCamera.h
+++ b/gtsam/geometry/PinholeCamera.h
@@ -663,16 +663,16 @@ private:
 namespace traits {
 
 template<typename Calibration>
-struct is_manifold<PinholeCamera<Calibration> > : public boost::true_type {
+struct GTSAM_EXPORT is_manifold<PinholeCamera<Calibration> > : public boost::true_type{
 };
 
 template<typename Calibration>
-struct dimension<PinholeCamera<Calibration> > : public boost::integral_constant<
+struct GTSAM_EXPORT dimension<PinholeCamera<Calibration> > : public boost::integral_constant<
     int, dimension<Pose3>::value + dimension<Calibration>::value> {
 };
 
 template<typename Calibration>
-struct zero<PinholeCamera<Calibration> > {
+struct GTSAM_EXPORT zero<PinholeCamera<Calibration> > {
   static PinholeCamera<Calibration> value() {
     return PinholeCamera<Calibration>(zero<Pose3>::value(),
         zero<Calibration>::value());
diff --git a/gtsam/geometry/Point2.h b/gtsam/geometry/Point2.h
index 59a18aed7..dc42a5564 100644
--- a/gtsam/geometry/Point2.h
+++ b/gtsam/geometry/Point2.h
@@ -252,15 +252,15 @@ inline Point2 operator*(double s, const Point2& p) {return p*s;}
 namespace traits {
 
 template<>
-struct is_group<Point2> : public boost::true_type {
+struct GTSAM_EXPORT is_group<Point2> : public boost::true_type{
 };
 
 template<>
-struct is_manifold<Point2> : public boost::true_type {
+struct GTSAM_EXPORT is_manifold<Point2> : public boost::true_type{
 };
 
 template<>
-struct dimension<Point2> : public boost::integral_constant<int, 2> {
+struct GTSAM_EXPORT dimension<Point2> : public boost::integral_constant<int, 2>{
 };
 
 }
diff --git a/gtsam/geometry/Point3.h b/gtsam/geometry/Point3.h
index d490ccf8d..acdfcf784 100644
--- a/gtsam/geometry/Point3.h
+++ b/gtsam/geometry/Point3.h
@@ -253,15 +253,15 @@ namespace gtsam {
   namespace traits {
 
   template<>
-  struct is_group<Point3> : public boost::true_type {
+  struct GTSAM_EXPORT is_group<Point3> : public boost::true_type{
   };
 
   template<>
-  struct is_manifold<Point3> : public boost::true_type {
+  struct GTSAM_EXPORT is_manifold<Point3> : public boost::true_type{
   };
 
   template<>
-  struct dimension<Point3> : public boost::integral_constant<int, 3> {
+  struct GTSAM_EXPORT dimension<Point3> : public boost::integral_constant<int, 3>{
   };
 
   }
diff --git a/gtsam/geometry/Pose2.h b/gtsam/geometry/Pose2.h
index 7aad66710..88456676d 100644
--- a/gtsam/geometry/Pose2.h
+++ b/gtsam/geometry/Pose2.h
@@ -323,11 +323,11 @@ GTSAM_EXPORT boost::optional<Pose2> align(const std::vector<Point2Pair>& pairs);
 namespace traits {
 
 template<>
-struct is_manifold<Pose2> : public boost::true_type {
+struct GTSAM_EXPORT is_manifold<Pose2> : public boost::true_type{
 };
 
 template<>
-struct dimension<Pose2> : public boost::integral_constant<int, 3> {
+struct GTSAM_EXPORT dimension<Pose2> : public boost::integral_constant<int, 3>{
 };
 
 }
diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h
index 001edb563..8275c2feb 100644
--- a/gtsam/geometry/Pose3.h
+++ b/gtsam/geometry/Pose3.h
@@ -356,15 +356,15 @@ GTSAM_EXPORT boost::optional<Pose3> align(const std::vector<Point3Pair>& pairs);
 namespace traits {
 
 template<>
-struct is_group<Pose3> : public boost::true_type {
+struct GTSAM_EXPORT is_group<Pose3> : public boost::true_type{
 };
 
 template<>
-struct is_manifold<Pose3> : public boost::true_type {
+struct GTSAM_EXPORT is_manifold<Pose3> : public boost::true_type{
 };
 
 template<>
-struct dimension<Pose3> : public boost::integral_constant<int, 6> {
+struct GTSAM_EXPORT dimension<Pose3> : public boost::integral_constant<int, 6>{
 };
 
 }
diff --git a/gtsam/geometry/Rot2.h b/gtsam/geometry/Rot2.h
index c5d6141b6..fe3d72c19 100644
--- a/gtsam/geometry/Rot2.h
+++ b/gtsam/geometry/Rot2.h
@@ -245,15 +245,15 @@ namespace gtsam {
   namespace traits {
 
   template<>
-  struct is_group<Rot2> : public boost::true_type {
+  struct GTSAM_EXPORT is_group<Rot2> : public boost::true_type{
   };
 
   template<>
-  struct is_manifold<Rot2> : public boost::true_type {
+  struct GTSAM_EXPORT is_manifold<Rot2> : public boost::true_type{
   };
 
   template<>
-  struct dimension<Rot2> : public boost::integral_constant<int, 1> {
+  struct GTSAM_EXPORT dimension<Rot2> : public boost::integral_constant<int, 1>{
   };
 
   }
diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h
index 4f40d164d..8f3ab9fbd 100644
--- a/gtsam/geometry/Rot3.h
+++ b/gtsam/geometry/Rot3.h
@@ -492,15 +492,15 @@ namespace gtsam {
   namespace traits {
 
   template<>
-  struct is_group<Rot3> : public boost::true_type {
+  struct GTSAM_EXPORT is_group<Rot3> : public boost::true_type{
   };
 
   template<>
-  struct is_manifold<Rot3> : public boost::true_type {
+  struct GTSAM_EXPORT is_manifold<Rot3> : public boost::true_type{
   };
 
   template<>
-  struct dimension<Rot3> : public boost::integral_constant<int, 3> {
+  struct GTSAM_EXPORT dimension<Rot3> : public boost::integral_constant<int, 3>{
   };
 
   }
diff --git a/gtsam/geometry/StereoCamera.h b/gtsam/geometry/StereoCamera.h
index 6b290edac..9c326a8d2 100644
--- a/gtsam/geometry/StereoCamera.h
+++ b/gtsam/geometry/StereoCamera.h
@@ -157,15 +157,15 @@ private:
 namespace traits {
 
 template<>
-struct is_manifold<StereoCamera> : public boost::true_type {
+struct GTSAM_EXPORT is_manifold<StereoCamera> : public boost::true_type{
 };
 
 template<>
-struct dimension<StereoCamera> : public boost::integral_constant<int, 6> {
+struct GTSAM_EXPORT dimension<StereoCamera> : public boost::integral_constant<int, 6>{
 };
 
 template<>
-struct zero<StereoCamera> {
+struct GTSAM_EXPORT zero<StereoCamera> {
   static StereoCamera value() { return StereoCamera();}
 };
 
diff --git a/gtsam/geometry/Unit3.h b/gtsam/geometry/Unit3.h
index d28c9b4a8..d04e57d4b 100644
--- a/gtsam/geometry/Unit3.h
+++ b/gtsam/geometry/Unit3.h
@@ -161,15 +161,15 @@ private:
 namespace traits {
 
 template<>
-struct is_manifold<Unit3> : public boost::true_type {
+struct GTSAM_EXPORT is_manifold<Unit3> : public boost::true_type{
 };
 
 template<>
-struct dimension<Unit3> : public boost::integral_constant<int, 2> {
+struct GTSAM_EXPORT dimension<Unit3> : public boost::integral_constant<int, 2>{
 };
 
 template<>
-struct zero<Unit3> {
+struct GTSAM_EXPORT zero<Unit3> {
   static Unit3 value() {
     return Unit3();
   }