diff --git a/cpp/Pose3.cpp b/cpp/Pose3.cpp
index 7954ff17e..0976a7c1e 100644
--- a/cpp/Pose3.cpp
+++ b/cpp/Pose3.cpp
@@ -44,7 +44,7 @@ namespace gtsam {
 
   /* ************************************************************************* */
 
-#ifndef FASTER_BUT_INCORRECT_EXMAP
+#ifdef CORRECT_POSE3_EXMAP
 
   /** Modified from Murray94book version (which assumes w and v normalized?) */
   template<> Pose3 expmap(const Vector& xi) {
@@ -144,7 +144,7 @@ namespace gtsam {
 
   /* ************************************************************************* */
   Matrix Dtransform_from1(const Pose3& pose, const Point3& p) {
-#ifndef FASTER_BUT_INCORRECT_EXMAP
+#ifdef CORRECT_POSE3_EXMAP
 		const Matrix R = pose.rotation().matrix();
     Matrix DR = R*skewSymmetric(-p.x(), -p.y(), -p.z());
     return collect(2,&DR,&R);
@@ -170,7 +170,7 @@ namespace gtsam {
   Matrix Dtransform_to1(const Pose3& pose, const Point3& p) {
     Point3 q = transform_to(pose,p);
     Matrix DR = skewSymmetric(q.x(), q.y(), q.z());
-#ifndef FASTER_BUT_INCORRECT_EXMAP
+#ifdef CORRECT_POSE3_EXMAP
 		return collect(2, &DR, &_I3);
 #else
     Matrix DT = - pose.rotation().transpose(); // negative because of sub
@@ -186,7 +186,7 @@ namespace gtsam {
   /* ************************************************************************* */
   // compose = Pose3(compose(R1,R2),transform_from(p1,t2)
   Matrix Dcompose1(const Pose3& p1, const Pose3& p2) {
-#ifndef FASTER_BUT_INCORRECT_EXMAP
+#ifdef CORRECT_POSE3_EXMAP
 		return AdjointMap(inverse(p2));
 #else
 		const Rot3& R2 = p2.rotation();
@@ -199,7 +199,7 @@ namespace gtsam {
 	}
 
 	Matrix Dcompose2(const Pose3& p1, const Pose3& p2) {
-#ifndef FASTER_BUT_INCORRECT_EXMAP
+#ifdef CORRECT_POSE3_EXMAP
 
 		return I6;
 #else
@@ -214,7 +214,7 @@ namespace gtsam {
   // inverse = Pose3(inverse(R),-unrotate(R,t));
 	// TODO: combined function will save !
 	Matrix Dinverse(const Pose3& p) {
-#ifndef FASTER_BUT_INCORRECT_EXMAP
+#ifdef CORRECT_POSE3_EXMAP
 		return - AdjointMap(p);
 #else
 		const Rot3& R = p.rotation();
diff --git a/cpp/testPose3.cpp b/cpp/testPose3.cpp
index e2974df77..c25a9571d 100644
--- a/cpp/testPose3.cpp
+++ b/cpp/testPose3.cpp
@@ -34,7 +34,7 @@ TEST( Pose3, expmap_a)
   fill(v.begin(), v.end(), 0);
   v(0) = 0.3;
   CHECK(assert_equal(expmap(id,v), Pose3(R, Point3())));
-#ifndef FASTER_BUT_INCORRECT_EXMAP
+#ifdef CORRECT_POSE3_EXMAP
 
   v(3)=0.2;v(4)=0.394742;v(5)=-2.08998;
 #else
@@ -52,7 +52,7 @@ TEST(Pose3, expmap_b)
   CHECK(assert_equal(expected, p2));
 }
 
-#ifndef FASTER_BUT_INCORRECT_EXMAP
+#ifdef CORRECT_POSE3_EXMAP
 
 /* ************************************************************************* */
 // test case for screw motion in the plane
@@ -384,7 +384,7 @@ TEST(Pose3, manifold)
 	// Check that log(t1,t2)=-log(t2,t1) - this holds even for incorrect expmap :-)
 	CHECK(assert_equal(d12,-d21));
 
-#ifndef FASTER_BUT_INCORRECT_EXMAP
+#ifdef CORRECT_POSE3_EXMAP
 
 
 	// todo: Frank - Below only works for correct "Agrawal06iros style expmap
diff --git a/cpp/testPose3Config.cpp b/cpp/testPose3Config.cpp
index b97c45300..07b5e7eee 100644
--- a/cpp/testPose3Config.cpp
+++ b/cpp/testPose3Config.cpp
@@ -36,17 +36,17 @@ TEST( Pose3Config, pose3Circle )
 TEST( Pose3Config, expmap )
 {
 	Pose3Config expected;
-#ifdef FASTER_BUT_INCORRECT_EXMAP
+#ifdef CORRECT_POSE3_EXMAP
+	expected.insert(0, Pose3(R1, Point3( 1.0, 0.1, 0)));
+	expected.insert(1, Pose3(R2, Point3(-0.1, 1.0, 0)));
+	expected.insert(2, Pose3(R3, Point3(-1.0,-0.1, 0)));
+	expected.insert(3, Pose3(R4, Point3( 0.1,-1.0, 0)));
+#else
 	// expected is circle shifted to East
 	expected.insert(0, Pose3(R1, Point3( 1.1, 0, 0)));
 	expected.insert(1, Pose3(R2, Point3( 0.1, 1, 0)));
 	expected.insert(2, Pose3(R3, Point3(-0.9, 0, 0)));
 	expected.insert(3, Pose3(R4, Point3( 0.1,-1, 0)));
-#else
-	expected.insert(0, Pose3(R1, Point3( 1.0, 0.1, 0)));
-	expected.insert(1, Pose3(R2, Point3(-0.1, 1.0, 0)));
-	expected.insert(2, Pose3(R3, Point3(-1.0,-0.1, 0)));
-	expected.insert(3, Pose3(R4, Point3( 0.1,-1.0, 0)));
 #endif
 
 	// Note expmap coordinates are in global coordinates with non-compose expmap