diff --git a/cmake/example_cmake_find_gtsam/main.cpp b/cmake/example_cmake_find_gtsam/main.cpp
index 4d93e1b19..488883883 100644
--- a/cmake/example_cmake_find_gtsam/main.cpp
+++ b/cmake/example_cmake_find_gtsam/main.cpp
@@ -33,7 +33,7 @@
 // Here we will use Between factors for the relative motion described by odometry measurements.
 // We will also use a Between Factor to encode the loop closure constraint
 // Also, we will initialize the robot at the origin using a Prior factor.
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 
 // When the factors are created, we will add them to a Factor Graph. As the factors we are using
diff --git a/examples/ImuFactorExample2.cpp b/examples/ImuFactorExample2.cpp
index f83a539af..c2b819a9e 100644
--- a/examples/ImuFactorExample2.cpp
+++ b/examples/ImuFactorExample2.cpp
@@ -7,7 +7,7 @@
 #include <gtsam/navigation/Scenario.h>
 #include <gtsam/nonlinear/ISAM2.h>
 #include <gtsam/slam/BetweenFactor.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 
 #include <vector>
 
diff --git a/examples/ImuFactorsExample.cpp b/examples/ImuFactorsExample.cpp
index e038f5117..e1a3f6bcf 100644
--- a/examples/ImuFactorsExample.cpp
+++ b/examples/ImuFactorsExample.cpp
@@ -41,7 +41,7 @@
 #include <gtsam/navigation/ImuFactor.h>
 #include <gtsam/slam/dataset.h>
 #include <gtsam/slam/BetweenFactor.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/inference/Symbol.h>
diff --git a/examples/InverseKinematicsExampleExpressions.cpp b/examples/InverseKinematicsExampleExpressions.cpp
index 9e86886e7..9da1c62c0 100644
--- a/examples/InverseKinematicsExampleExpressions.cpp
+++ b/examples/InverseKinematicsExampleExpressions.cpp
@@ -22,7 +22,7 @@
 #include <gtsam/nonlinear/Marginals.h>
 #include <gtsam/nonlinear/expressions.h>
 #include <gtsam/slam/BetweenFactor.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/expressions.h>
 
 #include <cmath>
diff --git a/examples/METISOrderingExample.cpp b/examples/METISOrderingExample.cpp
index 76b5098f6..b0736a27b 100644
--- a/examples/METISOrderingExample.cpp
+++ b/examples/METISOrderingExample.cpp
@@ -22,7 +22,7 @@
  */
 
 #include <gtsam/geometry/Pose2.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
diff --git a/examples/OdometryExample.cpp b/examples/OdometryExample.cpp
index 6dc0d9a93..7dec5ffca 100644
--- a/examples/OdometryExample.cpp
+++ b/examples/OdometryExample.cpp
@@ -29,7 +29,7 @@
 // have been provided with the library for solving robotics/SLAM/Bundle Adjustment problems.
 // Here we will use Between factors for the relative motion described by odometry measurements.
 // Also, we will initialize the robot at the origin using a Prior factor.
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 
 // When the factors are created, we will add them to a Factor Graph. As the factors we are using
diff --git a/examples/PlanarSLAMExample.cpp b/examples/PlanarSLAMExample.cpp
index 52638fdca..2b24b02fb 100644
--- a/examples/PlanarSLAMExample.cpp
+++ b/examples/PlanarSLAMExample.cpp
@@ -40,7 +40,7 @@
 // Here we will use a RangeBearing factor for the range-bearing measurements to identified
 // landmarks, and Between factors for the relative motion described by odometry measurements.
 // Also, we will initialize the robot at the origin using a Prior factor.
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/sam/BearingRangeFactor.h>
 
diff --git a/examples/Pose2SLAMExample.cpp b/examples/Pose2SLAMExample.cpp
index f977a08af..da29aff0e 100644
--- a/examples/Pose2SLAMExample.cpp
+++ b/examples/Pose2SLAMExample.cpp
@@ -36,7 +36,7 @@
 // Here we will use Between factors for the relative motion described by odometry measurements.
 // We will also use a Between Factor to encode the loop closure constraint
 // Also, we will initialize the robot at the origin using a Prior factor.
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 
 // When the factors are created, we will add them to a Factor Graph. As the factors we are using
diff --git a/examples/Pose2SLAMExampleExpressions.cpp b/examples/Pose2SLAMExampleExpressions.cpp
index 1f6de6cb1..3760d0dd0 100644
--- a/examples/Pose2SLAMExampleExpressions.cpp
+++ b/examples/Pose2SLAMExampleExpressions.cpp
@@ -21,7 +21,7 @@
 #include <gtsam/nonlinear/ExpressionFactorGraph.h>
 
 // For an explanation of headers below, please see Pose2SLAMExample.cpp
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/geometry/Pose2.h>
 #include <gtsam/nonlinear/GaussNewtonOptimizer.h>
diff --git a/examples/Pose2SLAMExample_g2o.cpp b/examples/Pose2SLAMExample_g2o.cpp
index a38dfafa6..f4c38f3a4 100644
--- a/examples/Pose2SLAMExample_g2o.cpp
+++ b/examples/Pose2SLAMExample_g2o.cpp
@@ -19,7 +19,7 @@
  */
 
 #include <gtsam/slam/dataset.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/geometry/Pose2.h>
 #include <gtsam/nonlinear/GaussNewtonOptimizer.h>
 #include <fstream>
diff --git a/examples/Pose2SLAMExample_graph.cpp b/examples/Pose2SLAMExample_graph.cpp
index c3d901507..2f0496f3a 100644
--- a/examples/Pose2SLAMExample_graph.cpp
+++ b/examples/Pose2SLAMExample_graph.cpp
@@ -17,7 +17,7 @@
  */
 
 // For an explanation of headers below, please see Pose2SLAMExample.cpp
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/geometry/Pose2.h>
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
diff --git a/examples/Pose2SLAMExample_graphviz.cpp b/examples/Pose2SLAMExample_graphviz.cpp
index 99711da2d..9f6ce922f 100644
--- a/examples/Pose2SLAMExample_graphviz.cpp
+++ b/examples/Pose2SLAMExample_graphviz.cpp
@@ -17,7 +17,7 @@
  */
 
 // For an explanation of headers below, please see Pose2SLAMExample.cpp
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/geometry/Pose2.h>
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
diff --git a/examples/Pose2SLAMExample_lago.cpp b/examples/Pose2SLAMExample_lago.cpp
index d6164450b..59b507bd5 100644
--- a/examples/Pose2SLAMExample_lago.cpp
+++ b/examples/Pose2SLAMExample_lago.cpp
@@ -21,7 +21,7 @@
 
 #include <gtsam/slam/lago.h>
 #include <gtsam/slam/dataset.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/geometry/Pose2.h>
 #include <fstream>
 
diff --git a/examples/Pose2SLAMStressTest.cpp b/examples/Pose2SLAMStressTest.cpp
index 0f306b7f4..8c70d5d07 100644
--- a/examples/Pose2SLAMStressTest.cpp
+++ b/examples/Pose2SLAMStressTest.cpp
@@ -19,7 +19,7 @@
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/Values.h>
 #include <gtsam/slam/BetweenFactor.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/StereoFactor.h>
 
 #include <random>
diff --git a/examples/Pose2SLAMwSPCG.cpp b/examples/Pose2SLAMwSPCG.cpp
index 9b459d7b8..8de258977 100644
--- a/examples/Pose2SLAMwSPCG.cpp
+++ b/examples/Pose2SLAMwSPCG.cpp
@@ -17,7 +17,7 @@
  */
 
 // For an explanation of headers below, please see Pose2SLAMExample.cpp
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/geometry/Pose2.h>
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
diff --git a/examples/Pose3Localization.cpp b/examples/Pose3Localization.cpp
index 05a04b353..4dd7af960 100644
--- a/examples/Pose3Localization.cpp
+++ b/examples/Pose3Localization.cpp
@@ -19,7 +19,7 @@
 
 #include <gtsam/slam/dataset.h>
 #include <gtsam/slam/BetweenFactor.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/nonlinear/GaussNewtonOptimizer.h>
 #include <gtsam/nonlinear/Marginals.h>
 #include <fstream>
diff --git a/examples/Pose3SLAMExample_changeKeys.cpp b/examples/Pose3SLAMExample_changeKeys.cpp
index cceaac4ee..b72acd30d 100644
--- a/examples/Pose3SLAMExample_changeKeys.cpp
+++ b/examples/Pose3SLAMExample_changeKeys.cpp
@@ -19,7 +19,7 @@
 
 #include <gtsam/slam/dataset.h>
 #include <gtsam/slam/BetweenFactor.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <fstream>
 
 using namespace std;
diff --git a/examples/Pose3SLAMExample_g2o.cpp b/examples/Pose3SLAMExample_g2o.cpp
index 25297806e..d25982ef4 100644
--- a/examples/Pose3SLAMExample_g2o.cpp
+++ b/examples/Pose3SLAMExample_g2o.cpp
@@ -19,7 +19,7 @@
 
 #include <gtsam/slam/dataset.h>
 #include <gtsam/slam/BetweenFactor.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/nonlinear/GaussNewtonOptimizer.h>
 #include <fstream>
 
diff --git a/examples/Pose3SLAMExample_initializePose3Chordal.cpp b/examples/Pose3SLAMExample_initializePose3Chordal.cpp
index 9726f467c..63e81d63f 100644
--- a/examples/Pose3SLAMExample_initializePose3Chordal.cpp
+++ b/examples/Pose3SLAMExample_initializePose3Chordal.cpp
@@ -20,7 +20,7 @@
 #include <gtsam/slam/InitializePose3.h>
 #include <gtsam/slam/dataset.h>
 #include <gtsam/slam/BetweenFactor.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <fstream>
 
 using namespace std;
diff --git a/examples/Pose3SLAMExample_initializePose3Gradient.cpp b/examples/Pose3SLAMExample_initializePose3Gradient.cpp
index 000150846..a7f773bcd 100644
--- a/examples/Pose3SLAMExample_initializePose3Gradient.cpp
+++ b/examples/Pose3SLAMExample_initializePose3Gradient.cpp
@@ -20,7 +20,7 @@
 #include <gtsam/slam/InitializePose3.h>
 #include <gtsam/slam/dataset.h>
 #include <gtsam/slam/BetweenFactor.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <fstream>
 
 using namespace std;
diff --git a/examples/RangeISAMExample_plaza2.cpp b/examples/RangeISAMExample_plaza2.cpp
index 7b1667e12..8c19b44d2 100644
--- a/examples/RangeISAMExample_plaza2.cpp
+++ b/examples/RangeISAMExample_plaza2.cpp
@@ -37,7 +37,7 @@
 
 // In GTSAM, measurement functions are represented as 'factors'. Several common factors
 // have been provided with the library for solving robotics SLAM problems.
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/sam/RangeFactor.h>
 #include <gtsam/slam/dataset.h>
diff --git a/examples/SFMExample.cpp b/examples/SFMExample.cpp
index 16cd25dba..18ca0040b 100644
--- a/examples/SFMExample.cpp
+++ b/examples/SFMExample.cpp
@@ -30,7 +30,7 @@
 // have been provided with the library for solving robotics/SLAM/Bundle Adjustment problems.
 // Here we will use Projection factors to model the camera's landmark observations.
 // Also, we will initialize the robot at some location using a Prior factor.
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/ProjectionFactor.h>
 
 // When the factors are created, we will add them to a Factor Graph. As the factors we are using
diff --git a/examples/SFMExample_bal.cpp b/examples/SFMExample_bal.cpp
index 9d5ad0b33..c0c1e869e 100644
--- a/examples/SFMExample_bal.cpp
+++ b/examples/SFMExample_bal.cpp
@@ -19,7 +19,7 @@
 #include <gtsam/inference/Symbol.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/GeneralSFMFactor.h>
 #include <gtsam/slam/dataset.h> // for loading BAL datasets !
 #include <vector>
diff --git a/examples/SFMExample_bal_COLAMD_METIS.cpp b/examples/SFMExample_bal_COLAMD_METIS.cpp
index b3dd3d25e..e5bc8cb90 100644
--- a/examples/SFMExample_bal_COLAMD_METIS.cpp
+++ b/examples/SFMExample_bal_COLAMD_METIS.cpp
@@ -21,7 +21,7 @@
 #include <gtsam/inference/Ordering.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/GeneralSFMFactor.h>
 #include <gtsam/slam/dataset.h> // for loading BAL datasets !
 
diff --git a/examples/SelfCalibrationExample.cpp b/examples/SelfCalibrationExample.cpp
index 1d26ea0aa..9324989f6 100644
--- a/examples/SelfCalibrationExample.cpp
+++ b/examples/SelfCalibrationExample.cpp
@@ -33,7 +33,7 @@
 #include <gtsam/nonlinear/Values.h>
 
 // SFM-specific factors
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/GeneralSFMFactor.h> // does calibration !
 
 // Standard headers
diff --git a/examples/SimpleRotation.cpp b/examples/SimpleRotation.cpp
index f70a44eec..916238a28 100644
--- a/examples/SimpleRotation.cpp
+++ b/examples/SimpleRotation.cpp
@@ -33,7 +33,7 @@
 // In GTSAM, measurement functions are represented as 'factors'. Several common factors
 // have been provided with the library for solving robotics/SLAM/Bundle Adjustment problems.
 // We will apply a simple prior on the rotation
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 
 // When the factors are created, we will add them to a Factor Graph. As the factors we are using
 // are nonlinear factors, we will need a Nonlinear Factor Graph.
diff --git a/examples/SolverComparer.cpp b/examples/SolverComparer.cpp
index 80ac08e03..525a6ab1e 100644
--- a/examples/SolverComparer.cpp
+++ b/examples/SolverComparer.cpp
@@ -34,7 +34,7 @@
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/sam/BearingRangeFactor.h>
 #include <gtsam/slam/dataset.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/geometry/Pose2.h>
 #include <gtsam/nonlinear/ISAM2.h>
 #include <gtsam/nonlinear/GaussNewtonOptimizer.h>
diff --git a/examples/VisualISAM2Example.cpp b/examples/VisualISAM2Example.cpp
index db9090de6..182394617 100644
--- a/examples/VisualISAM2Example.cpp
+++ b/examples/VisualISAM2Example.cpp
@@ -47,7 +47,7 @@
 // Adjustment problems. Here we will use Projection factors to model the
 // camera's landmark observations. Also, we will initialize the robot at some
 // location using a Prior factor.
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/ProjectionFactor.h>
 
 #include <vector>
diff --git a/examples/VisualISAMExample.cpp b/examples/VisualISAMExample.cpp
index b4086910b..17f08afbe 100644
--- a/examples/VisualISAMExample.cpp
+++ b/examples/VisualISAMExample.cpp
@@ -38,7 +38,7 @@
 // have been provided with the library for solving robotics/SLAM/Bundle Adjustment problems.
 // Here we will use Projection factors to model the camera's landmark observations.
 // Also, we will initialize the robot at some location using a Prior factor.
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/ProjectionFactor.h>
 
 // We want to use iSAM to solve the structure-from-motion problem incrementally, so
diff --git a/examples/easyPoint2KalmanFilter.cpp b/examples/easyPoint2KalmanFilter.cpp
index 49b99a5b6..7693fa4e4 100644
--- a/examples/easyPoint2KalmanFilter.cpp
+++ b/examples/easyPoint2KalmanFilter.cpp
@@ -23,7 +23,7 @@
 
 #include <gtsam/nonlinear/ExtendedKalmanFilter.h>
 #include <gtsam/inference/Symbol.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/geometry/Point2.h>
 
diff --git a/examples/elaboratePoint2KalmanFilter.cpp b/examples/elaboratePoint2KalmanFilter.cpp
index 1dde7efb5..a2ad8cf0b 100644
--- a/examples/elaboratePoint2KalmanFilter.cpp
+++ b/examples/elaboratePoint2KalmanFilter.cpp
@@ -20,7 +20,7 @@
  * @author Stephen Williams
  */
 
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 //#include <gtsam/nonlinear/Ordering.h>
 #include <gtsam/inference/Symbol.h>
diff --git a/gtsam.h b/gtsam.h
index 413a1bc7c..7a1a8864d 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -2494,7 +2494,7 @@ class NonlinearISAM {
 #include <gtsam/geometry/CalibratedCamera.h>
 #include <gtsam/geometry/StereoPoint2.h>
 
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 template<T = {Vector, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2,gtsam::CalibratedCamera, gtsam::SimpleCamera, gtsam::PinholeCameraCal3_S2, gtsam::imuBias::ConstantBias}>
 virtual class PriorFactor : gtsam::NoiseModelFactor {
   PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
diff --git a/gtsam/geometry/tests/testUnit3.cpp b/gtsam/geometry/tests/testUnit3.cpp
index e08ad97bb..6af4de731 100644
--- a/gtsam/geometry/tests/testUnit3.cpp
+++ b/gtsam/geometry/tests/testUnit3.cpp
@@ -27,7 +27,7 @@
 #include <gtsam/nonlinear/ExpressionFactor.h>
 #include <gtsam/nonlinear/GaussNewtonOptimizer.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 
 
 #include <CppUnitLite/TestHarness.h>
diff --git a/gtsam/geometry/triangulation.h b/gtsam/geometry/triangulation.h
index ed61c75b5..087d7c86a 100644
--- a/gtsam/geometry/triangulation.h
+++ b/gtsam/geometry/triangulation.h
@@ -22,7 +22,7 @@
 #include <gtsam/geometry/CameraSet.h>
 #include <gtsam/geometry/Pose2.h>
 #include <gtsam/slam/TriangulationFactor.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/inference/Symbol.h>
 
diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp
index 460695ec6..5f3e12399 100644
--- a/gtsam/navigation/tests/testImuFactor.cpp
+++ b/gtsam/navigation/tests/testImuFactor.cpp
@@ -717,7 +717,7 @@ TEST(ImuFactor, bodyPSensorNoBias) {
 /* ************************************************************************* */
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/slam/BetweenFactor.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
 #include <gtsam/nonlinear/Marginals.h>
 
diff --git a/gtsam/nonlinear/NonlinearFactorGraph.h b/gtsam/nonlinear/NonlinearFactorGraph.h
index c9a28dcb8..663415bca 100644
--- a/gtsam/nonlinear/NonlinearFactorGraph.h
+++ b/gtsam/nonlinear/NonlinearFactorGraph.h
@@ -24,7 +24,7 @@
 #include <gtsam/geometry/Point2.h>
 #include <gtsam/nonlinear/NonlinearFactor.h>
 #include <gtsam/inference/FactorGraph.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 
 #include <boost/shared_ptr.hpp>
 #include <functional>
diff --git a/gtsam/slam/InitializePose3.cpp b/gtsam/slam/InitializePose3.cpp
index 1e398cd99..3d4a4d40d 100644
--- a/gtsam/slam/InitializePose3.cpp
+++ b/gtsam/slam/InitializePose3.cpp
@@ -17,7 +17,7 @@
  */
 
 #include <gtsam/slam/InitializePose3.h> 
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/nonlinear/GaussNewtonOptimizer.h>
 #include <gtsam/inference/Symbol.h>
diff --git a/gtsam/slam/KarcherMeanFactor-inl.h b/gtsam/slam/KarcherMeanFactor-inl.h
index 076b0ff0c..6f15c1a68 100644
--- a/gtsam/slam/KarcherMeanFactor-inl.h
+++ b/gtsam/slam/KarcherMeanFactor-inl.h
@@ -20,7 +20,7 @@
 #include <gtsam/nonlinear/GaussNewtonOptimizer.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/slam/KarcherMeanFactor.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 
 using namespace std;
 
diff --git a/gtsam/slam/lago.cpp b/gtsam/slam/lago.cpp
index 34c8385e8..76edc8b9d 100644
--- a/gtsam/slam/lago.cpp
+++ b/gtsam/slam/lago.cpp
@@ -17,7 +17,7 @@
  */
 
 #include <gtsam/slam/lago.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/inference/Symbol.h>
 #include <gtsam/geometry/Pose2.h>
diff --git a/gtsam/slam/tests/testAntiFactor.cpp b/gtsam/slam/tests/testAntiFactor.cpp
index e34e13279..569289633 100644
--- a/gtsam/slam/tests/testAntiFactor.cpp
+++ b/gtsam/slam/tests/testAntiFactor.cpp
@@ -18,7 +18,7 @@
 #include <CppUnitLite/TestHarness.h>
 
 #include <gtsam/slam/AntiFactor.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/nonlinear/NonlinearOptimizer.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
diff --git a/gtsam/slam/tests/testGeneralSFMFactor.cpp b/gtsam/slam/tests/testGeneralSFMFactor.cpp
index 8e0b5ad8f..13a2c8090 100644
--- a/gtsam/slam/tests/testGeneralSFMFactor.cpp
+++ b/gtsam/slam/tests/testGeneralSFMFactor.cpp
@@ -18,7 +18,7 @@
 
 #include <gtsam/slam/GeneralSFMFactor.h>
 #include <gtsam/sam/RangeFactor.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/geometry/Cal3_S2.h>
 #include <gtsam/geometry/Rot2.h>
 #include <gtsam/geometry/PinholeCamera.h>
diff --git a/gtsam/slam/tests/testInitializePose3.cpp b/gtsam/slam/tests/testInitializePose3.cpp
index 6fe8b3d7c..60e930661 100644
--- a/gtsam/slam/tests/testInitializePose3.cpp
+++ b/gtsam/slam/tests/testInitializePose3.cpp
@@ -21,7 +21,7 @@
 #include <gtsam/slam/InitializePose3.h>
 #include <gtsam/slam/dataset.h>
 #include <gtsam/slam/BetweenFactor.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/inference/Symbol.h>
 #include <gtsam/geometry/Pose3.h>
 #include <CppUnitLite/TestHarness.h>
diff --git a/gtsam/slam/tests/testLago.cpp b/gtsam/slam/tests/testLago.cpp
index f8157c116..1dbf58352 100644
--- a/gtsam/slam/tests/testLago.cpp
+++ b/gtsam/slam/tests/testLago.cpp
@@ -22,7 +22,7 @@
 #include <gtsam/slam/lago.h>
 #include <gtsam/slam/dataset.h>
 #include <gtsam/slam/BetweenFactor.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/geometry/Pose2.h>
 #include <gtsam/inference/Symbol.h>
 
diff --git a/gtsam/slam/tests/testOrientedPlane3Factor.cpp b/gtsam/slam/tests/testOrientedPlane3Factor.cpp
index f1dbb4239..c903d5232 100644
--- a/gtsam/slam/tests/testOrientedPlane3Factor.cpp
+++ b/gtsam/slam/tests/testOrientedPlane3Factor.cpp
@@ -17,7 +17,7 @@
  */
 
 #include <gtsam/slam/OrientedPlane3Factor.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/nonlinear/ISAM2.h>
 #include <gtsam/inference/Symbol.h>
 #include <gtsam/base/numericalDerivative.h>
diff --git a/gtsam/slam/tests/testPriorFactor.cpp b/gtsam/slam/tests/testPriorFactor.cpp
index b26d633f5..2dc083cb2 100644
--- a/gtsam/slam/tests/testPriorFactor.cpp
+++ b/gtsam/slam/tests/testPriorFactor.cpp
@@ -6,7 +6,7 @@
  */
 
 #include <gtsam/base/Vector.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <CppUnitLite/TestHarness.h>
 
 using namespace std;
diff --git a/gtsam_unstable/dynamics/tests/testIMUSystem.cpp b/gtsam_unstable/dynamics/tests/testIMUSystem.cpp
index 494f2731f..c7e46e400 100644
--- a/gtsam_unstable/dynamics/tests/testIMUSystem.cpp
+++ b/gtsam_unstable/dynamics/tests/testIMUSystem.cpp
@@ -8,7 +8,7 @@
 #include <CppUnitLite/TestHarness.h>
 
 #include <gtsam/slam/BetweenFactor.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/sam/RangeFactor.h>
 #include <gtsam_unstable/slam/PartialPriorFactor.h>
 #include <gtsam/nonlinear/NonlinearEquality.h>
diff --git a/gtsam_unstable/examples/ConcurrentCalibration.cpp b/gtsam_unstable/examples/ConcurrentCalibration.cpp
index 41e75432f..70e08356e 100644
--- a/gtsam_unstable/examples/ConcurrentCalibration.cpp
+++ b/gtsam_unstable/examples/ConcurrentCalibration.cpp
@@ -26,7 +26,7 @@
 #include <gtsam/inference/Symbol.h>
 #include <gtsam/slam/ProjectionFactor.h>
 #include <gtsam/slam/GeneralSFMFactor.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/dataset.h>
 
 #include <string>
diff --git a/gtsam_unstable/examples/ConcurrentFilteringAndSmoothingExample.cpp b/gtsam_unstable/examples/ConcurrentFilteringAndSmoothingExample.cpp
index 429a2c2b2..81cd2443a 100644
--- a/gtsam_unstable/examples/ConcurrentFilteringAndSmoothingExample.cpp
+++ b/gtsam_unstable/examples/ConcurrentFilteringAndSmoothingExample.cpp
@@ -34,7 +34,7 @@
 // have been provided with the library for solving robotics/SLAM/Bundle Adjustment problems.
 // Here we will use Between factors for the relative motion described by odometry measurements.
 // Also, we will initialize the robot at the origin using a Prior factor.
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 
 // When the factors are created, we will add them to a Factor Graph. As the factors we are using
diff --git a/gtsam_unstable/examples/FixedLagSmootherExample.cpp b/gtsam_unstable/examples/FixedLagSmootherExample.cpp
index dc9b00580..b6c0b5c2f 100644
--- a/gtsam_unstable/examples/FixedLagSmootherExample.cpp
+++ b/gtsam_unstable/examples/FixedLagSmootherExample.cpp
@@ -30,7 +30,7 @@
 // have been provided with the library for solving robotics/SLAM/Bundle Adjustment problems.
 // Here we will use Between factors for the relative motion described by odometry measurements.
 // Also, we will initialize the robot at the origin using a Prior factor.
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 
 // When the factors are created, we will add them to a Factor Graph. As the factors we are using
diff --git a/gtsam_unstable/examples/SmartRangeExample_plaza1.cpp b/gtsam_unstable/examples/SmartRangeExample_plaza1.cpp
index 9dbeeac89..97cc3a516 100644
--- a/gtsam_unstable/examples/SmartRangeExample_plaza1.cpp
+++ b/gtsam_unstable/examples/SmartRangeExample_plaza1.cpp
@@ -37,7 +37,7 @@
 
 // In GTSAM, measurement functions are represented as 'factors'. Several common factors
 // have been provided with the library for solving robotics SLAM problems.
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/sam/RangeFactor.h>
 #include <gtsam_unstable/slam/SmartRangeFactor.h>
diff --git a/gtsam_unstable/examples/SmartRangeExample_plaza2.cpp b/gtsam_unstable/examples/SmartRangeExample_plaza2.cpp
index a63a0ba20..03c7bea1f 100644
--- a/gtsam_unstable/examples/SmartRangeExample_plaza2.cpp
+++ b/gtsam_unstable/examples/SmartRangeExample_plaza2.cpp
@@ -37,7 +37,7 @@
 
 // In GTSAM, measurement functions are represented as 'factors'. Several common factors
 // have been provided with the library for solving robotics SLAM problems.
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/sam/RangeFactor.h>
 
diff --git a/gtsam_unstable/geometry/tests/testSimilarity3.cpp b/gtsam_unstable/geometry/tests/testSimilarity3.cpp
index aaeb0854d..8d44676af 100644
--- a/gtsam_unstable/geometry/tests/testSimilarity3.cpp
+++ b/gtsam_unstable/geometry/tests/testSimilarity3.cpp
@@ -17,7 +17,7 @@
  */
 
 #include <gtsam_unstable/geometry/Similarity3.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/ExpressionFactorGraph.h>
diff --git a/gtsam_unstable/gtsam_unstable.h b/gtsam_unstable/gtsam_unstable.h
index b46c5354b..ef2d16bf0 100644
--- a/gtsam_unstable/gtsam_unstable.h
+++ b/gtsam_unstable/gtsam_unstable.h
@@ -274,7 +274,7 @@ class SimPolygon2D {
  };
 
 // Nonlinear factors from gtsam, for our Value types
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 template<T = {gtsam::PoseRTV}>
 virtual class PriorFactor : gtsam::NoiseModelFactor {
   PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
diff --git a/gtsam_unstable/nonlinear/tests/testBatchFixedLagSmoother.cpp b/gtsam_unstable/nonlinear/tests/testBatchFixedLagSmoother.cpp
index a4811abd8..b2aafe535 100644
--- a/gtsam_unstable/nonlinear/tests/testBatchFixedLagSmoother.cpp
+++ b/gtsam_unstable/nonlinear/tests/testBatchFixedLagSmoother.cpp
@@ -26,7 +26,7 @@
 #include <gtsam/linear/GaussianFactorGraph.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/Values.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 
 using namespace std;
diff --git a/gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp b/gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp
index ff5a096b0..09fbc0578 100644
--- a/gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp
+++ b/gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp
@@ -17,7 +17,7 @@
  */
 
 #include <gtsam_unstable/nonlinear/ConcurrentBatchFilter.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/nonlinear/ISAM2.h>
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
diff --git a/gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp b/gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp
index 47002acb6..748a119a4 100644
--- a/gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp
+++ b/gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp
@@ -17,7 +17,7 @@
  */
 
 #include <gtsam_unstable/nonlinear/ConcurrentBatchSmoother.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/nonlinear/ISAM2.h>
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
diff --git a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter.cpp b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter.cpp
index 342e2e79f..ef40d9c61 100644
--- a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter.cpp
+++ b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter.cpp
@@ -17,7 +17,7 @@
  */
 
 #include <gtsam_unstable/nonlinear/ConcurrentIncrementalFilter.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/nonlinear/ISAM2.h>
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
diff --git a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherDL.cpp b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherDL.cpp
index 98b4bf8cc..adb7c8e39 100644
--- a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherDL.cpp
+++ b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherDL.cpp
@@ -17,7 +17,7 @@
  */
 
 #include <gtsam_unstable/nonlinear/ConcurrentIncrementalSmoother.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/nonlinear/ISAM2.h>
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
diff --git a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherGN.cpp b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherGN.cpp
index d4ebc7c0a..3cba22c78 100644
--- a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherGN.cpp
+++ b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherGN.cpp
@@ -17,7 +17,7 @@
  */
 
 #include <gtsam_unstable/nonlinear/ConcurrentIncrementalSmoother.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/nonlinear/ISAM2.h>
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
diff --git a/gtsam_unstable/nonlinear/tests/testIncrementalFixedLagSmoother.cpp b/gtsam_unstable/nonlinear/tests/testIncrementalFixedLagSmoother.cpp
index 8d99ed482..60a805e1e 100644
--- a/gtsam_unstable/nonlinear/tests/testIncrementalFixedLagSmoother.cpp
+++ b/gtsam_unstable/nonlinear/tests/testIncrementalFixedLagSmoother.cpp
@@ -18,7 +18,7 @@
 
 
 #include <gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/geometry/Point2.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
diff --git a/gtsam_unstable/nonlinear/tests/testNonlinearClusterTree.cpp b/gtsam_unstable/nonlinear/tests/testNonlinearClusterTree.cpp
index 2240034af..10e983fd5 100644
--- a/gtsam_unstable/nonlinear/tests/testNonlinearClusterTree.cpp
+++ b/gtsam_unstable/nonlinear/tests/testNonlinearClusterTree.cpp
@@ -6,7 +6,7 @@
 
 #include <gtsam_unstable/nonlinear/NonlinearClusterTree.h>
 #include <gtsam/sam/BearingRangeFactor.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/geometry/Pose2.h>
 #include <gtsam/geometry/Point2.h>
diff --git a/gtsam_unstable/slam/serialization.cpp b/gtsam_unstable/slam/serialization.cpp
index 5b4bd8929..8a661f2ef 100644
--- a/gtsam_unstable/slam/serialization.cpp
+++ b/gtsam_unstable/slam/serialization.cpp
@@ -15,7 +15,7 @@
 #include <gtsam/slam/BetweenFactor.h>
 //#include <gtsam/slam/BoundingConstraint.h>
 #include <gtsam/slam/GeneralSFMFactor.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/ProjectionFactor.h>
 #include <gtsam/sam/RangeFactor.h>
 #include <gtsam/slam/StereoFactor.h>
diff --git a/gtsam_unstable/slam/tests/testBetweenFactorEM.cpp b/gtsam_unstable/slam/tests/testBetweenFactorEM.cpp
index 5bb4dfd2e..9ae20eb11 100644
--- a/gtsam_unstable/slam/tests/testBetweenFactorEM.cpp
+++ b/gtsam_unstable/slam/tests/testBetweenFactorEM.cpp
@@ -13,7 +13,7 @@
 #include <gtsam/base/numericalDerivative.h>
 
 #include <gtsam/slam/BetweenFactor.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 
 
 using namespace std;
diff --git a/gtsam_unstable/slam/tests/testMultiProjectionFactor.cpp b/gtsam_unstable/slam/tests/testMultiProjectionFactor.cpp
index ca91d4cb5..2ae1b1d5b 100644
--- a/gtsam_unstable/slam/tests/testMultiProjectionFactor.cpp
+++ b/gtsam_unstable/slam/tests/testMultiProjectionFactor.cpp
@@ -16,7 +16,7 @@
  *  @date Nov 2009
  */
 
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/slam/ProjectionFactor.h>
 #include <gtsam_unstable/slam/MultiProjectionFactor.h>
diff --git a/gtsam_unstable/slam/tests/testSerialization.cpp b/gtsam_unstable/slam/tests/testSerialization.cpp
index dc05711e3..e1bcfe062 100644
--- a/gtsam_unstable/slam/tests/testSerialization.cpp
+++ b/gtsam_unstable/slam/tests/testSerialization.cpp
@@ -15,7 +15,7 @@
 #include <gtsam/geometry/Pose2.h>
 #include <gtsam/geometry/Pose3.h>
 
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/sam/BearingRangeFactor.h>
 
diff --git a/gtsam_unstable/slam/tests/testSmartRangeFactor.cpp b/gtsam_unstable/slam/tests/testSmartRangeFactor.cpp
index 8a6aab6b7..202365dc6 100644
--- a/gtsam_unstable/slam/tests/testSmartRangeFactor.cpp
+++ b/gtsam_unstable/slam/tests/testSmartRangeFactor.cpp
@@ -19,7 +19,7 @@
 #include <gtsam_unstable/slam/SmartRangeFactor.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <CppUnitLite/TestHarness.h>
 
 using namespace std;
diff --git a/tests/testExpressionFactor.cpp b/tests/testExpressionFactor.cpp
index d9a013a60..d33c7ba1d 100644
--- a/tests/testExpressionFactor.cpp
+++ b/tests/testExpressionFactor.cpp
@@ -20,7 +20,7 @@
 #include <gtsam/slam/expressions.h>
 #include <gtsam/slam/GeneralSFMFactor.h>
 #include <gtsam/slam/ProjectionFactor.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/nonlinear/expressionTesting.h>
 #include <gtsam/nonlinear/ExpressionFactor.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
diff --git a/tests/testExtendedKalmanFilter.cpp b/tests/testExtendedKalmanFilter.cpp
index 212a8e107..d759e83e1 100644
--- a/tests/testExtendedKalmanFilter.cpp
+++ b/tests/testExtendedKalmanFilter.cpp
@@ -14,7 +14,7 @@
  * @author Stephen Williams
  */
 
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/nonlinear/ExtendedKalmanFilter-inl.h>
 #include <gtsam/nonlinear/NonlinearFactor.h>
diff --git a/tests/testGaussianFactorGraphB.cpp b/tests/testGaussianFactorGraphB.cpp
index bf968c8d7..2d0ab2970 100644
--- a/tests/testGaussianFactorGraphB.cpp
+++ b/tests/testGaussianFactorGraphB.cpp
@@ -401,7 +401,7 @@ TEST(GaussianFactorGraph, hasConstraints)
 
 #include <gtsam/slam/ProjectionFactor.h>
 #include <gtsam/geometry/Pose3.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/sam/RangeFactor.h>
 
 /* ************************************************************************* */
diff --git a/tests/testGaussianISAM2.cpp b/tests/testGaussianISAM2.cpp
index 68d10bb7b..bec266bcc 100644
--- a/tests/testGaussianISAM2.cpp
+++ b/tests/testGaussianISAM2.cpp
@@ -7,7 +7,7 @@
 #include <gtsam/nonlinear/ISAM2.h>
 
 #include <tests/smallExample.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/sam/BearingRangeFactor.h>
 #include <gtsam/geometry/Point2.h>
diff --git a/tests/testGaussianJunctionTreeB.cpp b/tests/testGaussianJunctionTreeB.cpp
index e877e5a9d..dfdb32b46 100644
--- a/tests/testGaussianJunctionTreeB.cpp
+++ b/tests/testGaussianJunctionTreeB.cpp
@@ -18,7 +18,7 @@
 #include <tests/smallExample.h>
 #include <gtsam/sam/BearingRangeFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/geometry/Pose2.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/Values.h>
diff --git a/tests/testGradientDescentOptimizer.cpp b/tests/testGradientDescentOptimizer.cpp
index e45f234aa..14767c5db 100644
--- a/tests/testGradientDescentOptimizer.cpp
+++ b/tests/testGradientDescentOptimizer.cpp
@@ -12,7 +12,7 @@
  * @date   Jun 11, 2012
  */
 
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
diff --git a/tests/testIterative.cpp b/tests/testIterative.cpp
index 7afb4e178..e08880191 100644
--- a/tests/testIterative.cpp
+++ b/tests/testIterative.cpp
@@ -16,7 +16,7 @@
  **/
 
 #include <tests/smallExample.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/nonlinear/NonlinearEquality.h>
 #include <gtsam/inference/Symbol.h>
diff --git a/tests/testMarginals.cpp b/tests/testMarginals.cpp
index 3c35c6bc0..1b2c8052c 100644
--- a/tests/testMarginals.cpp
+++ b/tests/testMarginals.cpp
@@ -29,7 +29,7 @@
 #include <gtsam/linear/NoiseModel.h>
 
 // add in headers for specific factors
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/sam/BearingRangeFactor.h>
 
diff --git a/tests/testNonlinearEquality.cpp b/tests/testNonlinearEquality.cpp
index d59666655..9d91a344b 100644
--- a/tests/testNonlinearEquality.cpp
+++ b/tests/testNonlinearEquality.cpp
@@ -16,7 +16,7 @@
 
 #include <tests/simulated2DConstraints.h>
 
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/ProjectionFactor.h>
 #include <gtsam/nonlinear/NonlinearEquality.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
diff --git a/tests/testNonlinearFactorGraph.cpp b/tests/testNonlinearFactorGraph.cpp
index d669c8937..978438402 100644
--- a/tests/testNonlinearFactorGraph.cpp
+++ b/tests/testNonlinearFactorGraph.cpp
@@ -27,7 +27,7 @@
 #include <gtsam/geometry/Pose2.h>
 #include <gtsam/geometry/Pose3.h>
 #include <gtsam/sam/RangeFactor.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 
 #include <CppUnitLite/TestHarness.h>
diff --git a/tests/testNonlinearISAM.cpp b/tests/testNonlinearISAM.cpp
index c06d10beb..9291511a0 100644
--- a/tests/testNonlinearISAM.cpp
+++ b/tests/testNonlinearISAM.cpp
@@ -8,7 +8,7 @@
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/sam/BearingRangeFactor.h>
 #include <gtsam/slam/dataset.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/nonlinear/NonlinearEquality.h>
 #include <gtsam/nonlinear/NonlinearISAM.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
diff --git a/tests/testNonlinearOptimizer.cpp b/tests/testNonlinearOptimizer.cpp
index 7b5e7a0e0..6758cf102 100644
--- a/tests/testNonlinearOptimizer.cpp
+++ b/tests/testNonlinearOptimizer.cpp
@@ -16,7 +16,7 @@
  */
 
 #include <tests/smallExample.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/Values.h>
diff --git a/tests/testRot3Optimization.cpp b/tests/testRot3Optimization.cpp
index 31cf68ebd..794559763 100644
--- a/tests/testRot3Optimization.cpp
+++ b/tests/testRot3Optimization.cpp
@@ -26,7 +26,7 @@
 #include <gtsam/nonlinear/GaussNewtonOptimizer.h>
 #include <gtsam/inference/Symbol.h>
 #include <gtsam/slam/BetweenFactor.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 
 using namespace gtsam;
 
diff --git a/tests/testSerializationSLAM.cpp b/tests/testSerializationSLAM.cpp
index 9222894a4..e3252a90b 100644
--- a/tests/testSerializationSLAM.cpp
+++ b/tests/testSerializationSLAM.cpp
@@ -27,7 +27,7 @@
 //#include <gtsam/slam/BoundingConstraint.h>
 #include <gtsam/slam/GeneralSFMFactor.h>
 //#include <gtsam/slam/PartialPriorFactor.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/ProjectionFactor.h>
 #include <gtsam/sam/RangeFactor.h>
 #include <gtsam/slam/StereoFactor.h>
diff --git a/tests/testVisualISAM2.cpp b/tests/testVisualISAM2.cpp
index 182408004..2caed695a 100644
--- a/tests/testVisualISAM2.cpp
+++ b/tests/testVisualISAM2.cpp
@@ -24,7 +24,7 @@
 #include <gtsam/nonlinear/ISAM2.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/Values.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/ProjectionFactor.h>
 
 #include <vector>
diff --git a/timing/timeIncremental.cpp b/timing/timeIncremental.cpp
index ec5fc3fa5..8928c9b3f 100644
--- a/timing/timeIncremental.cpp
+++ b/timing/timeIncremental.cpp
@@ -15,7 +15,7 @@
  */
 
 #include <gtsam/slam/dataset.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/sam/BearingRangeFactor.h>
 #include <gtsam/geometry/Pose2.h>
diff --git a/timing/timeLago.cpp b/timing/timeLago.cpp
index d0b6b263c..929a67876 100644
--- a/timing/timeLago.cpp
+++ b/timing/timeLago.cpp
@@ -17,7 +17,7 @@
  */
 
 #include <gtsam/slam/dataset.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/lago.h>
 #include <gtsam/geometry/Pose2.h>
 #include <gtsam/nonlinear/GaussNewtonOptimizer.h>
diff --git a/timing/timeiSAM2Chain.cpp b/timing/timeiSAM2Chain.cpp
index 7a4413ac7..e61764e22 100644
--- a/timing/timeiSAM2Chain.cpp
+++ b/timing/timeiSAM2Chain.cpp
@@ -17,7 +17,7 @@
 #include <gtsam/base/timing.h>
 #include <gtsam/slam/dataset.h>
 #include <gtsam/geometry/Pose2.h>
-#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/inference/Symbol.h>
 #include <gtsam/nonlinear/ISAM2.h>