diff --git a/gtsam/base/GenericValue.h b/gtsam/base/GenericValue.h
index e1cb3bc2c..2ac3eb80c 100644
--- a/gtsam/base/GenericValue.h
+++ b/gtsam/base/GenericValue.h
@@ -181,7 +181,7 @@ public:
   // Alignment, see https://eigen.tuxfamily.org/dox/group__TopicStructHavingEigenMembers.html
   enum { NeedsToAlign = (sizeof(T) % 16) == 0 };
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
+  GTSAM_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
 };
 
 /// use this macro instead of BOOST_CLASS_EXPORT for GenericValues
diff --git a/gtsam/base/Manifold.h b/gtsam/base/Manifold.h
index f3653f099..9feb2b451 100644
--- a/gtsam/base/Manifold.h
+++ b/gtsam/base/Manifold.h
@@ -214,7 +214,7 @@ public:
   enum { NeedsToAlign = (sizeof(M1) % 16) == 0 || (sizeof(M2) % 16) == 0
   };
 public:
-	EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
+	GTSAM_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
 };
 
 // Define any direct product group to be a model of the multiplicative Group concept
diff --git a/gtsam/base/types.h b/gtsam/base/types.h
index b54cc2f2a..924f339b3 100644
--- a/gtsam/base/types.h
+++ b/gtsam/base/types.h
@@ -268,3 +268,12 @@ namespace gtsam {
 #define GTSAM_MAKE_ALIGNED_OPERATOR_NEW \
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW \
   using _eigen_aligned_allocator_trait = void;
+
+/**
+ * This marks a GTSAM object to require alignment. With this macro an object will automatically be allocated in aligned
+ * memory when one uses `gtsam::make_shared`. It reduces future misalignment problems that is hard to debug.
+ * See https://eigen.tuxfamily.org/dox/group__DenseMatrixManipulation__Alignement.html for detailed explanation.
+ */
+#define GTSAM_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign) \
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign) \
+  using _eigen_aligned_allocator_trait = void;
\ No newline at end of file
diff --git a/gtsam/geometry/BearingRange.h b/gtsam/geometry/BearingRange.h
index 7c73f3cbd..8db7abffe 100644
--- a/gtsam/geometry/BearingRange.h
+++ b/gtsam/geometry/BearingRange.h
@@ -162,7 +162,7 @@ private:
     NeedsToAlign = (sizeof(B) % 16) == 0 || (sizeof(R) % 16) == 0
   };
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
+  GTSAM_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
 };
 
 // Declare this to be both Testable and a Manifold
diff --git a/gtsam/geometry/CameraSet.h b/gtsam/geometry/CameraSet.h
index ecf9a572d..feab8e0fa 100644
--- a/gtsam/geometry/CameraSet.h
+++ b/gtsam/geometry/CameraSet.h
@@ -319,7 +319,7 @@ private:
   }
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  GTSAM_MAKE_ALIGNED_OPERATOR_NEW
 };
 
 template<class CAMERA>
diff --git a/gtsam/geometry/EssentialMatrix.h b/gtsam/geometry/EssentialMatrix.h
index 3235fdedd..ca719eb37 100644
--- a/gtsam/geometry/EssentialMatrix.h
+++ b/gtsam/geometry/EssentialMatrix.h
@@ -212,7 +212,7 @@ class EssentialMatrix {
   /// @}
 
  public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  GTSAM_MAKE_ALIGNED_OPERATOR_NEW
 };
 
 template<>
diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h
index c52127a45..9a80b937b 100644
--- a/gtsam/geometry/PinholeCamera.h
+++ b/gtsam/geometry/PinholeCamera.h
@@ -325,7 +325,7 @@ private:
   }
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  GTSAM_MAKE_ALIGNED_OPERATOR_NEW
 };
 
 // manifold traits
diff --git a/gtsam/geometry/PinholePose.h b/gtsam/geometry/PinholePose.h
index 935962423..60088577c 100644
--- a/gtsam/geometry/PinholePose.h
+++ b/gtsam/geometry/PinholePose.h
@@ -222,7 +222,7 @@ private:
   }
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  GTSAM_MAKE_ALIGNED_OPERATOR_NEW
 };
 // end of class PinholeBaseK
 
@@ -425,7 +425,7 @@ private:
   }
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  GTSAM_MAKE_ALIGNED_OPERATOR_NEW
 };
 // end of class PinholePose
 
diff --git a/gtsam/geometry/Pose2.h b/gtsam/geometry/Pose2.h
index 388318827..2a1f108ca 100644
--- a/gtsam/geometry/Pose2.h
+++ b/gtsam/geometry/Pose2.h
@@ -317,7 +317,7 @@ public:
 
 public:
   // Align for Point2, which is either derived from, or is typedef, of Vector2
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  GTSAM_MAKE_ALIGNED_OPERATOR_NEW
 }; // Pose2
 
 /** specialization for pose2 wedge function (generic template in Lie.h) */
diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h
index fa55f98de..ced3b904b 100644
--- a/gtsam/geometry/Pose3.h
+++ b/gtsam/geometry/Pose3.h
@@ -355,7 +355,7 @@ public:
 #ifdef GTSAM_USE_QUATERNIONS
   // Align if we are using Quaternions
   public:
-    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+    GTSAM_MAKE_ALIGNED_OPERATOR_NEW
 #endif
 };
 // Pose3 class
diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h
index fc3a8b3f2..8f24f07c8 100644
--- a/gtsam/geometry/Rot3.h
+++ b/gtsam/geometry/Rot3.h
@@ -544,7 +544,7 @@ namespace gtsam {
 #ifdef GTSAM_USE_QUATERNIONS
   // only align if quaternion, Matrix3 has no alignment requirements
   public:
-    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+    GTSAM_MAKE_ALIGNED_OPERATOR_NEW
 #endif
   };
 
diff --git a/gtsam/geometry/SOn.h b/gtsam/geometry/SOn.h
index 767b12020..a08f87783 100644
--- a/gtsam/geometry/SOn.h
+++ b/gtsam/geometry/SOn.h
@@ -54,7 +54,7 @@ class SO : public LieGroup<SO<N>, internal::DimensionSO(N)> {
   using VectorN2 = Eigen::Matrix<double, internal::NSquaredSO(N), 1>;
   using MatrixDD = Eigen::Matrix<double, dimension, dimension>;
 
-  GTSAM_MAKE_ALIGNED_OPERATOR_NEW
+  GTSAM_MAKE_ALIGNED_OPERATOR_NEW_IF(true)
 
  protected:
   MatrixNN matrix_;  ///< Rotation matrix
diff --git a/gtsam/geometry/Unit3.h b/gtsam/geometry/Unit3.h
index f1a9c1a69..b80e6e4d8 100644
--- a/gtsam/geometry/Unit3.h
+++ b/gtsam/geometry/Unit3.h
@@ -214,7 +214,7 @@ private:
   /// @}
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  GTSAM_MAKE_ALIGNED_OPERATOR_NEW
 };
 
 // Define GTSAM traits
diff --git a/gtsam/geometry/triangulation.h b/gtsam/geometry/triangulation.h
index 586b7b165..8cdf0fdc0 100644
--- a/gtsam/geometry/triangulation.h
+++ b/gtsam/geometry/triangulation.h
@@ -215,7 +215,7 @@ struct CameraProjectionMatrix {
 private:
   const Matrix3 K_;
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  GTSAM_MAKE_ALIGNED_OPERATOR_NEW
 };
 
 /**
diff --git a/gtsam/navigation/AttitudeFactor.h b/gtsam/navigation/AttitudeFactor.h
index db588008e..5a0031caf 100644
--- a/gtsam/navigation/AttitudeFactor.h
+++ b/gtsam/navigation/AttitudeFactor.h
@@ -139,7 +139,7 @@ private:
   }
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  GTSAM_MAKE_ALIGNED_OPERATOR_NEW
 };
 
 /// traits
@@ -219,7 +219,7 @@ private:
   }
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  GTSAM_MAKE_ALIGNED_OPERATOR_NEW
 };
 
 /// traits
diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h
index ca9b2ca1a..6b3bf979a 100644
--- a/gtsam/navigation/CombinedImuFactor.h
+++ b/gtsam/navigation/CombinedImuFactor.h
@@ -100,7 +100,7 @@ private:
   }
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  GTSAM_MAKE_ALIGNED_OPERATOR_NEW
 };
 
 
@@ -210,7 +210,7 @@ public:
   }
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  GTSAM_MAKE_ALIGNED_OPERATOR_NEW
 };
 
 /**
@@ -332,7 +332,7 @@ private:
   }
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  GTSAM_MAKE_ALIGNED_OPERATOR_NEW
 };
 // class CombinedImuFactor
 
diff --git a/gtsam/navigation/ImuBias.h b/gtsam/navigation/ImuBias.h
index ff1a53025..d52b4eb29 100644
--- a/gtsam/navigation/ImuBias.h
+++ b/gtsam/navigation/ImuBias.h
@@ -171,7 +171,7 @@ private:
 
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  GTSAM_MAKE_ALIGNED_OPERATOR_NEW
   /// @}
 
 }; // ConstantBias class
diff --git a/gtsam/navigation/PreintegratedRotation.h b/gtsam/navigation/PreintegratedRotation.h
index 71ef5d08f..12938a625 100644
--- a/gtsam/navigation/PreintegratedRotation.h
+++ b/gtsam/navigation/PreintegratedRotation.h
@@ -69,7 +69,7 @@ struct GTSAM_EXPORT PreintegratedRotationParams {
 #ifdef GTSAM_USE_QUATERNIONS
   // Align if we are using Quaternions
 public:
-	EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+	GTSAM_MAKE_ALIGNED_OPERATOR_NEW
 #endif
 };
 
@@ -182,7 +182,7 @@ class GTSAM_EXPORT PreintegratedRotation {
 #ifdef GTSAM_USE_QUATERNIONS
   // Align if we are using Quaternions
   public:
-	  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+	  GTSAM_MAKE_ALIGNED_OPERATOR_NEW
 #endif
 };
 
diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h
index 9926d207a..eb30c1f13 100644
--- a/gtsam/navigation/PreintegrationBase.h
+++ b/gtsam/navigation/PreintegrationBase.h
@@ -214,7 +214,7 @@ class GTSAM_EXPORT PreintegrationBase {
 #endif
 
  public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  GTSAM_MAKE_ALIGNED_OPERATOR_NEW
 };
 
 }  /// namespace gtsam
diff --git a/gtsam/navigation/PreintegrationParams.h b/gtsam/navigation/PreintegrationParams.h
index 962fef277..4bff625ca 100644
--- a/gtsam/navigation/PreintegrationParams.h
+++ b/gtsam/navigation/PreintegrationParams.h
@@ -84,7 +84,7 @@ protected:
 #ifdef GTSAM_USE_QUATERNIONS
   // Align if we are using Quaternions
 public:
-	EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+	GTSAM_MAKE_ALIGNED_OPERATOR_NEW
 #endif
 };
 
diff --git a/gtsam/navigation/TangentPreintegration.h b/gtsam/navigation/TangentPreintegration.h
index 11945e53a..edf76e562 100644
--- a/gtsam/navigation/TangentPreintegration.h
+++ b/gtsam/navigation/TangentPreintegration.h
@@ -141,7 +141,7 @@ private:
   }
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  GTSAM_MAKE_ALIGNED_OPERATOR_NEW
 };
 
 } /// namespace gtsam
diff --git a/gtsam/nonlinear/ExpressionFactor.h b/gtsam/nonlinear/ExpressionFactor.h
index 04d82fe9a..c42b2bdfc 100644
--- a/gtsam/nonlinear/ExpressionFactor.h
+++ b/gtsam/nonlinear/ExpressionFactor.h
@@ -209,7 +209,7 @@ private:
  // Alignment, see https://eigen.tuxfamily.org/dox/group__TopicStructHavingEigenMembers.html
  enum { NeedsToAlign = (sizeof(T) % 16) == 0 };
   public:
-	  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
+	  GTSAM_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
 };
 // ExpressionFactor
 
diff --git a/gtsam/nonlinear/NonlinearEquality.h b/gtsam/nonlinear/NonlinearEquality.h
index d4eb655c3..1bba57051 100644
--- a/gtsam/nonlinear/NonlinearEquality.h
+++ b/gtsam/nonlinear/NonlinearEquality.h
@@ -175,7 +175,7 @@ public:
 
   /// @}
 
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  GTSAM_MAKE_ALIGNED_OPERATOR_NEW
 
 private:
 
@@ -265,7 +265,7 @@ public:
     traits<X>::Print(value_, "Value");
   }
 
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  GTSAM_MAKE_ALIGNED_OPERATOR_NEW
 
 private:
 
@@ -331,7 +331,7 @@ public:
     return traits<X>::Local(x1,x2);
   }
 
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  GTSAM_MAKE_ALIGNED_OPERATOR_NEW
 
 private:
 
diff --git a/gtsam/nonlinear/PriorFactor.h b/gtsam/nonlinear/PriorFactor.h
index 8d8c67d5c..0afbaa588 100644
--- a/gtsam/nonlinear/PriorFactor.h
+++ b/gtsam/nonlinear/PriorFactor.h
@@ -114,7 +114,7 @@ namespace gtsam {
 	// Alignment, see https://eigen.tuxfamily.org/dox/group__TopicStructHavingEigenMembers.html
 	enum { NeedsToAlign = (sizeof(T) % 16) == 0 };
   public:
-	EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
+	GTSAM_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
   };
 
 } /// namespace gtsam
diff --git a/gtsam/nonlinear/internal/ExpressionNode.h b/gtsam/nonlinear/internal/ExpressionNode.h
index 0011efb74..0ae37f130 100644
--- a/gtsam/nonlinear/internal/ExpressionNode.h
+++ b/gtsam/nonlinear/internal/ExpressionNode.h
@@ -150,7 +150,7 @@ public:
     return constant_;
   }
 
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  GTSAM_MAKE_ALIGNED_OPERATOR_NEW
 };
 
 //-----------------------------------------------------------------------------
diff --git a/gtsam/slam/BetweenFactor.h b/gtsam/slam/BetweenFactor.h
index 23138b9e6..b1d4904aa 100644
--- a/gtsam/slam/BetweenFactor.h
+++ b/gtsam/slam/BetweenFactor.h
@@ -126,7 +126,7 @@ namespace gtsam {
 	  // Alignment, see https://eigen.tuxfamily.org/dox/group__TopicStructHavingEigenMembers.html
 	  enum { NeedsToAlign = (sizeof(VALUE) % 16) == 0 };
     public:
-      EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
+      GTSAM_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
   }; // \class BetweenFactor
 
   /// traits
diff --git a/gtsam/slam/EssentialMatrixConstraint.h b/gtsam/slam/EssentialMatrixConstraint.h
index 179200fe1..e474ce5b3 100644
--- a/gtsam/slam/EssentialMatrixConstraint.h
+++ b/gtsam/slam/EssentialMatrixConstraint.h
@@ -105,7 +105,7 @@ private:
   }
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  GTSAM_MAKE_ALIGNED_OPERATOR_NEW
 };
 // \class EssentialMatrixConstraint
 
diff --git a/gtsam/slam/EssentialMatrixFactor.h b/gtsam/slam/EssentialMatrixFactor.h
index 8bd155a14..c214a2f48 100644
--- a/gtsam/slam/EssentialMatrixFactor.h
+++ b/gtsam/slam/EssentialMatrixFactor.h
@@ -81,7 +81,7 @@ public:
   }
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  GTSAM_MAKE_ALIGNED_OPERATOR_NEW
 };
 
 /**
@@ -201,7 +201,7 @@ public:
   }
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  GTSAM_MAKE_ALIGNED_OPERATOR_NEW
 };
 // EssentialMatrixFactor2
 
@@ -286,7 +286,7 @@ public:
   }
 
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  GTSAM_MAKE_ALIGNED_OPERATOR_NEW
 };
 // EssentialMatrixFactor3
 
diff --git a/gtsam/slam/ProjectionFactor.h b/gtsam/slam/ProjectionFactor.h
index 856913aae..0bed15fdc 100644
--- a/gtsam/slam/ProjectionFactor.h
+++ b/gtsam/slam/ProjectionFactor.h
@@ -189,7 +189,7 @@ namespace gtsam {
     }
 
   public:
-    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+    GTSAM_MAKE_ALIGNED_OPERATOR_NEW
 };
 
   /// traits
diff --git a/gtsam/slam/RotateFactor.h b/gtsam/slam/RotateFactor.h
index b6ccc36a2..948fffe13 100644
--- a/gtsam/slam/RotateFactor.h
+++ b/gtsam/slam/RotateFactor.h
@@ -113,7 +113,7 @@ public:
     return error;
   }
 
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  GTSAM_MAKE_ALIGNED_OPERATOR_NEW
 };
 }  // namespace gtsam
 
diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h
index 34f9b9e9f..717a9c1f2 100644
--- a/gtsam/slam/SmartFactorBase.h
+++ b/gtsam/slam/SmartFactorBase.h
@@ -81,7 +81,7 @@ protected:
   mutable FBlocks Fs;
 
  public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  GTSAM_MAKE_ALIGNED_OPERATOR_NEW
 
   /// shorthand for a smart pointer to a factor
   typedef boost::shared_ptr<This> shared_ptr;