diff --git a/gtsam/geometry/Cyclic.h b/gtsam/geometry/Cyclic.h
index cef085374..6b9820852 100644
--- a/gtsam/geometry/Cyclic.h
+++ b/gtsam/geometry/Cyclic.h
@@ -62,7 +62,9 @@ public:
 
 };
 
-GTSAM_ADDITIVE_GROUP1(size_t, N, Cyclic)
+#define CYCLIC_TEMPLATE size_t N
+#define CYCLIC_TYPE Cyclic<N>
+GTSAM_ADDITIVE_GROUP(CYCLIC_TEMPLATE, CYCLIC_TYPE)
 
 /// Define cyclic group to be a model of the Group concept
 namespace traits {
diff --git a/gtsam/geometry/Quaternion.h b/gtsam/geometry/Quaternion.h
index 79e71da3b..a96cd6ef0 100644
--- a/gtsam/geometry/Quaternion.h
+++ b/gtsam/geometry/Quaternion.h
@@ -76,17 +76,13 @@ struct QuaternionChart {
   }
 };
 
-#define GTSAM_MANIFOLD2(T1,A1,T2,A2,MANIFOLD,DIM,SCALAR,OPTIONS,CHART) \
-namespace manifold { \
-namespace traits { \
-template<T1 A1, T2 A2> struct dimension<MANIFOLD<A1,A2> > : public boost::integral_constant<int, DIM> {};\
-template<T1 A1, T2 A2> struct TangentVector<MANIFOLD<A1,A2> > { typedef Eigen::Matrix<SCALAR, DIM, 1, OPTIONS, DIM, 1> type;};\
-template<T1 A1, T2 A2> struct DefaultChart<MANIFOLD<A1,A2> > { typedef CHART<A1,A2> type;};\
-}}
+#define QUATERNION_TEMPLATE typename _Scalar, int _Options
+#define QUATERNION_TYPE Eigen::Quaternion<_Scalar,_Options>
+GTSAM_MULTIPLICATIVE_GROUP(QUATERNION_TEMPLATE, QUATERNION_TYPE)
 
-
-GTSAM_MANIFOLD2(typename, _Scalar, int, _Options, Eigen::Quaternion, 3, _Scalar, _Options, QuaternionChart)
-GTSAM_MULTIPLICATIVE_GROUP2(typename, _Scalar, int, _Options, Eigen::Quaternion)
+#define QUATERNION_TANGENT Eigen::Matrix<_Scalar, 3, 1, _Options, 3, 1>
+#define QUATERNION_CHART QuaternionChart<_Scalar,_Options>
+GTSAM_MANIFOLD(QUATERNION_TEMPLATE,QUATERNION_TYPE,3,QUATERNION_TANGENT,QUATERNION_CHART)
 
 /// Define Eigen::Quaternion to be a model of the Lie Group concept
 namespace traits {