diff --git a/tests/testGaussianISAM2.cpp b/tests/testGaussianISAM2.cpp
index e78d36f0e5..1ea60dac95 100644
--- a/tests/testGaussianISAM2.cpp
+++ b/tests/testGaussianISAM2.cpp
@@ -659,10 +659,10 @@ namespace {
     return ok;
   }
 
-  boost::optional<FastMap<Key, int>> createOrderingConstraints(const ISAM2& isam, const KeyVector& newKeys, const KeySet& marginalizableKeys)
+  std::optional<FastMap<Key, int>> createOrderingConstraints(const ISAM2& isam, const KeyVector& newKeys, const KeySet& marginalizableKeys)
   {
     if (marginalizableKeys.empty()) {
-      return boost::none;
+      return {};
     } else {
       FastMap<Key, int> constrainedKeys = FastMap<Key, int>();
       // Generate ordering constraints so that the marginalizable variables will be eliminated first
@@ -706,7 +706,7 @@ namespace {
   bool updateAndMarginalize(const NonlinearFactorGraph& newFactors, const Values& newValues, const KeySet& marginalizableKeys, ISAM2& isam)
   {
     // Force ISAM2 to put marginalizable variables at the beginning
-    const boost::optional<FastMap<Key, int>> orderingConstraints = createOrderingConstraints(isam, newValues.keys(), marginalizableKeys);
+    auto orderingConstraints = createOrderingConstraints(isam, newValues.keys(), marginalizableKeys);
 
     // Mark additional keys between the marginalized keys and the leaves
     KeyList markedKeys;
@@ -719,7 +719,7 @@ namespace {
     }
 
     // Update
-    isam.update(newFactors, newValues, FactorIndices{}, orderingConstraints, boost::none, markedKeys);
+    isam.update(newFactors, newValues, FactorIndices{}, orderingConstraints, {}, markedKeys);
 
     if (!marginalizableKeys.empty()) {
       FastList<Key> leafKeys(marginalizableKeys.begin(), marginalizableKeys.end());
@@ -865,7 +865,7 @@ TEST(ISAM2, marginalizeLeaves5)
 /* ************************************************************************* */
 TEST(ISAM2, marginalizeLeaves6)
 {
-  const boost::shared_ptr<noiseModel::Isotropic> nm = noiseModel::Isotropic::Sigma(6, 1.0);
+  auto nm = noiseModel::Isotropic::Sigma(6, 1.0);
 
   int gridDim = 10;
 
@@ -878,16 +878,16 @@ TEST(ISAM2, marginalizeLeaves6)
   // Create a grid of pose variables
   for (int i = 0; i < gridDim; ++i) {
     for (int j = 0; j < gridDim; ++j) {
-      Pose3 pose = Pose3(Rot3::identity(), Point3(i, j, 0));
+      Pose3 pose = Pose3(Rot3::Identity(), Point3(i, j, 0));
       Key key = idxToKey(i, j);
       // Place a prior on the first pose
-      factors.addPrior(key, Pose3(Rot3::identity(), Point3(i, j, 0)), nm);
+      factors.addPrior(key, Pose3(Rot3::Identity(), Point3(i, j, 0)), nm);
       values.insert(key, pose);
       if (i > 0) {
-        factors.emplace_shared<BetweenFactor<Pose3>>(idxToKey(i - 1, j), key, Pose3(Rot3::identity(), Point3(1, 0, 0)),nm);
+        factors.emplace_shared<BetweenFactor<Pose3>>(idxToKey(i - 1, j), key, Pose3(Rot3::Identity(), Point3(1, 0, 0)),nm);
       }
       if (j > 0) {
-        factors.emplace_shared<BetweenFactor<Pose3>>(idxToKey(i, j - 1), key, Pose3(Rot3::identity(), Point3(0, 1, 0)),nm);
+        factors.emplace_shared<BetweenFactor<Pose3>>(idxToKey(i, j - 1), key, Pose3(Rot3::Identity(), Point3(0, 1, 0)),nm);
       }
     }
   }
@@ -914,17 +914,17 @@ TEST(ISAM2, marginalizeLeaves6)
 /* ************************************************************************* */
 TEST(ISAM2, MarginalizeRoot)
 {
-  const boost::shared_ptr<noiseModel::Isotropic> nm = noiseModel::Isotropic::Sigma(6, 1.0);
+  auto nm = noiseModel::Isotropic::Sigma(6, 1.0);
 
   NonlinearFactorGraph factors;
   Values values;
   ISAM2 isam;
 
   // Create a factor graph with one variable and a prior
-  Pose3 root = Pose3::identity();
+  Pose3 root = Pose3::Identity();
   Key rootKey(0);
   values.insert(rootKey, root);
-  factors.addPrior(rootKey, Pose3::identity(), nm);
+  factors.addPrior(rootKey, Pose3::Identity(), nm);
 
   // Optimize the graph
   EXPECT(updateAndMarginalize(factors, values, {}, isam));
@@ -944,7 +944,7 @@ TEST(ISAM2, MarginalizeRoot)
 /* ************************************************************************* */
 TEST(ISAM2, marginalizationSize)
 {
-  const boost::shared_ptr<noiseModel::Isotropic> nm = noiseModel::Isotropic::Sigma(6, 1.0);
+  auto nm = noiseModel::Isotropic::Sigma(6, 1.0);
 
   NonlinearFactorGraph factors;
   Values values;
@@ -954,13 +954,13 @@ TEST(ISAM2, marginalizationSize)
 
   // Create a pose variable
   Key aKey(0);
-  values.insert(aKey, Pose3::identity());
-  factors.addPrior(aKey, Pose3::identity(), nm);
+  values.insert(aKey, Pose3::Identity());
+  factors.addPrior(aKey, Pose3::Identity(), nm);
   // Create another pose variable linked to the first
-  Pose3 b = Pose3::identity();
+  Pose3 b = Pose3::Identity();
   Key bKey(1);
-  values.insert(bKey, Pose3::identity());
-  factors.emplace_shared<BetweenFactor<Pose3>>(aKey, bKey, Pose3::identity(), nm);
+  values.insert(bKey, Pose3::Identity());
+  factors.emplace_shared<BetweenFactor<Pose3>>(aKey, bKey, Pose3::Identity(), nm);
   // Optimize the graph
   EXPECT(updateAndMarginalize(factors, values, {}, isam));