diff --git a/examples/PlanarSLAMSelfContained_advanced.cpp b/examples/PlanarSLAMSelfContained_advanced.cpp
index 36f9ad8ca..102dcc315 100644
--- a/examples/PlanarSLAMSelfContained_advanced.cpp
+++ b/examples/PlanarSLAMSelfContained_advanced.cpp
@@ -83,7 +83,7 @@ int main(int argc, char** argv) {
 	Rot2 bearing11 = Rot2::fromDegrees(45),
 		 bearing21 = Rot2::fromDegrees(90),
 		 bearing32 = Rot2::fromDegrees(90);
-	double range11 = sqrt(4+4),
+	double range11 = sqrt(4.0+4.0),
 		   range21 = 2.0,
 		   range32 = 2.0;
 
diff --git a/examples/Pose2SLAMExample_easy.cpp b/examples/Pose2SLAMExample_easy.cpp
index b6507d7fc..ef704c5fc 100644
--- a/examples/Pose2SLAMExample_easy.cpp
+++ b/examples/Pose2SLAMExample_easy.cpp
@@ -17,8 +17,8 @@
  */
 
 // pull in the Pose2 SLAM domain with all typedefs and helper functions defined
-#include <gtsam/slam/pose2SLAM.h>
 #include <cmath>
+#include <gtsam/slam/pose2SLAM.h>
 
 using namespace std;
 using namespace gtsam;
@@ -36,13 +36,13 @@ int main(int argc, char** argv) {
 	// 2b. Add odometry factors
 	SharedDiagonal odometryNoise(Vector_(3, 0.2, 0.2, 0.1));
 	graph.addOdometry(1, 2, Pose2(2.0, 0.0, 0.0   ), odometryNoise);
-	graph.addOdometry(2, 3, Pose2(2.0, 0.0, M_PI_2), odometryNoise);
-	graph.addOdometry(3, 4, Pose2(2.0, 0.0, M_PI_2), odometryNoise);
-	graph.addOdometry(4, 5, Pose2(2.0, 0.0, M_PI_2), odometryNoise);
+	graph.addOdometry(2, 3, Pose2(2.0, 0.0, M_PI/2.0), odometryNoise);
+	graph.addOdometry(3, 4, Pose2(2.0, 0.0, M_PI/2.0), odometryNoise);
+	graph.addOdometry(4, 5, Pose2(2.0, 0.0, M_PI/2.0), odometryNoise);
 
 	// 2c. Add pose constraint
 	SharedDiagonal constraintUncertainty(Vector_(3, 0.2, 0.2, 0.1));
-	graph.addConstraint(5, 2, Pose2(2.0, 0.0, M_PI_2), constraintUncertainty);
+	graph.addConstraint(5, 2, Pose2(2.0, 0.0, M_PI/2.0), constraintUncertainty);
 
 	// print
 	graph.print("\nFactor graph:\n");
@@ -51,9 +51,9 @@ int main(int argc, char** argv) {
 	pose2SLAM::Values initialEstimate;
 	Pose2 x1(0.5, 0.0, 0.2   ); initialEstimate.insertPose(1, x1);
 	Pose2 x2(2.3, 0.1,-0.2   ); initialEstimate.insertPose(2, x2);
-	Pose2 x3(4.1, 0.1, M_PI_2); initialEstimate.insertPose(3, x3);
+	Pose2 x3(4.1, 0.1, M_PI/2.0); initialEstimate.insertPose(3, x3);
 	Pose2 x4(4.0, 2.0, M_PI  ); initialEstimate.insertPose(4, x4);
-	Pose2 x5(2.1, 2.1,-M_PI_2); initialEstimate.insertPose(5, x5);
+	Pose2 x5(2.1, 2.1,-M_PI/2.0); initialEstimate.insertPose(5, x5);
 	initialEstimate.print("\nInitial estimate:\n  ");
 
 	// 4. Single Step Optimization using Levenberg-Marquardt
diff --git a/examples/vSLAMexample/vISAMexample.cpp b/examples/vSLAMexample/vISAMexample.cpp
index 71d5516a2..7c16072d8 100644
--- a/examples/vSLAMexample/vISAMexample.cpp
+++ b/examples/vSLAMexample/vISAMexample.cpp
@@ -76,11 +76,11 @@ void readAllDataISAM() {
 /**
  * Setup newFactors and initialValues for each new pose and set of measurements at each frame.
  */
-void createNewFactors(shared_ptr<Graph>& newFactors, boost::shared_ptr<Values>& initialValues,
+void createNewFactors(boost::shared_ptr<Graph>& newFactors, boost::shared_ptr<Values>& initialValues,
     int pose_id, const Pose3& pose, const std::vector<Feature2D>& measurements, SharedNoiseModel measurementSigma, shared_ptrK calib) {
 
   // Create a graph of newFactors with new measurements
-  newFactors = shared_ptr<Graph> (new Graph());
+  newFactors = boost::shared_ptr<Graph> (new Graph());
   for (size_t i = 0; i < measurements.size(); i++) {
     newFactors->addMeasurement(
         measurements[i].m_p,
@@ -97,7 +97,7 @@ void createNewFactors(shared_ptr<Graph>& newFactors, boost::shared_ptr<Values>&
   }
 
   // Create initial values for all nodes in the newFactors
-  initialValues = shared_ptr<Values> (new Values());
+  initialValues = boost::shared_ptr<Values> (new Values());
   initialValues->insert(PoseKey(pose_id), pose);
   for (size_t i = 0; i < measurements.size(); i++) {
     initialValues->insert(PointKey(measurements[i].m_idLandmark), g_landmarks[measurements[i].m_idLandmark]);
@@ -127,8 +127,8 @@ int main(int argc, char* argv[]) {
   typedef std::map<int, std::vector<Feature2D> > FeatureMap;
   BOOST_FOREACH(const FeatureMap::value_type& features, g_measurements) {
     const int poseId = features.first;
-    shared_ptr<Graph> newFactors;
-    shared_ptr<Values> initialValues;
+    boost::shared_ptr<Graph> newFactors;
+    boost::shared_ptr<Values> initialValues;
     createNewFactors(newFactors, initialValues, poseId, g_poses[poseId],
             features.second, measurementSigma, g_calib);