diff --git a/gtsam/inference/GenericMultifrontalSolver-inl.h b/gtsam/inference/GenericMultifrontalSolver-inl.h
index 192436959..db18f2093 100644
--- a/gtsam/inference/GenericMultifrontalSolver-inl.h
+++ b/gtsam/inference/GenericMultifrontalSolver-inl.h
@@ -47,13 +47,16 @@ namespace gtsam {
 
 	/* ************************************************************************* */
 	template<class FACTOR, class JUNCTIONTREE>
-	typename BayesTree<typename FACTOR::ConditionalType>::shared_ptr GenericMultifrontalSolver<FACTOR, JUNCTIONTREE>::eliminate(Eliminate function) const {
+	typename BayesTree<typename FACTOR::ConditionalType>::shared_ptr
+	GenericMultifrontalSolver<FACTOR, JUNCTIONTREE>::eliminate(Eliminate function) const {
 
 		// eliminate junction tree, returns pointer to root
-		typename BayesTree<typename FACTOR::ConditionalType>::sharedClique root = junctionTree_->eliminate(function);
+		typename BayesTree<typename FACTOR::ConditionalType>::sharedClique
+			root = junctionTree_->eliminate(function);
 
 		// create an empty Bayes tree and insert root clique
-		typename BayesTree<typename FACTOR::ConditionalType>::shared_ptr bayesTree(new BayesTree<typename FACTOR::ConditionalType>);
+		typename BayesTree<typename FACTOR::ConditionalType>::shared_ptr
+			bayesTree(new BayesTree<typename FACTOR::ConditionalType>);
 		bayesTree->insert(root);
 
 		// return the Bayes tree
@@ -65,7 +68,8 @@ namespace gtsam {
 	typename FactorGraph<F>::shared_ptr GenericMultifrontalSolver<F, JT>::jointFactorGraph(
 			const std::vector<Index>& js, Eliminate function) const {
 
-		// We currently have code written only for computing the
+		// FIXME: joint for arbitrary sets of variables not present
+		// TODO: develop and implement theory for shortcuts of more than two variables
 
 		if (js.size() != 2) throw std::domain_error(
 				"*MultifrontalSolver::joint(js) currently can only compute joint marginals\n"
diff --git a/gtsam/inference/GenericSequentialSolver-inl.h b/gtsam/inference/GenericSequentialSolver-inl.h
index cc7e6146c..53dee3dcd 100644
--- a/gtsam/inference/GenericSequentialSolver-inl.h
+++ b/gtsam/inference/GenericSequentialSolver-inl.h
@@ -96,7 +96,7 @@ namespace gtsam {
 		// copies.  Other parts of the code may hold shared_ptr's to these factors so
 		// we must undo the permutation before returning.
 		BOOST_FOREACH(const typename boost::shared_ptr<FACTOR>& factor, *factors_)
-						if (factor) factor->permuteWithInverse(*permutationInverse);
+			if (factor) factor->permuteWithInverse(*permutationInverse);
 
 		// Eliminate all variables
 		typename BayesNet<typename FACTOR::ConditionalType>::shared_ptr
@@ -104,20 +104,20 @@ namespace gtsam {
 
 		// Undo the permuation on the original factors and on the structure.
 		BOOST_FOREACH(const typename boost::shared_ptr<FACTOR>& factor, *factors_)
-					if (factor) factor->permuteWithInverse(*permutation);
+			if (factor) factor->permuteWithInverse(*permutation);
 
 		// Take the joint marginal from the Bayes net.
 		sharedFactorGraph joint(new FactorGraph<FACTOR> );
 		joint->reserve(js.size());
 		typename BayesNet<typename FACTOR::ConditionalType>::const_reverse_iterator
-				conditional = bayesNet->rbegin();
+			conditional = bayesNet->rbegin();
 
 		for (size_t i = 0; i < js.size(); ++i)
 			joint->push_back((*(conditional++))->toFactor());
 
 		// Undo the permutation on the eliminated joint marginal factors
 		BOOST_FOREACH(const typename boost::shared_ptr<FACTOR>& factor, *joint)
-						factor->permuteWithInverse(*permutation);
+			factor->permuteWithInverse(*permutation);
 
 		return joint;
 	}
diff --git a/gtsam/inference/IndexFactor.cpp b/gtsam/inference/IndexFactor.cpp
index f74aa4ff5..b04338d5b 100644
--- a/gtsam/inference/IndexFactor.cpp
+++ b/gtsam/inference/IndexFactor.cpp
@@ -58,7 +58,7 @@ namespace gtsam {
 	/* ************************************************************************* */
 	void IndexFactor::permuteWithInverse(const Permutation& inversePermutation) {
 		BOOST_FOREACH(Index& key, keys())
-						key = inversePermutation[key];
+			key = inversePermutation[key];
 		assertInvariants();
 	}
 	/* ************************************************************************* */
diff --git a/gtsam/linear/GaussianFactor.h b/gtsam/linear/GaussianFactor.h
index e2537b7b4..b1fd9338e 100644
--- a/gtsam/linear/GaussianFactor.h
+++ b/gtsam/linear/GaussianFactor.h
@@ -107,7 +107,9 @@ namespace gtsam {
      * to already be inverted.  This acts just as a change-of-name for each
      * variable.  The order of the variables within the factor is not changed.
      */
-    virtual void permuteWithInverse(const Permutation& inversePermutation) { IndexFactor::permuteWithInverse(inversePermutation); }
+    virtual void permuteWithInverse(const Permutation& inversePermutation) {
+    	IndexFactor::permuteWithInverse(inversePermutation);
+    }
 
   private:
     /** Serialization function */
diff --git a/gtsam/nonlinear/NonlinearISAM.cpp b/gtsam/nonlinear/NonlinearISAM.cpp
index 6820b3e05..17fba2432 100644
--- a/gtsam/nonlinear/NonlinearISAM.cpp
+++ b/gtsam/nonlinear/NonlinearISAM.cpp
@@ -53,6 +53,7 @@ void NonlinearISAM::update(const NonlinearFactorGraph& newFactors,
     linPoint_.insert(initialValues);
 
     // Augment ordering
+    // TODO: allow for ordering constraints within the new variables
     // FIXME: should just loop over new values
     BOOST_FOREACH(const NonlinearFactorGraph::sharedFactor& factor, newFactors)
       BOOST_FOREACH(Key key, factor->keys())
@@ -77,9 +78,11 @@ void NonlinearISAM::reorder_relinearize() {
     isam_.clear();
 
     // Compute an ordering
+    // TODO: allow for constrained ordering here
     ordering_ = *factors_.orderingCOLAMD(newLinPoint);
 
     // Create a linear factor graph at the new linearization point
+    // TODO: decouple relinearization and reordering to avoid
     boost::shared_ptr<GaussianFactorGraph> gfg = factors_.linearize(newLinPoint, ordering_);
 
     // Just recreate the whole BayesTree