diff --git a/gtsam/base/tests/timeVirtual.cpp b/gtsam/base/tests/timeVirtual.cpp
index a61ce7b77..697a219b1 100644
--- a/gtsam/base/tests/timeVirtual.cpp
+++ b/gtsam/base/tests/timeVirtual.cpp
@@ -87,13 +87,13 @@ int main(int argc, char *argv[]) {
 
   tic_("shared plain alloc, dealloc");
   for(size_t i=0; i<trials; ++i) {
-    shared_ptr<Plain> obj(new Plain(i));
+    boost::shared_ptr<Plain> obj(new Plain(i));
   }
   toc_("shared plain alloc, dealloc");
 
   tic_("shared virtual alloc, dealloc");
   for(size_t i=0; i<trials; ++i) {
-    shared_ptr<Virtual> obj(new Virtual(i));
+    boost::shared_ptr<Virtual> obj(new Virtual(i));
   }
   toc_("shared virtual alloc, dealloc");
 
@@ -130,14 +130,14 @@ int main(int argc, char *argv[]) {
 
   tic_("shared plain alloc, dealloc, call");
   for(size_t i=0; i<trials; ++i) {
-    shared_ptr<Plain> obj(new Plain(i));
+    boost::shared_ptr<Plain> obj(new Plain(i));
     obj->setData(i+1);
   }
   toc_("shared plain alloc, dealloc, call");
 
   tic_("shared virtual alloc, dealloc, call");
   for(size_t i=0; i<trials; ++i) {
-    shared_ptr<Virtual> obj(new Virtual(i));
+    boost::shared_ptr<Virtual> obj(new Virtual(i));
     obj->setData(i+1);
   }
   toc_("shared virtual alloc, dealloc, call");
diff --git a/gtsam/base/types.h b/gtsam/base/types.h
index e9264d516..2490a0cde 100644
--- a/gtsam/base/types.h
+++ b/gtsam/base/types.h
@@ -82,6 +82,12 @@ using boost::math::isinf;
 #ifndef M_PI
 #define M_PI (boost::math::constants::pi<double>())
 #endif
+#ifndef M_PI_2
+#define M_PI_2 (boost::math::constants::pi<double>() / 2.0)
+#endif
+#ifndef M_PI_4
+#define M_PI_4 (boost::math::constants::pi<double>() / 4.0)
+#endif
 
 #endif
 
diff --git a/gtsam/geometry/StereoPoint2.h b/gtsam/geometry/StereoPoint2.h
index 43701e4e8..022296c21 100644
--- a/gtsam/geometry/StereoPoint2.h
+++ b/gtsam/geometry/StereoPoint2.h
@@ -119,6 +119,11 @@ namespace gtsam {
 			return p.vector();
 		}
 
+    /** The difference between another point and this point */
+    inline StereoPoint2 between(const StereoPoint2& p2) const {
+      return gtsam::between_default(*this, p2);
+    }
+
 		/// @}
 		/// @name Standard Interface
 		/// @{
@@ -133,11 +138,6 @@ namespace gtsam {
 			return Point2(uL_, v_);
 		}
 
-		///TODO comment
-		inline StereoPoint2 between(const StereoPoint2& p2) const {
-			return gtsam::between_default(*this, p2);
-		}
-
 	private:
 
 		/// @}
diff --git a/tests/testGraph.cpp b/tests/testGraph.cpp
index c75c42b49..63cbd43c8 100644
--- a/tests/testGraph.cpp
+++ b/tests/testGraph.cpp
@@ -66,7 +66,7 @@ TEST( Graph, predecessorMap2Graph )
 	p_map.insert(1, 2);
 	p_map.insert(2, 2);
 	p_map.insert(3, 2);
-	tie(graph, root, key2vertex) = predecessorMap2Graph<SGraph<Key>, SVertex, Key>(p_map);
+	boost::tie(graph, root, key2vertex) = predecessorMap2Graph<SGraph<Key>, SVertex, Key>(p_map);
 
 	LONGS_EQUAL(3, boost::num_vertices(graph));
 	CHECK(root == key2vertex[2]);
diff --git a/tests/timeMultifrontalOnDataset.cpp b/tests/timeMultifrontalOnDataset.cpp
index 874ccf8bb..3d8ccf77e 100644
--- a/tests/timeMultifrontalOnDataset.cpp
+++ b/tests/timeMultifrontalOnDataset.cpp
@@ -44,7 +44,7 @@ int main(int argc, char *argv[]) {
   else if (argc == 4)
   	nrTrials = strtoul(argv[3], NULL, 10);
 
-  pair<shared_ptr<pose2SLAM::Graph>, shared_ptr<Values> > data = load2D(dataset(datasetname));
+  pair<boost::shared_ptr<pose2SLAM::Graph>, boost::shared_ptr<Values> > data = load2D(dataset(datasetname));
 
   // Add a prior on the first pose
   if (soft_prior)
diff --git a/tests/timeSequentialOnDataset.cpp b/tests/timeSequentialOnDataset.cpp
index 9e1b986f9..a37b9910c 100644
--- a/tests/timeSequentialOnDataset.cpp
+++ b/tests/timeSequentialOnDataset.cpp
@@ -44,7 +44,7 @@ int main(int argc, char *argv[]) {
   else if (argc == 4)
   	nrTrials = strtoul(argv[3], NULL, 10);
 
-  pair<shared_ptr<pose2SLAM::Graph>, shared_ptr<Values> > data = load2D(dataset(datasetname));
+  pair<boost::shared_ptr<pose2SLAM::Graph>, boost::shared_ptr<Values> > data = load2D(dataset(datasetname));
 
   // Add a prior on the first pose
   if (soft_prior)