diff --git a/gtsam/base/Lie.h b/gtsam/base/Lie.h
index ac7c2a9a5..cb8e7d017 100644
--- a/gtsam/base/Lie.h
+++ b/gtsam/base/Lie.h
@@ -370,4 +370,4 @@ public:
  * the gtsam namespace to be more easily enforced as testable
  */
 #define GTSAM_CONCEPT_LIE_INST(T) template class gtsam::IsLieGroup<T>;
-#define GTSAM_CONCEPT_LIE_TYPE(T) typedef gtsam::IsLieGroup<T> _gtsam_IsLieGroup_##T;
+#define GTSAM_CONCEPT_LIE_TYPE(T) using _gtsam_IsLieGroup_##T = gtsam::IsLieGroup<T>;
diff --git a/gtsam/base/Manifold.h b/gtsam/base/Manifold.h
index dbe497005..962dc8269 100644
--- a/gtsam/base/Manifold.h
+++ b/gtsam/base/Manifold.h
@@ -178,4 +178,4 @@ struct FixedDimension {
 // * the gtsam namespace to be more easily enforced as testable
 // */
 #define GTSAM_CONCEPT_MANIFOLD_INST(T) template class gtsam::IsManifold<T>;
-#define GTSAM_CONCEPT_MANIFOLD_TYPE(T) typedef gtsam::IsManifold<T> _gtsam_IsManifold_##T;
+#define GTSAM_CONCEPT_MANIFOLD_TYPE(T) using _gtsam_IsManifold_##T = gtsam::IsManifold<T>;
diff --git a/gtsam/base/Matrix.h b/gtsam/base/Matrix.h
index 013947bbd..61c61a5af 100644
--- a/gtsam/base/Matrix.h
+++ b/gtsam/base/Matrix.h
@@ -46,28 +46,28 @@ typedef Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> M
 // Create handy typedefs and constants for square-size matrices
 // MatrixMN, MatrixN = MatrixNN, I_NxN, and Z_NxN, for M,N=1..9
 #define GTSAM_MAKE_MATRIX_DEFS(N)   \
-typedef Eigen::Matrix<double, N, N> Matrix##N;  \
-typedef Eigen::Matrix<double, 1, N> Matrix1##N;  \
-typedef Eigen::Matrix<double, 2, N> Matrix2##N;  \
-typedef Eigen::Matrix<double, 3, N> Matrix3##N;  \
-typedef Eigen::Matrix<double, 4, N> Matrix4##N;  \
-typedef Eigen::Matrix<double, 5, N> Matrix5##N;  \
-typedef Eigen::Matrix<double, 6, N> Matrix6##N;  \
-typedef Eigen::Matrix<double, 7, N> Matrix7##N;  \
-typedef Eigen::Matrix<double, 8, N> Matrix8##N;  \
-typedef Eigen::Matrix<double, 9, N> Matrix9##N;  \
+using Matrix##N = Eigen::Matrix<double, N, N>;  \
+using Matrix1##N = Eigen::Matrix<double, 1, N>;  \
+using Matrix2##N = Eigen::Matrix<double, 2, N>;  \
+using Matrix3##N = Eigen::Matrix<double, 3, N>;  \
+using Matrix4##N = Eigen::Matrix<double, 4, N>;  \
+using Matrix5##N = Eigen::Matrix<double, 5, N>;  \
+using Matrix6##N = Eigen::Matrix<double, 6, N>;  \
+using Matrix7##N = Eigen::Matrix<double, 7, N>;  \
+using Matrix8##N = Eigen::Matrix<double, 8, N>;  \
+using Matrix9##N = Eigen::Matrix<double, 9, N>;  \
 static const Eigen::MatrixBase<Matrix##N>::IdentityReturnType I_##N##x##N = Matrix##N::Identity(); \
 static const Eigen::MatrixBase<Matrix##N>::ConstantReturnType Z_##N##x##N = Matrix##N::Zero();
 
-GTSAM_MAKE_MATRIX_DEFS(1);
-GTSAM_MAKE_MATRIX_DEFS(2);
-GTSAM_MAKE_MATRIX_DEFS(3);
-GTSAM_MAKE_MATRIX_DEFS(4);
-GTSAM_MAKE_MATRIX_DEFS(5);
-GTSAM_MAKE_MATRIX_DEFS(6);
-GTSAM_MAKE_MATRIX_DEFS(7);
-GTSAM_MAKE_MATRIX_DEFS(8);
-GTSAM_MAKE_MATRIX_DEFS(9);
+GTSAM_MAKE_MATRIX_DEFS(1)
+GTSAM_MAKE_MATRIX_DEFS(2)
+GTSAM_MAKE_MATRIX_DEFS(3)
+GTSAM_MAKE_MATRIX_DEFS(4)
+GTSAM_MAKE_MATRIX_DEFS(5)
+GTSAM_MAKE_MATRIX_DEFS(6)
+GTSAM_MAKE_MATRIX_DEFS(7)
+GTSAM_MAKE_MATRIX_DEFS(8)
+GTSAM_MAKE_MATRIX_DEFS(9)
 
 // Matrix expressions for accessing parts of matrices
 typedef Eigen::Block<Matrix> SubMatrix;
diff --git a/gtsam/base/Testable.h b/gtsam/base/Testable.h
index 6062c7ae1..d50d62c1f 100644
--- a/gtsam/base/Testable.h
+++ b/gtsam/base/Testable.h
@@ -173,4 +173,4 @@ namespace gtsam {
  * @deprecated please use BOOST_CONCEPT_ASSERT and
  */
 #define GTSAM_CONCEPT_TESTABLE_INST(T) template class gtsam::IsTestable<T>;
-#define GTSAM_CONCEPT_TESTABLE_TYPE(T) typedef gtsam::IsTestable<T> _gtsam_Testable_##T;
+#define GTSAM_CONCEPT_TESTABLE_TYPE(T) using _gtsam_Testable_##T = gtsam::IsTestable<T>;
diff --git a/gtsam/base/Vector.h b/gtsam/base/Vector.h
index ed90a7126..35c68c4b4 100644
--- a/gtsam/base/Vector.h
+++ b/gtsam/base/Vector.h
@@ -48,18 +48,18 @@ static const Eigen::MatrixBase<Vector3>::ConstantReturnType Z_3x1 = Vector3::Zer
 // Create handy typedefs and constants for vectors with N>3
 // VectorN and Z_Nx1, for N=1..9
 #define GTSAM_MAKE_VECTOR_DEFS(N)                \
-  typedef Eigen::Matrix<double, N, 1> Vector##N; \
+  using Vector##N = Eigen::Matrix<double, N, 1>; \
   static const Eigen::MatrixBase<Vector##N>::ConstantReturnType Z_##N##x1 = Vector##N::Zero();
 
-GTSAM_MAKE_VECTOR_DEFS(4);
-GTSAM_MAKE_VECTOR_DEFS(5);
-GTSAM_MAKE_VECTOR_DEFS(6);
-GTSAM_MAKE_VECTOR_DEFS(7);
-GTSAM_MAKE_VECTOR_DEFS(8);
-GTSAM_MAKE_VECTOR_DEFS(9);
-GTSAM_MAKE_VECTOR_DEFS(10);
-GTSAM_MAKE_VECTOR_DEFS(11);
-GTSAM_MAKE_VECTOR_DEFS(12);
+GTSAM_MAKE_VECTOR_DEFS(4)
+GTSAM_MAKE_VECTOR_DEFS(5)
+GTSAM_MAKE_VECTOR_DEFS(6)
+GTSAM_MAKE_VECTOR_DEFS(7)
+GTSAM_MAKE_VECTOR_DEFS(8)
+GTSAM_MAKE_VECTOR_DEFS(9)
+GTSAM_MAKE_VECTOR_DEFS(10)
+GTSAM_MAKE_VECTOR_DEFS(11)
+GTSAM_MAKE_VECTOR_DEFS(12)
 
 typedef Eigen::VectorBlock<Vector> SubVector;
 typedef Eigen::VectorBlock<const Vector> ConstSubVector;
diff --git a/gtsam/base/chartTesting.h b/gtsam/base/chartTesting.h
index f63054a5b..8f5213f91 100644
--- a/gtsam/base/chartTesting.h
+++ b/gtsam/base/chartTesting.h
@@ -32,7 +32,7 @@ void testDefaultChart(TestResult& result_,
                       const std::string& name_,
                       const T& value) {
 
-  GTSAM_CONCEPT_TESTABLE_TYPE(T);
+  GTSAM_CONCEPT_TESTABLE_TYPE(T)
 
   typedef typename gtsam::DefaultChart<T> Chart;
   typedef typename Chart::vector Vector;
diff --git a/gtsam/geometry/PinholePose.h b/gtsam/geometry/PinholePose.h
index cc6435a58..7a0b08227 100644
--- a/gtsam/geometry/PinholePose.h
+++ b/gtsam/geometry/PinholePose.h
@@ -35,7 +35,7 @@ class GTSAM_EXPORT PinholeBaseK: public PinholeBase {
 
 private:
 
-  GTSAM_CONCEPT_MANIFOLD_TYPE(CALIBRATION);
+  GTSAM_CONCEPT_MANIFOLD_TYPE(CALIBRATION)
 
   // Get dimensions of calibration type at compile time
   static const int DimK = FixedDimension<CALIBRATION>::value;
diff --git a/gtsam/geometry/Pose2.cpp b/gtsam/geometry/Pose2.cpp
index 8dafffee8..a0b3d502e 100644
--- a/gtsam/geometry/Pose2.cpp
+++ b/gtsam/geometry/Pose2.cpp
@@ -28,7 +28,7 @@ using namespace std;
 namespace gtsam {
 
 /** instantiate concept checks */
-GTSAM_CONCEPT_POSE_INST(Pose2);
+GTSAM_CONCEPT_POSE_INST(Pose2)
 
 static const Rot2 R_PI_2(Rot2::fromCosSin(0., 1.));
 
diff --git a/gtsam/geometry/Pose3.cpp b/gtsam/geometry/Pose3.cpp
index d0e60f3fd..23643f0cd 100644
--- a/gtsam/geometry/Pose3.cpp
+++ b/gtsam/geometry/Pose3.cpp
@@ -30,7 +30,7 @@ using std::vector;
 using Point3Pairs = vector<Point3Pair>;
 
 /** instantiate concept checks */
-GTSAM_CONCEPT_POSE_INST(Pose3);
+GTSAM_CONCEPT_POSE_INST(Pose3)
 
 /* ************************************************************************* */
 Pose3::Pose3(const Pose2& pose2) :
diff --git a/gtsam/geometry/concepts.h b/gtsam/geometry/concepts.h
index 207b48f56..bafb62418 100644
--- a/gtsam/geometry/concepts.h
+++ b/gtsam/geometry/concepts.h
@@ -72,5 +72,5 @@ private:
 
 /** Pose Concept macros */
 #define GTSAM_CONCEPT_POSE_INST(T) template class gtsam::PoseConcept<T>;
-#define GTSAM_CONCEPT_POSE_TYPE(T) typedef gtsam::PoseConcept<T> _gtsam_PoseConcept##T;
+#define GTSAM_CONCEPT_POSE_TYPE(T) using _gtsam_PoseConcept##T = gtsam::PoseConcept<T>;
 
diff --git a/gtsam/inference/ClusterTree.h b/gtsam/inference/ClusterTree.h
index e225bac5f..7dd414193 100644
--- a/gtsam/inference/ClusterTree.h
+++ b/gtsam/inference/ClusterTree.h
@@ -110,7 +110,7 @@ class ClusterTree {
   typedef sharedCluster sharedNode;
 
   /** concept check */
-  GTSAM_CONCEPT_TESTABLE_TYPE(FactorType);
+  GTSAM_CONCEPT_TESTABLE_TYPE(FactorType)
 
  protected:
   FastVector<sharedNode> roots_;
diff --git a/gtsam/inference/EliminationTree.h b/gtsam/inference/EliminationTree.h
index e4a64c589..70e10b3bd 100644
--- a/gtsam/inference/EliminationTree.h
+++ b/gtsam/inference/EliminationTree.h
@@ -81,7 +81,7 @@ namespace gtsam {
 
   protected:
     /** concept check */
-    GTSAM_CONCEPT_TESTABLE_TYPE(FactorType);
+    GTSAM_CONCEPT_TESTABLE_TYPE(FactorType)
 
     FastVector<sharedNode> roots_;
     FastVector<sharedFactor> remainingFactors_;
diff --git a/gtsam/linear/tests/testSerializationLinear.cpp b/gtsam/linear/tests/testSerializationLinear.cpp
index c5b3dab37..881b2830e 100644
--- a/gtsam/linear/tests/testSerializationLinear.cpp
+++ b/gtsam/linear/tests/testSerializationLinear.cpp
@@ -39,14 +39,14 @@ using namespace gtsam::serializationTestHelpers;
 /* ************************************************************************* */
 // Export Noisemodels
 // See http://www.boost.org/doc/libs/1_32_0/libs/serialization/doc/special.html
-BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained");
-BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal");
-BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Gaussian, "gtsam_noiseModel_Gaussian");
-BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit");
-BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic, "gtsam_noiseModel_Isotropic");
+BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained")
+BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal")
+BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Gaussian, "gtsam_noiseModel_Gaussian")
+BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit")
+BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic, "gtsam_noiseModel_Isotropic")
 
-BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel");
-BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal");
+BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel")
+BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal")
 
 /* ************************************************************************* */
 // example noise models
@@ -129,9 +129,9 @@ TEST (Serialization, SharedDiagonal_noiseModels) {
 
 /* Create GUIDs for factors */
 /* ************************************************************************* */
-BOOST_CLASS_EXPORT_GUID(gtsam::JacobianFactor, "gtsam::JacobianFactor");
-BOOST_CLASS_EXPORT_GUID(gtsam::HessianFactor , "gtsam::HessianFactor");
-BOOST_CLASS_EXPORT_GUID(gtsam::GaussianConditional , "gtsam::GaussianConditional");
+BOOST_CLASS_EXPORT_GUID(gtsam::JacobianFactor, "gtsam::JacobianFactor")
+BOOST_CLASS_EXPORT_GUID(gtsam::HessianFactor , "gtsam::HessianFactor")
+BOOST_CLASS_EXPORT_GUID(gtsam::GaussianConditional , "gtsam::GaussianConditional")
 
 /* ************************************************************************* */
 TEST (Serialization, linear_factors) {
diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp
index ca1c5b93a..7d086eb57 100644
--- a/gtsam/navigation/CombinedImuFactor.cpp
+++ b/gtsam/navigation/CombinedImuFactor.cpp
@@ -257,5 +257,5 @@ std::ostream& operator<<(std::ostream& os, const CombinedImuFactor& f) {
  /// namespace gtsam
 
 /// Boost serialization export definition for derived class
-BOOST_CLASS_EXPORT_IMPLEMENT(gtsam::PreintegrationCombinedParams);
+BOOST_CLASS_EXPORT_IMPLEMENT(gtsam::PreintegrationCombinedParams)
 
diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h
index ed94750b7..89e8b574f 100644
--- a/gtsam/navigation/CombinedImuFactor.h
+++ b/gtsam/navigation/CombinedImuFactor.h
@@ -353,4 +353,4 @@ struct traits<CombinedImuFactor> : public Testable<CombinedImuFactor> {};
 }  // namespace gtsam
 
 /// Add Boost serialization export key (declaration) for derived class
-BOOST_CLASS_EXPORT_KEY(gtsam::PreintegrationCombinedParams);
+BOOST_CLASS_EXPORT_KEY(gtsam::PreintegrationCombinedParams)
diff --git a/gtsam/navigation/tests/testAttitudeFactor.cpp b/gtsam/navigation/tests/testAttitudeFactor.cpp
index d49907cbf..9304e8412 100644
--- a/gtsam/navigation/tests/testAttitudeFactor.cpp
+++ b/gtsam/navigation/tests/testAttitudeFactor.cpp
@@ -66,7 +66,7 @@ TEST( Rot3AttitudeFactor, Constructor ) {
 /* ************************************************************************* */
 // Export Noisemodels
 // See http://www.boost.org/doc/libs/1_32_0/libs/serialization/doc/special.html
-BOOST_CLASS_EXPORT(gtsam::noiseModel::Isotropic);
+BOOST_CLASS_EXPORT(gtsam::noiseModel::Isotropic)
 
 /* ************************************************************************* */
 TEST(Rot3AttitudeFactor, Serialization) {
diff --git a/gtsam/navigation/tests/testImuFactorSerialization.cpp b/gtsam/navigation/tests/testImuFactorSerialization.cpp
index ed72e18e9..e72b1fb5b 100644
--- a/gtsam/navigation/tests/testImuFactorSerialization.cpp
+++ b/gtsam/navigation/tests/testImuFactorSerialization.cpp
@@ -31,16 +31,16 @@ using namespace gtsam;
 using namespace gtsam::serializationTestHelpers;
 
 BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained,
-                        "gtsam_noiseModel_Constrained");
+                        "gtsam_noiseModel_Constrained")
 BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal,
-                        "gtsam_noiseModel_Diagonal");
+                        "gtsam_noiseModel_Diagonal")
 BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Gaussian,
-                        "gtsam_noiseModel_Gaussian");
-BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit");
+                        "gtsam_noiseModel_Gaussian")
+BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit")
 BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic,
-                        "gtsam_noiseModel_Isotropic");
-BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel");
-BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal");
+                        "gtsam_noiseModel_Isotropic")
+BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel")
+BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal")
 
 template <typename P>
 P getPreintegratedMeasurements() {
diff --git a/gtsam/nonlinear/CustomFactor.h b/gtsam/nonlinear/CustomFactor.h
index dbaf31898..615b5418e 100644
--- a/gtsam/nonlinear/CustomFactor.h
+++ b/gtsam/nonlinear/CustomFactor.h
@@ -101,4 +101,4 @@ private:
   }
 };
 
-};
+}
diff --git a/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h b/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h
index fd9e49a62..a7a0d724b 100644
--- a/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h
+++ b/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h
@@ -149,7 +149,7 @@ boost::tuple<V, int> nonlinearConjugateGradient(const S &system,
     const V &initial, const NonlinearOptimizerParams &params,
     const bool singleIteration, const bool gradientDescent = false) {
 
-  // GTSAM_CONCEPT_MANIFOLD_TYPE(V);
+  // GTSAM_CONCEPT_MANIFOLD_TYPE(V)
 
   size_t iteration = 0;
 
diff --git a/gtsam/nonlinear/NonlinearEquality.h b/gtsam/nonlinear/NonlinearEquality.h
index 47083d5d7..43d30254e 100644
--- a/gtsam/nonlinear/NonlinearEquality.h
+++ b/gtsam/nonlinear/NonlinearEquality.h
@@ -219,7 +219,6 @@ protected:
   X value_; /// fixed value for variable
 
   GTSAM_CONCEPT_MANIFOLD_TYPE(X)
-
   GTSAM_CONCEPT_TESTABLE_TYPE(X)
 
 public:
diff --git a/gtsam/nonlinear/tests/testSerializationNonlinear.cpp b/gtsam/nonlinear/tests/testSerializationNonlinear.cpp
index f4bb5f4f6..4a73cbb0b 100644
--- a/gtsam/nonlinear/tests/testSerializationNonlinear.cpp
+++ b/gtsam/nonlinear/tests/testSerializationNonlinear.cpp
@@ -35,37 +35,37 @@ using namespace gtsam::serializationTestHelpers;
 
 /* ************************************************************************* */
 // Create GUIDs for Noisemodels
-BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal");
-BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Base , "gtsam_noiseModel_mEstimator_Base");
-BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Null , "gtsam_noiseModel_mEstimator_Null");
-BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Fair , "gtsam_noiseModel_mEstimator_Fair");
-BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Huber, "gtsam_noiseModel_mEstimator_Huber");
-BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Tukey, "gtsam_noiseModel_mEstimator_Tukey");
-BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained");
-BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit");
-BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic,"gtsam_noiseModel_Isotropic");
-BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Robust, "gtsam_noiseModel_Robust");
-BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel");
-BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal");
+BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal")
+BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Base , "gtsam_noiseModel_mEstimator_Base")
+BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Null , "gtsam_noiseModel_mEstimator_Null")
+BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Fair , "gtsam_noiseModel_mEstimator_Fair")
+BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Huber, "gtsam_noiseModel_mEstimator_Huber")
+BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Tukey, "gtsam_noiseModel_mEstimator_Tukey")
+BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained")
+BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit")
+BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic,"gtsam_noiseModel_Isotropic")
+BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Robust, "gtsam_noiseModel_Robust")
+BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel")
+BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal")
 
 /* ************************************************************************* */
 // Create GUIDs for factors
-BOOST_CLASS_EXPORT_GUID(gtsam::PriorFactor<gtsam::Pose3>, "gtsam::PriorFactor<gtsam::Pose3>");
-BOOST_CLASS_EXPORT_GUID(gtsam::JacobianFactor, "gtsam::JacobianFactor");
-BOOST_CLASS_EXPORT_GUID(gtsam::HessianFactor , "gtsam::HessianFactor");
-BOOST_CLASS_EXPORT_GUID(gtsam::GaussianConditional , "gtsam::GaussianConditional");
+BOOST_CLASS_EXPORT_GUID(gtsam::PriorFactor<gtsam::Pose3>, "gtsam::PriorFactor<gtsam::Pose3>")
+BOOST_CLASS_EXPORT_GUID(gtsam::JacobianFactor, "gtsam::JacobianFactor")
+BOOST_CLASS_EXPORT_GUID(gtsam::HessianFactor , "gtsam::HessianFactor")
+BOOST_CLASS_EXPORT_GUID(gtsam::GaussianConditional , "gtsam::GaussianConditional")
 
 
 /* ************************************************************************* */
 // Export all classes derived from Value
-GTSAM_VALUE_EXPORT(gtsam::Cal3_S2);
-GTSAM_VALUE_EXPORT(gtsam::Cal3Bundler);
-GTSAM_VALUE_EXPORT(gtsam::Point3);
-GTSAM_VALUE_EXPORT(gtsam::Pose3);
-GTSAM_VALUE_EXPORT(gtsam::Rot3);
-GTSAM_VALUE_EXPORT(gtsam::PinholeCamera<Cal3_S2>);
-GTSAM_VALUE_EXPORT(gtsam::PinholeCamera<Cal3DS2>);
-GTSAM_VALUE_EXPORT(gtsam::PinholeCamera<Cal3Bundler>);
+GTSAM_VALUE_EXPORT(gtsam::Cal3_S2)
+GTSAM_VALUE_EXPORT(gtsam::Cal3Bundler)
+GTSAM_VALUE_EXPORT(gtsam::Point3)
+GTSAM_VALUE_EXPORT(gtsam::Pose3)
+GTSAM_VALUE_EXPORT(gtsam::Rot3)
+GTSAM_VALUE_EXPORT(gtsam::PinholeCamera<Cal3_S2>)
+GTSAM_VALUE_EXPORT(gtsam::PinholeCamera<Cal3DS2>)
+GTSAM_VALUE_EXPORT(gtsam::PinholeCamera<Cal3Bundler>)
 
 namespace detail {
 template<class T> struct pack {
diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h
index 2e4543177..bfc3a0f78 100644
--- a/gtsam/slam/GeneralSFMFactor.h
+++ b/gtsam/slam/GeneralSFMFactor.h
@@ -59,8 +59,8 @@ namespace gtsam {
 template<class CAMERA, class LANDMARK>
 class GeneralSFMFactor: public NoiseModelFactor2<CAMERA, LANDMARK> {
 
-  GTSAM_CONCEPT_MANIFOLD_TYPE(CAMERA);
-  GTSAM_CONCEPT_MANIFOLD_TYPE(LANDMARK);
+  GTSAM_CONCEPT_MANIFOLD_TYPE(CAMERA)
+  GTSAM_CONCEPT_MANIFOLD_TYPE(LANDMARK)
 
   static const int DimC = FixedDimension<CAMERA>::value;
   static const int DimL = FixedDimension<LANDMARK>::value;
@@ -202,7 +202,7 @@ struct traits<GeneralSFMFactor<CAMERA, LANDMARK> > : Testable<
 template<class CALIBRATION>
 class GeneralSFMFactor2: public NoiseModelFactor3<Pose3, Point3, CALIBRATION> {
 
-  GTSAM_CONCEPT_MANIFOLD_TYPE(CALIBRATION);
+  GTSAM_CONCEPT_MANIFOLD_TYPE(CALIBRATION)
   static const int DimK = FixedDimension<CALIBRATION>::value;
 
 protected:
diff --git a/gtsam/slam/tests/testSmartFactorBase.cpp b/gtsam/slam/tests/testSmartFactorBase.cpp
index 951cbf8f4..ba46dce8d 100644
--- a/gtsam/slam/tests/testSmartFactorBase.cpp
+++ b/gtsam/slam/tests/testSmartFactorBase.cpp
@@ -127,13 +127,13 @@ TEST(SmartFactorBase, Stereo) {
 }
 
 /* ************************************************************************* */
-BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained");
-BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal");
-BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Gaussian, "gtsam_noiseModel_Gaussian");
-BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit");
-BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic, "gtsam_noiseModel_Isotropic");
-BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel");
-BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal");
+BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained")
+BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal")
+BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Gaussian, "gtsam_noiseModel_Gaussian")
+BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit")
+BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic, "gtsam_noiseModel_Isotropic")
+BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel")
+BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal")
 
 TEST(SmartFactorBase, serialize) {
   using namespace gtsam::serializationTestHelpers;
diff --git a/gtsam/slam/tests/testSmartProjectionFactor.cpp b/gtsam/slam/tests/testSmartProjectionFactor.cpp
index 1fd06cc9f..133f81511 100644
--- a/gtsam/slam/tests/testSmartProjectionFactor.cpp
+++ b/gtsam/slam/tests/testSmartProjectionFactor.cpp
@@ -811,13 +811,13 @@ TEST(SmartProjectionFactor, implicitJacobianFactor ) {
 }
 
 /* ************************************************************************* */
-BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained");
-BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal");
-BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Gaussian, "gtsam_noiseModel_Gaussian");
-BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit");
-BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic, "gtsam_noiseModel_Isotropic");
-BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel");
-BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal");
+BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained")
+BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal")
+BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Gaussian, "gtsam_noiseModel_Gaussian")
+BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit")
+BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic, "gtsam_noiseModel_Isotropic")
+BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel")
+BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal")
 
 TEST(SmartProjectionFactor, serialize) {
   using namespace vanilla;
diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
index 997c33846..f3706fa02 100644
--- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
+++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
@@ -1333,13 +1333,13 @@ TEST( SmartProjectionPoseFactor, Cal3BundlerRotationOnly ) {
 }
 
 /* ************************************************************************* */
-BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained");
-BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal");
-BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Gaussian, "gtsam_noiseModel_Gaussian");
-BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit");
-BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic, "gtsam_noiseModel_Isotropic");
-BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel");
-BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal");
+BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained")
+BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal")
+BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Gaussian, "gtsam_noiseModel_Gaussian")
+BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit")
+BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic, "gtsam_noiseModel_Isotropic")
+BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel")
+BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal")
 
 TEST(SmartProjectionPoseFactor, serialize) {
   using namespace vanillaPose;
diff --git a/gtsam_unstable/linear/tests/testQPSolver.cpp b/gtsam_unstable/linear/tests/testQPSolver.cpp
index 67a0c971e..12bd93416 100644
--- a/gtsam_unstable/linear/tests/testQPSolver.cpp
+++ b/gtsam_unstable/linear/tests/testQPSolver.cpp
@@ -226,7 +226,7 @@ pair<QP, QP> testParser(QPSParser parser) {
   expected.inequalities.add(X1, -I_1x1, 0, 2);                  // x >= 0
   expected.inequalities.add(X2, -I_1x1, 0, 3);                  // y > = 0
   return {expected, exampleqp};
-};
+}
 
 TEST(QPSolver, ParserSyntaticTest) {
   auto result = testParser(QPSParser("QPExample.QPS"));
diff --git a/gtsam_unstable/slam/BetweenFactorEM.h b/gtsam_unstable/slam/BetweenFactorEM.h
index 98ec59fe9..572935da3 100644
--- a/gtsam_unstable/slam/BetweenFactorEM.h
+++ b/gtsam_unstable/slam/BetweenFactorEM.h
@@ -56,7 +56,8 @@ private:
   bool flag_bump_up_near_zero_probs_;
 
   /** concept check by type */
-  GTSAM_CONCEPT_LIE_TYPE(T)GTSAM_CONCEPT_TESTABLE_TYPE(T)
+  GTSAM_CONCEPT_LIE_TYPE(T)
+  GTSAM_CONCEPT_TESTABLE_TYPE(T)
 
 public:
 
diff --git a/tests/testExpressionFactor.cpp b/tests/testExpressionFactor.cpp
index 66dbed1eb..75425a0cd 100644
--- a/tests/testExpressionFactor.cpp
+++ b/tests/testExpressionFactor.cpp
@@ -606,7 +606,7 @@ Vector3 f(const Point2& a, const Vector3& b, OptionalJacobian<3, 2> H1,
   if (H1) *H1 << b.y(), b.z(), b.x(), 0, 0, 0;
   if (H2) *H2 = A;
   return A * b;
-};
+}
 }
 
 TEST(ExpressionFactor, MultiplyWithInverseFunction) {
diff --git a/tests/testSerializationSLAM.cpp b/tests/testSerializationSLAM.cpp
index 2e99aff71..496122419 100644
--- a/tests/testSerializationSLAM.cpp
+++ b/tests/testSerializationSLAM.cpp
@@ -114,94 +114,94 @@ using symbol_shorthand::L;
 
 /* Create GUIDs for Noisemodels */
 /* ************************************************************************* */
-BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained");
-BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal");
-BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Gaussian, "gtsam_noiseModel_Gaussian");
-BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit");
-BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic, "gtsam_noiseModel_Isotropic");
-BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Robust, "gtsam_noiseModel_Robust");
+BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Constrained, "gtsam_noiseModel_Constrained")
+BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Diagonal, "gtsam_noiseModel_Diagonal")
+BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Gaussian, "gtsam_noiseModel_Gaussian")
+BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Unit, "gtsam_noiseModel_Unit")
+BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Isotropic, "gtsam_noiseModel_Isotropic")
+BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::Robust, "gtsam_noiseModel_Robust")
 
-BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Base , "gtsam_noiseModel_mEstimator_Base");
-BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Null , "gtsam_noiseModel_mEstimator_Null");
-BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Fair , "gtsam_noiseModel_mEstimator_Fair");
-BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Huber, "gtsam_noiseModel_mEstimator_Huber");
-BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Tukey, "gtsam_noiseModel_mEstimator_Tukey");
+BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Base , "gtsam_noiseModel_mEstimator_Base")
+BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Null , "gtsam_noiseModel_mEstimator_Null")
+BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Fair , "gtsam_noiseModel_mEstimator_Fair")
+BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Huber, "gtsam_noiseModel_mEstimator_Huber")
+BOOST_CLASS_EXPORT_GUID(gtsam::noiseModel::mEstimator::Tukey, "gtsam_noiseModel_mEstimator_Tukey")
 
-BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel");
-BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal");
+BOOST_CLASS_EXPORT_GUID(gtsam::SharedNoiseModel, "gtsam_SharedNoiseModel")
+BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal")
 
 /* Create GUIDs for geometry */
 /* ************************************************************************* */
-GTSAM_VALUE_EXPORT(gtsam::Point2);
-GTSAM_VALUE_EXPORT(gtsam::StereoPoint2);
-GTSAM_VALUE_EXPORT(gtsam::Point3);
-GTSAM_VALUE_EXPORT(gtsam::Rot2);
-GTSAM_VALUE_EXPORT(gtsam::Rot3);
-GTSAM_VALUE_EXPORT(gtsam::Pose2);
-GTSAM_VALUE_EXPORT(gtsam::Pose3);
-GTSAM_VALUE_EXPORT(gtsam::Cal3_S2);
-GTSAM_VALUE_EXPORT(gtsam::Cal3DS2);
-GTSAM_VALUE_EXPORT(gtsam::Cal3_S2Stereo);
-GTSAM_VALUE_EXPORT(gtsam::CalibratedCamera);
-GTSAM_VALUE_EXPORT(gtsam::PinholeCameraCal3_S2);
-GTSAM_VALUE_EXPORT(gtsam::StereoCamera);
+GTSAM_VALUE_EXPORT(gtsam::Point2)
+GTSAM_VALUE_EXPORT(gtsam::StereoPoint2)
+GTSAM_VALUE_EXPORT(gtsam::Point3)
+GTSAM_VALUE_EXPORT(gtsam::Rot2)
+GTSAM_VALUE_EXPORT(gtsam::Rot3)
+GTSAM_VALUE_EXPORT(gtsam::Pose2)
+GTSAM_VALUE_EXPORT(gtsam::Pose3)
+GTSAM_VALUE_EXPORT(gtsam::Cal3_S2)
+GTSAM_VALUE_EXPORT(gtsam::Cal3DS2)
+GTSAM_VALUE_EXPORT(gtsam::Cal3_S2Stereo)
+GTSAM_VALUE_EXPORT(gtsam::CalibratedCamera)
+GTSAM_VALUE_EXPORT(gtsam::PinholeCameraCal3_S2)
+GTSAM_VALUE_EXPORT(gtsam::StereoCamera)
 
 /* Create GUIDs for factors */
 /* ************************************************************************* */
-BOOST_CLASS_EXPORT_GUID(gtsam::JacobianFactor, "gtsam::JacobianFactor");
-BOOST_CLASS_EXPORT_GUID(gtsam::HessianFactor , "gtsam::HessianFactor");
+BOOST_CLASS_EXPORT_GUID(gtsam::JacobianFactor, "gtsam::JacobianFactor")
+BOOST_CLASS_EXPORT_GUID(gtsam::HessianFactor , "gtsam::HessianFactor")
 
-BOOST_CLASS_EXPORT_GUID(PriorFactorPoint2, "gtsam::PriorFactorPoint2");
-BOOST_CLASS_EXPORT_GUID(PriorFactorStereoPoint2, "gtsam::PriorFactorStereoPoint2");
-BOOST_CLASS_EXPORT_GUID(PriorFactorPoint3, "gtsam::PriorFactorPoint3");
-BOOST_CLASS_EXPORT_GUID(PriorFactorRot2, "gtsam::PriorFactorRot2");
-BOOST_CLASS_EXPORT_GUID(PriorFactorRot3, "gtsam::PriorFactorRot3");
-BOOST_CLASS_EXPORT_GUID(PriorFactorPose2, "gtsam::PriorFactorPose2");
-BOOST_CLASS_EXPORT_GUID(PriorFactorPose3, "gtsam::PriorFactorPose3");
-BOOST_CLASS_EXPORT_GUID(PriorFactorCal3_S2, "gtsam::PriorFactorCal3_S2");
-BOOST_CLASS_EXPORT_GUID(PriorFactorCal3DS2, "gtsam::PriorFactorCal3DS2");
-BOOST_CLASS_EXPORT_GUID(PriorFactorCalibratedCamera, "gtsam::PriorFactorCalibratedCamera");
-BOOST_CLASS_EXPORT_GUID(PriorFactorStereoCamera, "gtsam::PriorFactorStereoCamera");
+BOOST_CLASS_EXPORT_GUID(PriorFactorPoint2, "gtsam::PriorFactorPoint2")
+BOOST_CLASS_EXPORT_GUID(PriorFactorStereoPoint2, "gtsam::PriorFactorStereoPoint2")
+BOOST_CLASS_EXPORT_GUID(PriorFactorPoint3, "gtsam::PriorFactorPoint3")
+BOOST_CLASS_EXPORT_GUID(PriorFactorRot2, "gtsam::PriorFactorRot2")
+BOOST_CLASS_EXPORT_GUID(PriorFactorRot3, "gtsam::PriorFactorRot3")
+BOOST_CLASS_EXPORT_GUID(PriorFactorPose2, "gtsam::PriorFactorPose2")
+BOOST_CLASS_EXPORT_GUID(PriorFactorPose3, "gtsam::PriorFactorPose3")
+BOOST_CLASS_EXPORT_GUID(PriorFactorCal3_S2, "gtsam::PriorFactorCal3_S2")
+BOOST_CLASS_EXPORT_GUID(PriorFactorCal3DS2, "gtsam::PriorFactorCal3DS2")
+BOOST_CLASS_EXPORT_GUID(PriorFactorCalibratedCamera, "gtsam::PriorFactorCalibratedCamera")
+BOOST_CLASS_EXPORT_GUID(PriorFactorStereoCamera, "gtsam::PriorFactorStereoCamera")
 
-BOOST_CLASS_EXPORT_GUID(BetweenFactorPoint2, "gtsam::BetweenFactorPoint2");
-BOOST_CLASS_EXPORT_GUID(BetweenFactorPoint3, "gtsam::BetweenFactorPoint3");
-BOOST_CLASS_EXPORT_GUID(BetweenFactorRot2, "gtsam::BetweenFactorRot2");
-BOOST_CLASS_EXPORT_GUID(BetweenFactorRot3, "gtsam::BetweenFactorRot3");
-BOOST_CLASS_EXPORT_GUID(BetweenFactorPose2, "gtsam::BetweenFactorPose2");
-BOOST_CLASS_EXPORT_GUID(BetweenFactorPose3, "gtsam::BetweenFactorPose3");
+BOOST_CLASS_EXPORT_GUID(BetweenFactorPoint2, "gtsam::BetweenFactorPoint2")
+BOOST_CLASS_EXPORT_GUID(BetweenFactorPoint3, "gtsam::BetweenFactorPoint3")
+BOOST_CLASS_EXPORT_GUID(BetweenFactorRot2, "gtsam::BetweenFactorRot2")
+BOOST_CLASS_EXPORT_GUID(BetweenFactorRot3, "gtsam::BetweenFactorRot3")
+BOOST_CLASS_EXPORT_GUID(BetweenFactorPose2, "gtsam::BetweenFactorPose2")
+BOOST_CLASS_EXPORT_GUID(BetweenFactorPose3, "gtsam::BetweenFactorPose3")
 
-BOOST_CLASS_EXPORT_GUID(NonlinearEqualityPoint2, "gtsam::NonlinearEqualityPoint2");
-BOOST_CLASS_EXPORT_GUID(NonlinearEqualityStereoPoint2, "gtsam::NonlinearEqualityStereoPoint2");
-BOOST_CLASS_EXPORT_GUID(NonlinearEqualityPoint3, "gtsam::NonlinearEqualityPoint3");
-BOOST_CLASS_EXPORT_GUID(NonlinearEqualityRot2, "gtsam::NonlinearEqualityRot2");
-BOOST_CLASS_EXPORT_GUID(NonlinearEqualityRot3, "gtsam::NonlinearEqualityRot3");
-BOOST_CLASS_EXPORT_GUID(NonlinearEqualityPose2, "gtsam::NonlinearEqualityPose2");
-BOOST_CLASS_EXPORT_GUID(NonlinearEqualityPose3, "gtsam::NonlinearEqualityPose3");
-BOOST_CLASS_EXPORT_GUID(NonlinearEqualityCal3_S2, "gtsam::NonlinearEqualityCal3_S2");
-BOOST_CLASS_EXPORT_GUID(NonlinearEqualityCal3DS2, "gtsam::NonlinearEqualityCal3DS2");
-BOOST_CLASS_EXPORT_GUID(NonlinearEqualityCalibratedCamera, "gtsam::NonlinearEqualityCalibratedCamera");
-BOOST_CLASS_EXPORT_GUID(NonlinearEqualityStereoCamera, "gtsam::NonlinearEqualityStereoCamera");
+BOOST_CLASS_EXPORT_GUID(NonlinearEqualityPoint2, "gtsam::NonlinearEqualityPoint2")
+BOOST_CLASS_EXPORT_GUID(NonlinearEqualityStereoPoint2, "gtsam::NonlinearEqualityStereoPoint2")
+BOOST_CLASS_EXPORT_GUID(NonlinearEqualityPoint3, "gtsam::NonlinearEqualityPoint3")
+BOOST_CLASS_EXPORT_GUID(NonlinearEqualityRot2, "gtsam::NonlinearEqualityRot2")
+BOOST_CLASS_EXPORT_GUID(NonlinearEqualityRot3, "gtsam::NonlinearEqualityRot3")
+BOOST_CLASS_EXPORT_GUID(NonlinearEqualityPose2, "gtsam::NonlinearEqualityPose2")
+BOOST_CLASS_EXPORT_GUID(NonlinearEqualityPose3, "gtsam::NonlinearEqualityPose3")
+BOOST_CLASS_EXPORT_GUID(NonlinearEqualityCal3_S2, "gtsam::NonlinearEqualityCal3_S2")
+BOOST_CLASS_EXPORT_GUID(NonlinearEqualityCal3DS2, "gtsam::NonlinearEqualityCal3DS2")
+BOOST_CLASS_EXPORT_GUID(NonlinearEqualityCalibratedCamera, "gtsam::NonlinearEqualityCalibratedCamera")
+BOOST_CLASS_EXPORT_GUID(NonlinearEqualityStereoCamera, "gtsam::NonlinearEqualityStereoCamera")
 
-BOOST_CLASS_EXPORT_GUID(RangeFactor2D, "gtsam::RangeFactor2D");
-BOOST_CLASS_EXPORT_GUID(RangeFactor3D, "gtsam::RangeFactor3D");
-BOOST_CLASS_EXPORT_GUID(RangeFactorPose2, "gtsam::RangeFactorPose2");
-BOOST_CLASS_EXPORT_GUID(RangeFactorPose3, "gtsam::RangeFactorPose3");
-BOOST_CLASS_EXPORT_GUID(RangeFactorCalibratedCameraPoint, "gtsam::RangeFactorCalibratedCameraPoint");
-BOOST_CLASS_EXPORT_GUID(RangeFactorPinholeCameraCal3_S2Point, "gtsam::RangeFactorPinholeCameraCal3_S2Point");
-BOOST_CLASS_EXPORT_GUID(RangeFactorCalibratedCamera, "gtsam::RangeFactorCalibratedCamera");
-BOOST_CLASS_EXPORT_GUID(RangeFactorPinholeCameraCal3_S2, "gtsam::RangeFactorPinholeCameraCal3_S2");
+BOOST_CLASS_EXPORT_GUID(RangeFactor2D, "gtsam::RangeFactor2D")
+BOOST_CLASS_EXPORT_GUID(RangeFactor3D, "gtsam::RangeFactor3D")
+BOOST_CLASS_EXPORT_GUID(RangeFactorPose2, "gtsam::RangeFactorPose2")
+BOOST_CLASS_EXPORT_GUID(RangeFactorPose3, "gtsam::RangeFactorPose3")
+BOOST_CLASS_EXPORT_GUID(RangeFactorCalibratedCameraPoint, "gtsam::RangeFactorCalibratedCameraPoint")
+BOOST_CLASS_EXPORT_GUID(RangeFactorPinholeCameraCal3_S2Point, "gtsam::RangeFactorPinholeCameraCal3_S2Point")
+BOOST_CLASS_EXPORT_GUID(RangeFactorCalibratedCamera, "gtsam::RangeFactorCalibratedCamera")
+BOOST_CLASS_EXPORT_GUID(RangeFactorPinholeCameraCal3_S2, "gtsam::RangeFactorPinholeCameraCal3_S2")
 
-BOOST_CLASS_EXPORT_GUID(BearingRangeFactor2D, "gtsam::BearingRangeFactor2D");
+BOOST_CLASS_EXPORT_GUID(BearingRangeFactor2D, "gtsam::BearingRangeFactor2D")
 
-BOOST_CLASS_EXPORT_GUID(GenericProjectionFactorCal3_S2, "gtsam::GenericProjectionFactorCal3_S2");
-BOOST_CLASS_EXPORT_GUID(GenericProjectionFactorCal3DS2, "gtsam::GenericProjectionFactorCal3DS2");
+BOOST_CLASS_EXPORT_GUID(GenericProjectionFactorCal3_S2, "gtsam::GenericProjectionFactorCal3_S2")
+BOOST_CLASS_EXPORT_GUID(GenericProjectionFactorCal3DS2, "gtsam::GenericProjectionFactorCal3DS2")
 
-BOOST_CLASS_EXPORT_GUID(GeneralSFMFactorCal3_S2, "gtsam::GeneralSFMFactorCal3_S2");
-BOOST_CLASS_EXPORT_GUID(GeneralSFMFactorCal3DS2, "gtsam::GeneralSFMFactorCal3DS2");
+BOOST_CLASS_EXPORT_GUID(GeneralSFMFactorCal3_S2, "gtsam::GeneralSFMFactorCal3_S2")
+BOOST_CLASS_EXPORT_GUID(GeneralSFMFactorCal3DS2, "gtsam::GeneralSFMFactorCal3DS2")
 
-BOOST_CLASS_EXPORT_GUID(GeneralSFMFactor2Cal3_S2, "gtsam::GeneralSFMFactor2Cal3_S2");
+BOOST_CLASS_EXPORT_GUID(GeneralSFMFactor2Cal3_S2, "gtsam::GeneralSFMFactor2Cal3_S2")
 
-BOOST_CLASS_EXPORT_GUID(GenericStereoFactor3D, "gtsam::GenericStereoFactor3D");
+BOOST_CLASS_EXPORT_GUID(GenericStereoFactor3D, "gtsam::GenericStereoFactor3D")
 
 
 /* ************************************************************************* */
diff --git a/tests/testSubgraphPreconditioner.cpp b/tests/testSubgraphPreconditioner.cpp
index fb9f7a5a2..84ccc131a 100644
--- a/tests/testSubgraphPreconditioner.cpp
+++ b/tests/testSubgraphPreconditioner.cpp
@@ -200,7 +200,7 @@ TEST(SubgraphPreconditioner, system) {
 }
 
 /* ************************************************************************* */
-BOOST_CLASS_EXPORT_GUID(gtsam::JacobianFactor, "JacobianFactor");
+BOOST_CLASS_EXPORT_GUID(gtsam::JacobianFactor, "JacobianFactor")
 
 // Read from XML file
 static GaussianFactorGraph read(const string& name) {