diff --git a/gtsam/nonlinear/NonlinearEquality.h b/gtsam/nonlinear/NonlinearEquality.h
index b70929179..f10ba93ae 100644
--- a/gtsam/nonlinear/NonlinearEquality.h
+++ b/gtsam/nonlinear/NonlinearEquality.h
@@ -88,7 +88,7 @@ public:
    */
   NonlinearEquality(Key j, const T& feasible,
       const CompareFunction &_compare = boost::bind(traits<T>::Equals,
-          boost::placeholders::_1,boost::placeholders::_2,1e-9)) :
+          boost::placeholders::_1, boost::placeholders::_2, 1e-9)) :
       Base(noiseModel::Constrained::All(traits<T>::GetDimension(feasible)),
           j), feasible_(feasible), allow_error_(false), error_gain_(0.0), //
       compare_(_compare) {
@@ -99,7 +99,7 @@ public:
    */
   NonlinearEquality(Key j, const T& feasible, double error_gain,
       const CompareFunction &_compare = boost::bind(traits<T>::Equals,
-          boost::placeholders::_1,boost::placeholders::_2,1e-9)) :
+          boost::placeholders::_1, boost::placeholders::_2, 1e-9)) :
       Base(noiseModel::Constrained::All(traits<T>::GetDimension(feasible)),
           j), feasible_(feasible), allow_error_(true), error_gain_(error_gain), //
       compare_(_compare) {
@@ -361,4 +361,3 @@ struct traits<NonlinearEquality2<VALUE> > : Testable<NonlinearEquality2<VALUE> >
 
 
 }// namespace gtsam
-
diff --git a/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel.h b/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel.h
index 3e6dbf6db..6a345a6b5 100644
--- a/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel.h
+++ b/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel.h
@@ -305,8 +305,6 @@ public:
       boost::optional<Matrix&> H4 = boost::none,
       boost::optional<Matrix&> H5 = boost::none) const override {
 
-    using namespace boost::placeholders;
-
     // TODO: Write analytical derivative calculations
     // Jacobian w.r.t. Pose1
     if (H1){
@@ -423,8 +421,6 @@ public:
     // Note: all delta terms refer to an IMU\sensor system at t0
     // Note: Earth-related terms are not accounted here but are incorporated in predict functions.
 
-    using namespace boost::placeholders;
-
     POSE body_P_sensor = POSE();
     bool flag_use_body_P_sensor = false;
     if (p_body_P_sensor){