From 8563fc30b4e4ecf1320d53dea45f3d521b80bf00 Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Thu, 12 Nov 2015 13:03:03 -0800
Subject: [PATCH] Some tiny improvements

---
 gtsam/base/Manifold.h    | 3 ++-
 gtsam/nonlinear/Values.h | 1 +
 gtsam/slam/expressions.h | 4 ++--
 3 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/gtsam/base/Manifold.h b/gtsam/base/Manifold.h
index 6746236be..b30edb3df 100644
--- a/gtsam/base/Manifold.h
+++ b/gtsam/base/Manifold.h
@@ -169,7 +169,8 @@ struct FixedDimension {
 };
 
 /// Helper class to construct the product manifold of two other manifolds, M1 and M2
-/// Assumes nothing except manifold structure from M1 and M2
+/// Assumes nothing except manifold structure for M1 and M2, and the existence
+/// of default constructor for those types
 template<typename M1, typename M2>
 class ProductManifold: public std::pair<M1, M2> {
   BOOST_CONCEPT_ASSERT((IsManifold<M1>));
diff --git a/gtsam/nonlinear/Values.h b/gtsam/nonlinear/Values.h
index d3c114657..633e0dd06 100644
--- a/gtsam/nonlinear/Values.h
+++ b/gtsam/nonlinear/Values.h
@@ -32,6 +32,7 @@
 #ifdef __GNUC__
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wunused-variable"
+#pragma GCC diagnostic ignored "-Wunused-local-typedef"
 #endif
 #include <boost/bind.hpp>
 #ifdef __GNUC__
diff --git a/gtsam/slam/expressions.h b/gtsam/slam/expressions.h
index e81c76bd6..e23aa334b 100644
--- a/gtsam/slam/expressions.h
+++ b/gtsam/slam/expressions.h
@@ -47,12 +47,12 @@ typedef Expression<Cal3Bundler> Cal3Bundler_;
 
 /// Expression version of PinholeBase::Project
 inline Point2_ project(const Point3_& p_cam) {
-  Point2 (*f)(const Point3&, OptionalJacobian<2, 3>) = &PinholeBase::Project;
+  Point2_::UnaryFunction<Point3>::type f = &PinholeBase::Project;
   return Point2_(f, p_cam);
 }
 
 inline Point2_ project(const Unit3_& p_cam) {
-  Point2 (*f)(const Unit3&, OptionalJacobian<2, 2>) = &PinholeBase::Project;
+  Point2_::UnaryFunction<Unit3>::type f = &PinholeBase::Project;
   return Point2_(f, p_cam);
 }