diff --git a/gtsam/nonlinear/GaussianISAM2.cpp b/gtsam/nonlinear/GaussianISAM2.cpp
index 72d567067..ada2f82f6 100644
--- a/gtsam/nonlinear/GaussianISAM2.cpp
+++ b/gtsam/nonlinear/GaussianISAM2.cpp
@@ -15,7 +15,7 @@ using namespace gtsam;
 namespace gtsam {
 
 /* ************************************************************************* */
-void optimize2(const typename BayesTree<GaussianConditional>::sharedClique& clique, double threshold,
+void optimize2(const BayesTree<GaussianConditional>::sharedClique& clique, double threshold,
 		vector<bool>& changed, const vector<bool>& replaced, Permuted<VectorValues>& delta, int& count) {
 	// if none of the variables in this clique (frontal and separator!) changed
 	// significantly, then by the running intersection property, none of the
@@ -85,7 +85,7 @@ void optimize2(const typename BayesTree<GaussianConditional>::sharedClique& cliq
     }
 
     // Recurse to children
-    BOOST_FOREACH(const typename BayesTree<GaussianConditional>::sharedClique& child, clique->children_) {
+    BOOST_FOREACH(const BayesTree<GaussianConditional>::sharedClique& child, clique->children_) {
       optimize2(child, threshold, changed, replaced, delta, count);
     }
 	}
@@ -93,14 +93,14 @@ void optimize2(const typename BayesTree<GaussianConditional>::sharedClique& cliq
 
 /* ************************************************************************* */
 // fast full version without threshold
-void optimize2(const typename BayesTree<GaussianConditional>::sharedClique& clique, VectorValues& delta) {
+void optimize2(const BayesTree<GaussianConditional>::sharedClique& clique, VectorValues& delta) {
 
 	// parents are assumed to already be solved and available in result
   (*clique)->rhs(delta);
   (*clique)->solveInPlace(delta);
 
   // Solve chilren recursively
-  BOOST_FOREACH(const typename BayesTree<GaussianConditional>::sharedClique& child, clique->children_) {
+  BOOST_FOREACH(const BayesTree<GaussianConditional>::sharedClique& child, clique->children_) {
 		optimize2(child, delta);
 	}
 }
@@ -115,7 +115,7 @@ void optimize2(const typename BayesTree<GaussianConditional>::sharedClique& cliq
 //}
 
 /* ************************************************************************* */
-int optimize2(const typename BayesTree<GaussianConditional>::sharedClique& root, double threshold, const vector<bool>& keys, Permuted<VectorValues>& delta) {
+int optimize2(const BayesTree<GaussianConditional>::sharedClique& root, double threshold, const vector<bool>& keys, Permuted<VectorValues>& delta) {
 	vector<bool> changed(keys.size(), false);
 	int count = 0;
 	// starting from the root, call optimize on each conditional
@@ -124,18 +124,18 @@ int optimize2(const typename BayesTree<GaussianConditional>::sharedClique& root,
 }
 
 /* ************************************************************************* */
-void nnz_internal(const typename BayesTree<GaussianConditional>::sharedClique& clique, int& result) {
+void nnz_internal(const BayesTree<GaussianConditional>::sharedClique& clique, int& result) {
   int dimR = (*clique)->dim();
   int dimSep = (*clique)->get_S().cols() - dimR;
   result += ((dimR+1)*dimR)/2 + dimSep*dimR;
 	// traverse the children
-	BOOST_FOREACH(const typename BayesTree<GaussianConditional>::sharedClique& child, clique->children_) {
+	BOOST_FOREACH(const BayesTree<GaussianConditional>::sharedClique& child, clique->children_) {
 		nnz_internal(child, result);
 	}
 }
 
 /* ************************************************************************* */
-int calculate_nnz(const typename BayesTree<GaussianConditional>::sharedClique& clique) {
+int calculate_nnz(const BayesTree<GaussianConditional>::sharedClique& clique) {
 	int result = 0;
 	// starting from the root, add up entries of frontal and conditional matrices of each conditional
 	nnz_internal(clique, result);
diff --git a/gtsam/nonlinear/GaussianISAM2.h b/gtsam/nonlinear/GaussianISAM2.h
index f454a6af4..7a66eeaf2 100644
--- a/gtsam/nonlinear/GaussianISAM2.h
+++ b/gtsam/nonlinear/GaussianISAM2.h
@@ -30,7 +30,7 @@ template <class VALUES>
 class GaussianISAM2 : public ISAM2<GaussianConditional, VALUES> {};
 
 // optimize the BayesTree, starting from the root
-void optimize2(const typename BayesTree<GaussianConditional>::sharedClique& root, VectorValues& delta);
+void optimize2(const BayesTree<GaussianConditional>::sharedClique& root, VectorValues& delta);
 
 // optimize the BayesTree, starting from the root; "replaced" needs to contain
 // all variables that are contained in the top of the Bayes tree that has been
@@ -40,10 +40,10 @@ void optimize2(const typename BayesTree<GaussianConditional>::sharedClique& root
 // and recursive backsubstitution might eventually stop if none of the changed
 // variables are contained in the subtree.
 // returns the number of variables that were solved for
-int optimize2(const typename BayesTree<GaussianConditional>::sharedClique& root,
+int optimize2(const BayesTree<GaussianConditional>::sharedClique& root,
     double threshold, const std::vector<bool>& replaced, Permuted<VectorValues>& delta);
 
 // calculate the number of non-zero entries for the tree starting at clique (use root for complete matrix)
-int calculate_nnz(const typename BayesTree<GaussianConditional>::sharedClique& clique);
+int calculate_nnz(const BayesTree<GaussianConditional>::sharedClique& clique);
 
 }/// namespace gtsam