diff --git a/gtsam/3rdparty/metis/libmetis/balance.c b/gtsam/3rdparty/metis/libmetis/balance.c
index 3fb0e6e56..f71df9c0e 100644
--- a/gtsam/3rdparty/metis/libmetis/balance.c
+++ b/gtsam/3rdparty/metis/libmetis/balance.c
@@ -20,7 +20,7 @@ void Balance2Way(ctrl_t *ctrl, graph_t *graph, real_t *ntpwgts)
 
   if (graph->ncon == 1) {
     /* return right away if the balance is OK */
-    if (iabs(ntpwgts[0]*graph->tvwgt[0]-graph->pwgts[0]) < 3*graph->tvwgt[0]/graph->nvtxs)
+    if (fabs(ntpwgts[0]*graph->tvwgt[0]-graph->pwgts[0]) < 3*graph->tvwgt[0]/graph->nvtxs)
       return;
 
     if (graph->nbnd > 0)
diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp
index 4597759e3..56a5dc085 100644
--- a/gtsam/linear/JacobianFactor.cpp
+++ b/gtsam/linear/JacobianFactor.cpp
@@ -188,7 +188,7 @@ boost::tuple<FastVector<DenseIndex>, DenseIndex, DenseIndex> _countDims(
     m += factor->rows();
   }
 
-#ifdef GTSAM_EXTRA_CONSISTENCY_CHECKS
+#if !defined(NDEBUG) && defined(GTSAM_EXTRA_CONSISTENCY_CHECKS)
   for(DenseIndex d: varDims) {
     assert(d != numeric_limits<DenseIndex>::max());
   }
diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h
index 55f043dd3..ccf5db5c3 100644
--- a/gtsam/navigation/ImuFactor.h
+++ b/gtsam/navigation/ImuFactor.h
@@ -106,6 +106,10 @@ public:
        preintMeasCov_(preintMeasCov) {
   }
 
+  /// Virtual destructor
+  virtual ~PreintegratedImuMeasurements() {
+  }
+
   /// print
   void print(const std::string& s = "Preintegrated Measurements:") const override;
 
diff --git a/gtsam/navigation/TangentPreintegration.h b/gtsam/navigation/TangentPreintegration.h
index 34c38e22b..da49e4ddd 100644
--- a/gtsam/navigation/TangentPreintegration.h
+++ b/gtsam/navigation/TangentPreintegration.h
@@ -42,7 +42,7 @@ class TangentPreintegration : public PreintegrationBase {
   }
 
 public:
-  /// @name Constructors
+  /// @name Constructors/destructors
   /// @{
 
   /**
@@ -53,6 +53,10 @@ public:
   TangentPreintegration(const boost::shared_ptr<Params>& p,
       const imuBias::ConstantBias& biasHat = imuBias::ConstantBias());
 
+  /// Virtual destructor
+  virtual ~TangentPreintegration() {
+  }
+
   /// @}
 
   /// @name Basic utilities
diff --git a/gtsam/nonlinear/ISAM2-impl.cpp b/gtsam/nonlinear/ISAM2-impl.cpp
index a0fc117d9..3b5156535 100644
--- a/gtsam/nonlinear/ISAM2-impl.cpp
+++ b/gtsam/nonlinear/ISAM2-impl.cpp
@@ -291,9 +291,10 @@ size_t ISAM2::Impl::UpdateGaussNewtonDelta(const FastVector<ISAM2::sharedClique>
       lastBacksubVariableCount += optimizeWildfireNonRecursive(
       root, wildfireThreshold, replacedKeys, delta); // modifies delta
 
-#ifdef GTSAM_EXTRA_CONSISTENCY_CHECKS
-    for(size_t j=0; j<delta.size(); ++j)
-      assert(delta[j].unaryExpr(ptr_fun(isfinite<double>)).all());
+#if !defined(NDEBUG) && defined(GTSAM_EXTRA_CONSISTENCY_CHECKS)
+    for (VectorValues::const_iterator key_delta = delta.begin(); key_delta != delta.end(); ++key_delta) {
+        assert(delta[key_delta->first].allFinite());
+    }
 #endif
   }
 
diff --git a/gtsam/nonlinear/ISAM2-inl.h b/gtsam/nonlinear/ISAM2-inl.h
index f04e16b7d..fecefd2a5 100644
--- a/gtsam/nonlinear/ISAM2-inl.h
+++ b/gtsam/nonlinear/ISAM2-inl.h
@@ -44,7 +44,7 @@ void optimizeWildfire(const boost::shared_ptr<CLIQUE>& clique, double threshold,
 
   // Are any clique variables part of the tree that has been redone?
   bool cliqueReplaced = replaced.exists((*clique)->frontals().front());
-#ifdef GTSAM_EXTRA_CONSISTENCY_CHECKS
+#if !defined(NDEBUG) && defined(GTSAM_EXTRA_CONSISTENCY_CHECKS)
   for(Key frontal: clique->conditional()->frontals()) {
     assert(cliqueReplaced == replaced.exists(frontal));
   }
@@ -121,7 +121,7 @@ bool optimizeWildfireNode(const boost::shared_ptr<CLIQUE>& clique, double thresh
 
   // Are any clique variables part of the tree that has been redone?
   bool cliqueReplaced = replaced.exists(clique->conditional()->frontals().front());
-#ifdef GTSAM_EXTRA_CONSISTENCY_CHECKS
+#if !defined(NDEBUG) && defined(GTSAM_EXTRA_CONSISTENCY_CHECKS)
   for(Key frontal: clique->conditional()->frontals()) {
     assert(cliqueReplaced == replaced.exists(frontal));
   }