diff --git a/doc/Code/LocalizationFactor.cpp b/doc/Code/LocalizationFactor.cpp
index 100f6fa2e..a59a34d27 100644
--- a/doc/Code/LocalizationFactor.cpp
+++ b/doc/Code/LocalizationFactor.cpp
@@ -3,6 +3,7 @@ class UnaryFactor: public NoiseModelFactor1<Pose2> {
   
 public:
   using gtsam::NoiseModelFactor1<Pose2>::evaluateError;
+
   UnaryFactor(Key j, double x, double y, const SharedNoiseModel& model):
     NoiseModelFactor1<Pose2>(model, j), mx_(x), my_(y) {}
 
diff --git a/examples/CameraResectioning.cpp b/examples/CameraResectioning.cpp
index 7bd4ebee6..3e5e40374 100644
--- a/examples/CameraResectioning.cpp
+++ b/examples/CameraResectioning.cpp
@@ -46,8 +46,7 @@ public:
   }
 
   /// evaluate the error
-  Vector evaluateError(const Pose3& pose, OptionalMatrixType H =
-      OptionalNone) const override {
+  Vector evaluateError(const Pose3& pose, OptionalMatrixType H) const override {
     PinholeCamera<Cal3_S2> camera(pose, *K_);
     return camera.project(P_, H, OptionalNone, OptionalNone) - p_;
   }
diff --git a/examples/LocalizationExample.cpp b/examples/LocalizationExample.cpp
index 79258b287..cfc76786a 100644
--- a/examples/LocalizationExample.cpp
+++ b/examples/LocalizationExample.cpp
@@ -71,7 +71,9 @@ class UnaryFactor: public NoiseModelFactorN<Pose2> {
   double mx_, my_;
 
  public:
+  // Provide access to Matrix& version of evaluateError:
   using NoiseModelFactor1<Pose2>::evaluateError;
+
   /// shorthand for a smart pointer to a factor
   typedef boost::shared_ptr<UnaryFactor> shared_ptr;
 
diff --git a/gtsam/base/OptionalJacobian.h b/gtsam/base/OptionalJacobian.h
index d6f0db500..4bde4e5e7 100644
--- a/gtsam/base/OptionalJacobian.h
+++ b/gtsam/base/OptionalJacobian.h
@@ -92,8 +92,8 @@ public:
   }
 
   /// Constructor that will resize a dynamic matrix (unless already correct)
-  OptionalJacobian(Eigen::MatrixXd* dynamic)
-      : map_(nullptr) {
+  OptionalJacobian(Eigen::MatrixXd* dynamic) :
+      map_(nullptr) {
     if (dynamic) {
       dynamic->resize(Rows, Cols);  // no malloc if correct size
       usurp(dynamic->data());
diff --git a/gtsam/navigation/AHRSFactor.h b/gtsam/navigation/AHRSFactor.h
index 0a67b6b39..e19e53a1c 100644
--- a/gtsam/navigation/AHRSFactor.h
+++ b/gtsam/navigation/AHRSFactor.h
@@ -142,6 +142,7 @@ public:
 
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
+
   /** Shorthand for a smart pointer to a factor */
 #if !defined(_MSC_VER) && __GNUC__ == 4 && __GNUC_MINOR__ > 5
   typedef typename boost::shared_ptr<AHRSFactor> shared_ptr;
diff --git a/gtsam/navigation/AttitudeFactor.h b/gtsam/navigation/AttitudeFactor.h
index 743bba1f4..0d3ce7695 100644
--- a/gtsam/navigation/AttitudeFactor.h
+++ b/gtsam/navigation/AttitudeFactor.h
@@ -84,6 +84,7 @@ public:
 
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
+
   /// shorthand for a smart pointer to a factor
   typedef boost::shared_ptr<Rot3AttitudeFactor> shared_ptr;
 
diff --git a/gtsam/navigation/BarometricFactor.h b/gtsam/navigation/BarometricFactor.h
index 646731a09..9dea1c5ab 100644
--- a/gtsam/navigation/BarometricFactor.h
+++ b/gtsam/navigation/BarometricFactor.h
@@ -40,6 +40,7 @@ class GTSAM_EXPORT BarometricFactor : public NoiseModelFactorN<Pose3, double> {
    public:
     // Provide access to the Matrix& version of evaluateError:
     using Base::evaluateError;
+
     /// shorthand for a smart pointer to a factor
     typedef boost::shared_ptr<BarometricFactor> shared_ptr;
 
diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h
index fc12519bd..4196f5f22 100644
--- a/gtsam/navigation/CombinedImuFactor.h
+++ b/gtsam/navigation/CombinedImuFactor.h
@@ -268,6 +268,7 @@ private:
   PreintegratedCombinedMeasurements _PIM_;
 
 public:
+  // Provide access to Matrix& version of evaluateError:
   using Base::evaluateError;
 
   /** Shorthand for a smart pointer to a factor */
diff --git a/gtsam/navigation/GPSFactor.h b/gtsam/navigation/GPSFactor.h
index da6b453eb..7b4435030 100644
--- a/gtsam/navigation/GPSFactor.h
+++ b/gtsam/navigation/GPSFactor.h
@@ -44,6 +44,7 @@ public:
 
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
+
   /// shorthand for a smart pointer to a factor
   typedef boost::shared_ptr<GPSFactor> shared_ptr;
 
diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h
index 41648674b..c71078ed6 100644
--- a/gtsam/navigation/ImuFactor.h
+++ b/gtsam/navigation/ImuFactor.h
@@ -270,6 +270,9 @@ private:
 
 public:
 
+  // Provide access to the Matrix& version of evaluateError:
+  using Base::evaluateError;
+
   /** Default constructor - only use for serialization */
   ImuFactor2() {}
 
diff --git a/gtsam/navigation/MagFactor.h b/gtsam/navigation/MagFactor.h
index d95409bda..9e87b8324 100644
--- a/gtsam/navigation/MagFactor.h
+++ b/gtsam/navigation/MagFactor.h
@@ -37,6 +37,7 @@ class MagFactor: public NoiseModelFactorN<Rot2> {
   const Point3 bias_; ///< bias
 
 public:
+  // Provide access to Matrix& version of evaluateError:
   using NoiseModelFactor1<Rot2>::evaluateError;
 
   /**
@@ -94,8 +95,10 @@ class MagFactor1: public NoiseModelFactorN<Rot3> {
   const Point3 bias_; ///< bias
 
 public:
+  // Provide access to Matrix& version of evaluateError:
   using NoiseModelFactor1<Rot3>::evaluateError;
 
+
   /** Constructor */
   MagFactor1(Key key, const Point3& measured, double scale,
       const Unit3& direction, const Point3& bias,
@@ -131,8 +134,10 @@ class MagFactor2: public NoiseModelFactorN<Point3, Point3> {
   const Rot3 bRn_; ///< The assumed known rotation from nav to body
 
 public:
+  // Provide access to Matrix& version of evaluateError:
   using NoiseModelFactor2<Point3, Point3>::evaluateError;
 
+
   /** Constructor */
   MagFactor2(Key key1, Key key2, const Point3& measured, const Rot3& nRb,
       const SharedNoiseModel& model) :
@@ -172,8 +177,10 @@ class MagFactor3: public NoiseModelFactorN<double, Unit3, Point3> {
   const Rot3 bRn_; ///< The assumed known rotation from nav to body
 
 public:
+  // Provide access to Matrix& version of evaluateError:
   using NoiseModelFactor3<double, Unit3, Point3>::evaluateError;
 
+
   /** Constructor */
   MagFactor3(Key key1, Key key2, Key key3, const Point3& measured,
       const Rot3& nRb, const SharedNoiseModel& model) :
diff --git a/gtsam/navigation/MagPoseFactor.h b/gtsam/navigation/MagPoseFactor.h
index f0b82eed7..75b0aeedf 100644
--- a/gtsam/navigation/MagPoseFactor.h
+++ b/gtsam/navigation/MagPoseFactor.h
@@ -52,6 +52,7 @@ class MagPoseFactor: public NoiseModelFactorN<POSE> {
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 
+
   ~MagPoseFactor() override {}
 
   /// Default constructor - only use for serialization.
diff --git a/gtsam/nonlinear/ExpressionFactor.h b/gtsam/nonlinear/ExpressionFactor.h
index e5df25ca9..28831debf 100644
--- a/gtsam/nonlinear/ExpressionFactor.h
+++ b/gtsam/nonlinear/ExpressionFactor.h
@@ -343,7 +343,8 @@ protected:
   ExpressionFactor2() {}
 
   /// Constructor takes care of keys, but still need to call initialize
-  ExpressionFactor2(Key key1, Key key2, const SharedNoiseModel& noiseModel, const T& measurement)
+  ExpressionFactor2(Key key1, Key key2, const SharedNoiseModel& noiseModel,
+                    const T &measurement)
       : ExpressionFactorN<T, A1, A2>({key1, key2}, noiseModel, measurement) {}
 };
 // ExpressionFactor2
diff --git a/gtsam/nonlinear/FunctorizedFactor.h b/gtsam/nonlinear/FunctorizedFactor.h
index 59702ee74..0648bebfe 100644
--- a/gtsam/nonlinear/FunctorizedFactor.h
+++ b/gtsam/nonlinear/FunctorizedFactor.h
@@ -67,6 +67,7 @@ class FunctorizedFactor : public NoiseModelFactorN<T> {
  public:
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
+
   /** default constructor - only use for serialization */
   FunctorizedFactor() {}
 
@@ -169,6 +170,7 @@ class FunctorizedFactor2 : public NoiseModelFactorN<T1, T2> {
  public:
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
+
   /** default constructor - only use for serialization */
   FunctorizedFactor2() {}
 
diff --git a/gtsam/nonlinear/NonlinearEquality.h b/gtsam/nonlinear/NonlinearEquality.h
index 309cababa..09c58ba80 100644
--- a/gtsam/nonlinear/NonlinearEquality.h
+++ b/gtsam/nonlinear/NonlinearEquality.h
@@ -209,6 +209,8 @@ class NonlinearEquality1: public NoiseModelFactorN<VALUE> {
 
 public:
   typedef VALUE X;
+
+  // Provide access to Matrix& version of evaluateError:
   using NoiseModelFactor1<VALUE>::evaluateError;
 
 protected:
@@ -308,6 +310,7 @@ class NonlinearEquality2 : public NoiseModelFactorN<T, T> {
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 
+
   /**
    * Constructor
    * @param key1 the key for the first unknown variable to be constrained
diff --git a/gtsam/nonlinear/PriorFactor.h b/gtsam/nonlinear/PriorFactor.h
index 0a97ab39e..6d0fcb4fc 100644
--- a/gtsam/nonlinear/PriorFactor.h
+++ b/gtsam/nonlinear/PriorFactor.h
@@ -32,7 +32,8 @@ namespace gtsam {
   public:
     typedef VALUE T;
     // Provide access to the Matrix& version of evaluateError:
-	  using NoiseModelFactor1<VALUE>::evaluateError;
+    using NoiseModelFactor1<VALUE>::evaluateError;
+
 
   private:
 
@@ -113,10 +114,10 @@ namespace gtsam {
       ar & BOOST_SERIALIZATION_NVP(prior_);
     }
 
-	// Alignment, see https://eigen.tuxfamily.org/dox/group__TopicStructHavingEigenMembers.html
-	enum { NeedsToAlign = (sizeof(T) % 16) == 0 };
+  // Alignment, see https://eigen.tuxfamily.org/dox/group__TopicStructHavingEigenMembers.html
+  enum { NeedsToAlign = (sizeof(T) % 16) == 0 };
   public:
-	GTSAM_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
+  GTSAM_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
   };
 
   /// traits
diff --git a/gtsam/sfm/ShonanFactor.h b/gtsam/sfm/ShonanFactor.h
index a186986dd..6fea8ac14 100644
--- a/gtsam/sfm/ShonanFactor.h
+++ b/gtsam/sfm/ShonanFactor.h
@@ -42,7 +42,9 @@ class GTSAM_EXPORT ShonanFactor : public NoiseModelFactorN<SOn, SOn> {
   using Rot = typename std::conditional<d == 2, Rot2, Rot3>::type;
 
 public:
+  // Provide access to the Matrix& version of evaluateError:
   using NoiseModelFactor2<SOn, SOn>::evaluateError;
+
   /// @name Constructor
   /// @{
 
diff --git a/gtsam/sfm/TranslationFactor.h b/gtsam/sfm/TranslationFactor.h
index 16b9fede1..df7c8a65a 100644
--- a/gtsam/sfm/TranslationFactor.h
+++ b/gtsam/sfm/TranslationFactor.h
@@ -45,7 +45,9 @@ class TranslationFactor : public NoiseModelFactorN<Point3, Point3> {
   Point3 measured_w_aZb_;
 
  public:
+  // Provide access to the Matrix& version of evaluateError:
   using NoiseModelFactor2<Point3, Point3>::evaluateError;
+
   /// default constructor
   TranslationFactor() {}
 
diff --git a/gtsam/slam/EssentialMatrixFactor.h b/gtsam/slam/EssentialMatrixFactor.h
index 645fb611c..8e564ddb6 100644
--- a/gtsam/slam/EssentialMatrixFactor.h
+++ b/gtsam/slam/EssentialMatrixFactor.h
@@ -41,6 +41,7 @@ class EssentialMatrixFactor : public NoiseModelFactorN<EssentialMatrix> {
 
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
+
   /**
    *  Constructor
    *  @param key Essential Matrix variable key
@@ -119,6 +120,7 @@ class EssentialMatrixFactor2
  public:
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
+
   /**
    *  Constructor
    *  @param key1 Essential Matrix variable key
@@ -240,6 +242,7 @@ class EssentialMatrixFactor3 : public EssentialMatrixFactor2 {
  public:
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
+
   /**
    *  Constructor
    *  @param key1 Essential Matrix variable key
@@ -342,6 +345,7 @@ class EssentialMatrixFactor4
  public:
    // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
+
   /**
    *  Constructor
    *  @param keyE Essential Matrix (from camera B to A) variable key
diff --git a/gtsam/slam/FrobeniusFactor.h b/gtsam/slam/FrobeniusFactor.h
index 18181e091..6c9027f6f 100644
--- a/gtsam/slam/FrobeniusFactor.h
+++ b/gtsam/slam/FrobeniusFactor.h
@@ -85,6 +85,7 @@ class FrobeniusFactor : public NoiseModelFactorN<Rot, Rot> {
 
   // Provide access to the Matrix& version of evaluateError:
   using NoiseModelFactor2<Rot, Rot>::evaluateError;
+
   /// Constructor
   FrobeniusFactor(Key j1, Key j2, const SharedNoiseModel& model = nullptr)
       : NoiseModelFactorN<Rot, Rot>(ConvertNoiseModel(model, Dim), j1,
@@ -113,7 +114,9 @@ class FrobeniusBetweenFactor : public NoiseModelFactorN<Rot, Rot> {
   enum { Dim = Rot::VectorN2::RowsAtCompileTime };
 
  public:
+  // Provide access to the Matrix& version of evaluateError:
   using NoiseModelFactor2<Rot, Rot>::evaluateError;
+
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
   /// @name Constructor
diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h
index 78c7c8cd8..3f405f985 100644
--- a/gtsam/slam/GeneralSFMFactor.h
+++ b/gtsam/slam/GeneralSFMFactor.h
@@ -77,7 +77,7 @@ public:
   typedef NoiseModelFactorN<CAMERA, LANDMARK> Base;///< typedef for the base class
 
   // Provide access to the Matrix& version of evaluateError:
-  using Base::evaluateError;//
+  using Base::evaluateError;
 
   // shorthand for a smart pointer to a factor
   typedef boost::shared_ptr<This> shared_ptr;
diff --git a/gtsam/slam/OrientedPlane3Factor.h b/gtsam/slam/OrientedPlane3Factor.h
index 4dac8b553..4b9398cb3 100644
--- a/gtsam/slam/OrientedPlane3Factor.h
+++ b/gtsam/slam/OrientedPlane3Factor.h
@@ -23,6 +23,7 @@ class GTSAM_EXPORT OrientedPlane3Factor: public NoiseModelFactorN<Pose3, Oriente
  public:
   // Provide access to the Matrix& version of evaluateError:
   using NoiseModelFactor2<Pose3, OrientedPlane3>::evaluateError;
+
   /// Constructor
   OrientedPlane3Factor() {
   }
diff --git a/gtsam/slam/PoseRotationPrior.h b/gtsam/slam/PoseRotationPrior.h
index 58dfda8f9..c8dda6691 100644
--- a/gtsam/slam/PoseRotationPrior.h
+++ b/gtsam/slam/PoseRotationPrior.h
@@ -25,7 +25,6 @@ public:
   typedef typename POSE::Translation Translation;
   typedef typename POSE::Rotation Rotation;
 
-
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 
diff --git a/gtsam/slam/PoseTranslationPrior.h b/gtsam/slam/PoseTranslationPrior.h
index fa21a7223..2ffafd104 100644
--- a/gtsam/slam/PoseTranslationPrior.h
+++ b/gtsam/slam/PoseTranslationPrior.h
@@ -26,7 +26,6 @@ public:
   typedef typename POSE::Translation Translation;
   typedef typename POSE::Rotation Rotation;
   
-
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 
diff --git a/gtsam/slam/StereoFactor.h b/gtsam/slam/StereoFactor.h
index 55fcfd61d..c0e3fd1b3 100644
--- a/gtsam/slam/StereoFactor.h
+++ b/gtsam/slam/StereoFactor.h
@@ -48,10 +48,9 @@ public:
   typedef boost::shared_ptr<GenericStereoFactor> shared_ptr;  ///< typedef for shared pointer to this object
   typedef POSE CamPose;                                       ///< typedef for Pose Lie Value type
 
-
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
-	
+
   /**
    * Default constructor
    */
diff --git a/gtsam_unstable/dynamics/VelocityConstraint3.h b/gtsam_unstable/dynamics/VelocityConstraint3.h
index 91905699c..db546c86c 100644
--- a/gtsam_unstable/dynamics/VelocityConstraint3.h
+++ b/gtsam_unstable/dynamics/VelocityConstraint3.h
@@ -25,6 +25,7 @@ public:
 
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
+
   typedef boost::shared_ptr<VelocityConstraint3 > shared_ptr;
 
   ///TODO: comment
diff --git a/gtsam_unstable/geometry/Pose3Upright.cpp b/gtsam_unstable/geometry/Pose3Upright.cpp
index b740ba6f2..9bc8efd54 100644
--- a/gtsam_unstable/geometry/Pose3Upright.cpp
+++ b/gtsam_unstable/geometry/Pose3Upright.cpp
@@ -86,7 +86,7 @@ Pose3Upright Pose3Upright::inverse(OptionalJacobian<4, 4> H1) const {
     return Pose3Upright(T_.inverse(), -z_);
   }
   OptionalJacobian<3, 3>::Jacobian H3x3;
-  // TODO: Could not use reference to a view into H1 and reuse memory
+  // TODO(kartikarcot): Could not use reference to a view into H1 and reuse memory
   // Eigen::Ref<Eigen::Matrix<double, 3, 3>> H3x3 = H1->topLeftCorner(3,3);
   Pose3Upright result(T_.inverse(H3x3), -z_);
   Matrix H1_ = -I_4x4;
@@ -102,7 +102,7 @@ Pose3Upright Pose3Upright::compose(const Pose3Upright& p2,
   if (!H1 && !H2)
     return Pose3Upright(T_.compose(p2.T_), z_ + p2.z_);
 
-  // TODO: Could not use reference to a view into H1 and reuse memory
+  // TODO(kartikarcot): Could not use reference to a view into H1 and reuse memory
   OptionalJacobian<3, 3>::Jacobian H3x3;
   Pose3Upright result(T_.compose(p2.T_, H3x3), z_ + p2.z_);
   if (H1) {
@@ -121,7 +121,7 @@ Pose3Upright Pose3Upright::between(const Pose3Upright& p2,
   if (!H1 && !H2)
     return Pose3Upright(T_.between(p2.T_), p2.z_ - z_);
 
-  // TODO: Could not use reference to a view into H1 and H2 to reuse memory
+  // TODO(kartikarcot): Could not use reference to a view into H1 and H2 to reuse memory
   OptionalJacobian<3, 3>::Jacobian H3x3_1, H3x3_2;
   Pose3Upright result(T_.between(p2.T_, H3x3_1, H3x3_2), p2.z_ - z_);
   if (H1) {
diff --git a/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel.h b/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel.h
index 529af878d..8a780dfb0 100644
--- a/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel.h
+++ b/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel.h
@@ -114,6 +114,7 @@ public:
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 
+
   // shorthand for a smart pointer to a factor
   typedef typename boost::shared_ptr<EquivInertialNavFactor_GlobalVel> shared_ptr;
 
diff --git a/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel_NoBias.h b/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel_NoBias.h
index f3e27f7e5..5ab06adc2 100644
--- a/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel_NoBias.h
+++ b/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel_NoBias.h
@@ -112,6 +112,7 @@ public:
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 
+
   // shorthand for a smart pointer to a factor
   typedef typename boost::shared_ptr<EquivInertialNavFactor_GlobalVel_NoBias> shared_ptr;
 
diff --git a/gtsam_unstable/slam/GaussMarkov1stOrderFactor.h b/gtsam_unstable/slam/GaussMarkov1stOrderFactor.h
index 6dfd8d295..32755b18d 100644
--- a/gtsam_unstable/slam/GaussMarkov1stOrderFactor.h
+++ b/gtsam_unstable/slam/GaussMarkov1stOrderFactor.h
@@ -56,6 +56,7 @@ public:
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 
+
   // shorthand for a smart pointer to a factor
   typedef typename boost::shared_ptr<GaussMarkov1stOrderFactor> shared_ptr;
 
diff --git a/gtsam_unstable/slam/InertialNavFactor_GlobalVelocity.h b/gtsam_unstable/slam/InertialNavFactor_GlobalVelocity.h
index c5fbc9a32..c1c448b97 100644
--- a/gtsam_unstable/slam/InertialNavFactor_GlobalVelocity.h
+++ b/gtsam_unstable/slam/InertialNavFactor_GlobalVelocity.h
@@ -98,6 +98,7 @@ public:
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 
+
   // shorthand for a smart pointer to a factor
   typedef typename boost::shared_ptr<InertialNavFactor_GlobalVelocity> shared_ptr;
 
diff --git a/gtsam_unstable/slam/InvDepthFactor3.h b/gtsam_unstable/slam/InvDepthFactor3.h
index 8db48955b..f32399c87 100644
--- a/gtsam_unstable/slam/InvDepthFactor3.h
+++ b/gtsam_unstable/slam/InvDepthFactor3.h
@@ -38,6 +38,7 @@ public:
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 
+
   /// shorthand for this class
   typedef InvDepthFactor3<POSE, LANDMARK, INVDEPTH> This;
 
diff --git a/gtsam_unstable/slam/InvDepthFactorVariant1.h b/gtsam_unstable/slam/InvDepthFactorVariant1.h
index c8958f2f4..fb2b12cf2 100644
--- a/gtsam_unstable/slam/InvDepthFactorVariant1.h
+++ b/gtsam_unstable/slam/InvDepthFactorVariant1.h
@@ -38,6 +38,7 @@ public:
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 
+
   /// shorthand for this class
   typedef InvDepthFactorVariant1 This;
 
diff --git a/gtsam_unstable/slam/InvDepthFactorVariant2.h b/gtsam_unstable/slam/InvDepthFactorVariant2.h
index 967c9c9c5..dfe75c10e 100644
--- a/gtsam_unstable/slam/InvDepthFactorVariant2.h
+++ b/gtsam_unstable/slam/InvDepthFactorVariant2.h
@@ -40,6 +40,7 @@ public:
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 
+
   /// shorthand for this class
   typedef InvDepthFactorVariant2 This;
 
diff --git a/gtsam_unstable/slam/InvDepthFactorVariant3.h b/gtsam_unstable/slam/InvDepthFactorVariant3.h
index 3685b48b9..bd373f20d 100644
--- a/gtsam_unstable/slam/InvDepthFactorVariant3.h
+++ b/gtsam_unstable/slam/InvDepthFactorVariant3.h
@@ -38,6 +38,7 @@ public:
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 
+
   /// shorthand for this class
   typedef InvDepthFactorVariant3a This;
 
diff --git a/gtsam_unstable/slam/LocalOrientedPlane3Factor.h b/gtsam_unstable/slam/LocalOrientedPlane3Factor.h
index a8b42ed99..8b958da22 100644
--- a/gtsam_unstable/slam/LocalOrientedPlane3Factor.h
+++ b/gtsam_unstable/slam/LocalOrientedPlane3Factor.h
@@ -42,6 +42,7 @@ class GTSAM_UNSTABLE_EXPORT LocalOrientedPlane3Factor
 public:
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
+
   /// Constructor
   LocalOrientedPlane3Factor() {}
 
diff --git a/gtsam_unstable/slam/PoseToPointFactor.h b/gtsam_unstable/slam/PoseToPointFactor.h
index 968c56407..f45b6c6b9 100644
--- a/gtsam_unstable/slam/PoseToPointFactor.h
+++ b/gtsam_unstable/slam/PoseToPointFactor.h
@@ -31,6 +31,7 @@ class PoseToPointFactor : public NoiseModelFactorN<POSE, POINT> {
  public:
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
+
   // shorthand for a smart pointer to a factor
   typedef boost::shared_ptr<PoseToPointFactor> shared_ptr;
 
diff --git a/gtsam_unstable/slam/ProjectionFactorRollingShutter.h b/gtsam_unstable/slam/ProjectionFactorRollingShutter.h
index 5ac0c9cf0..859e44f6d 100644
--- a/gtsam_unstable/slam/ProjectionFactorRollingShutter.h
+++ b/gtsam_unstable/slam/ProjectionFactorRollingShutter.h
@@ -64,6 +64,7 @@ class GTSAM_UNSTABLE_EXPORT ProjectionFactorRollingShutter
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
 
+
   /// shorthand for this class
   typedef ProjectionFactorRollingShutter This;
 
diff --git a/gtsam_unstable/slam/TSAMFactors.h b/gtsam_unstable/slam/TSAMFactors.h
index caae63122..4dca82903 100644
--- a/gtsam_unstable/slam/TSAMFactors.h
+++ b/gtsam_unstable/slam/TSAMFactors.h
@@ -69,6 +69,7 @@ private:
 public:
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
+
   /// Constructor
   DeltaFactorBase(Key b1, Key i, Key b2, Key j, const Point2& measured,
       const SharedNoiseModel& model) :
diff --git a/tests/simulated2DOriented.h b/tests/simulated2DOriented.h
index c9ac38f82..c9c35099d 100644
--- a/tests/simulated2DOriented.h
+++ b/tests/simulated2DOriented.h
@@ -106,7 +106,9 @@ namespace simulated2DOriented {
     Pose2 measured_;   ///< Between measurement for odometry factor
 
     typedef GenericOdometry<VALUE> This;
-	using NoiseModelFactor2<VALUE, VALUE>::evaluateError;
+
+    // Provide access to the Matrix& version of evaluateError:
+	  using NoiseModelFactor2<VALUE, VALUE>::evaluateError;
 
     /**
      * Creates an odometry factor between two poses
diff --git a/tests/smallExample.h b/tests/smallExample.h
index 2030c973b..6311999e5 100644
--- a/tests/smallExample.h
+++ b/tests/smallExample.h
@@ -329,7 +329,9 @@ inline Matrix H(const Point2& v) {
 
 struct UnaryFactor: public gtsam::NoiseModelFactorN<Point2> {
 
+  // Provide access to the Matrix& version of evaluateError:
   using gtsam::NoiseModelFactor1<Point2>::evaluateError;
+
   Point2 z_;
 
   UnaryFactor(const Point2& z, const SharedNoiseModel& model, Key key) :
diff --git a/tests/testExtendedKalmanFilter.cpp b/tests/testExtendedKalmanFilter.cpp
index feeb4c43f..eb17ecd9e 100644
--- a/tests/testExtendedKalmanFilter.cpp
+++ b/tests/testExtendedKalmanFilter.cpp
@@ -249,6 +249,7 @@ protected:
 public:
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
+
   NonlinearMeasurementModel(){}
 
   NonlinearMeasurementModel(const Symbol& TestKey, Vector z) :
diff --git a/tests/testNonlinearFactor.cpp b/tests/testNonlinearFactor.cpp
index cbfad704c..e9e755044 100644
--- a/tests/testNonlinearFactor.cpp
+++ b/tests/testNonlinearFactor.cpp
@@ -337,8 +337,11 @@ class TestFactor1 : public NoiseModelFactor1<double> {
 
  public:
   typedef NoiseModelFactor1<double> Base;
+  // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
+
   TestFactor1() : Base(noiseModel::Diagonal::Sigmas(Vector1(2.0)), L(1)) {}
+  // Provide access to the Matrix& version of evaluateError:
   using Base::NoiseModelFactor1;  // inherit constructors
 
   Vector evaluateError(const double& x1, OptionalMatrixType H1) const override {
@@ -391,7 +394,9 @@ class TestFactor4 : public NoiseModelFactor4<double, double, double, double> {
   typedef NoiseModelFactor4<double, double, double, double> Base;
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
+
   TestFactor4() : Base(noiseModel::Diagonal::Sigmas((Vector(1) << 2.0).finished()), X(1), X(2), X(3), X(4)) {}
+  // Provide access to the Matrix& version of evaluateError:
   using Base::NoiseModelFactor4;  // inherit constructors
 
   Vector
@@ -482,6 +487,7 @@ public:
   typedef NoiseModelFactor5<double, double, double, double, double> Base;
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
+
   TestFactor5() : Base(noiseModel::Diagonal::Sigmas((Vector(1) << 2.0).finished()), X(1), X(2), X(3), X(4), X(5)) {}
 
   Vector
@@ -531,6 +537,7 @@ public:
   typedef NoiseModelFactor6<double, double, double, double, double, double> Base;
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
+
   TestFactor6() : Base(noiseModel::Diagonal::Sigmas((Vector(1) << 2.0).finished()), X(1), X(2), X(3), X(4), X(5), X(6)) {}
 
   Vector
@@ -587,6 +594,7 @@ public:
   typedef NoiseModelFactorN<double, double, double, double> Base;
   // Provide access to the Matrix& version of evaluateError:
   using Base::evaluateError;
+
   using Type1 = ValueType<1>;  // Test that we can use the ValueType<> template
 
   TestFactorN() : Base(noiseModel::Diagonal::Sigmas((Vector(1) << 2.0).finished()), X(1), X(2), X(3), X(4)) {}