diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h
index e2b9a18e8..19199b22d 100644
--- a/gtsam/nonlinear/ISAM2.h
+++ b/gtsam/nonlinear/ISAM2.h
@@ -97,11 +97,11 @@ class GTSAM_EXPORT ISAM2 : public BayesTree<ISAM2Clique> {
                       ///< periodic relinearization
 
  public:
-  typedef ISAM2 This;                       ///< This class
-  typedef BayesTree<ISAM2Clique> Base;      ///< The BayesTree base class
-  typedef Base::Clique Clique;              ///< A clique
-  typedef Base::sharedClique sharedClique;  ///< Shared pointer to a clique
-  typedef Base::Cliques Cliques;  ///< List of Clique typedef from base class
+  using This = ISAM2;                       ///< This class
+  using Base = BayesTree<ISAM2Clique>;      ///< The BayesTree base class
+  using Clique = Base::Clique;              ///< A clique
+  using sharedClique = Base::sharedClique;  ///< Shared pointer to a clique
+  using Cliques = Base::Cliques;            ///< List of Cliques
 
   /** Create an empty ISAM2 instance */
   explicit ISAM2(const ISAM2Params& params);
diff --git a/gtsam/nonlinear/ISAM2Result.h b/gtsam/nonlinear/ISAM2Result.h
index 17968453d..1287b0e1a 100644
--- a/gtsam/nonlinear/ISAM2Result.h
+++ b/gtsam/nonlinear/ISAM2Result.h
@@ -110,7 +110,8 @@ struct GTSAM_EXPORT ISAM2Result {
   /** All keys that were marked during the update process. */
   KeySet markedKeys;
 
-  /** A struct holding detailed results, which must be enabled with
+  /**
+   * A struct holding detailed results, which must be enabled with
    * ISAM2Params::enableDetailedResults.
    */
   struct DetailedResults {
@@ -146,7 +147,7 @@ struct GTSAM_EXPORT ISAM2Result {
             inRootClique(false) {}
     };
 
-    typedef FastMap<Key, VariableStatus> StatusMap;
+    using StatusMap = FastMap<Key, VariableStatus>;
 
     /// The status of each variable during this update, see VariableStatus.
     StatusMap variableStatus;