diff --git a/nonlinear/LieConfig-inl.h b/nonlinear/LieConfig-inl.h
index 00f5b061f..8695f268e 100644
--- a/nonlinear/LieConfig-inl.h
+++ b/nonlinear/LieConfig-inl.h
@@ -32,7 +32,7 @@ namespace gtsam {
   template<class J>
   void LieConfig<J>::print(const string &s) const {
        cout << "LieConfig " << s << ", size " << values_.size() << "\n";
-       BOOST_FOREACH(const typename Values::value_type& v, values_) {
+       BOOST_FOREACH(const KeyValuePair& v, values_) {
          gtsam::print(v.second, (string)(v.first));
        }
      }
@@ -41,7 +41,7 @@ namespace gtsam {
   template<class J>
   bool LieConfig<J>::equals(const LieConfig<J>& expected, double tol) const {
     if (values_.size() != expected.values_.size()) return false;
-    BOOST_FOREACH(const typename Values::value_type& v, values_) {
+    BOOST_FOREACH(const KeyValuePair& v, values_) {
     	if (!expected.exists(v.first)) return false;
       if(!gtsam::equal(v.second, expected[v.first], tol))
         return false;
@@ -61,7 +61,7 @@ namespace gtsam {
   template<class J>
   size_t LieConfig<J>::dim() const {
   	size_t n = 0;
-  	BOOST_FOREACH(const typename Values::value_type& value, values_)
+  	BOOST_FOREACH(const KeyValuePair& value, values_)
   		n += value.second.dim();
   	return n;
   }
@@ -70,7 +70,7 @@ namespace gtsam {
   template<class J>
   VectorConfig LieConfig<J>::zero() const {
   	VectorConfig z;
-  	BOOST_FOREACH(const typename Values::value_type& value, values_)
+  	BOOST_FOREACH(const KeyValuePair& value, values_)
   		z.insert(value.first,gtsam::zero(value.second.dim()));
   	return z;
   }
@@ -84,14 +84,14 @@ namespace gtsam {
   /* ************************************************************************* */
   template<class J>
   void LieConfig<J>::insert(const LieConfig<J>& cfg) {
-	  BOOST_FOREACH(const typename Values::value_type& v, cfg.values_)
+	  BOOST_FOREACH(const KeyValuePair& v, cfg.values_)
 		 insert(v.first, v.second);
   }
 
   /* ************************************************************************* */
   template<class J>
   void LieConfig<J>::update(const LieConfig<J>& cfg) {
-	  BOOST_FOREACH(const typename Values::value_type& v, values_) {
+	  BOOST_FOREACH(const KeyValuePair& v, values_) {
 	  	boost::optional<typename J::Value_t> t = cfg.exists_(v.first);
 	  	if (t) values_[v.first] = *t;
 	  }
@@ -107,7 +107,7 @@ namespace gtsam {
   template<class J>
   std::list<J> LieConfig<J>::keys() const {
 	  std::list<J> ret;
-	  BOOST_FOREACH(const typename Values::value_type& v, values_)
+	  BOOST_FOREACH(const KeyValuePair& v, values_)
 		  ret.push_back(v.first);
 	  return ret;
   }
diff --git a/nonlinear/LieConfig.h b/nonlinear/LieConfig.h
index 64744e47b..862acb9da 100644
--- a/nonlinear/LieConfig.h
+++ b/nonlinear/LieConfig.h
@@ -49,13 +49,14 @@ namespace gtsam {
      */
   	typedef J Key;
   	typedef typename J::Value_t Value;
-    typedef std::map<J,Value> Values;
-    typedef typename Values::iterator iterator;
-    typedef typename Values::const_iterator const_iterator;
+    typedef std::map<J,Value> KeyValueMap;
+    typedef typename KeyValueMap::value_type KeyValuePair;
+    typedef typename KeyValueMap::iterator iterator;
+    typedef typename KeyValueMap::const_iterator const_iterator;
 
   private:
 
-    Values values_;
+    KeyValueMap values_;
 
   public:
 
diff --git a/nonlinear/tests/testLieConfig.cpp b/nonlinear/tests/testLieConfig.cpp
index 434d892ff..85366850d 100644
--- a/nonlinear/tests/testLieConfig.cpp
+++ b/nonlinear/tests/testLieConfig.cpp
@@ -1,8 +1,6 @@
-/*
- * testLieConfig.cpp
- *
- *  Created on: Jan 5, 2010
- *      Author: richard
+/**
+ * @file testLieConfig.cpp
+ * @author Richard Roberts
  */
 
 #include <gtsam/CppUnitLite/TestHarness.h>