diff --git a/gtsam.h b/gtsam.h
index b40913229..96d51117a 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -1739,7 +1739,7 @@ class Values {
   void insert(size_t j, const gtsam::EssentialMatrix& t);
   void insert(size_t j, const gtsam::imuBias::ConstantBias& t);
   void insert(size_t j, Vector t);
-  void insert(size_t j, Matrix t);  //git/gtsam/gtsam/base/Manifold.h:254:1: error: invalid application of ‘sizeof’ to incomplete type ‘boost::STATIC_ASSERTION_FAILURE<false>’
+  void insert(size_t j, Matrix t);
 
   void update(size_t j, const gtsam::Point2& t);
   void update(size_t j, const gtsam::Point3& t);
@@ -1755,8 +1755,7 @@ class Values {
   void update(size_t j, Vector t);
   void update(size_t j, Matrix t);
 
-  template<T = {gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Pose2,
-      gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::imuBias::ConstantBias ,Vector, Matrix}> // Parse Error
+  template<T = {gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Pose2, gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler, gtsam::EssentialMatrix, gtsam::imuBias::ConstantBias, Vector, Matrix}>
   T at(size_t j);
 };
 
@@ -2154,9 +2153,7 @@ class NonlinearISAM {
 #include <gtsam/geometry/StereoPoint2.h>
 
 #include <gtsam/slam/PriorFactor.h>
-template<T = { gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2,
-    gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2,
-    gtsam::CalibratedCamera, gtsam::SimpleCamera, gtsam::imuBias::ConstantBias, Vector, Matrix }> // Parse Error
+template<T = { gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2,gtsam::CalibratedCamera, gtsam::SimpleCamera, gtsam::imuBias::ConstantBias}>
 virtual class PriorFactor : gtsam::NoiseModelFactor {
   PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
   T prior() const;
@@ -2167,7 +2164,7 @@ virtual class PriorFactor : gtsam::NoiseModelFactor {
 
 
 #include <gtsam/slam/BetweenFactor.h>
-template<T = {gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::imuBias::ConstantBias, Vector, Matrix}> // Parse Error
+template<T = {gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::imuBias::ConstantBias}>
 virtual class BetweenFactor : gtsam::NoiseModelFactor {
   BetweenFactor(size_t key1, size_t key2, const T& relativePose, const gtsam::noiseModel::Base* noiseModel);
   T measured() const;