diff --git a/gtsam/slam/JacobianFactorQ.h b/gtsam/slam/JacobianFactorQ.h
index d33f3325b..c18ad07d1 100644
--- a/gtsam/slam/JacobianFactorQ.h
+++ b/gtsam/slam/JacobianFactorQ.h
@@ -24,9 +24,11 @@ namespace gtsam {
  * JacobianFactor for Schur complement that uses Q noise model
  */
 template<size_t D, size_t ZDim>
-class JacobianFactorQ: public JacobianSchurFactor<D, ZDim> {
+class JacobianFactorQ: public JacobianSchurFactor<D> {
 
-  typedef JacobianSchurFactor<D, ZDim> Base;
+  typedef JacobianSchurFactor<D> Base;
+  typedef Eigen::Matrix<double, ZDim, D> MatrixZD;
+  typedef std::pair<Key, MatrixZD> KeyMatrixZD;
 
 public:
 
@@ -37,7 +39,7 @@ public:
   /// Empty constructor with keys
   JacobianFactorQ(const FastVector<Key>& keys, //
       const SharedDiagonal& model = SharedDiagonal()) :
-      JacobianSchurFactor<D, ZDim>() {
+      Base() {
     Matrix zeroMatrix = Matrix::Zero(0, D);
     Vector zeroVector = Vector::Zero(0);
     typedef std::pair<Key, Matrix> KeyMatrix;
@@ -49,10 +51,10 @@ public:
   }
 
   /// Constructor
-  JacobianFactorQ(const std::vector<typename Base::KeyMatrix2D>& Fblocks,
-      const Matrix& E, const Matrix3& P, const Vector& b,
-      const SharedDiagonal& model = SharedDiagonal()) :
-      JacobianSchurFactor<D, ZDim>() {
+  JacobianFactorQ(const std::vector<KeyMatrixZD>& Fblocks, const Matrix& E,
+      const Matrix3& P, const Vector& b, const SharedDiagonal& model =
+          SharedDiagonal()) :
+      Base() {
     size_t j = 0, m2 = E.rows(), m = m2 / ZDim;
     // Calculate projector Q
     Matrix Q = eye(m2) - E * P * E.transpose();
@@ -62,7 +64,7 @@ public:
     std::vector<KeyMatrix> QF;
     QF.reserve(m);
     // Below, we compute each mZDim*D block A_j = Q_j * F_j = (mZDim*ZDim) * (Zdim*D)
-    BOOST_FOREACH(const typename Base::KeyMatrix2D& it, Fblocks)
+    BOOST_FOREACH(const KeyMatrixZD& it, Fblocks)
       QF.push_back(
           KeyMatrix(it.first, Q.block(0, ZDim * j++, m2, ZDim) * it.second));
     // Which is then passed to the normal JacobianFactor constructor
diff --git a/gtsam/slam/JacobianFactorQR.h b/gtsam/slam/JacobianFactorQR.h
index 112278766..cf72fd0b3 100644
--- a/gtsam/slam/JacobianFactorQR.h
+++ b/gtsam/slam/JacobianFactorQR.h
@@ -18,24 +18,26 @@ class GaussianBayesNet;
  * JacobianFactor for Schur complement that uses Q noise model
  */
 template<size_t D, size_t ZDim>
-class JacobianFactorQR: public JacobianSchurFactor<D, ZDim> {
+class JacobianFactorQR: public JacobianSchurFactor<D> {
 
-  typedef JacobianSchurFactor<D, ZDim> Base;
+  typedef JacobianSchurFactor<D> Base;
+  typedef Eigen::Matrix<double, ZDim, D> MatrixZD;
+  typedef std::pair<Key, MatrixZD> KeyMatrixZD;
 
 public:
 
   /**
    * Constructor
    */
-  JacobianFactorQR(const std::vector<typename Base::KeyMatrix2D>& Fblocks,
-      const Matrix& E, const Matrix3& P, const Vector& b,
+  JacobianFactorQR(const std::vector<KeyMatrixZD>& Fblocks, const Matrix& E,
+      const Matrix3& P, const Vector& b, //
       const SharedDiagonal& model = SharedDiagonal()) :
-      JacobianSchurFactor<D, ZDim>() {
+      Base() {
     // Create a number of Jacobian factors in a factor graph
     GaussianFactorGraph gfg;
     Symbol pointKey('p', 0);
     size_t i = 0;
-    BOOST_FOREACH(const typename Base::KeyMatrix2D& it, Fblocks) {
+    BOOST_FOREACH(const KeyMatrixZD& it, Fblocks) {
       gfg.add(pointKey, E.block<ZDim, 3>(ZDim * i, 0), it.first, it.second,
           b.segment<ZDim>(ZDim * i), model);
       i += 1;
@@ -45,7 +47,7 @@ public:
     // eliminate the point
     boost::shared_ptr<GaussianBayesNet> bn;
     GaussianFactorGraph::shared_ptr fg;
-    std::vector < Key > variables;
+    std::vector<Key> variables;
     variables.push_back(pointKey);
     boost::tie(bn, fg) = gfg.eliminatePartialSequential(variables, EliminateQR);
     //fg->print("fg");
@@ -53,6 +55,6 @@ public:
     JacobianFactor::operator=(JacobianFactor(*fg));
   }
 };
-// class
+// end class JacobianFactorQR
 
-}// gtsam
+}// end namespace gtsam
diff --git a/gtsam/slam/JacobianFactorSVD.h b/gtsam/slam/JacobianFactorSVD.h
index e0a5f4566..37043f448 100644
--- a/gtsam/slam/JacobianFactorSVD.h
+++ b/gtsam/slam/JacobianFactorSVD.h
@@ -12,43 +12,50 @@ namespace gtsam {
  * JacobianFactor for Schur complement that uses Q noise model
  */
 template<size_t D, size_t ZDim>
-class JacobianFactorSVD: public JacobianSchurFactor<D, ZDim> {
+class JacobianFactorSVD: public JacobianSchurFactor<D> {
+
+  typedef JacobianSchurFactor<D> Base;
+  typedef Eigen::Matrix<double, ZDim, D> MatrixZD; // e.g 2 x 6 with Z=Point2
+  typedef std::pair<Key, MatrixZD> KeyMatrixZD;
+  typedef std::pair<Key, Matrix> KeyMatrix;
 
 public:
 
-  typedef Eigen::Matrix<double, ZDim, D> Matrix2D;   // e.g 2 x 6 with Z=Point2
-  typedef std::pair<Key, Matrix2D> KeyMatrix2D;
-  typedef std::pair<Key, Matrix> KeyMatrix;
-
   /// Default constructor
-  JacobianFactorSVD() {}
+  JacobianFactorSVD() {
+  }
 
   /// Empty constructor with keys
-  JacobianFactorSVD(const FastVector<Key>& keys,
-      const SharedDiagonal& model =  SharedDiagonal()) : JacobianSchurFactor<D, ZDim>() {
-    Matrix zeroMatrix = Matrix::Zero(0,D);
+  JacobianFactorSVD(const FastVector<Key>& keys, //
+      const SharedDiagonal& model = SharedDiagonal()) :
+      Base() {
+    Matrix zeroMatrix = Matrix::Zero(0, D);
     Vector zeroVector = Vector::Zero(0);
     std::vector<KeyMatrix> QF;
     QF.reserve(keys.size());
     BOOST_FOREACH(const Key& key, keys)
-            QF.push_back(KeyMatrix(key, zeroMatrix));
+      QF.push_back(KeyMatrix(key, zeroMatrix));
     JacobianFactor::fillTerms(QF, zeroVector, model);
   }
 
   /// Constructor
-  JacobianFactorSVD(const std::vector<KeyMatrix2D>& Fblocks, const Matrix& Enull, const Vector& b,
-      const SharedDiagonal& model =  SharedDiagonal()) : JacobianSchurFactor<D, ZDim>() {
+  JacobianFactorSVD(const std::vector<KeyMatrixZD>& Fblocks,
+      const Matrix& Enull, const Vector& b, //
+      const SharedDiagonal& model = SharedDiagonal()) :
+      Base() {
     size_t numKeys = Enull.rows() / ZDim;
-    size_t j = 0, m2 = ZDim*numKeys-3;
+    size_t j = 0, m2 = ZDim * numKeys - 3;
     // PLAIN NULL SPACE TRICK
     // Matrix Q = Enull * Enull.transpose();
-    // BOOST_FOREACH(const KeyMatrix2D& it, Fblocks)
+    // BOOST_FOREACH(const KeyMatrixZD& it, Fblocks)
     //   QF.push_back(KeyMatrix(it.first, Q.block(0, 2 * j++, m2, 2) * it.second));
     // JacobianFactor factor(QF, Q * b);
     std::vector<KeyMatrix> QF;
     QF.reserve(numKeys);
-    BOOST_FOREACH(const KeyMatrix2D& it, Fblocks)
-    QF.push_back(KeyMatrix(it.first, (Enull.transpose()).block(0, ZDim * j++, m2, ZDim) * it.second));
+    BOOST_FOREACH(const KeyMatrixZD& it, Fblocks)
+      QF.push_back(
+          KeyMatrix(it.first,
+              (Enull.transpose()).block(0, ZDim * j++, m2, ZDim) * it.second));
     JacobianFactor::fillTerms(QF, Enull.transpose() * b, model);
   }
 };
diff --git a/gtsam/slam/JacobianSchurFactor.h b/gtsam/slam/JacobianSchurFactor.h
index e7f99a736..6a218a9a7 100644
--- a/gtsam/slam/JacobianSchurFactor.h
+++ b/gtsam/slam/JacobianSchurFactor.h
@@ -27,14 +27,11 @@ namespace gtsam {
  * Is base class for JacobianQFactor, JacobianFactorQR, and JacobianFactorSVD
  * Provides raw memory access versions of linear operator.
  */
-template<size_t D, size_t ZDim>
+template<size_t D>
 class JacobianSchurFactor: public JacobianFactor {
 
 public:
 
-  typedef Eigen::Matrix<double, ZDim, D> Matrix2D;
-  typedef std::pair<Key, Matrix2D> KeyMatrix2D;
-
   // Use eigen magic to access raw memory
   typedef Eigen::Matrix<double, D, 1> DVector;
   typedef Eigen::Map<DVector> DMap;