From 6dea8667fdd8dce8518b552486a7b889907a8255 Mon Sep 17 00:00:00 2001
From: acxz <17132214+acxz@users.noreply.github.com>
Date: Fri, 18 Jun 2021 13:45:59 -0400
Subject: [PATCH] explicitly use boost::placeholders:_X for compilers that do
 not respect function scope

---
 gtsam/base/numericalDerivative.h              | 94 +++++++------------
 .../slam/EquivInertialNavFactor_GlobalVel.h   | 34 +++----
 2 files changed, 50 insertions(+), 78 deletions(-)

diff --git a/gtsam/base/numericalDerivative.h b/gtsam/base/numericalDerivative.h
index a05a1dda82..29081efba7 100644
--- a/gtsam/base/numericalDerivative.h
+++ b/gtsam/base/numericalDerivative.h
@@ -176,8 +176,7 @@ typename internal::FixedSizeMatrix<Y,X1>::type numericalDerivative21(const boost
 template<class Y, class X1, class X2>
 typename internal::FixedSizeMatrix<Y,X1>::type numericalDerivative21(Y (*h)(const X1&, const X2&), const X1& x1,
     const X2& x2, double delta = 1e-5) {
-  using namespace boost::placeholders;
-  return numericalDerivative21<Y, X1, X2>(boost::bind(h, _1, _2), x1, x2, delta);
+  return numericalDerivative21<Y, X1, X2>(boost::bind(h, boost::placeholders::_1, boost::placeholders::_2), x1, x2, delta);
 }
 
 /**
@@ -203,8 +202,7 @@ typename internal::FixedSizeMatrix<Y,X2>::type numericalDerivative22(boost::func
 template<class Y, class X1, class X2>
 typename internal::FixedSizeMatrix<Y,X2>::type numericalDerivative22(Y (*h)(const X1&, const X2&), const X1& x1,
     const X2& x2, double delta = 1e-5) {
-  using namespace boost::placeholders;
-  return numericalDerivative22<Y, X1, X2>(boost::bind(h, _1, _2), x1, x2, delta);
+  return numericalDerivative22<Y, X1, X2>(boost::bind(h, boost::placeholders::_1, boost::placeholders::_2), x1, x2, delta);
 }
 
 /**
@@ -232,8 +230,7 @@ typename internal::FixedSizeMatrix<Y,X1>::type numericalDerivative31(
 template<class Y, class X1, class X2, class X3>
 typename internal::FixedSizeMatrix<Y,X1>::type numericalDerivative31(Y (*h)(const X1&, const X2&, const X3&),
     const X1& x1, const X2& x2, const X3& x3, double delta = 1e-5) {
-  using namespace boost::placeholders;
-  return numericalDerivative31<Y, X1, X2, X3>(boost::bind(h, _1, _2, _3), x1,
+  return numericalDerivative31<Y, X1, X2, X3>(boost::bind(h, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3), x1,
       x2, x3, delta);
 }
 
@@ -262,8 +259,7 @@ typename internal::FixedSizeMatrix<Y,X2>::type numericalDerivative32(
 template<class Y, class X1, class X2, class X3>
 inline typename internal::FixedSizeMatrix<Y,X2>::type numericalDerivative32(Y (*h)(const X1&, const X2&, const X3&),
     const X1& x1, const X2& x2, const X3& x3, double delta = 1e-5) {
-  using namespace boost::placeholders;
-  return numericalDerivative32<Y, X1, X2, X3>(boost::bind(h, _1, _2, _3), x1,
+  return numericalDerivative32<Y, X1, X2, X3>(boost::bind(h, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3), x1,
       x2, x3, delta);
 }
 
@@ -292,8 +288,7 @@ typename internal::FixedSizeMatrix<Y,X3>::type numericalDerivative33(
 template<class Y, class X1, class X2, class X3>
 inline typename internal::FixedSizeMatrix<Y,X3>::type numericalDerivative33(Y (*h)(const X1&, const X2&, const X3&),
     const X1& x1, const X2& x2, const X3& x3, double delta = 1e-5) {
-  using namespace boost::placeholders;
-  return numericalDerivative33<Y, X1, X2, X3>(boost::bind(h, _1, _2, _3), x1,
+  return numericalDerivative33<Y, X1, X2, X3>(boost::bind(h, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3), x1,
       x2, x3, delta);
 }
 
@@ -322,8 +317,7 @@ typename internal::FixedSizeMatrix<Y,X1>::type numericalDerivative41(
 template<class Y, class X1, class X2, class X3, class X4>
 inline typename internal::FixedSizeMatrix<Y,X1>::type numericalDerivative41(Y (*h)(const X1&, const X2&, const X3&, const X4&),
     const X1& x1, const X2& x2, const X3& x3, const X4& x4, double delta = 1e-5) {
-  using namespace boost::placeholders;
-  return numericalDerivative41<Y, X1, X2, X3, X4>(boost::bind(h, _1, _2, _3, _4), x1, x2, x3, x4);
+  return numericalDerivative41<Y, X1, X2, X3, X4>(boost::bind(h, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4), x1, x2, x3, x4);
 }
 
 /**
@@ -351,8 +345,7 @@ typename internal::FixedSizeMatrix<Y,X2>::type numericalDerivative42(
 template<class Y, class X1, class X2, class X3, class X4>
 inline typename internal::FixedSizeMatrix<Y,X2>::type numericalDerivative42(Y (*h)(const X1&, const X2&, const X3&, const X4&),
   const X1& x1, const X2& x2, const X3& x3, const X4& x4, double delta = 1e-5) {
-  using namespace boost::placeholders;
-  return numericalDerivative42<Y, X1, X2, X3, X4>(boost::bind(h, _1, _2, _3, _4), x1, x2, x3, x4);
+  return numericalDerivative42<Y, X1, X2, X3, X4>(boost::bind(h, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4), x1, x2, x3, x4);
 }
 
 /**
@@ -380,8 +373,7 @@ typename internal::FixedSizeMatrix<Y,X3>::type numericalDerivative43(
 template<class Y, class X1, class X2, class X3, class X4>
 inline typename internal::FixedSizeMatrix<Y,X3>::type numericalDerivative43(Y (*h)(const X1&, const X2&, const X3&, const X4&),
     const X1& x1, const X2& x2, const X3& x3, const X4& x4, double delta = 1e-5) {
-  using namespace boost::placeholders;
-  return numericalDerivative43<Y, X1, X2, X3, X4>(boost::bind(h, _1, _2, _3, _4), x1, x2, x3, x4);
+  return numericalDerivative43<Y, X1, X2, X3, X4>(boost::bind(h, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4), x1, x2, x3, x4);
 }
 
 /**
@@ -409,8 +401,7 @@ typename internal::FixedSizeMatrix<Y,X4>::type numericalDerivative44(
 template<class Y, class X1, class X2, class X3, class X4>
 inline typename internal::FixedSizeMatrix<Y,X4>::type numericalDerivative44(Y (*h)(const X1&, const X2&, const X3&, const X4&),
   const X1& x1, const X2& x2, const X3& x3, const X4& x4, double delta = 1e-5) {
-  using namespace boost::placeholders;
-  return numericalDerivative44<Y, X1, X2, X3, X4>(boost::bind(h, _1, _2, _3, _4), x1, x2, x3, x4);
+  return numericalDerivative44<Y, X1, X2, X3, X4>(boost::bind(h, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4), x1, x2, x3, x4);
 }
 
 /**
@@ -439,8 +430,7 @@ typename internal::FixedSizeMatrix<Y,X1>::type numericalDerivative51(
 template<class Y, class X1, class X2, class X3, class X4, class X5>
 inline typename internal::FixedSizeMatrix<Y,X1>::type numericalDerivative51(Y (*h)(const X1&, const X2&, const X3&, const X4&, const X5&),
     const X1& x1, const X2& x2, const X3& x3, const X4& x4, const X5& x5, double delta = 1e-5) {
-  using namespace boost::placeholders;
-  return numericalDerivative51<Y, X1, X2, X3, X4, X5>(boost::bind(h, _1, _2, _3, _4, _5), x1, x2, x3, x4, x5);
+  return numericalDerivative51<Y, X1, X2, X3, X4, X5>(boost::bind(h, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5), x1, x2, x3, x4, x5);
 }
 
 /**
@@ -469,8 +459,7 @@ typename internal::FixedSizeMatrix<Y,X2>::type numericalDerivative52(
 template<class Y, class X1, class X2, class X3, class X4, class X5>
 inline typename internal::FixedSizeMatrix<Y,X2>::type numericalDerivative52(Y (*h)(const X1&, const X2&, const X3&, const X4&, const X5&),
     const X1& x1, const X2& x2, const X3& x3, const X4& x4, const X5& x5, double delta = 1e-5) {
-  using namespace boost::placeholders;
-  return numericalDerivative52<Y, X1, X2, X3, X4, X5>(boost::bind(h, _1, _2, _3, _4, _5), x1, x2, x3, x4, x5);
+  return numericalDerivative52<Y, X1, X2, X3, X4, X5>(boost::bind(h, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5), x1, x2, x3, x4, x5);
 }
 
 /**
@@ -499,8 +488,7 @@ typename internal::FixedSizeMatrix<Y,X3>::type numericalDerivative53(
 template<class Y, class X1, class X2, class X3, class X4, class X5>
 inline typename internal::FixedSizeMatrix<Y,X3>::type numericalDerivative53(Y (*h)(const X1&, const X2&, const X3&, const X4&, const X5&),
     const X1& x1, const X2& x2, const X3& x3, const X4& x4, const X5& x5, double delta = 1e-5) {
-  using namespace boost::placeholders;
-  return numericalDerivative53<Y, X1, X2, X3, X4, X5>(boost::bind(h, _1, _2, _3, _4, _5), x1, x2, x3, x4, x5);
+  return numericalDerivative53<Y, X1, X2, X3, X4, X5>(boost::bind(h, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5), x1, x2, x3, x4, x5);
 }
 
 /**
@@ -529,8 +517,7 @@ typename internal::FixedSizeMatrix<Y,X4>::type numericalDerivative54(
 template<class Y, class X1, class X2, class X3, class X4, class X5>
 inline typename internal::FixedSizeMatrix<Y,X4>::type numericalDerivative54(Y (*h)(const X1&, const X2&, const X3&, const X4&, const X5&),
     const X1& x1, const X2& x2, const X3& x3, const X4& x4, const X5& x5, double delta = 1e-5) {
-  using namespace boost::placeholders;
-  return numericalDerivative54<Y, X1, X2, X3, X4, X5>(boost::bind(h, _1, _2, _3, _4, _5), x1, x2, x3, x4, x5);
+  return numericalDerivative54<Y, X1, X2, X3, X4, X5>(boost::bind(h, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5), x1, x2, x3, x4, x5);
 }
 
 /**
@@ -559,8 +546,7 @@ typename internal::FixedSizeMatrix<Y,X5>::type numericalDerivative55(
 template<class Y, class X1, class X2, class X3, class X4, class X5>
 inline typename internal::FixedSizeMatrix<Y,X5>::type numericalDerivative55(Y (*h)(const X1&, const X2&, const X3&, const X4&, const X5&),
     const X1& x1, const X2& x2, const X3& x3, const X4& x4, const X5& x5, double delta = 1e-5) {
-  using namespace boost::placeholders;
-  return numericalDerivative55<Y, X1, X2, X3, X4, X5>(boost::bind(h, _1, _2, _3, _4, _5), x1, x2, x3, x4, x5);
+  return numericalDerivative55<Y, X1, X2, X3, X4, X5>(boost::bind(h, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5), x1, x2, x3, x4, x5);
 }
 
 /**
@@ -590,8 +576,7 @@ typename internal::FixedSizeMatrix<Y,X1>::type numericalDerivative61(
 template<class Y, class X1, class X2, class X3, class X4, class X5, class X6>
 inline typename internal::FixedSizeMatrix<Y,X1>::type numericalDerivative61(Y (*h)(const X1&, const X2&, const X3&, const X4&, const X5&, const X6&),
     const X1& x1, const X2& x2, const X3& x3, const X4& x4, const X5& x5, const X6& x6, double delta = 1e-5) {
-  using namespace boost::placeholders;
-  return numericalDerivative61<Y, X1, X2, X3, X4, X5, X6>(boost::bind(h, _1, _2, _3, _4, _5, _6), x1, x2, x3, x4, x5, x6);
+  return numericalDerivative61<Y, X1, X2, X3, X4, X5, X6>(boost::bind(h, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5, boost::placeholders::_6), x1, x2, x3, x4, x5, x6);
 }
 
 /**
@@ -621,8 +606,7 @@ typename internal::FixedSizeMatrix<Y,X2>::type numericalDerivative62(
 template<class Y, class X1, class X2, class X3, class X4, class X5, class X6>
 inline typename internal::FixedSizeMatrix<Y,X2>::type numericalDerivative62(Y (*h)(const X1&, const X2&, const X3&, const X4&, const X5&, const X6&),
     const X1& x1, const X2& x2, const X3& x3, const X4& x4, const X5& x5, const X6& x6, double delta = 1e-5) {
-  using namespace boost::placeholders;
-  return numericalDerivative62<Y, X1, X2, X3, X4, X5, X6>(boost::bind(h, _1, _2, _3, _4, _5, _6), x1, x2, x3, x4, x5, x6);
+  return numericalDerivative62<Y, X1, X2, X3, X4, X5, X6>(boost::bind(h, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5, boost::placeholders::_6), x1, x2, x3, x4, x5, x6);
 }
 
 /**
@@ -652,8 +636,7 @@ typename internal::FixedSizeMatrix<Y,X3>::type numericalDerivative63(
 template<class Y, class X1, class X2, class X3, class X4, class X5, class X6>
 inline typename internal::FixedSizeMatrix<Y,X3>::type numericalDerivative63(Y (*h)(const X1&, const X2&, const X3&, const X4&, const X5&, const X6&),
     const X1& x1, const X2& x2, const X3& x3, const X4& x4, const X5& x5, const X6& x6, double delta = 1e-5) {
-  using namespace boost::placeholders;
-  return numericalDerivative63<Y, X1, X2, X3, X4, X5, X6>(boost::bind(h, _1, _2, _3, _4, _5, _6), x1, x2, x3, x4, x5, x6);
+  return numericalDerivative63<Y, X1, X2, X3, X4, X5, X6>(boost::bind(h, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5, boost::placeholders::_6), x1, x2, x3, x4, x5, x6);
 }
 
 /**
@@ -683,8 +666,7 @@ typename internal::FixedSizeMatrix<Y,X4>::type numericalDerivative64(
 template<class Y, class X1, class X2, class X3, class X4, class X5, class X6>
 inline typename internal::FixedSizeMatrix<Y,X4>::type numericalDerivative64(Y (*h)(const X1&, const X2&, const X3&, const X4&, const X5&, const X6&),
     const X1& x1, const X2& x2, const X3& x3, const X4& x4, const X5& x5, const X6& x6, double delta = 1e-5) {
-  using namespace boost::placeholders;
-  return numericalDerivative64<Y, X1, X2, X3, X4, X5>(boost::bind(h, _1, _2, _3, _4, _5, _6), x1, x2, x3, x4, x5, x6);
+  return numericalDerivative64<Y, X1, X2, X3, X4, X5>(boost::bind(h, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5, boost::placeholders::_6), x1, x2, x3, x4, x5, x6);
 }
 
 /**
@@ -714,8 +696,7 @@ typename internal::FixedSizeMatrix<Y,X5>::type numericalDerivative65(
 template<class Y, class X1, class X2, class X3, class X4, class X5, class X6>
 inline typename internal::FixedSizeMatrix<Y,X5>::type numericalDerivative65(Y (*h)(const X1&, const X2&, const X3&, const X4&, const X5&, const X6&),
     const X1& x1, const X2& x2, const X3& x3, const X4& x4, const X5& x5, const X6& x6, double delta = 1e-5) {
-  using namespace boost::placeholders;
-  return numericalDerivative65<Y, X1, X2, X3, X4, X5, X6>(boost::bind(h, _1, _2, _3, _4, _5, _6), x1, x2, x3, x4, x5, x6);
+  return numericalDerivative65<Y, X1, X2, X3, X4, X5, X6>(boost::bind(h, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5, boost::placeholders::_6), x1, x2, x3, x4, x5, x6);
 }
 
 /**
@@ -746,8 +727,7 @@ typename internal::FixedSizeMatrix<Y, X6>::type numericalDerivative66(
 template<class Y, class X1, class X2, class X3, class X4, class X5, class X6>
 inline typename internal::FixedSizeMatrix<Y,X6>::type numericalDerivative66(Y (*h)(const X1&, const X2&, const X3&, const X4&, const X5&, const X6&),
     const X1& x1, const X2& x2, const X3& x3, const X4& x4, const X5& x5, const X6& x6, double delta = 1e-5) {
-  using namespace boost::placeholders;
-  return numericalDerivative66<Y, X1, X2, X3, X4, X5, X6>(boost::bind(h, _1, _2, _3, _4, _5, _6), x1, x2, x3, x4, x5, x6);
+  return numericalDerivative66<Y, X1, X2, X3, X4, X5, X6>(boost::bind(h, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4, boost::placeholders::_5, boost::placeholders::_6), x1, x2, x3, x4, x5, x6);
 }
 
 /**
@@ -820,15 +800,14 @@ inline typename internal::FixedSizeMatrix<X1,X1>::type numericalHessian211(
     boost::function<double(const X1&, const X2&)> f, const X1& x1, const X2& x2,
     double delta = 1e-5) {
 
-  using namespace boost::placeholders;
   typedef typename internal::FixedSizeMatrix<X1>::type Vector;
 
   Vector (*numGrad)(boost::function<double(const X1&)>, const X1&,
       double) = &numericalGradient<X1>;
-  boost::function<double(const X1&)> f2(boost::bind(f, _1, boost::cref(x2)));
+  boost::function<double(const X1&)> f2(boost::bind(f, boost::placeholders::_1, boost::cref(x2)));
 
   return numericalDerivative11<Vector, X1>(
-      boost::function<Vector(const X1&)>(boost::bind(numGrad, f2, _1, delta)),
+      boost::function<Vector(const X1&)>(boost::bind(numGrad, f2, boost::placeholders::_1, delta)),
       x1, delta);
 }
 
@@ -843,14 +822,13 @@ template<class X1, class X2>
 inline typename internal::FixedSizeMatrix<X2,X2>::type numericalHessian222(
     boost::function<double(const X1&, const X2&)> f, const X1& x1, const X2& x2,
     double delta = 1e-5) {
-  using namespace boost::placeholders;
   typedef typename internal::FixedSizeMatrix<X2>::type Vector;
   Vector (*numGrad)(boost::function<double(const X2&)>, const X2&,
       double) = &numericalGradient<X2>;
-  boost::function<double(const X2&)> f2(boost::bind(f, boost::cref(x1), _1));
+  boost::function<double(const X2&)> f2(boost::bind(f, boost::cref(x1), boost::placeholders::_1));
 
   return numericalDerivative11<Vector, X2>(
-      boost::function<Vector(const X2&)>(boost::bind(numGrad, f2, _1, delta)),
+      boost::function<Vector(const X2&)>(boost::bind(numGrad, f2, boost::placeholders::_1, delta)),
       x2, delta);
 }
 
@@ -869,14 +847,13 @@ template<class X1, class X2, class X3>
 inline typename internal::FixedSizeMatrix<X1,X1>::type numericalHessian311(
     boost::function<double(const X1&, const X2&, const X3&)> f, const X1& x1,
     const X2& x2, const X3& x3, double delta = 1e-5) {
-  using namespace boost::placeholders;
   typedef typename internal::FixedSizeMatrix<X1>::type Vector;
   Vector (*numGrad)(boost::function<double(const X1&)>, const X1&,
       double) = &numericalGradient<X1>;
-  boost::function<double(const X1&)> f2(boost::bind(f, _1, boost::cref(x2), boost::cref(x3)));
+  boost::function<double(const X1&)> f2(boost::bind(f, boost::placeholders::_1, boost::cref(x2), boost::cref(x3)));
 
   return numericalDerivative11<Vector, X1>(
-      boost::function<Vector(const X1&)>(boost::bind(numGrad, f2, _1, delta)),
+      boost::function<Vector(const X1&)>(boost::bind(numGrad, f2, boost::placeholders::_1, delta)),
       x1, delta);
 }
 
@@ -893,14 +870,13 @@ template<class X1, class X2, class X3>
 inline typename internal::FixedSizeMatrix<X2,X2>::type numericalHessian322(
     boost::function<double(const X1&, const X2&, const X3&)> f, const X1& x1,
     const X2& x2, const X3& x3, double delta = 1e-5) {
-  using namespace boost::placeholders;
   typedef typename internal::FixedSizeMatrix<X2>::type Vector;
   Vector (*numGrad)(boost::function<double(const X2&)>, const X2&,
       double) = &numericalGradient<X2>;
-  boost::function<double(const X2&)> f2(boost::bind(f, boost::cref(x1), _1, boost::cref(x3)));
+  boost::function<double(const X2&)> f2(boost::bind(f, boost::cref(x1), boost::placeholders::_1, boost::cref(x3)));
 
   return numericalDerivative11<Vector, X2>(
-      boost::function<Vector(const X2&)>(boost::bind(numGrad, f2, _1, delta)),
+      boost::function<Vector(const X2&)>(boost::bind(numGrad, f2, boost::placeholders::_1, delta)),
       x2, delta);
 }
 
@@ -917,14 +893,13 @@ template<class X1, class X2, class X3>
 inline typename internal::FixedSizeMatrix<X3,X3>::type numericalHessian333(
     boost::function<double(const X1&, const X2&, const X3&)> f, const X1& x1,
     const X2& x2, const X3& x3, double delta = 1e-5) {
-  using namespace boost::placeholders;
   typedef typename internal::FixedSizeMatrix<X3>::type Vector;
   Vector (*numGrad)(boost::function<double(const X3&)>, const X3&,
       double) = &numericalGradient<X3>;
-  boost::function<double(const X3&)> f2(boost::bind(f, boost::cref(x1), boost::cref(x2), _1));
+  boost::function<double(const X3&)> f2(boost::bind(f, boost::cref(x1), boost::cref(x2), boost::placeholders::_1));
 
   return numericalDerivative11<Vector, X3>(
-      boost::function<Vector(const X3&)>(boost::bind(numGrad, f2, _1, delta)),
+      boost::function<Vector(const X3&)>(boost::bind(numGrad, f2, boost::placeholders::_1, delta)),
       x3, delta);
 }
 
@@ -941,9 +916,8 @@ template<class X1, class X2, class X3>
 inline typename internal::FixedSizeMatrix<X1,X2>::type numericalHessian312(
     boost::function<double(const X1&, const X2&, const X3&)> f, const X1& x1,
     const X2& x2, const X3& x3, double delta = 1e-5) {
-  using namespace boost::placeholders;
   return numericalHessian212<X1, X2>(
-      boost::function<double(const X1&, const X2&)>(boost::bind(f, _1, _2, boost::cref(x3))),
+      boost::function<double(const X1&, const X2&)>(boost::bind(f, boost::placeholders::_1, boost::placeholders::_2, boost::cref(x3))),
       x1, x2, delta);
 }
 
@@ -951,9 +925,8 @@ template<class X1, class X2, class X3>
 inline typename internal::FixedSizeMatrix<X1,X3>::type numericalHessian313(
     boost::function<double(const X1&, const X2&, const X3&)> f, const X1& x1,
     const X2& x2, const X3& x3, double delta = 1e-5) {
-  using namespace boost::placeholders;
   return numericalHessian212<X1, X3>(
-      boost::function<double(const X1&, const X3&)>(boost::bind(f, _1, boost::cref(x2), _2)),
+      boost::function<double(const X1&, const X3&)>(boost::bind(f, boost::placeholders::_1, boost::cref(x2), boost::placeholders::_2)),
       x1, x3, delta);
 }
 
@@ -961,9 +934,8 @@ template<class X1, class X2, class X3>
 inline typename internal::FixedSizeMatrix<X2,X3>::type numericalHessian323(
     boost::function<double(const X1&, const X2&, const X3&)> f, const X1& x1,
     const X2& x2, const X3& x3, double delta = 1e-5) {
-  using namespace boost::placeholders;
   return numericalHessian212<X2, X3>(
-      boost::function<double(const X2&, const X3&)>(boost::bind(f, boost::cref(x1), _1, _2)),
+      boost::function<double(const X2&, const X3&)>(boost::bind(f, boost::cref(x1), boost::placeholders::_1, boost::placeholders::_2)),
       x2, x3, delta);
 }
 
diff --git a/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel.h b/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel.h
index c7b82ba985..3e6dbf6db3 100644
--- a/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel.h
+++ b/gtsam_unstable/slam/EquivInertialNavFactor_GlobalVel.h
@@ -310,38 +310,38 @@ class EquivInertialNavFactor_GlobalVel : public NoiseModelFactor5<POSE, VELOCITY
     // TODO: Write analytical derivative calculations
     // Jacobian w.r.t. Pose1
     if (H1){
-      Matrix H1_Pose = numericalDerivative11<POSE, POSE>(boost::bind(&EquivInertialNavFactor_GlobalVel::evaluatePoseError, this, _1, Vel1, Bias1, Pose2, Vel2), Pose1);
-      Matrix H1_Vel = numericalDerivative11<VELOCITY, POSE>(boost::bind(&EquivInertialNavFactor_GlobalVel::evaluateVelocityError, this, _1, Vel1, Bias1, Pose2, Vel2), Pose1);
+      Matrix H1_Pose = numericalDerivative11<POSE, POSE>(boost::bind(&EquivInertialNavFactor_GlobalVel::evaluatePoseError, this, boost::placeholders::_1, Vel1, Bias1, Pose2, Vel2), Pose1);
+      Matrix H1_Vel = numericalDerivative11<VELOCITY, POSE>(boost::bind(&EquivInertialNavFactor_GlobalVel::evaluateVelocityError, this, boost::placeholders::_1, Vel1, Bias1, Pose2, Vel2), Pose1);
       *H1 = stack(2, &H1_Pose, &H1_Vel);
     }
 
     // Jacobian w.r.t. Vel1
     if (H2){
       if (Vel1.size()!=3) throw std::runtime_error("Frank's hack to make this compile will not work if size != 3");
-      Matrix H2_Pose = numericalDerivative11<POSE, Vector3>(boost::bind(&EquivInertialNavFactor_GlobalVel::evaluatePoseError, this, Pose1, _1, Bias1, Pose2, Vel2), Vel1);
-      Matrix H2_Vel = numericalDerivative11<Vector3, Vector3>(boost::bind(&EquivInertialNavFactor_GlobalVel::evaluateVelocityError, this, Pose1, _1, Bias1, Pose2, Vel2), Vel1);
+      Matrix H2_Pose = numericalDerivative11<POSE, Vector3>(boost::bind(&EquivInertialNavFactor_GlobalVel::evaluatePoseError, this, Pose1, boost::placeholders::_1, Bias1, Pose2, Vel2), Vel1);
+      Matrix H2_Vel = numericalDerivative11<Vector3, Vector3>(boost::bind(&EquivInertialNavFactor_GlobalVel::evaluateVelocityError, this, Pose1, boost::placeholders::_1, Bias1, Pose2, Vel2), Vel1);
       *H2 = stack(2, &H2_Pose, &H2_Vel);
     }
 
     // Jacobian w.r.t. IMUBias1
     if (H3){
-      Matrix H3_Pose = numericalDerivative11<POSE, IMUBIAS>(boost::bind(&EquivInertialNavFactor_GlobalVel::evaluatePoseError, this, Pose1, Vel1, _1, Pose2, Vel2), Bias1);
-      Matrix H3_Vel = numericalDerivative11<VELOCITY, IMUBIAS>(boost::bind(&EquivInertialNavFactor_GlobalVel::evaluateVelocityError, this, Pose1, Vel1, _1, Pose2, Vel2), Bias1);
+      Matrix H3_Pose = numericalDerivative11<POSE, IMUBIAS>(boost::bind(&EquivInertialNavFactor_GlobalVel::evaluatePoseError, this, Pose1, Vel1, boost::placeholders::_1, Pose2, Vel2), Bias1);
+      Matrix H3_Vel = numericalDerivative11<VELOCITY, IMUBIAS>(boost::bind(&EquivInertialNavFactor_GlobalVel::evaluateVelocityError, this, Pose1, Vel1, boost::placeholders::_1, Pose2, Vel2), Bias1);
       *H3 = stack(2, &H3_Pose, &H3_Vel);
     }
 
     // Jacobian w.r.t. Pose2
     if (H4){
-      Matrix H4_Pose = numericalDerivative11<POSE, POSE>(boost::bind(&EquivInertialNavFactor_GlobalVel::evaluatePoseError, this, Pose1, Vel1, Bias1, _1, Vel2), Pose2);
-      Matrix H4_Vel = numericalDerivative11<VELOCITY, POSE>(boost::bind(&EquivInertialNavFactor_GlobalVel::evaluateVelocityError, this, Pose1, Vel1, Bias1, _1, Vel2), Pose2);
+      Matrix H4_Pose = numericalDerivative11<POSE, POSE>(boost::bind(&EquivInertialNavFactor_GlobalVel::evaluatePoseError, this, Pose1, Vel1, Bias1, boost::placeholders::_1, Vel2), Pose2);
+      Matrix H4_Vel = numericalDerivative11<VELOCITY, POSE>(boost::bind(&EquivInertialNavFactor_GlobalVel::evaluateVelocityError, this, Pose1, Vel1, Bias1, boost::placeholders::_1, Vel2), Pose2);
       *H4 = stack(2, &H4_Pose, &H4_Vel);
     }
 
     // Jacobian w.r.t. Vel2
     if (H5){
       if (Vel2.size()!=3) throw std::runtime_error("Frank's hack to make this compile will not work if size != 3");
-      Matrix H5_Pose = numericalDerivative11<POSE, Vector3>(boost::bind(&EquivInertialNavFactor_GlobalVel::evaluatePoseError, this, Pose1, Vel1, Bias1, Pose2, _1), Vel2);
-      Matrix H5_Vel = numericalDerivative11<Vector3, Vector3>(boost::bind(&EquivInertialNavFactor_GlobalVel::evaluateVelocityError, this, Pose1, Vel1, Bias1, Pose2, _1), Vel2);
+      Matrix H5_Pose = numericalDerivative11<POSE, Vector3>(boost::bind(&EquivInertialNavFactor_GlobalVel::evaluatePoseError, this, Pose1, Vel1, Bias1, Pose2, boost::placeholders::_1), Vel2);
+      Matrix H5_Vel = numericalDerivative11<Vector3, Vector3>(boost::bind(&EquivInertialNavFactor_GlobalVel::evaluateVelocityError, this, Pose1, Vel1, Bias1, Pose2, boost::placeholders::_1), Vel2);
       *H5 = stack(2, &H5_Pose, &H5_Vel);
     }
 
@@ -442,18 +442,18 @@ class EquivInertialNavFactor_GlobalVel : public NoiseModelFactor5<POSE, VELOCITY
     Matrix Z_3x3 = Z_3x3;
     Matrix I_3x3 = I_3x3;
 
-    Matrix H_pos_pos = numericalDerivative11<Vector3, Vector3>(boost::bind(&PreIntegrateIMUObservations_delta_pos, msr_dt, _1, delta_vel_in_t0), delta_pos_in_t0);
-    Matrix H_pos_vel = numericalDerivative11<Vector3, Vector3>(boost::bind(&PreIntegrateIMUObservations_delta_pos, msr_dt, delta_pos_in_t0, _1), delta_vel_in_t0);
+    Matrix H_pos_pos = numericalDerivative11<Vector3, Vector3>(boost::bind(&PreIntegrateIMUObservations_delta_pos, msr_dt, boost::placeholders::_1, delta_vel_in_t0), delta_pos_in_t0);
+    Matrix H_pos_vel = numericalDerivative11<Vector3, Vector3>(boost::bind(&PreIntegrateIMUObservations_delta_pos, msr_dt, delta_pos_in_t0, boost::placeholders::_1), delta_vel_in_t0);
     Matrix H_pos_angles = Z_3x3;
     Matrix H_pos_bias = collect(2, &Z_3x3, &Z_3x3);
 
-    Matrix H_vel_vel = numericalDerivative11<Vector3, Vector3>(boost::bind(&PreIntegrateIMUObservations_delta_vel, msr_gyro_t, msr_acc_t, msr_dt, delta_angles, _1, flag_use_body_P_sensor, body_P_sensor, Bias_t0), delta_vel_in_t0);
-    Matrix H_vel_angles = numericalDerivative11<Vector3, Vector3>(boost::bind(&PreIntegrateIMUObservations_delta_vel, msr_gyro_t, msr_acc_t, msr_dt, _1, delta_vel_in_t0, flag_use_body_P_sensor, body_P_sensor, Bias_t0), delta_angles);
-    Matrix H_vel_bias = numericalDerivative11<Vector3, IMUBIAS>(boost::bind(&PreIntegrateIMUObservations_delta_vel, msr_gyro_t, msr_acc_t, msr_dt, delta_angles, delta_vel_in_t0, flag_use_body_P_sensor, body_P_sensor, _1), Bias_t0);
+    Matrix H_vel_vel = numericalDerivative11<Vector3, Vector3>(boost::bind(&PreIntegrateIMUObservations_delta_vel, msr_gyro_t, msr_acc_t, msr_dt, delta_angles, boost::placeholders::_1, flag_use_body_P_sensor, body_P_sensor, Bias_t0), delta_vel_in_t0);
+    Matrix H_vel_angles = numericalDerivative11<Vector3, Vector3>(boost::bind(&PreIntegrateIMUObservations_delta_vel, msr_gyro_t, msr_acc_t, msr_dt, boost::placeholders::_1, delta_vel_in_t0, flag_use_body_P_sensor, body_P_sensor, Bias_t0), delta_angles);
+    Matrix H_vel_bias = numericalDerivative11<Vector3, IMUBIAS>(boost::bind(&PreIntegrateIMUObservations_delta_vel, msr_gyro_t, msr_acc_t, msr_dt, delta_angles, delta_vel_in_t0, flag_use_body_P_sensor, body_P_sensor, boost::placeholders::_1), Bias_t0);
     Matrix H_vel_pos = Z_3x3;
 
-    Matrix H_angles_angles = numericalDerivative11<Vector3, Vector3>(boost::bind(&PreIntegrateIMUObservations_delta_angles, msr_gyro_t, msr_dt, _1, flag_use_body_P_sensor, body_P_sensor, Bias_t0), delta_angles);
-    Matrix H_angles_bias = numericalDerivative11<Vector3, IMUBIAS>(boost::bind(&PreIntegrateIMUObservations_delta_angles, msr_gyro_t, msr_dt, delta_angles, flag_use_body_P_sensor, body_P_sensor, _1), Bias_t0);
+    Matrix H_angles_angles = numericalDerivative11<Vector3, Vector3>(boost::bind(&PreIntegrateIMUObservations_delta_angles, msr_gyro_t, msr_dt, boost::placeholders::_1, flag_use_body_P_sensor, body_P_sensor, Bias_t0), delta_angles);
+    Matrix H_angles_bias = numericalDerivative11<Vector3, IMUBIAS>(boost::bind(&PreIntegrateIMUObservations_delta_angles, msr_gyro_t, msr_dt, delta_angles, flag_use_body_P_sensor, body_P_sensor, boost::placeholders::_1), Bias_t0);
     Matrix H_angles_pos = Z_3x3;
     Matrix H_angles_vel = Z_3x3;