diff --git a/examples/Pose3Localization.cpp b/examples/Pose3Localization.cpp
index 1667b43d9d..c18a9e9cee 100644
--- a/examples/Pose3Localization.cpp
+++ b/examples/Pose3Localization.cpp
@@ -43,7 +43,7 @@ int main(const int argc, const char* argv[]) {
   auto priorModel = noiseModel::Diagonal::Variances(
       (Vector(6) << 1e-6, 1e-6, 1e-6, 1e-4, 1e-4, 1e-4).finished());
   Key firstKey = 0;
-  for (const Values::ConstKeyValuePair& key_value : *initial) {
+  for (const auto key_value : *initial) {
     std::cout << "Adding prior to g2o file " << std::endl;
     firstKey = key_value.key;
     graph->addPrior(firstKey, Pose3(), priorModel);
@@ -74,7 +74,7 @@ int main(const int argc, const char* argv[]) {
 
   // Calculate and print marginal covariances for all variables
   Marginals marginals(*graph, result);
-  for (const auto& key_value : result) {
+  for (const auto key_value : result) {
     auto p = dynamic_cast<const GenericValue<Pose3>*>(&key_value.value);
     if (!p) continue;
     std::cout << marginals.marginalCovariance(key_value.key) << endl;
diff --git a/examples/Pose3SLAMExample_changeKeys.cpp b/examples/Pose3SLAMExample_changeKeys.cpp
index abadce975e..5d4ed6657d 100644
--- a/examples/Pose3SLAMExample_changeKeys.cpp
+++ b/examples/Pose3SLAMExample_changeKeys.cpp
@@ -55,7 +55,7 @@ int main(const int argc, const char *argv[]) {
     std::cout << "Rewriting input to file: " << inputFileRewritten << std::endl;
     // Additional: rewrite input with simplified keys 0,1,...
     Values simpleInitial;
-    for(const Values::ConstKeyValuePair& key_value: *initial) {
+    for(const auto key_value: *initial) {
       Key key;
       if(add)
         key = key_value.key + firstKey;
diff --git a/examples/Pose3SLAMExample_g2o.cpp b/examples/Pose3SLAMExample_g2o.cpp
index 1cca92f591..3679643072 100644
--- a/examples/Pose3SLAMExample_g2o.cpp
+++ b/examples/Pose3SLAMExample_g2o.cpp
@@ -42,7 +42,7 @@ int main(const int argc, const char* argv[]) {
   auto priorModel = noiseModel::Diagonal::Variances(
       (Vector(6) << 1e-6, 1e-6, 1e-6, 1e-4, 1e-4, 1e-4).finished());
   Key firstKey = 0;
-  for (const Values::ConstKeyValuePair& key_value : *initial) {
+  for (const auto key_value : *initial) {
     std::cout << "Adding prior to g2o file " << std::endl;
     firstKey = key_value.key;
     graph->addPrior(firstKey, Pose3(), priorModel);
diff --git a/examples/Pose3SLAMExample_initializePose3Chordal.cpp b/examples/Pose3SLAMExample_initializePose3Chordal.cpp
index 00a546bb2f..992750fed8 100644
--- a/examples/Pose3SLAMExample_initializePose3Chordal.cpp
+++ b/examples/Pose3SLAMExample_initializePose3Chordal.cpp
@@ -42,7 +42,7 @@ int main(const int argc, const char* argv[]) {
   auto priorModel = noiseModel::Diagonal::Variances(
       (Vector(6) << 1e-6, 1e-6, 1e-6, 1e-4, 1e-4, 1e-4).finished());
   Key firstKey = 0;
-  for (const Values::ConstKeyValuePair& key_value : *initial) {
+  for (const auto key_value : *initial) {
     std::cout << "Adding prior to g2o file " << std::endl;
     firstKey = key_value.key;
     graph->addPrior(firstKey, Pose3(), priorModel);
diff --git a/examples/Pose3SLAMExample_initializePose3Gradient.cpp b/examples/Pose3SLAMExample_initializePose3Gradient.cpp
index 2f92afb9ed..384f290a19 100644
--- a/examples/Pose3SLAMExample_initializePose3Gradient.cpp
+++ b/examples/Pose3SLAMExample_initializePose3Gradient.cpp
@@ -42,7 +42,7 @@ int main(const int argc, const char* argv[]) {
   auto priorModel = noiseModel::Diagonal::Variances(
       (Vector(6) << 1e-6, 1e-6, 1e-6, 1e-4, 1e-4, 1e-4).finished());
   Key firstKey = 0;
-  for (const Values::ConstKeyValuePair& key_value : *initial) {
+  for (const auto key_value : *initial) {
     std::cout << "Adding prior to g2o file " << std::endl;
     firstKey = key_value.key;
     graph->addPrior(firstKey, Pose3(), priorModel);
diff --git a/examples/SolverComparer.cpp b/examples/SolverComparer.cpp
index 718ae62868..7bae41403a 100644
--- a/examples/SolverComparer.cpp
+++ b/examples/SolverComparer.cpp
@@ -559,7 +559,7 @@ void runPerturb()
 
   // Perturb values
   VectorValues noise;
-  for(const Values::KeyValuePair& key_val: initial)
+  for(const Values::KeyValuePair key_val: initial)
   {
     Vector noisev(key_val.value.dim());
     for(Vector::Index i = 0; i < noisev.size(); ++i)
diff --git a/gtsam/geometry/Cal3.h b/gtsam/geometry/Cal3.h
index 74c9868f34..08ce4c1e67 100644
--- a/gtsam/geometry/Cal3.h
+++ b/gtsam/geometry/Cal3.h
@@ -99,6 +99,9 @@ class GTSAM_EXPORT Cal3 {
    */
   Cal3(double fov, int w, int h);
 
+  /// Virtual destructor
+  virtual ~Cal3() {}
+
   /// @}
   /// @name Advanced Constructors
   /// @{
diff --git a/gtsam/geometry/tests/testRot3.cpp b/gtsam/geometry/tests/testRot3.cpp
index 889f685807..2909458378 100644
--- a/gtsam/geometry/tests/testRot3.cpp
+++ b/gtsam/geometry/tests/testRot3.cpp
@@ -825,7 +825,7 @@ TEST(Rot3, RQ_derivative) {
     const auto R = Rot3::RzRyRx(xyz).matrix();
     const auto num = numericalDerivative11(RQ_proxy, R);
     Matrix39 calc;
-    RQ(R, calc).second;
+    auto dummy = RQ(R, calc).second;
 
     const auto err = vec_err.second;
     CHECK(assert_equal(num, calc, err));
diff --git a/gtsam/linear/VectorValues.cpp b/gtsam/linear/VectorValues.cpp
index 9b5868744b..7462758476 100644
--- a/gtsam/linear/VectorValues.cpp
+++ b/gtsam/linear/VectorValues.cpp
@@ -161,7 +161,7 @@ namespace gtsam {
   bool VectorValues::equals(const VectorValues& x, double tol) const {
     if(this->size() != x.size())
       return false;
-    for(const auto& values: boost::combine(*this, x)) {
+    for(const auto values: boost::combine(*this, x)) {
       if(values.get<0>().first != values.get<1>().first ||
         !equal_with_abs_tol(values.get<0>().second, values.get<1>().second, tol))
         return false;
@@ -233,7 +233,7 @@ namespace gtsam {
     double result = 0.0;
     typedef boost::tuple<value_type, value_type> ValuePair;
     using boost::adaptors::map_values;
-    for(const ValuePair& values: boost::combine(*this, v)) {
+    for(const ValuePair values: boost::combine(*this, v)) {
       assert_throw(values.get<0>().first == values.get<1>().first,
         invalid_argument("VectorValues::dot called with a VectorValues of different structure"));
       assert_throw(values.get<0>().second.size() == values.get<1>().second.size(),
diff --git a/gtsam/nonlinear/NonlinearFactorGraph.cpp b/gtsam/nonlinear/NonlinearFactorGraph.cpp
index 3063aa329b..6a9e0cd0a4 100644
--- a/gtsam/nonlinear/NonlinearFactorGraph.cpp
+++ b/gtsam/nonlinear/NonlinearFactorGraph.cpp
@@ -376,7 +376,7 @@ static Scatter scatterFromValues(const Values& values) {
   scatter.reserve(values.size());
 
   // use "natural" ordering with keys taken from the initial values
-  for (const auto& key_value : values) {
+  for (const auto key_value : values) {
     scatter.add(key_value.key, key_value.value.dim());
   }
 
diff --git a/gtsam/nonlinear/Values-inl.h b/gtsam/nonlinear/Values-inl.h
index 6829e859b6..19813adbae 100644
--- a/gtsam/nonlinear/Values-inl.h
+++ b/gtsam/nonlinear/Values-inl.h
@@ -217,7 +217,7 @@ namespace gtsam {
   /** Constructor from a Filtered view copies out all values */
   template<class ValueType>
   Values::Values(const Values::Filtered<ValueType>& view) {
-    for(const typename Filtered<ValueType>::KeyValuePair& key_value: view) {
+    for(const auto key_value: view) {
       Key key = key_value.key;
       insert(key, static_cast<const ValueType&>(key_value.value));
     }
@@ -226,7 +226,7 @@ namespace gtsam {
   /* ************************************************************************* */
   template<class ValueType>
   Values::Values(const Values::ConstFiltered<ValueType>& view) {
-    for(const typename ConstFiltered<ValueType>::KeyValuePair& key_value: view) {
+    for(const auto key_value: view) {
       Key key = key_value.key;
       insert(key, static_cast<const ValueType&>(key_value.value));
     }
diff --git a/gtsam/nonlinear/Values.cpp b/gtsam/nonlinear/Values.cpp
index b672031cad..89a4206eed 100644
--- a/gtsam/nonlinear/Values.cpp
+++ b/gtsam/nonlinear/Values.cpp
@@ -206,7 +206,7 @@ namespace gtsam {
   /* ************************************************************************* */
   size_t Values::dim() const {
     size_t result = 0;
-    for(const ConstKeyValuePair& key_value: *this) {
+    for(const auto key_value: *this) {
       result += key_value.value.dim();
     }
     return result;
@@ -215,7 +215,7 @@ namespace gtsam {
   /* ************************************************************************* */
   VectorValues Values::zeroVectors() const {
     VectorValues result;
-    for(const ConstKeyValuePair& key_value: *this)
+    for(const auto key_value: *this)
       result.insert(key_value.key, Vector::Zero(key_value.value.dim()));
     return result;
   }
diff --git a/gtsam/nonlinear/internal/LevenbergMarquardtState.h b/gtsam/nonlinear/internal/LevenbergMarquardtState.h
index 8ab2e74663..cee8395407 100644
--- a/gtsam/nonlinear/internal/LevenbergMarquardtState.h
+++ b/gtsam/nonlinear/internal/LevenbergMarquardtState.h
@@ -126,7 +126,7 @@ struct LevenbergMarquardtState : public NonlinearOptimizerState {
     noiseModelCache.resize(0);
     // for each of the variables, add a prior
     damped.reserve(damped.size() + values.size());
-    for (const auto& key_value : values) {
+    for (const auto key_value : values) {
       const Key key = key_value.key;
       const size_t dim = key_value.value.dim();
       const CachedModel* item = getCachedModel(dim);
diff --git a/gtsam/nonlinear/tests/testValues.cpp b/gtsam/nonlinear/tests/testValues.cpp
index 88cfb666f0..a095cc381f 100644
--- a/gtsam/nonlinear/tests/testValues.cpp
+++ b/gtsam/nonlinear/tests/testValues.cpp
@@ -335,7 +335,7 @@ TEST(Values, filter) {
   int i = 0;
   Values::Filtered<Value> filtered = values.filter(boost::bind(std::greater_equal<Key>(), _1, 2));
   EXPECT_LONGS_EQUAL(2, (long)filtered.size());
-  for(const Values::Filtered<>::KeyValuePair& key_value: filtered) {
+  for(const auto key_value: filtered) {
     if(i == 0) {
       LONGS_EQUAL(2, (long)key_value.key);
       try {key_value.value.cast<Pose2>();} catch (const std::bad_cast& e) { FAIL("can't cast Value to Pose2");}
@@ -370,7 +370,7 @@ TEST(Values, filter) {
   i = 0;
   Values::ConstFiltered<Pose3> pose_filtered = values.filter<Pose3>();
   EXPECT_LONGS_EQUAL(2, (long)pose_filtered.size());
-  for(const Values::ConstFiltered<Pose3>::KeyValuePair& key_value: pose_filtered) {
+  for(const auto key_value: pose_filtered) {
     if(i == 0) {
       EXPECT_LONGS_EQUAL(1, (long)key_value.key);
       EXPECT(assert_equal(pose1, key_value.value));
@@ -408,7 +408,7 @@ TEST(Values, Symbol_filter) {
   values.insert(Symbol('y', 3), pose3);
 
   int i = 0;
-  for(const Values::Filtered<Value>::KeyValuePair& key_value: values.filter(Symbol::ChrTest('y'))) {
+  for(const auto key_value: values.filter(Symbol::ChrTest('y'))) {
     if(i == 0) {
       LONGS_EQUAL(Symbol('y', 1), (long)key_value.key);
       EXPECT(assert_equal(pose1, key_value.value.cast<Pose3>()));
diff --git a/gtsam/slam/InitializePose.h b/gtsam/slam/InitializePose.h
index be249b0b54..f9b99e47e3 100644
--- a/gtsam/slam/InitializePose.h
+++ b/gtsam/slam/InitializePose.h
@@ -62,7 +62,7 @@ static Values computePoses(const Values& initialRot,
 
   // Upgrade rotations to full poses
   Values initialPose;
-  for (const auto& key_value : initialRot) {
+  for (const auto key_value : initialRot) {
     Key key = key_value.key;
     const auto& rot = initialRot.at<typename Pose::Rotation>(key);
     Pose initializedPose = Pose(rot, origin);
@@ -86,7 +86,7 @@ static Values computePoses(const Values& initialRot,
 
   // put into Values structure
   Values estimate;
-  for (const auto& key_value : GNresult) {
+  for (const auto key_value : GNresult) {
     Key key = key_value.key;
     if (key != kAnchorKey) {
       const Pose& pose = GNresult.at<Pose>(key);
diff --git a/gtsam/slam/InitializePose3.cpp b/gtsam/slam/InitializePose3.cpp
index af1fc609ee..43404df537 100644
--- a/gtsam/slam/InitializePose3.cpp
+++ b/gtsam/slam/InitializePose3.cpp
@@ -124,7 +124,7 @@ Values InitializePose3::computeOrientationsGradient(
   // this works on the inverse rotations, according to Tron&Vidal,2011
   Values inverseRot;
   inverseRot.insert(initialize::kAnchorKey, Rot3());
-  for(const auto& key_value: givenGuess) {
+  for(const auto key_value: givenGuess) {
     Key key = key_value.key;
     const Pose3& pose = givenGuess.at<Pose3>(key);
     inverseRot.insert(key, pose.rotation().inverse());
@@ -139,7 +139,7 @@ Values InitializePose3::computeOrientationsGradient(
   // calculate max node degree & allocate gradient
   size_t maxNodeDeg = 0;
   VectorValues grad;
-  for(const auto& key_value: inverseRot) {
+  for(const auto key_value: inverseRot) {
     Key key = key_value.key;
     grad.insert(key,Z_3x1);
     size_t currNodeDeg = (adjEdgesMap.at(key)).size();
@@ -162,7 +162,7 @@ Values InitializePose3::computeOrientationsGradient(
     //////////////////////////////////////////////////////////////////////////
     // compute the gradient at each node
     maxGrad = 0;
-    for (const auto& key_value : inverseRot) {
+    for (const auto key_value : inverseRot) {
       Key key = key_value.key;
       Vector gradKey = Z_3x1;
       // collect the gradient for each edge incident on key
@@ -203,7 +203,7 @@ Values InitializePose3::computeOrientationsGradient(
   // Return correct rotations
   const Rot3& Rref = inverseRot.at<Rot3>(initialize::kAnchorKey); // This will be set to the identity as so far we included no prior
   Values estimateRot;
-  for(const auto& key_value: inverseRot) {
+  for(const auto key_value: inverseRot) {
     Key key = key_value.key;
     if (key != initialize::kAnchorKey) {
       const Rot3& R = inverseRot.at<Rot3>(key);
diff --git a/gtsam/slam/dataset.cpp b/gtsam/slam/dataset.cpp
index 74e074c9e6..c8a8b15c52 100644
--- a/gtsam/slam/dataset.cpp
+++ b/gtsam/slam/dataset.cpp
@@ -586,7 +586,7 @@ void save2D(const NonlinearFactorGraph &graph, const Values &config,
   fstream stream(filename.c_str(), fstream::out);
 
   // save poses
-  for (const Values::ConstKeyValuePair key_value : config) {
+  for (const auto key_value : config) {
     const Pose2 &pose = key_value.value.cast<Pose2>();
     stream << "VERTEX2 " << key_value.key << " " << pose.x() << " " << pose.y()
            << " " << pose.theta() << endl;
diff --git a/gtsam/slam/tests/testLago.cpp b/gtsam/slam/tests/testLago.cpp
index 55449d86ed..781317d7a9 100644
--- a/gtsam/slam/tests/testLago.cpp
+++ b/gtsam/slam/tests/testLago.cpp
@@ -284,7 +284,7 @@ TEST( Lago, largeGraphNoisy_orientations ) {
   Values::shared_ptr expected;
   boost::tie(gmatlab, expected) = readG2o(matlabFile);
 
-  for(const Values::KeyValuePair& key_val: *expected){
+  for(const auto key_val: *expected){
     Key k = key_val.key;
     EXPECT(assert_equal(expected->at<Pose2>(k), actual.at<Pose2>(k), 1e-5));
   }
@@ -310,7 +310,7 @@ TEST( Lago, largeGraphNoisy ) {
   Values::shared_ptr expected;
   boost::tie(gmatlab, expected) = readG2o(matlabFile);
 
-  for(const Values::KeyValuePair& key_val: *expected){
+  for(const auto key_val: *expected){
     Key k = key_val.key;
     EXPECT(assert_equal(expected->at<Pose2>(k), actual.at<Pose2>(k), 1e-2));
   }
diff --git a/gtsam_unstable/examples/ConcurrentFilteringAndSmoothingExample.cpp b/gtsam_unstable/examples/ConcurrentFilteringAndSmoothingExample.cpp
index 939d3a5c84..1494d784b3 100644
--- a/gtsam_unstable/examples/ConcurrentFilteringAndSmoothingExample.cpp
+++ b/gtsam_unstable/examples/ConcurrentFilteringAndSmoothingExample.cpp
@@ -308,11 +308,11 @@ int main(int argc, char** argv) {
   // And to demonstrate the fixed-lag aspect, print the keys contained in each smoother after 3.0 seconds
   cout << "After 15.0 seconds, each version contains to the following keys:" << endl;
   cout << "  Concurrent Filter Keys: " << endl;
-  for(const auto& key_value: concurrentFilter.getLinearizationPoint()) {
+  for(const auto key_value: concurrentFilter.getLinearizationPoint()) {
     cout << setprecision(5) << "    Key: " << key_value.key << endl;
   }
   cout << "  Concurrent Smoother Keys: " << endl;
-  for(const auto& key_value: concurrentSmoother.getLinearizationPoint()) {
+  for(const auto key_value: concurrentSmoother.getLinearizationPoint()) {
     cout << setprecision(5) << "    Key: " << key_value.key << endl;
   }
   cout << "  Fixed-Lag Smoother Keys: " << endl;
diff --git a/gtsam_unstable/examples/SmartRangeExample_plaza1.cpp b/gtsam_unstable/examples/SmartRangeExample_plaza1.cpp
index 5fdc7a7432..6a1239fba3 100644
--- a/gtsam_unstable/examples/SmartRangeExample_plaza1.cpp
+++ b/gtsam_unstable/examples/SmartRangeExample_plaza1.cpp
@@ -233,7 +233,7 @@ int main(int argc, char** argv) {
         }
       }
       countK = 0;
-      for(const Values::ConstFiltered<Point2>::KeyValuePair& it: result.filter<Point2>())
+      for(const auto it: result.filter<Point2>())
         os2 << it.key << "\t" << it.value.x() << "\t" << it.value.y() << "\t1"
             << endl;
       if (smart) {
@@ -256,7 +256,7 @@ int main(int argc, char** argv) {
   // Write result to file
   Values result = isam.calculateEstimate();
   ofstream os("rangeResult.txt");
-  for(const Values::ConstFiltered<Pose2>::KeyValuePair& it: result.filter<Pose2>())
+  for(const auto it: result.filter<Pose2>())
     os << it.key << "\t" << it.value.x() << "\t" << it.value.y() << "\t"
         << it.value.theta() << endl;
   exit(0);
diff --git a/gtsam_unstable/examples/SmartRangeExample_plaza2.cpp b/gtsam_unstable/examples/SmartRangeExample_plaza2.cpp
index 90b2a30ff3..95aff85a7f 100644
--- a/gtsam_unstable/examples/SmartRangeExample_plaza2.cpp
+++ b/gtsam_unstable/examples/SmartRangeExample_plaza2.cpp
@@ -202,11 +202,11 @@ int main(int argc, char** argv) {
   // Write result to file
   Values result = isam.calculateEstimate();
   ofstream os2("rangeResultLM.txt");
-  for(const Values::ConstFiltered<Point2>::KeyValuePair& it: result.filter<Point2>())
+  for(const auto it: result.filter<Point2>())
     os2 << it.key << "\t" << it.value.x() << "\t" << it.value.y() << "\t1"
         << endl;
   ofstream os("rangeResult.txt");
-  for(const Values::ConstFiltered<Pose2>::KeyValuePair& it: result.filter<Pose2>())
+  for(const auto it: result.filter<Pose2>())
     os << it.key << "\t" << it.value.x() << "\t" << it.value.y() << "\t"
         << it.value.theta() << endl;
   exit(0);
diff --git a/gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp b/gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp
index 777e4b2d3f..fd18e7c6dc 100644
--- a/gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp
+++ b/gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp
@@ -59,7 +59,7 @@ FixedLagSmoother::Result BatchFixedLagSmoother::update(
   // Add the new variables to theta
   theta_.insert(newTheta);
   // Add new variables to the end of the ordering
-  for (const auto& key_value : newTheta) {
+  for (const auto key_value : newTheta) {
     ordering_.push_back(key_value.key);
   }
   // Augment Delta
@@ -267,7 +267,7 @@ FixedLagSmoother::Result BatchFixedLagSmoother::optimize() {
           // Put the linearization points and deltas back for specific variables
           if (enforceConsistency_ && (linearKeys_.size() > 0)) {
             theta_.update(linearKeys_);
-            for(const auto& key_value: linearKeys_) {
+            for(const auto key_value: linearKeys_) {
               delta_.at(key_value.key) = newDelta.at(key_value.key);
             }
           }
diff --git a/gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp b/gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp
index 758bcfe488..83d0ab719f 100644
--- a/gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp
+++ b/gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp
@@ -139,7 +139,7 @@ ConcurrentBatchFilter::Result ConcurrentBatchFilter::update(const NonlinearFacto
   // Add the new variables to theta
   theta_.insert(newTheta);
   // Add new variables to the end of the ordering
-  for(const Values::ConstKeyValuePair& key_value: newTheta) {
+  for(const auto key_value: newTheta) {
     ordering_.push_back(key_value.key);
   }
   // Augment Delta
@@ -222,7 +222,7 @@ void ConcurrentBatchFilter::synchronize(const NonlinearFactorGraph& smootherSumm
 
   // Find the set of new separator keys
   KeySet newSeparatorKeys;
-  for(const Values::ConstKeyValuePair& key_value: separatorValues_) {
+  for(const auto key_value: separatorValues_) {
     newSeparatorKeys.insert(key_value.key);
   }
 
@@ -236,7 +236,7 @@ void ConcurrentBatchFilter::synchronize(const NonlinearFactorGraph& smootherSumm
     graph.push_back(smootherShortcut_);
     Values values;
     values.insert(smootherSummarizationValues);
-    for(const Values::ConstKeyValuePair& key_value: separatorValues_) {
+    for(const auto key_value: separatorValues_) {
       if(!values.exists(key_value.key)) {
         values.insert(key_value.key, key_value.value);
       }
@@ -471,7 +471,7 @@ void ConcurrentBatchFilter::optimize(const NonlinearFactorGraph& factors, Values
           // Put the linearization points and deltas back for specific variables
           if(linearValues.size() > 0) {
             theta.update(linearValues);
-            for(const Values::ConstKeyValuePair& key_value: linearValues) {
+            for(const auto key_value: linearValues) {
               delta.at(key_value.key) = newDelta.at(key_value.key);
             }
           }
@@ -574,7 +574,7 @@ void ConcurrentBatchFilter::moveSeparator(const FastList<Key>& keysToMove) {
 
   // Calculate the set of new separator keys: AffectedKeys + PreviousSeparatorKeys - KeysToMove
   KeySet newSeparatorKeys = removedFactors.keys();
-  for(const Values::ConstKeyValuePair& key_value: separatorValues_) {
+  for(const auto key_value: separatorValues_) {
     newSeparatorKeys.insert(key_value.key);
   }
   for(Key key: keysToMove) {
diff --git a/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp b/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp
index 600baa9f0f..75d491bde7 100644
--- a/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp
+++ b/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp
@@ -61,7 +61,7 @@ ConcurrentBatchSmoother::Result ConcurrentBatchSmoother::update(const NonlinearF
     theta_.insert(newTheta);
 
     // Add new variables to the end of the ordering
-    for(const Values::ConstKeyValuePair& key_value: newTheta) {
+    for(const auto key_value: newTheta) {
       ordering_.push_back(key_value.key);
     }
 
@@ -135,7 +135,7 @@ void ConcurrentBatchSmoother::synchronize(const NonlinearFactorGraph& smootherFa
   removeFactors(filterSummarizationSlots_);
 
   // Insert new linpoints into the values, augment the ordering, and store new dims to augment delta
-  for(const Values::ConstKeyValuePair& key_value: smootherValues) {
+  for(const auto key_value: smootherValues) {
     std::pair<Values::iterator, bool> iter_inserted = theta_.tryInsert(key_value.key, key_value.value);
     if(iter_inserted.second) {
       // If the insert succeeded
@@ -146,7 +146,7 @@ void ConcurrentBatchSmoother::synchronize(const NonlinearFactorGraph& smootherFa
       iter_inserted.first->value = key_value.value;
     }
   }
-  for(const Values::ConstKeyValuePair& key_value: separatorValues) {
+  for(const auto key_value: separatorValues) {
     std::pair<Values::iterator, bool> iter_inserted = theta_.tryInsert(key_value.key, key_value.value);
     if(iter_inserted.second) {
       // If the insert succeeded
@@ -322,7 +322,7 @@ ConcurrentBatchSmoother::Result ConcurrentBatchSmoother::optimize() {
           // Put the linearization points and deltas back for specific variables
           if(separatorValues_.size() > 0) {
             theta_.update(separatorValues_);
-            for(const Values::ConstKeyValuePair& key_value: separatorValues_) {
+            for(const auto key_value: separatorValues_) {
               delta_.at(key_value.key) = newDelta.at(key_value.key);
             }
           }
@@ -372,7 +372,7 @@ void ConcurrentBatchSmoother::updateSmootherSummarization() {
 
   // Get the set of separator keys
   gtsam::KeySet separatorKeys;
-  for(const Values::ConstKeyValuePair& key_value: separatorValues_) {
+  for(const auto key_value: separatorValues_) {
     separatorKeys.insert(key_value.key);
   }
 
diff --git a/gtsam_unstable/nonlinear/ConcurrentIncrementalFilter.cpp b/gtsam_unstable/nonlinear/ConcurrentIncrementalFilter.cpp
index b70b9efc2c..b9cf66a976 100644
--- a/gtsam_unstable/nonlinear/ConcurrentIncrementalFilter.cpp
+++ b/gtsam_unstable/nonlinear/ConcurrentIncrementalFilter.cpp
@@ -69,13 +69,13 @@ ConcurrentIncrementalFilter::Result ConcurrentIncrementalFilter::update(const No
     int group = 1;
     // Set all existing variables to Group1
     if(isam2_.getLinearizationPoint().size() > 0) {
-      for(const Values::ConstKeyValuePair& key_value: isam2_.getLinearizationPoint()) {
+      for(const auto key_value: isam2_.getLinearizationPoint()) {
         orderingConstraints->operator[](key_value.key) = group;
       }
       ++group;
     }
     // Assign new variables to the root
-    for(const Values::ConstKeyValuePair& key_value: newTheta) {
+    for(const auto key_value: newTheta) {
       orderingConstraints->operator[](key_value.key) = group;
     }
     // Set marginalizable variables to Group0
@@ -201,7 +201,7 @@ void ConcurrentIncrementalFilter::synchronize(const NonlinearFactorGraph& smooth
 
   // Force iSAM2 not to relinearize anything during this iteration
   FastList<Key> noRelinKeys;
-  for(const Values::ConstKeyValuePair& key_value: isam2_.getLinearizationPoint()) {
+  for(const auto key_value: isam2_.getLinearizationPoint()) {
     noRelinKeys.push_back(key_value.key);
   }
 
diff --git a/gtsam_unstable/nonlinear/ConcurrentIncrementalSmoother.cpp b/gtsam_unstable/nonlinear/ConcurrentIncrementalSmoother.cpp
index 714d7c8d0a..3886d0e422 100644
--- a/gtsam_unstable/nonlinear/ConcurrentIncrementalSmoother.cpp
+++ b/gtsam_unstable/nonlinear/ConcurrentIncrementalSmoother.cpp
@@ -66,7 +66,7 @@ ConcurrentIncrementalSmoother::Result ConcurrentIncrementalSmoother::update(cons
   // Also, mark the separator keys as fixed linearization points
   FastMap<Key,int> constrainedKeys;
   FastList<Key> noRelinKeys;
-  for(const Values::ConstKeyValuePair& key_value: separatorValues_) {
+  for(const auto key_value: separatorValues_) {
     constrainedKeys[key_value.key] = 1;
     noRelinKeys.push_back(key_value.key);
   }
@@ -82,12 +82,12 @@ ConcurrentIncrementalSmoother::Result ConcurrentIncrementalSmoother::update(cons
       Values values(newTheta);
       // Unfortunately, we must be careful here, as some of the smoother values
       // and/or separator values may have been added previously
-      for(const Values::ConstKeyValuePair& key_value: smootherValues_) {
+      for(const auto key_value: smootherValues_) {
         if(!isam2_.getLinearizationPoint().exists(key_value.key)) {
           values.insert(key_value.key, smootherValues_.at(key_value.key));
         }
       }
-      for(const Values::ConstKeyValuePair& key_value: separatorValues_) {
+      for(const auto key_value: separatorValues_) {
         if(!isam2_.getLinearizationPoint().exists(key_value.key)) {
           values.insert(key_value.key, separatorValues_.at(key_value.key));
         }
@@ -246,7 +246,7 @@ void ConcurrentIncrementalSmoother::updateSmootherSummarization() {
 
   // Get the set of separator keys
   KeySet separatorKeys;
-  for(const Values::ConstKeyValuePair& key_value: separatorValues_) {
+  for(const auto key_value: separatorValues_) {
     separatorKeys.insert(key_value.key);
   }
 
diff --git a/gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp b/gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp
index 1f19c0e8a5..61db051673 100644
--- a/gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp
+++ b/gtsam_unstable/nonlinear/tests/testConcurrentBatchFilter.cpp
@@ -64,7 +64,7 @@ NonlinearFactorGraph CalculateMarginals(const NonlinearFactorGraph& factorGraph,
 
 
   std::set<Key> KeysToKeep;
-  for(const Values::ConstKeyValuePair& key_value: linPoint) { // we cycle over all the keys of factorGraph
+  for(const auto key_value: linPoint) { // we cycle over all the keys of factorGraph
     KeysToKeep.insert(key_value.key);
   } // so far we are keeping all keys, but we want to delete the ones that we are going to marginalize
   for(Key key: keysToMarginalize) {
diff --git a/gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp b/gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp
index ae9a3f827e..b5fb614285 100644
--- a/gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp
+++ b/gtsam_unstable/nonlinear/tests/testConcurrentBatchSmoother.cpp
@@ -560,7 +560,7 @@ TEST( ConcurrentBatchSmoother, synchronize_3 )
   GaussianFactorGraph::shared_ptr linearFactors = allFactors.linearize(allValues);
 
   KeySet eliminateKeys = linearFactors->keys();
-  for(const Values::ConstKeyValuePair& key_value: filterSeparatorValues) {
+  for(const auto key_value: filterSeparatorValues) {
     eliminateKeys.erase(key_value.key);
   }
   KeyVector variables(eliminateKeys.begin(), eliminateKeys.end());
diff --git a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter.cpp b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter.cpp
index c5dba1a694..08d71a4202 100644
--- a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter.cpp
+++ b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalFilter.cpp
@@ -80,7 +80,7 @@ NonlinearFactorGraph CalculateMarginals(const NonlinearFactorGraph& factorGraph,
 
 
   std::set<Key> KeysToKeep;
-  for(const Values::ConstKeyValuePair& key_value: linPoint) { // we cycle over all the keys of factorGraph
+  for(const auto key_value: linPoint) { // we cycle over all the keys of factorGraph
     KeysToKeep.insert(key_value.key);
   } // so far we are keeping all keys, but we want to delete the ones that we are going to marginalize
   for(Key key: keysToMarginalize) {
diff --git a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherDL.cpp b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherDL.cpp
index 5de1150132..ccb5a104e3 100644
--- a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherDL.cpp
+++ b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherDL.cpp
@@ -512,7 +512,7 @@ TEST( ConcurrentIncrementalSmootherDL, synchronize_2 )
 //  Values expectedLinearizationPoint = BatchOptimize(allFactors, allValues, 1);
   Values expectedLinearizationPoint = filterSeparatorValues;
   Values actualLinearizationPoint;
-  for(const Values::ConstKeyValuePair& key_value: filterSeparatorValues) {
+  for(const auto key_value: filterSeparatorValues) {
     actualLinearizationPoint.insert(key_value.key, smoother.getLinearizationPoint().at(key_value.key));
   }
   CHECK(assert_equal(expectedLinearizationPoint, actualLinearizationPoint, 1e-6));
@@ -580,7 +580,7 @@ TEST( ConcurrentIncrementalSmootherDL, synchronize_3 )
 //  GaussianBayesNet::shared_ptr GBNsptr = GSS.eliminate();
 
   KeySet allkeys = LinFactorGraph->keys();
-  for(const Values::ConstKeyValuePair& key_value: filterSeparatorValues) {
+  for(const auto key_value: filterSeparatorValues) {
     allkeys.erase(key_value.key);
   }
   KeyVector variables(allkeys.begin(), allkeys.end());
diff --git a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherGN.cpp b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherGN.cpp
index ec78ee6e2c..53c3d16103 100644
--- a/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherGN.cpp
+++ b/gtsam_unstable/nonlinear/tests/testConcurrentIncrementalSmootherGN.cpp
@@ -513,7 +513,7 @@ TEST( ConcurrentIncrementalSmootherGN, synchronize_2 )
 //  Values expectedLinearizationPoint = BatchOptimize(allFactors, allValues, 1);
   Values expectedLinearizationPoint = filterSeparatorValues;
   Values actualLinearizationPoint;
-  for(const Values::ConstKeyValuePair& key_value: filterSeparatorValues) {
+  for(const auto key_value: filterSeparatorValues) {
     actualLinearizationPoint.insert(key_value.key, smoother.getLinearizationPoint().at(key_value.key));
   }
   CHECK(assert_equal(expectedLinearizationPoint, actualLinearizationPoint, 1e-6));
@@ -582,7 +582,7 @@ TEST( ConcurrentIncrementalSmootherGN, synchronize_3 )
 //  GaussianBayesNet::shared_ptr GBNsptr = GSS.eliminate();
 
   KeySet allkeys = LinFactorGraph->keys();
-  for(const Values::ConstKeyValuePair& key_value: filterSeparatorValues)
+  for(const auto key_value: filterSeparatorValues)
     allkeys.erase(key_value.key);
   KeyVector variables(allkeys.begin(), allkeys.end());
   std::pair<GaussianBayesNet::shared_ptr, GaussianFactorGraph::shared_ptr> result = LinFactorGraph->eliminatePartialSequential(variables, EliminateCholesky);