diff --git a/gridfastslam/gfs2log.cpp b/gridfastslam/gfs2log.cpp
index e688e77..f0066c3 100644
--- a/gridfastslam/gfs2log.cpp
+++ b/gridfastslam/gfs2log.cpp
@@ -15,12 +15,11 @@ using namespace GMapping::GFSReader;
 
 int main (int argc, const char * const * argv){
 	if (argc<3){
-		cout << "usage gfs2log [-err] [-neff] [-part] [-odom] <infilename> <outfilename>" << endl;
+		cout << "usage gfs2log [-err] [-part] [-odom] <infilename> <outfilename>" << endl;
 		cout << "  -odom : dump raw odometry in ODOM message instead of inpolated corrected one" << endl;
 		return -1;
 	}
 	bool err=0;
-	bool neff=0;
 	bool part=0;
 	bool odom=0;
 	//	int particle_num;
@@ -29,10 +28,6 @@ int main (int argc, const char * const * argv){
 		err=true;
 		c++;
 	}
-	if (!strcmp(argv[c],"-neff")){
-		neff=true;
-		c++;
-	}
 	if (!strcmp(argv[c],"-part")){
 		part=true;
 		c++;
diff --git a/gridfastslam/gfs2rec.cpp b/gridfastslam/gfs2rec.cpp
index 5eb65fa..fb0ccda 100644
--- a/gridfastslam/gfs2rec.cpp
+++ b/gridfastslam/gfs2rec.cpp
@@ -375,16 +375,11 @@ int main (int argc, const char * const * argv){
 		return -1;
 	}
 	bool err=0;
-	bool neff=0;
 	unsigned int  c=1;
 	if (!strcmp(argv[c],"-err")){
 		err=true;
 		c++;
 	}
-	if (!strcmp(argv[c],"-neff")){
-		neff=true;
-		c++;
-	}
 	ifstream is(argv[c]);
 	if (!is){
 		cout << "could read file "<< endl;
diff --git a/include/gmapping/grid/map.h b/include/gmapping/grid/map.h
index 1d91248..1efa370 100644
--- a/include/gmapping/grid/map.h
+++ b/include/gmapping/grid/map.h
@@ -190,7 +190,7 @@ Point Map<Cell,Storage,isClass>::map2world(const IntPoint& p) const{
 template <class Cell, class Storage, const bool isClass>
 Cell& Map<Cell,Storage,isClass>::cell(const IntPoint& p) {
 	AccessibilityState s=m_storage.cellState(p);
-	if (! s&Inside)
+	if ( !(s&Inside) )
 		assert(0);
 	//if (s&Allocated) return m_storage.cell(p); assert(0);
 
diff --git a/scanmatcher/scanmatch_test.cpp b/scanmatcher/scanmatch_test.cpp
index a2fc94a..e7bdb78 100644
--- a/scanmatcher/scanmatch_test.cpp
+++ b/scanmatcher/scanmatch_test.cpp
@@ -165,6 +165,10 @@ int main(int argc, const char * const * argv){
 			}
 			const RangeSensor* rs=dynamic_cast<const RangeSensor*>(rr->getSensor());
 			assert (rs && rs->beams().size()==rr->size());
+            if (!rs || rs->beams().size() != rr->size()){
+                cout << "Invalid RangeSensor." << endl;
+                return -1;
+            }
 			odopathStream << rr->getPose().x << " " << rr->getPose().y << endl;
 			scanmatcher.processScan(*rr);
 			OrientedPoint p=scanmatcher.getPose();
diff --git a/scanmatcher/scanmatcher.cpp b/scanmatcher/scanmatcher.cpp
index f7fb885..3a82af3 100644
--- a/scanmatcher/scanmatcher.cpp
+++ b/scanmatcher/scanmatcher.cpp
@@ -170,7 +170,7 @@ void ScanMatcher::computeActiveArea(ScanMatcherMap& map, const OrientedPoint& p,
 			if (d>m_usableRange)
 				d=m_usableRange;
 			Point phit=lp+Point(d*cos(lp.theta+*angle),d*sin(lp.theta+*angle));
-			IntPoint p0=map.world2map(lp);
+			p0=map.world2map(lp);
 			IntPoint p1=map.world2map(phit);
 			
 			//IntPoint linePoints[20000] ;
@@ -432,7 +432,7 @@ double ScanMatcher::optimize(OrientedPoint& _mean, ScanMatcher::CovarianceMatrix
 	double bestScore=-1;
 	OrientedPoint currentPose=init;
 	ScoredMove sm={currentPose,0,0};
-	unsigned int matched=likelihoodAndScore(sm.score, sm.likelihood, map, currentPose, readings);
+    (void)likelihoodAndScore(sm.score, sm.likelihood, map, currentPose, readings);
 	double currentScore=sm.score;
 	moveList.push_back(sm);
 	double adelta=m_optAngularDelta, ldelta=m_optLinearDelta;
@@ -497,7 +497,7 @@ double ScanMatcher::optimize(OrientedPoint& _mean, ScanMatcher::CovarianceMatrix
 			localScore=odo_gain*score(map, localPose, readings);
 			//update the score
 			count++;
-			matched=likelihoodAndScore(localScore, localLikelihood, map, localPose, readings);
+            (void)likelihoodAndScore(localScore, localLikelihood, map, localPose, readings);
 			if (localScore>currentScore){
 				currentScore=localScore;
 				bestLocalPose=localPose;
diff --git a/sensor/sensor_range/rangereading.cpp b/sensor/sensor_range/rangereading.cpp
index a95e3c7..c1ee376 100644
--- a/sensor/sensor_range/rangereading.cpp
+++ b/sensor/sensor_range/rangereading.cpp
@@ -58,9 +58,10 @@ unsigned int RangeReading::rawView(double* v, double density) const{
 };
 
 unsigned int RangeReading::activeBeams(double density) const{
-	if (density==0.)
+	if (density==0.){
 		return size();
-		int ab=0;
+    }
+	int ab=0;
 	Point lastPoint(0,0);
 	uint suppressed=0;
 	for (unsigned int i=0; i<size(); i++){