diff --git a/crosbot_fastslam/include/crosbot_fastslam/heightmap.hpp b/crosbot_fastslam/include/crosbot_fastslam/heightmap.hpp
index 2b3f3ceb08189ca0bf6601dc4de5ffb70cfb42ff..c2a0c8dac3ba7824b89bcde05a1c86e15ae99ef7 100644
--- a/crosbot_fastslam/include/crosbot_fastslam/heightmap.hpp
+++ b/crosbot_fastslam/include/crosbot_fastslam/heightmap.hpp
@@ -138,7 +138,7 @@ public:
 	// checks if a location is in this patch
 	// NOTE: this function isn't currently used since it's more efficient not to make invalid calls
 	// This means it hasn't been tested in use
-	inline bool checkWithinMap(float x, float y) {
+	inline bool checkWithinMap(float x, float y) __attribute__ ((deprecated)) {
 		if ((x < xOrig) || (x >= (xOrig + width)) || (y < yOrig) || (y >= (yOrig + height))) {
 			return false;
 		}
@@ -163,7 +163,8 @@ class HeightMultiMap : public HandledObject {
 public:
 	struct SearchConstraints {
 	public:
-		double maxDist, fov;
+		double maxDist;
+		double fov;
 		Pose2D sensor;
 
 		SearchConstraints() : maxDist(-1), fov(0), sensor(NAN, NAN, NAN) {}
@@ -252,7 +253,9 @@ public:
 		rval = patches[i][j];
 
 		if (rval == NULL) {
-			if (!create) return rval;
+			if (!create) {
+			    return rval;
+			}
 			// just create an empty map
 			rval = newMap(i, j);
 			patches[i][j] = rval;
@@ -270,7 +273,8 @@ public:
 	// returns the row (i) and column (j) of the heightmap containing x, y
 	inline void getIJ(float x, float y, unsigned int &i, unsigned int &j) {
 		// note: assumes the submaps are using SUB_WIDTH and SUB_HEIGHT
-		double ti, tj;
+		double ti;
+		double tj;
 
 		tj = x - offsetX;
 		ti = y - offsetY;
@@ -284,10 +288,12 @@ public:
 		j = (int) floor(tj);
 		i = (int) floor(ti);
 
-		if (j == __UINT32_MAX__)
+		if (j == __UINT32_MAX__) {
 			j = 0;
-		if (i == __UINT32_MAX__)
+		}
+		if (i == __UINT32_MAX__) {
 			i = 0;
+		}
 	}
 
 	// checks if i,j is a valid heightmap