diff --git a/unittest/constraint.cpp b/unittest/constraint.cpp
index 4fdc1a5c64..8af973ad73 100644
--- a/unittest/constraint.cpp
+++ b/unittest/constraint.cpp
@@ -33,10 +33,6 @@ BOOST_AUTO_TEST_SUITE ( BOOST_TEST_MODULE )
 BOOST_AUTO_TEST_CASE ( test_ForceSet )
 {
   using namespace se3;
-  typedef Eigen::Matrix<double,4,4> Matrix4;
-  typedef SE3::Matrix6 Matrix6;
-  typedef SE3::Vector3 Vector3;
-  typedef Force::Vector6 Vector6;
 
   SE3 amb = SE3::Random();
   SE3 bmc = SE3::Random();
diff --git a/unittest/joint-configurations.cpp b/unittest/joint-configurations.cpp
index 286dd58719..a89493c67e 100644
--- a/unittest/joint-configurations.cpp
+++ b/unittest/joint-configurations.cpp
@@ -145,7 +145,7 @@ void TestIntegrationJoint::operator()< JointModelComposite >(JointModelBase< Joi
   jmodel.calc(jdata,q1);
   SE3 M1 = jdata.M;
   
-  SE3 M1_exp = M0*exp6(v0);
+  // SE3 M1_exp = M0*exp6(v0);
   // The computations in JointModelComposite::calc() may be wrong, this results cannot be tested yet.
   // BOOST_CHECK_MESSAGE(M1.isApprox(M1_exp), std::string("Error when integrating " + jmodel.shortname()));
 }