diff --git a/src/entities/CalcFactor.jl b/src/entities/CalcFactor.jl
index 56db08b6..c7982909 100644
--- a/src/entities/CalcFactor.jl
+++ b/src/entities/CalcFactor.jl
@@ -120,11 +120,11 @@ _nvars(::CalcFactorResidual{FT, C, D, L, P, MEAS, N}) where {FT, C, D, L, P, MEA
 # _typeof_meas(::CalcFactorManopt{FT, C, D, L, MEAS, N}) where {FT, C, D, L, MEAS, N} = MEAS
 DFG.getDimension(::CalcFactorResidual{FT, C, D, L, P, MEAS, N}) where {FT, C, D, L, P, MEAS, N} = D
 
-# FIXME HACK workaround for issue #1781
+# workaround for issue #1781
 import Base: getproperty
 function Base.getproperty(cf::CalcFactorResidual, f::Symbol)
   if f === :manifold
-    @warn "CalcFactorResidual.manifold workaround FIXME" maxlog=10
+    # assumes constant propagation to avoid allocations in residual functions getManifold(factor)
     getManifold(cf.factor)
   else
     getfield(cf, f)