For example:
Is there anything I can do, that might allow me to do this:
for(TiXmlElement * pChild = elem->First(), int i=0; // note multiple type declarations
    pChild; 
    pChild=pChild->NextSiblingElement(), i++) // note multiple types
{
    //do stuff
}
Perhaps there is a boost header?
Nope.
If you want to limit the scope of variables to the loop just add another scope:
{
    TiXmlElement * pChild = elem->First();
    int i = 0;
    for(; pChild; pChild=pChild->NextSiblingElement(), i++)
    {
        //do stuff
    }
}
                        Blocks do not have to be attached to functions or conditionals. You can surround any piece of code with a block to limit the scope of temporary variables to that block.
{
    TiXmlElement * pChild;
    int i;
    for ( pChild = elem->First(), i = 0;
          pChild;
          pChild = pChild->NextSiblingElement(), ++i )
    {
        // do stuff
    }
}
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