diff --git a/gtsam/slam/BearingRangeFactor.h b/gtsam/slam/BearingRangeFactor.h
index 3c4a7d8a8..833708b5d 100644
--- a/gtsam/slam/BearingRangeFactor.h
+++ b/gtsam/slam/BearingRangeFactor.h
@@ -57,6 +57,24 @@ namespace gtsam {
 
 		virtual ~BearingRangeFactor() {}
 
+	  /** Print */
+	  virtual void print(const std::string& s = "") const {
+	    std::cout << s << ": BearingRangeFactor("
+	    		<< (std::string) this->key1_ << ","
+	    		<< (std::string) this->key2_ << ")\n";
+	    bearing_.print("  measured bearing");
+	    std::cout << "  measured range: " << range_ << std::endl;
+	    this->noiseModel_->print("  noise model");
+	  }
+
+		/** equals */
+		virtual bool equals(const NonlinearFactor<VALUES>& expected, double tol=1e-9) const {
+			const This *e =	dynamic_cast<const This*> (&expected);
+			return e != NULL && Base::equals(*e, tol) &&
+					fabs(this->range_ - e->range_) < tol &&
+					this->bearing_.equals(e->bearing_, tol);
+		}
+
 		/** h(x)-z -> between(z,h(x)) for Rot manifold */
 		Vector evaluateError(const Pose& pose, const Point& point,
 				boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const {
@@ -82,14 +100,6 @@ namespace gtsam {
 			return std::make_pair(bearing_, range_);
 		}
 
-		/** equals */
-		virtual bool equals(const NonlinearFactor<VALUES>& expected, double tol=1e-9) const {
-			const This *e =	dynamic_cast<const This*> (&expected);
-			return e != NULL && Base::equals(*e, tol) &&
-					fabs(this->range_ - e->range_) < tol &&
-					this->bearing_.equals(e->bearing_, tol);
-		}
-
 	private:
 
 		/** Serialization function */
diff --git a/gtsam/slam/BetweenFactor.h b/gtsam/slam/BetweenFactor.h
index 8be8b02e3..d95f3980b 100644
--- a/gtsam/slam/BetweenFactor.h
+++ b/gtsam/slam/BetweenFactor.h
@@ -62,8 +62,11 @@ namespace gtsam {
 
 		/** print */
 		virtual void print(const std::string& s) const {
-			Base::print(s);
-			measured_.print("measured");
+	    std::cout << s << ": BetweenFactor("
+	    		<< (std::string) this->key1_ << ","
+	    		<< (std::string) this->key2_ << ")\n";
+			measured_.print("  measured");
+	    this->noiseModel_->print("  noise model");
 		}
 
 		/** equals */
diff --git a/gtsam/slam/PriorFactor.h b/gtsam/slam/PriorFactor.h
index 5351145e7..5bb22506f 100644
--- a/gtsam/slam/PriorFactor.h
+++ b/gtsam/slam/PriorFactor.h
@@ -63,8 +63,9 @@ namespace gtsam {
 
 		/** print */
 		virtual void print(const std::string& s) const {
-			Base::print(s);
-			prior_.print("prior");
+			std::cout << s << ": PriorFactor(" << (std::string) this->key_ << ")\n";
+			prior_.print("  prior");
+			this->noiseModel_->print("  noise model");
 		}
 
 		/** equals */