diff --git a/gtsam.h b/gtsam.h
index 08c4ed9d3..7cb46fc55 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -1167,6 +1167,7 @@ virtual class NonlinearOptimizerParams {
 virtual class SuccessiveLinearizationParams : gtsam::NonlinearOptimizerParams {
   SuccessiveLinearizationParams();
 
+	void setOrdering(const gtsam::Ordering& ordering);
   bool isMultifrontal() const;
   bool isSequential() const;
   bool isCholmod() const;
@@ -1357,16 +1358,22 @@ typedef gtsam::RangeFactor<gtsam::SimpleCamera, gtsam::Point3> RangeFactorSimple
 typedef gtsam::RangeFactor<gtsam::CalibratedCamera, gtsam::CalibratedCamera> RangeFactorCalibratedCamera;
 typedef gtsam::RangeFactor<gtsam::SimpleCamera, gtsam::SimpleCamera> RangeFactorSimpleCamera;
 
-
-#include <gtsam/slam/BearingFactor.h>
-template<POSE, POINT, ROT>
+template<POSE, POINT, ROTATION>
 virtual class BearingFactor : gtsam::NonlinearFactor {
-	BearingFactor(size_t key1, size_t key2, const ROT& measured, const gtsam::noiseModel::Base* noiseModel);
+	BearingFactor(size_t key1, size_t key2, const ROTATION& measured, const gtsam::noiseModel::Base* noiseModel);
 };
 
 typedef gtsam::BearingFactor<gtsam::Pose2, gtsam::Point2, gtsam::Rot2> BearingFactor2D;
 
 
+template<POSE, POINT, ROTATION>
+virtual class BearingRangeFactor : gtsam::NonlinearFactor {
+	BearingRangeFactor(size_t poseKey, size_t pointKey, const ROTATION& measuredBearing, double measuredRange, const gtsam::noiseModel::Base* noiseModel);
+};
+
+typedef gtsam::BearingRangeFactor<gtsam::Pose2, gtsam::Point2, gtsam::Rot2> BearingRangeFactor2D;
+
+
 #include <gtsam/slam/ProjectionFactor.h>
 template<POSE, LANDMARK, CALIBRATION>
 virtual class GenericProjectionFactor : gtsam::NonlinearFactor {
diff --git a/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h b/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h
index 7033613ac..2556134c0 100644
--- a/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h
+++ b/gtsam/nonlinear/SuccessiveLinearizationOptimizer.h
@@ -78,20 +78,16 @@ public:
   }
 
   inline bool isMultifrontal() const {
-    return (linearSolverType == MULTIFRONTAL_CHOLESKY) || (linearSolverType == MULTIFRONTAL_QR);
-  }
+    return (linearSolverType == MULTIFRONTAL_CHOLESKY) || (linearSolverType == MULTIFRONTAL_QR); }
 
   inline bool isSequential() const {
-    return (linearSolverType == SEQUENTIAL_CHOLESKY) || (linearSolverType == SEQUENTIAL_QR);
-  }
+    return (linearSolverType == SEQUENTIAL_CHOLESKY) || (linearSolverType == SEQUENTIAL_QR); }
 
-  inline bool isCholmod() const {
-    return (linearSolverType == CHOLMOD);
-  }
+  inline bool isCholmod() const { return (linearSolverType == CHOLMOD); }
 
-  inline bool isCG() const {
-    return (linearSolverType == CG);
-  }
+  inline bool isCG() const { return (linearSolverType == CG); }
+
+	void setOrdering(const Ordering& ordering) { this->ordering = ordering; }
 
   GaussianFactorGraph::Eliminate getEliminationFunction() {
     switch (linearSolverType) {
diff --git a/gtsam/slam/BearingFactor.h b/gtsam/slam/BearingFactor.h
index 62e46d53e..326491e8c 100644
--- a/gtsam/slam/BearingFactor.h
+++ b/gtsam/slam/BearingFactor.h
@@ -25,12 +25,12 @@ namespace gtsam {
 	/**
 	 * Binary factor for a bearing measurement
 	 */
-	template<class POSE, class POINT, class ROT = typename POSE::Rotation>
+	template<class POSE, class POINT, class ROTATION = typename POSE::Rotation>
 	class BearingFactor: public NoiseModelFactor2<POSE, POINT> {
 	private:
 
 		typedef POSE Pose;
-		typedef ROT Rot;
+		typedef ROTATION Rot;
 		typedef POINT Point;
 
 		typedef BearingFactor<POSE, POINT> This;
diff --git a/gtsam/slam/BearingRangeFactor.h b/gtsam/slam/BearingRangeFactor.h
index 933333fdf..bf5b6b3a5 100644
--- a/gtsam/slam/BearingRangeFactor.h
+++ b/gtsam/slam/BearingRangeFactor.h
@@ -27,12 +27,12 @@ namespace gtsam {
 	/**
 	 * Binary factor for a bearing measurement
 	 */
-	template<class POSE, class POINT>
+	template<class POSE, class POINT, class ROTATION = typename POSE::Rotation>
 	class BearingRangeFactor: public NoiseModelFactor2<POSE, POINT> {
 	private:
 
 		typedef POSE Pose;
-		typedef typename POSE::Rotation Rot;
+		typedef ROTATION Rot;
 		typedef POINT Point;
 
 		typedef BearingRangeFactor<POSE, POINT> This;