diff --git a/gtsam.h b/gtsam.h
index d874467fc..1ddae3f48 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -1,4 +1,5 @@
 /**
+
  * GTSAM Wrap Module Definition
  *
  * These are the current classes available through the matlab toolbox interface,
@@ -2289,19 +2290,18 @@ virtual class BearingFactor : gtsam::NoiseModelFactor {
 
 typedef gtsam::BearingFactor<gtsam::Pose2, gtsam::Point2, gtsam::Rot2> BearingFactor2D;
 
-
 #include <gtsam/sam/BearingRangeFactor.h>
-template<POSE, POINT, BEARING>
+template<POSE, POINT, BEARING, RANGE>
 virtual class BearingRangeFactor : gtsam::NoiseModelFactor {
-  BearingRangeFactor(size_t poseKey, size_t pointKey, const BEARING& measuredBearing, double measuredRange, const gtsam::noiseModel::Base* noiseModel);
-
-  pair<MEASURED, double> measured() const;
+  BearingRangeFactor(size_t poseKey, size_t pointKey,
+      const BEARING& measuredBearing, const RANGE& measuredRange,
+      const gtsam::noiseModel::Base* noiseModel);
 
   // enabling serialization functionality
   void serialize() const;
 };
 
-typedef gtsam::BearingRangeFactor<gtsam::Pose2, gtsam::Point2, gtsam::Rot2> BearingRangeFactor2D;
+typedef gtsam::BearingRangeFactor<gtsam::Pose2, gtsam::Point2, gtsam::Rot2, double> BearingRangeFactor2D;
 
 
 #include <gtsam/slam/ProjectionFactor.h>
diff --git a/gtsam/geometry/SimpleCamera.h b/gtsam/geometry/SimpleCamera.h
index a119096d4..09b128d91 100644
--- a/gtsam/geometry/SimpleCamera.h
+++ b/gtsam/geometry/SimpleCamera.h
@@ -133,6 +133,26 @@ template<>
 struct traits<const SimpleCamera> : public internal::Manifold<SimpleCamera> {
 };
 
-  /// Recover camera from 3*4 camera matrix
-  GTSAM_EXPORT SimpleCamera simpleCamera(const Matrix34& P);
+template <>
+struct Range<SimpleCamera, Point3> {
+  typedef double result_type;
+  double operator()(const SimpleCamera& camera, const Point3& point,
+                    OptionalJacobian<1, 11> H1 = boost::none,
+                    OptionalJacobian<1, 3> H2 = boost::none) {
+    return camera.range(point, H1, H2);
+  }
+};
+
+template <>
+struct Range<SimpleCamera, SimpleCamera> {
+  typedef double result_type;
+  double operator()(const SimpleCamera& camera, const SimpleCamera& sc,
+                    OptionalJacobian<1, 11> H1 = boost::none,
+                    OptionalJacobian<1, 11> H2 = boost::none) {
+    return camera.range(sc, H1, H2);
+  }
+};
+
+/// Recover camera from 3*4 camera matrix
+GTSAM_EXPORT SimpleCamera simpleCamera(const Matrix34& P);
 }
diff --git a/gtsam/sam/RangeFactor.h b/gtsam/sam/RangeFactor.h
index f78913448..1ad27865d 100644
--- a/gtsam/sam/RangeFactor.h
+++ b/gtsam/sam/RangeFactor.h
@@ -125,7 +125,7 @@ class RangeFactorWithTransform : public ExpressionFactor2<T, A1, A2> {
 
  private:
   /** Serialization function */
-  friend typename boost::serialization::access;
+  friend class boost::serialization::access;
   template <typename ARCHIVE>
   void serialize(ARCHIVE& ar, const unsigned int /*version*/) {
     ar& boost::serialization::make_nvp(