diff --git a/matlab/gtsam_tests/testSerialization.m b/matlab/gtsam_tests/testSerialization.m
index 9f49328cd..baacb198b 100644
--- a/matlab/gtsam_tests/testSerialization.m
+++ b/matlab/gtsam_tests/testSerialization.m
@@ -52,14 +52,26 @@ priorMean = Pose2(0.0, 0.0, 0.0); % prior at origin
 priorNoise = noiseModel.Diagonal.Sigmas([0.3; 0.3; 0.1]);
 graph.add(PriorFactorPose2(i1, priorMean, priorNoise)); % add directly to graph
 
-% Between Factors - FAIL: unregistered class
+% Between Factors
 odometry = Pose2(2.0, 0.0, 0.0);
 odometryNoise = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]);
 graph.add(BetweenFactorPose2(i1, i2, odometry, odometryNoise));
 graph.add(BetweenFactorPose2(i2, i3, odometry, odometryNoise));
  
-% BearingRange Factors - FAIL: unregistered class
+% Range Factors
+rNoise = noiseModel.Diagonal.Sigmas([0.2]);
+graph.add(RangeFactorPosePoint2(i1, j1, sqrt(4+4), rNoise));
+graph.add(RangeFactorPosePoint2(i2, j1, 2, rNoise));
+graph.add(RangeFactorPosePoint2(i3, j2, 2, rNoise));
+
+% Bearing Factors
 degrees = pi/180;
+bNoise = noiseModel.Diagonal.Sigmas([0.1]);
+graph.add(BearingFactor2D(i1, j1, Rot2(45*degrees), bNoise));
+graph.add(BearingFactor2D(i2, j1, Rot2(90*degrees), bNoise));
+graph.add(BearingFactor2D(i3, j2, Rot2(90*degrees), bNoise));
+
+% BearingRange Factors
 brNoise = noiseModel.Diagonal.Sigmas([0.1; 0.2]);
 graph.add(BearingRangeFactor2D(i1, j1, Rot2(45*degrees), sqrt(4+4), brNoise));
 graph.add(BearingRangeFactor2D(i2, j1, Rot2(90*degrees), 2, brNoise));