diff --git a/examples/SolverComparer.cpp b/examples/SolverComparer.cpp
index 63c512edb..b63e5faeb 100644
--- a/examples/SolverComparer.cpp
+++ b/examples/SolverComparer.cpp
@@ -251,10 +251,10 @@ void runIncremental()
   Key firstPose;
   while(nextMeasurement < datasetMeasurements.size())
   {
-    if(BetweenFactor<Pose>::shared_ptr measurement =
+    if(BetweenFactor<Pose>::shared_ptr factor =
       boost::dynamic_pointer_cast<BetweenFactor<Pose> >(datasetMeasurements[nextMeasurement]))
     {
-      Key key1 = measurement->key1(), key2 = measurement->key2();
+      Key key1 = factor->key1(), key2 = factor->key2();
       if(((int)key1 >= firstStep && key1 < key2) || ((int)key2 >= firstStep && key2 < key1)) {
         // We found an odometry starting at firstStep
         firstPose = std::min(key1, key2);
@@ -302,52 +302,53 @@ void runIncremental()
 
       NonlinearFactor::shared_ptr measurementf = datasetMeasurements[nextMeasurement];
 
-      if(BetweenFactor<Pose>::shared_ptr measurement =
+      if(BetweenFactor<Pose>::shared_ptr factor =
         boost::dynamic_pointer_cast<BetweenFactor<Pose> >(measurementf))
       {
         // Stop collecting measurements that are for future steps
-        if(measurement->key1() > step || measurement->key2() > step)
+        if(factor->key1() > step || factor->key2() > step)
           break;
 
         // Require that one of the nodes is the current one
-        if(measurement->key1() != step && measurement->key2() != step)
+        if(factor->key1() != step && factor->key2() != step)
           throw runtime_error("Problem in data file, out-of-sequence measurements");
 
         // Add a new factor
-        newFactors.push_back(measurement);
+        newFactors.push_back(factor);
+        const auto& measured = factor->measured();
 
         // Initialize the new variable
-        if(measurement->key1() > measurement->key2()) {
-          if(!newVariables.exists(measurement->key1())) { // Only need to check newVariables since loop closures come after odometry
+        if(factor->key1() > factor->key2()) {
+          if(!newVariables.exists(factor->key1())) { // Only need to check newVariables since loop closures come after odometry
             if(step == 1)
-              newVariables.insert(measurement->key1(), measurement->measured().inverse());
+              newVariables.insert(factor->key1(), measured.inverse());
             else {
-              Pose prevPose = isam2.calculateEstimate<Pose>(measurement->key2());
-              newVariables.insert(measurement->key1(), prevPose * measurement->measured().inverse());
+              Pose prevPose = isam2.calculateEstimate<Pose>(factor->key2());
+              newVariables.insert(factor->key1(), prevPose * measured.inverse());
             }
           }
         } else {
-          if(!newVariables.exists(measurement->key2())) { // Only need to check newVariables since loop closures come after odometry
+          if(!newVariables.exists(factor->key2())) { // Only need to check newVariables since loop closures come after odometry
             if(step == 1)
-              newVariables.insert(measurement->key2(), measurement->measured());
+              newVariables.insert(factor->key2(), measured);
             else {
-              Pose prevPose = isam2.calculateEstimate<Pose>(measurement->key1());
-              newVariables.insert(measurement->key2(), prevPose * measurement->measured());
+              Pose prevPose = isam2.calculateEstimate<Pose>(factor->key1());
+              newVariables.insert(factor->key2(), prevPose * measured);
             }
           }
         }
       }
-      else if(BearingRangeFactor<Pose, Point2>::shared_ptr measurement =
+      else if(BearingRangeFactor<Pose, Point2>::shared_ptr factor =
         boost::dynamic_pointer_cast<BearingRangeFactor<Pose, Point2> >(measurementf))
       {
-        Key poseKey = measurement->keys()[0], lmKey = measurement->keys()[1];
+        Key poseKey = factor->keys()[0], lmKey = factor->keys()[1];
 
         // Stop collecting measurements that are for future steps
         if(poseKey > step)
           throw runtime_error("Problem in data file, out-of-sequence measurements");
 
         // Add new factor
-        newFactors.push_back(measurement);
+        newFactors.push_back(factor);
 
         // Initialize new landmark
         if(!isam2.getLinearizationPoint().exists(lmKey))
@@ -357,8 +358,9 @@ void runIncremental()
             pose = isam2.calculateEstimate<Pose>(poseKey);
           else
             pose = newVariables.at<Pose>(poseKey);
-          Rot2 measuredBearing = measurement->measured().first;
-          double measuredRange = measurement->measured().second;
+          const auto& measured = factor->measured();
+          Rot2 measuredBearing = measured.bearing();
+          double measuredRange = measured.range();
           newVariables.insert(lmKey, 
             pose.transform_from(measuredBearing.rotate(Point2(measuredRange, 0.0))));
         }
diff --git a/gtsam/geometry/BearingRange.h b/gtsam/geometry/BearingRange.h
index 9de5a07d8..ffa373027 100644
--- a/gtsam/geometry/BearingRange.h
+++ b/gtsam/geometry/BearingRange.h
@@ -67,6 +67,12 @@ public:
   /// @name Standard Interface
   /// @{
 
+  /// Return bearing measurement
+  const B& bearing() const { return bearing_; }
+
+  /// Return range measurement
+  const R& range() const { return range_; }
+
   /// Prediction function that stacks measurements
   static BearingRange Measure(
     const A1& a1, const A2& a2,