diff --git a/gtsam/base/tests/testMatrix.cpp b/gtsam/base/tests/testMatrix.cpp
index 9a728802e..88a6fa825 100644
--- a/gtsam/base/tests/testMatrix.cpp
+++ b/gtsam/base/tests/testMatrix.cpp
@@ -21,7 +21,6 @@
 #include <gtsam/base/testLie.h>
 #include <CppUnitLite/TestHarness.h>
 #include <boost/tuple/tuple.hpp>
-#include <boost/foreach.hpp>
 #include <iostream>
 #include <sstream>
 
@@ -907,10 +906,6 @@ TEST(Matrix, weighted_elimination )
   Vector d = (Vector(4) << 0.2, -0.14, 0.0, 0.2).finished();
   Vector newSigmas = (Vector(4) << 0.0894427, 0.0894427, 0.223607, 0.223607).finished();
 
-  Vector r;
-  double di, sigma;
-  size_t i;
-
   // perform elimination
   Matrix A1 = A;
   Vector b1 = b;
@@ -918,8 +913,11 @@ TEST(Matrix, weighted_elimination )
       weighted_eliminate(A1, b1, sigmas);
 
   // unpack and verify
-  i = 0;
-  BOOST_FOREACH(boost::tie(r, di, sigma), solution) {
+  size_t i = 0;
+  for (const auto& tuple : solution) {
+    Vector r;
+    double di, sigma;
+    boost::tie(r, di, sigma) = tuple;
     EXPECT(assert_equal(r, expectedR.row(i))); // verify r
     DOUBLES_EQUAL(d(i), di, 1e-8); // verify d
     DOUBLES_EQUAL(newSigmas(i), sigma, 1e-5); // verify sigma
diff --git a/gtsam/inference/graph-inl.h b/gtsam/inference/graph-inl.h
index 2a895d763..de614c2b4 100644
--- a/gtsam/inference/graph-inl.h
+++ b/gtsam/inference/graph-inl.h
@@ -18,7 +18,6 @@
 #pragma once
 
 #include <stdexcept>
-#include <boost/foreach.hpp>
 #ifdef __GNUC__
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wunused-variable"
@@ -32,8 +31,6 @@
 
 #include <gtsam/inference/graph.h>
 
-#define FOREACH_PAIR( KEY, VAL, COL) BOOST_FOREACH (boost::tie(KEY,VAL),COL)
-
 namespace gtsam {
 
 /* ************************************************************************* */
@@ -123,9 +120,10 @@ predecessorMap2Graph(const PredecessorMap<KEY>& p_map) {
   G g;
   std::map<KEY, V> key2vertex;
   V v1, v2, root;
-  KEY child, parent;
   bool foundRoot = false;
-  FOREACH_PAIR(child, parent, p_map) {
+  for(auto child_parent: p_map) {
+    KEY child, parent;
+    std::tie(child,parent) = child_parent;
     if (key2vertex.find(child) == key2vertex.end()) {
        v1 = add_vertex(child, g);
        key2vertex.insert(std::make_pair(child, v1));