diff --git a/cpp/TupleConfig.h b/cpp/TupleConfig.h
index 566c51598..3893108dd 100644
--- a/cpp/TupleConfig.h
+++ b/cpp/TupleConfig.h
@@ -141,7 +141,6 @@ namespace gtsam {
   template<class J1, class X1, class J2, class X2>
   inline VectorConfig logmap(const PairConfig<J1,X1,J2,X2> c0, const PairConfig<J1,X1,J2,X2>& cp) { return c0.logmap(cp); }
 
-
   /**
    *  Tuple configs to handle subconfigs of LieConfigs
    *
@@ -311,4 +310,42 @@ namespace gtsam {
     inline VectorConfig logmap(const TupleConfigEnd<Config> c0, const TupleConfigEnd<Config>& cp) {
 	  return c0.logmap(cp);
   }
+
+  /**
+   * Typedefs for existing config types
+   */
+  template<class Config1, class Config2>
+  struct TupleConfig2 : TupleConfig<Config1, TupleConfigEnd<Config2> > {
+	  TupleConfig2() {}
+	  TupleConfig2(const TupleConfig2<Config1, Config2>& config) :
+		  TupleConfig<Config1, TupleConfigEnd<Config2> >(config) {}
+  };
+
+  template<class Config1, class Config2, class Config3>
+  struct TupleConfig3 : TupleConfig<Config1, TupleConfig<Config2, TupleConfigEnd<Config3> > > {
+	  TupleConfig3() {}
+	  TupleConfig3(const TupleConfig3<Config1, Config2, Config3>& config) :
+		  TupleConfig<Config1, TupleConfig<Config2, TupleConfigEnd<Config3> > >(config) {}
+  };
+
+  template<class Config1, class Config2, class Config3, class Config4>
+  struct TupleConfig4 : TupleConfig<Config1, TupleConfig<Config2,TupleConfig<Config3, TupleConfigEnd<Config4> > > > {
+	  TupleConfig4() {}
+	  TupleConfig4(const TupleConfig4<Config1, Config2, Config3, Config4>& config) :
+		  TupleConfig<Config1, TupleConfig<Config2, TupleConfig<Config3, TupleConfigEnd<Config4> > > >(config) {}
+  };
+
+  template<class Config1, class Config2, class Config3, class Config4, class Config5>
+  struct TupleConfig5 : TupleConfig<Config1, TupleConfig<Config2, TupleConfig<Config3, TupleConfig<Config4, TupleConfigEnd<Config5> > > > > {
+	  TupleConfig5() {}
+	  TupleConfig5(const TupleConfig5<Config1, Config2, Config3, Config4, Config5>& config) :
+		  TupleConfig<Config1, TupleConfig<Config2, TupleConfig<Config3, TupleConfig<Config4, TupleConfigEnd<Config5> > > > >(config) {}
+  };
+
+  template<class Config1, class Config2, class Config3, class Config4, class Config5, class Config6>
+  struct TupleConfig6 : TupleConfig<Config1, TupleConfig<Config2, TupleConfig<Config3, TupleConfig<Config4, TupleConfig<Config5, TupleConfigEnd<Config6> > > > > > {
+	  TupleConfig6() {}
+	  TupleConfig6(const TupleConfig6<Config1, Config2, Config3, Config4, Config5, Config6>& config) :
+			  TupleConfig<Config1, TupleConfig<Config2, TupleConfig<Config3, TupleConfig<Config4, TupleConfig<Config5, TupleConfigEnd<Config6> > > > > >(config) {}
+  };
 }
diff --git a/cpp/testTupleConfig.cpp b/cpp/testTupleConfig.cpp
index a1ddec4f4..82fd76354 100644
--- a/cpp/testTupleConfig.cpp
+++ b/cpp/testTupleConfig.cpp
@@ -12,6 +12,8 @@
 
 #include <Pose2.h>
 #include <Point2.h>
+#include <Pose3.h>
+#include <Point3.h>
 
 #include "Vector.h"
 #include "Key.h"
@@ -169,14 +171,18 @@ TEST(PairConfig, expmap)
 /* ************************************************************************* */
 
 // some key types
-typedef TypedSymbol<Pose2, 'x'> PoseKey;
-typedef TypedSymbol<Point2, 'l'> PointKey;
 typedef TypedSymbol<Vector, 'L'> LamKey;
+typedef TypedSymbol<Pose3, 'a'> Pose3Key;
+typedef TypedSymbol<Point3, 'b'> Point3Key;
+typedef TypedSymbol<Point3, 'c'> Point3Key2;
 
 // some config types
 typedef LieConfig<PoseKey, Pose2> PoseConfig;
 typedef LieConfig<PointKey, Point2> PointConfig;
 typedef LieConfig<LamKey, Vector> LamConfig;
+typedef LieConfig<Pose3Key, Pose3> Pose3Config;
+typedef LieConfig<Point3Key, Point3> Point3Config;
+typedef LieConfig<Point3Key2, Point3> Point3Config2;
 
 // some TupleConfig types
 typedef TupleConfig<PoseConfig, TupleConfigEnd<PointConfig> > ConfigA;
@@ -312,6 +318,16 @@ TEST(TupleConfig, expmap)
 	CHECK(assert_equal(increment, logmap(cfg1, expected)));
 }
 
+/* ************************************************************************* */
+TEST(TupleConfig, typedefs)
+{
+	TupleConfig2<PoseConfig, PointConfig> cfg1;
+	TupleConfig3<PoseConfig, PointConfig, LamConfig> cfg2;
+	TupleConfig4<PoseConfig, PointConfig, LamConfig, Point3Config> cfg3;
+	TupleConfig5<PoseConfig, PointConfig, LamConfig, Point3Config, Pose3Config> cfg4;
+	TupleConfig6<PoseConfig, PointConfig, LamConfig, Point3Config, Pose3Config, Point3Config2> cfg5;
+}
+
 
 /* ************************************************************************* */
 int main() { TestResult tr; return TestRegistry::runAllTests(tr); }