diff --git a/gtsam.h b/gtsam.h
index 8097cc6c9..64f025972 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -2316,6 +2316,21 @@ virtual class BearingFactor : gtsam::NoiseModelFactor {
 typedef gtsam::BearingFactor<gtsam::Pose2, gtsam::Point2, gtsam::Rot2> BearingFactor2D;
 typedef gtsam::BearingFactor<gtsam::Pose2, gtsam::Pose2, gtsam::Rot2> BearingFactorPose2;
 
+#include <gtsam/geometry/BearingRange.h>
+template <POSE, POINT, BEARING, RANGE>
+class BearingRange {
+  BearingRange(const BEARING& b, const RANGE& r);
+  BEARING bearing() const;
+  RANGE range() const;
+  // TODO(frank): can't class instance itself?
+  // static gtsam::BearingRange Measure(const POSE& pose, const POINT& point);
+  static BEARING MeasureBearing(const POSE& pose, const POINT& point);
+  static RANGE MeasureRange(const POSE& pose, const POINT& point);
+  void print(string s) const;
+};
+
+typedef gtsam::BearingRange<gtsam::Pose2, gtsam::Point2, gtsam::Rot2, double> BearingRange2D;
+
 #include <gtsam/sam/BearingRangeFactor.h>
 template<POSE, POINT, BEARING, RANGE>
 virtual class BearingRangeFactor : gtsam::NoiseModelFactor {
diff --git a/gtsam/geometry/BearingRange.h b/gtsam/geometry/BearingRange.h
index ffa373027..8214b0727 100644
--- a/gtsam/geometry/BearingRange.h
+++ b/gtsam/geometry/BearingRange.h
@@ -44,11 +44,11 @@ struct Range;
  * For example BearingRange<Pose2,Point2>(pose,point) will return pair<Rot2,double>
  * and BearingRange<Pose3,Point3>(pose,point) will return pair<Unit3,double>
  */
-template <typename A1, typename A2>
+template <typename A1, typename A2,
+          typename B = typename Bearing<A1, A2>::result_type,
+          typename R = typename Range<A1, A2>::result_type>
 struct BearingRange {
 private:
-  typedef typename Bearing<A1, A2>::result_type B;
-  typedef typename Range<A1, A2>::result_type R;
   B bearing_;
   R range_;
 
@@ -91,6 +91,16 @@ public:
     return BearingRange(b, r);
   }
 
+  /// Predict bearing
+  static B MeasureBearing(const A1& a1, const A2& a2) {
+    return Bearing<A1, A2>()(a1, a2);
+  }
+
+  /// Predict range
+  static R MeasureRange(const A1& a1, const A2& a2) {
+    return Range<A1, A2>()(a1, a2);
+  }
+
   /// @}
   /// @name Testable
   /// @{
@@ -170,8 +180,8 @@ struct HasBearing {
   typedef RT result_type;
   RT operator()(
       const A1& a1, const A2& a2,
-      OptionalJacobian<traits<RT>::dimension, traits<A1>::dimension> H1,
-      OptionalJacobian<traits<RT>::dimension, traits<A2>::dimension> H2) {
+      OptionalJacobian<traits<RT>::dimension, traits<A1>::dimension> H1=boost::none,
+      OptionalJacobian<traits<RT>::dimension, traits<A2>::dimension> H2=boost::none) {
     return a1.bearing(a2, H1, H2);
   }
 };
@@ -184,8 +194,8 @@ struct HasRange {
   typedef RT result_type;
   RT operator()(
       const A1& a1, const A2& a2,
-      OptionalJacobian<traits<RT>::dimension, traits<A1>::dimension> H1,
-      OptionalJacobian<traits<RT>::dimension, traits<A2>::dimension> H2) {
+      OptionalJacobian<traits<RT>::dimension, traits<A1>::dimension> H1=boost::none,
+      OptionalJacobian<traits<RT>::dimension, traits<A2>::dimension> H2=boost::none) {
     return a1.range(a2, H1, H2);
   }
 };