diff --git a/cpp/NonlinearFactorGraph-inl.h b/cpp/NonlinearFactorGraph-inl.h
index b7ddb4d67..a7bdff8e8 100644
--- a/cpp/NonlinearFactorGraph-inl.h
+++ b/cpp/NonlinearFactorGraph-inl.h
@@ -8,6 +8,7 @@
 
 #pragma once
 
+#include <boost/foreach.hpp>
 #include "GaussianFactorGraph.h"
 #include "NonlinearFactorGraph.h"
 
@@ -18,11 +19,8 @@ namespace gtsam {
 	double NonlinearFactorGraph<Config>::error(const Config& c) const {
 		double total_error = 0.;
 		// iterate over all the factors_ to accumulate the log probabilities
-		typedef typename FactorGraph<NonlinearFactor<Config> >::const_iterator
-				const_iterator;
-		for (const_iterator factor = this->factors_.begin(); factor
-				!= this->factors_.end(); factor++)
-			total_error += (*factor)->error(c);
+		BOOST_FOREACH(typename NonlinearFactorGraph<Config>::sharedFactor factor, this->factors_)
+			total_error += factor->error(c);
 
 		return total_error;
 	}
@@ -34,12 +32,9 @@ namespace gtsam {
 		// create an empty linear FG
 		boost::shared_ptr<GaussianFactorGraph>  linearFG(new GaussianFactorGraph);
 
-		typedef typename FactorGraph<NonlinearFactor<Config> >::const_iterator
-		const_iterator;
 		// linearize all factors
-		for (const_iterator factor = this->factors_.begin(); factor
-		< this->factors_.end(); factor++) {
-			boost::shared_ptr<GaussianFactor> lf = (*factor)->linearize(config);
+		BOOST_FOREACH(typename NonlinearFactorGraph<Config>::sharedFactor factor, this->factors_) {
+			boost::shared_ptr<GaussianFactor> lf = factor->linearize(config);
 			linearFG->push_back(lf);
 		}
 		return linearFG;
@@ -50,4 +45,5 @@ namespace gtsam {
 			const Config& config) const {
 		return *linearize_(config);
 	}
-}
+
+} // namespace gtsam