diff --git a/gtsam/slam/RangeFactor.h b/gtsam/slam/RangeFactor.h
index af1c1a1bd..87bb77913 100644
--- a/gtsam/slam/RangeFactor.h
+++ b/gtsam/slam/RangeFactor.h
@@ -16,99 +16,106 @@
 
 #pragma once
 
-#include <boost/lexical_cast.hpp>
-#include <gtsam/geometry/concepts.h>
 #include <gtsam/nonlinear/NonlinearFactor.h>
+#include <gtsam/geometry/concepts.h>
+#include <boost/lexical_cast.hpp>
 
 namespace gtsam {
 
-  /**
-   * Binary factor for a range measurement
-   * @addtogroup SLAM
-   */
-  template<class POSE, class POINT>
-  class RangeFactor: public NoiseModelFactor2<POSE, POINT> {
-  private:
+/**
+ * Binary factor for a range measurement
+ * @addtogroup SLAM
+ */
+template<class T1, class T2>
+class RangeFactor: public NoiseModelFactor2<T1, T2> {
+private:
 
-    double measured_; /** measurement */
-    boost::optional<POSE> body_P_sensor_; ///< The pose of the sensor in the body frame
+  double measured_; /** measurement */
+  boost::optional<T1> body_P_sensor_; ///< The pose of the sensor in the body frame
 
-    typedef RangeFactor<POSE, POINT> This;
-    typedef NoiseModelFactor2<POSE, POINT> Base;
+  typedef RangeFactor<T1, T2> This;
+  typedef NoiseModelFactor2<T1, T2> Base;
 
-    typedef POSE Pose;
-    typedef POINT Point;
+  // Concept requirements for this factor
+  GTSAM_CONCEPT_RANGE_MEASUREMENT_TYPE(T1, T2)
 
-    // Concept requirements for this factor
-    GTSAM_CONCEPT_RANGE_MEASUREMENT_TYPE(POSE, POINT)
+public:
 
-  public:
+  RangeFactor() {
+  } /* Default constructor */
 
-    RangeFactor() {} /* Default constructor */
+  RangeFactor(Key key1, Key key2, double measured,
+      const SharedNoiseModel& model, boost::optional<T1> body_P_sensor =
+          boost::none) :
+      Base(model, key1, key2), measured_(measured), body_P_sensor_(
+          body_P_sensor) {
+  }
 
-    RangeFactor(Key poseKey, Key pointKey, double measured,
-        const SharedNoiseModel& model, boost::optional<POSE> body_P_sensor = boost::none) :
-          Base(model, poseKey, pointKey), measured_(measured), body_P_sensor_(body_P_sensor) {
-    }
+  virtual ~RangeFactor() {
+  }
 
-    virtual ~RangeFactor() {}
+  /// @return a deep copy of this factor
+  virtual gtsam::NonlinearFactor::shared_ptr clone() const {
+    return boost::static_pointer_cast<gtsam::NonlinearFactor>(
+        gtsam::NonlinearFactor::shared_ptr(new This(*this)));
+  }
 
-    /// @return a deep copy of this factor
-    virtual gtsam::NonlinearFactor::shared_ptr clone() const {
-      return boost::static_pointer_cast<gtsam::NonlinearFactor>(
-          gtsam::NonlinearFactor::shared_ptr(new This(*this))); }
-
-    /** h(x)-z */
-    Vector evaluateError(const POSE& pose, const POINT& point,
-        boost::optional<Matrix&> H1 = boost::none, boost::optional<Matrix&> H2 = boost::none) const {
-      double hx;
-      if(body_P_sensor_) {
-        if(H1) {
-          Matrix H0;
-          hx = pose.compose(*body_P_sensor_, H0).range(point, H1, H2);
-          *H1 = *H1 * H0;
-        } else {
-          hx = pose.compose(*body_P_sensor_).range(point, H1, H2);
-        }
+  /** h(x)-z */
+  Vector evaluateError(const T1& t1, const T2& t2, boost::optional<Matrix&> H1 =
+      boost::none, boost::optional<Matrix&> H2 = boost::none) const {
+    double hx;
+    if (body_P_sensor_) {
+      if (H1) {
+        Matrix H0;
+        hx = t1.compose(*body_P_sensor_, H0).range(t2, H1, H2);
+        *H1 = *H1 * H0;
       } else {
-        hx = pose.range(point, H1, H2);
+        hx = t1.compose(*body_P_sensor_).range(t2, H1, H2);
       }
-      return (Vector(1) << hx - measured_).finished();
+    } else {
+      hx = t1.range(t2, H1, H2);
     }
+    return (Vector(1) << hx - measured_).finished();
+  }
 
-    /** return the measured */
-    double measured() const {
-      return measured_;
-    }
+  /** return the measured */
+  double measured() const {
+    return measured_;
+  }
 
-    /** equals specialized to this factor */
-    virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const {
-      const This *e = dynamic_cast<const This*> (&expected);
-      return e != NULL
-          && Base::equals(*e, tol)
-          && fabs(this->measured_ - e->measured_) < tol
-          && ((!body_P_sensor_ && !e->body_P_sensor_) || (body_P_sensor_ && e->body_P_sensor_ && body_P_sensor_->equals(*e->body_P_sensor_)));
-    }
+  /** equals specialized to this factor */
+  virtual bool equals(const NonlinearFactor& expected,
+      double tol = 1e-9) const {
+    const This *e = dynamic_cast<const This*>(&expected);
+    return e != NULL && Base::equals(*e, tol)
+        && fabs(this->measured_ - e->measured_) < tol
+        && ((!body_P_sensor_ && !e->body_P_sensor_)
+            || (body_P_sensor_ && e->body_P_sensor_
+                && body_P_sensor_->equals(*e->body_P_sensor_)));
+  }
 
-    /** print contents */
-    void print(const std::string& s="", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
-      std::cout << s << "RangeFactor, range = " << measured_ << std::endl;
-      if(this->body_P_sensor_)
-        this->body_P_sensor_->print("  sensor pose in body frame: ");
-      Base::print("", keyFormatter);
-    }
+  /** print contents */
+  void print(const std::string& s = "", const KeyFormatter& keyFormatter =
+      DefaultKeyFormatter) const {
+    std::cout << s << "RangeFactor, range = " << measured_ << std::endl;
+    if (this->body_P_sensor_)
+      this->body_P_sensor_->print("  sensor pose in body frame: ");
+    Base::print("", keyFormatter);
+  }
 
-  private:
+private:
 
-    /** Serialization function */
-    friend class boost::serialization::access;
-    template<class ARCHIVE>
-    void serialize(ARCHIVE & ar, const unsigned int version) {
-      ar & boost::serialization::make_nvp("NoiseModelFactor2",
-          boost::serialization::base_object<Base>(*this));
-      ar & BOOST_SERIALIZATION_NVP(measured_);
-      ar & BOOST_SERIALIZATION_NVP(body_P_sensor_);
-    }
-  }; // RangeFactor
+  /** Serialization function */
+  friend class boost::serialization::access;
+  template<class ARCHIVE>
+  void serialize(ARCHIVE & ar, const unsigned int version) {
+    ar
+        & boost::serialization::make_nvp("NoiseModelFactor2",
+            boost::serialization::base_object<Base>(*this));
+    ar & BOOST_SERIALIZATION_NVP(measured_);
+    ar & BOOST_SERIALIZATION_NVP(body_P_sensor_);
+  }
+};
+// RangeFactor
 
-} // namespace gtsam
+}// namespace gtsam