diff --git a/timing/DummyFactor.h b/timing/DummyFactor.h
index 08e9d8f4b..5e2664d26 100644
--- a/timing/DummyFactor.h
+++ b/timing/DummyFactor.h
@@ -40,7 +40,7 @@ public:
   void multiplyHessian(double alpha, const VectorValues& x,
       VectorValues& y) const {
 
-    BOOST_FOREACH(const KeyMatrix2D& Fi, this->Fblocks_) {
+    for(const KeyMatrix2D& Fi: this->Fblocks_) {
       static const Vector empty;
       Key key = Fi.first;
       std::pair<VectorValues::iterator, bool> it = y.tryInsert(key, empty);
diff --git a/timing/timeBatch.cpp b/timing/timeBatch.cpp
index a1e5f359b..4ed1a4555 100644
--- a/timing/timeBatch.cpp
+++ b/timing/timeBatch.cpp
@@ -57,7 +57,7 @@ int main(int argc, char *argv[]) {
     // Compute marginals
     Marginals marginals(graph, optimizer.values());
     int i=0;
-    BOOST_FOREACH(Key key, initial.keys()) {
+    for(Key key: initial.keys()) {
       gttic_(marginalInformation);
       Matrix info = marginals.marginalInformation(key);
       gttoc_(marginalInformation);
diff --git a/timing/timeGaussianFactorGraph.cpp b/timing/timeGaussianFactorGraph.cpp
index a3157729e..b49d2f82b 100644
--- a/timing/timeGaussianFactorGraph.cpp
+++ b/timing/timeGaussianFactorGraph.cpp
@@ -82,7 +82,7 @@ double timePlanarSmootherEliminate(int N, bool old = true) {
 //    // create an internal ordering to render Ab
 //    Ordering render;
 //    render += key;
-//    BOOST_FOREACH(const Symbol& k, joint_factor->keys())
+//    for(const Symbol& k: joint_factor->keys())
 //    if (k != key) render += k;
 //
 //    Matrix Ab = joint_factor->matrix_augmented(render,false);
diff --git a/timing/timeIncremental.cpp b/timing/timeIncremental.cpp
index b5dd37516..cac98b09b 100644
--- a/timing/timeIncremental.cpp
+++ b/timing/timeIncremental.cpp
@@ -60,7 +60,7 @@ double chi2_red(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& c
   // the factor graph already includes a factor for the prior/equality constraint.
   //  double dof = graph.size() - config.size();
   int graph_dim = 0;
-  BOOST_FOREACH(const boost::shared_ptr<gtsam::NonlinearFactor>& nlf, graph) {
+  for(const boost::shared_ptr<gtsam::NonlinearFactor>& nlf: graph) {
     graph_dim += nlf->dim();
   }
   double dof = graph_dim - config.dim(); // kaess: changed to dim
@@ -246,7 +246,7 @@ int main(int argc, char *argv[]) {
         break;
     }
     tictoc_print_();
-    BOOST_FOREACH(Key key, values.keys()) {
+    for(Key key: values.keys()) {
       gttic_(marginalInformation);
       Matrix info = marginals.marginalInformation(key);
       gttoc_(marginalInformation);
diff --git a/timing/timeLago.cpp b/timing/timeLago.cpp
index 3a4da89b5..d0b6b263c 100644
--- a/timing/timeLago.cpp
+++ b/timing/timeLago.cpp
@@ -45,7 +45,7 @@ int main(int argc, char *argv[]) {
   Sampler sampler(42u);
   Values::ConstFiltered<Pose2> poses = solution->filter<Pose2>();
   SharedDiagonal noise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.5, 0.5, 15.0 * M_PI / 180.0).finished());
-  BOOST_FOREACH(const Values::ConstFiltered<Pose2>::KeyValuePair& it, poses)
+  for(const Values::ConstFiltered<Pose2>::KeyValuePair& it: poses)
     initial.insert(it.key, it.value.retract(sampler.sampleNewModel(noise)));
 
   // Add prior on the pose having index (key) = 0
diff --git a/timing/timeMatrixOps.cpp b/timing/timeMatrixOps.cpp
index a2d11a756..a2010891b 100644
--- a/timing/timeMatrixOps.cpp
+++ b/timing/timeMatrixOps.cpp
@@ -20,7 +20,6 @@
 #include <boost/timer.hpp>
 #include <boost/format.hpp>
 #include <boost/lambda/lambda.hpp>
-#include <boost/foreach.hpp>
 
 #include <gtsam/base/Matrix.h>
 
@@ -173,29 +172,29 @@ int main(int argc, char* argv[]) {
       // Do a few initial assignments to let any cache effects stabilize
       for_each(ijs.begin(), ijs.end(), _1 = make_pair(rni(),rnj()));
       for(size_t rep=0; rep<1000; ++rep)
-        BOOST_FOREACH(const ij_t& ij, ijs) { mat(ij.first, ij.second) = rng(); }
+        for(const ij_t& ij: ijs) { mat(ij.first, ij.second) = rng(); }
 
       for_each(ijs.begin(), ijs.end(), _1 = make_pair(rni(),rnj()));
       for(size_t rep=0; rep<1000; ++rep)
-        BOOST_FOREACH(const ij_t& ij, ijs) { mat(ij.first, ij.second) = rng(); }
+        for(const ij_t& ij: ijs) { mat(ij.first, ij.second) = rng(); }
       basicTime = tim.elapsed();
       cout << format("  Basic: %1% mus/element") % double(1000000 * basicTime / double(ijs.size()*nReps)) << endl;
 
       for_each(ijs.begin(), ijs.end(), _1 = make_pair(rni(),rnj()));
       for(size_t rep=0; rep<1000; ++rep)
-        BOOST_FOREACH(const ij_t& ij, ijs) { full(ij.first, ij.second) = rng(); }
+        for(const ij_t& ij: ijs) { full(ij.first, ij.second) = rng(); }
       fullTime = tim.elapsed();
       cout << format("  Full:  %1% mus/element") % double(1000000 * fullTime / double(ijs.size()*nReps)) << endl;
 
       for_each(ijs.begin(), ijs.end(), _1 = make_pair(rni()%top.rows(),rnj()));
       for(size_t rep=0; rep<1000; ++rep)
-        BOOST_FOREACH(const ij_t& ij, ijs) { top(ij.first, ij.second) = rng(); }
+        for(const ij_t& ij: ijs) { top(ij.first, ij.second) = rng(); }
       topTime = tim.elapsed();
       cout << format("  Top:   %1% mus/element") % double(1000000 * topTime / double(ijs.size()*nReps)) << endl;
 
       for_each(ijs.begin(), ijs.end(), _1 = make_pair(rni()%block.rows(),rnj()%block.cols()));
       for(size_t rep=0; rep<1000; ++rep)
-        BOOST_FOREACH(const ij_t& ij, ijs) { block(ij.first, ij.second) = rng(); }
+        for(const ij_t& ij: ijs) { block(ij.first, ij.second) = rng(); }
       blockTime = tim.elapsed();
       cout << format("  Block: %1% mus/element") % double(1000000 * blockTime / double(ijs.size()*nReps)) << endl;
 
diff --git a/timing/timeSFMBAL.cpp b/timing/timeSFMBAL.cpp
index 6308a1d61..c1e695b3a 100644
--- a/timing/timeSFMBAL.cpp
+++ b/timing/timeSFMBAL.cpp
@@ -23,7 +23,6 @@
 #include <gtsam/geometry/PinholeCamera.h>
 #include <gtsam/geometry/Point3.h>
 
-#include <boost/foreach.hpp>
 
 using namespace std;
 using namespace gtsam;
@@ -38,7 +37,7 @@ int main(int argc, char* argv[]) {
   // Build graph using conventional GeneralSFMFactor
   NonlinearFactorGraph graph;
   for (size_t j = 0; j < db.number_tracks(); j++) {
-    BOOST_FOREACH (const SfM_Measurement& m, db.tracks[j].measurements) {
+    for (const SfM_Measurement& m: db.tracks[j].measurements) {
       size_t i = m.first;
       Point2 z = m.second;
       graph.push_back(SfmFactor(z, gNoiseModel, C(i), P(j)));
@@ -47,9 +46,9 @@ int main(int argc, char* argv[]) {
 
   Values initial;
   size_t i = 0, j = 0;
-  BOOST_FOREACH (const SfM_Camera& camera, db.cameras)
+  for (const SfM_Camera& camera: db.cameras)
     initial.insert(C(i++), camera);
-  BOOST_FOREACH (const SfM_Track& track, db.tracks)
+  for (const SfM_Track& track: db.tracks)
     initial.insert(P(j++), track.p);
 
   return optimize(db, graph, initial);
diff --git a/timing/timeSFMBALautodiff.cpp b/timing/timeSFMBALautodiff.cpp
index 4545abc21..867953257 100644
--- a/timing/timeSFMBALautodiff.cpp
+++ b/timing/timeSFMBALautodiff.cpp
@@ -22,7 +22,6 @@
 #include <gtsam/nonlinear/AdaptAutoDiff.h>
 #include <gtsam/3rdparty/ceres/example.h>
 
-#include <boost/foreach.hpp>
 #include <stddef.h>
 #include <stdexcept>
 #include <string>
@@ -46,7 +45,7 @@ int main(int argc, char* argv[]) {
   // Build graph
   NonlinearFactorGraph graph;
   for (size_t j = 0; j < db.number_tracks(); j++) {
-    BOOST_FOREACH (const SfM_Measurement& m, db.tracks[j].measurements) {
+    for (const SfM_Measurement& m: db.tracks[j].measurements) {
       size_t i = m.first;
       Point2 z = m.second;
       Expression<Vector9> camera_(C(i));
@@ -59,14 +58,14 @@ int main(int argc, char* argv[]) {
 
   Values initial;
   size_t i = 0, j = 0;
-  BOOST_FOREACH (const SfM_Camera& camera, db.cameras) {
+  for (const SfM_Camera& camera: db.cameras) {
     // readBAL converts to GTSAM format, so we need to convert back !
     Pose3 openGLpose = gtsam2openGL(camera.pose());
     Vector9 v9;
     v9 << Pose3::Logmap(openGLpose), camera.calibration().vector();
     initial.insert(C(i++), v9);
   }
-  BOOST_FOREACH (const SfM_Track& track, db.tracks) {
+  for (const SfM_Track& track: db.tracks) {
     Vector3 v3 = track.p.vector();
     initial.insert(P(j++), v3);
   }
diff --git a/timing/timeSFMBALcamTnav.cpp b/timing/timeSFMBALcamTnav.cpp
index 32fae4ac2..33680e813 100644
--- a/timing/timeSFMBALcamTnav.cpp
+++ b/timing/timeSFMBALcamTnav.cpp
@@ -23,7 +23,6 @@
 #include <gtsam/geometry/Cal3Bundler.h>
 #include <gtsam/geometry/Point3.h>
 
-#include <boost/foreach.hpp>
 
 using namespace std;
 using namespace gtsam;
@@ -35,7 +34,7 @@ int main(int argc, char* argv[]) {
   // Build graph using conventional GeneralSFMFactor
   NonlinearFactorGraph graph;
   for (size_t j = 0; j < db.number_tracks(); j++) {
-    BOOST_FOREACH (const SfM_Measurement& m, db.tracks[j].measurements) {
+    for (const SfM_Measurement& m: db.tracks[j].measurements) {
       size_t i = m.first;
       Point2 z = m.second;
       Pose3_ camTnav_(C(i));
@@ -50,12 +49,12 @@ int main(int argc, char* argv[]) {
 
   Values initial;
   size_t i = 0, j = 0;
-  BOOST_FOREACH (const SfM_Camera& camera, db.cameras) {
+  for (const SfM_Camera& camera: db.cameras) {
     initial.insert(C(i), camera.pose().inverse());  // inverse !!!
     initial.insert(K(i), camera.calibration());
     i += 1;
   }
-  BOOST_FOREACH (const SfM_Track& track, db.tracks)
+  for (const SfM_Track& track: db.tracks)
     initial.insert(P(j++), track.p);
 
   bool separateCalibration = true;
diff --git a/timing/timeSchurFactors.cpp b/timing/timeSchurFactors.cpp
index 9be55f831..e64c34340 100644
--- a/timing/timeSchurFactors.cpp
+++ b/timing/timeSchurFactors.cpp
@@ -150,7 +150,7 @@ int main(void) {
     ms += m;
   //for (size_t m=10;m<=100;m+=10) ms += m;
   // loop over number of images
-  BOOST_FOREACH(size_t m,ms)
+  for(size_t m: ms)
     timeAll<PinholePose<Cal3Bundler> >(m, NUM_ITERATIONS);
 }
 
diff --git a/timing/timeiSAM2Chain.cpp b/timing/timeiSAM2Chain.cpp
index c4196f414..7a4413ac7 100644
--- a/timing/timeiSAM2Chain.cpp
+++ b/timing/timeiSAM2Chain.cpp
@@ -93,7 +93,7 @@ int main(int argc, char *argv[]) {
 
   // Write times
   ofstream timesFile("times.txt");
-  BOOST_FOREACH(double t, times) {
+  for(double t: times) {
     timesFile << t << "\n"; }
 
   return 0;