diff --git a/examples/SolverComparer.cpp b/examples/SolverComparer.cpp
index 15c21aaa6..deaf3b781 100644
--- a/examples/SolverComparer.cpp
+++ b/examples/SolverComparer.cpp
@@ -50,6 +50,7 @@
 #include <boost/archive/binary_oarchive.hpp>
 #include <boost/program_options.hpp>
 #include <boost/range/algorithm/set_algorithm.hpp>
+#include <boost/range/adaptor/reversed.hpp>
 #include <boost/random.hpp>
 #include <boost/serialization/export.hpp>
 
@@ -421,9 +422,9 @@ void runIncremental()
   //try {
   //  Marginals marginals(graph, values);
   //  int i=0;
-  //  BOOST_REVERSE_FOREACH(Key key1, values.keys()) {
+  //  for (Key key1: boost::adaptors::reverse(values.keys())) {
   //    int j=0;
-  //    BOOST_REVERSE_FOREACH(Key key2, values.keys()) {
+  //    for (Key key12: boost::adaptors::reverse(values.keys())) {
   //      if(i != j) {
   //        gttic_(jointMarginalInformation);
   //        std::vector<Key> keys(2);
diff --git a/gtsam/discrete/DiscreteBayesNet.cpp b/gtsam/discrete/DiscreteBayesNet.cpp
index 55a266e77..84a80c565 100644
--- a/gtsam/discrete/DiscreteBayesNet.cpp
+++ b/gtsam/discrete/DiscreteBayesNet.cpp
@@ -19,7 +19,9 @@
 #include <gtsam/discrete/DiscreteBayesNet.h>
 #include <gtsam/discrete/DiscreteConditional.h>
 #include <gtsam/inference/FactorGraph-inst.h>
+
 #include <boost/make_shared.hpp>
+#include <boost/range/adaptor/reversed.hpp>
 
 namespace gtsam {
 
@@ -55,7 +57,7 @@ namespace gtsam {
   DiscreteFactor::sharedValues DiscreteBayesNet::optimize() const {
     // solve each node in turn in topological sort order (parents first)
     DiscreteFactor::sharedValues result(new DiscreteFactor::Values());
-    BOOST_REVERSE_FOREACH (DiscreteConditional::shared_ptr conditional, *this)
+    for (auto conditional: boost::adaptors::reverse(*this))
       conditional->solveInPlace(*result);
     return result;
   }
@@ -64,7 +66,7 @@ namespace gtsam {
   DiscreteFactor::sharedValues DiscreteBayesNet::sample() const {
     // sample each node in turn in topological sort order (parents first)
     DiscreteFactor::sharedValues result(new DiscreteFactor::Values());
-    BOOST_REVERSE_FOREACH(DiscreteConditional::shared_ptr conditional, *this)
+    for (auto conditional: boost::adaptors::reverse(*this))
       conditional->sampleInPlace(*result);
     return result;
   }
diff --git a/gtsam/inference/BayesNet-inst.h b/gtsam/inference/BayesNet-inst.h
index d95c5f2e2..a3bd87887 100644
--- a/gtsam/inference/BayesNet-inst.h
+++ b/gtsam/inference/BayesNet-inst.h
@@ -21,7 +21,7 @@
 #include <gtsam/inference/FactorGraph-inst.h>
 #include <gtsam/inference/BayesNet.h>
 
-#include <boost/foreach.hpp>
+#include <boost/range/adaptor/reversed.hpp>
 #include <fstream>
 
 namespace gtsam {
@@ -40,7 +40,7 @@ namespace gtsam {
     std::ofstream of(s.c_str());
     of << "digraph G{\n";
 
-    BOOST_REVERSE_FOREACH(const sharedConditional& conditional, *this) {
+    for (auto conditional: boost::adaptors::reverse(*this)) {
       typename CONDITIONAL::Frontals frontals = conditional->frontals();
       Key me = frontals.front();
       typename CONDITIONAL::Parents parents = conditional->parents();
diff --git a/gtsam/linear/GaussianBayesNet.cpp b/gtsam/linear/GaussianBayesNet.cpp
index 8b982bcc8..c9ef922be 100644
--- a/gtsam/linear/GaussianBayesNet.cpp
+++ b/gtsam/linear/GaussianBayesNet.cpp
@@ -20,14 +20,11 @@
 #include <gtsam/inference/FactorGraph-inst.h>
 #include <gtsam/base/timing.h>
 
-#include <boost/foreach.hpp>
+#include <boost/range/adaptor/reversed.hpp>
 
 using namespace std;
 using namespace gtsam;
 
-#define FOREACH_PAIR( KEY, VAL, COL) BOOST_FOREACH (boost::tie(KEY,VAL):COL)
-#define REVERSE_FOREACH_PAIR( KEY, VAL, COL) BOOST_REVERSE_FOREACH (boost::tie(KEY,VAL),COL)
-
 namespace gtsam {
 
   // Instantiate base class
@@ -52,7 +49,7 @@ namespace gtsam {
     VectorValues soln(solutionForMissing); // possibly empty
     // (R*x)./sigmas = y by solving x=inv(R)*(y.*sigmas)
     /** solve each node in turn in topological sort order (parents first)*/
-    BOOST_REVERSE_FOREACH(const sharedConditional& cg, *this) {
+    for (auto cg: boost::adaptors::reverse(*this)) {
       // i^th part of R*x=y, x=inv(R)*y
       // (Rii*xi + R_i*x(i+1:))./si = yi <-> xi = inv(Rii)*(yi.*si - R_i*x(i+1:))
       soln.insert(cg->solve(soln));
@@ -88,7 +85,7 @@ namespace gtsam {
     VectorValues result;
     // TODO this looks pretty sketchy. result is passed as the parents argument
     //  as it's filled up by solving the gaussian conditionals.
-    BOOST_REVERSE_FOREACH(const sharedConditional& cg, *this) {
+    for (auto cg: boost::adaptors::reverse(*this)) {
       result.insert(cg->solveOtherRHS(result, rhs));
     }
     return result;
diff --git a/gtsam/linear/SubgraphPreconditioner.cpp b/gtsam/linear/SubgraphPreconditioner.cpp
index 99df41706..d51f365be 100644
--- a/gtsam/linear/SubgraphPreconditioner.cpp
+++ b/gtsam/linear/SubgraphPreconditioner.cpp
@@ -32,7 +32,7 @@
 #include <boost/archive/text_iarchive.hpp>
 #include <boost/archive/text_oarchive.hpp>
 #include <boost/serialization/vector.hpp>
-#include <boost/foreach.hpp>
+#include <boost/range/adaptor/reversed.hpp>
 #include <boost/shared_ptr.hpp>
 
 #include <algorithm>
@@ -569,7 +569,7 @@ void SubgraphPreconditioner::solve(const Vector& y, Vector &x) const
   std::copy(y.data(), y.data() + y.rows(), x.data());
 
   /* in place back substitute */
-  BOOST_REVERSE_FOREACH(const boost::shared_ptr<GaussianConditional> & cg, *Rc1_) {
+  for (auto cg: boost::adaptors::reverse(*Rc1_)) {
     /* collect a subvector of x that consists of the parents of cg (S) */
     const Vector xParent = getSubvector(x, keyInfo_, FastVector<Key>(cg->beginParents(), cg->endParents()));
     const Vector rhsFrontal = getSubvector(x, keyInfo_, FastVector<Key>(cg->beginFrontals(), cg->endFrontals()));
diff --git a/gtsam/symbolic/SymbolicBayesNet.cpp b/gtsam/symbolic/SymbolicBayesNet.cpp
index a80bf0faa..038ccecbf 100644
--- a/gtsam/symbolic/SymbolicBayesNet.cpp
+++ b/gtsam/symbolic/SymbolicBayesNet.cpp
@@ -20,8 +20,7 @@
 #include <gtsam/symbolic/SymbolicConditional.h>
 #include <gtsam/inference/FactorGraph-inst.h>
 
-#include <boost/foreach.hpp>
-
+#include <boost/range/adaptor/reversed.hpp>
 #include <fstream>
 
 namespace gtsam {
@@ -41,7 +40,7 @@ namespace gtsam {
     std::ofstream of(s.c_str());
     of << "digraph G{\n";
 
-    BOOST_REVERSE_FOREACH(const sharedConditional& conditional, *this) {
+    for (auto conditional: boost::adaptors::reverse(*this)) {
       SymbolicConditional::Frontals frontals = conditional->frontals();
       Key me = frontals.front();
       SymbolicConditional::Parents parents = conditional->parents();
diff --git a/timing/timeIncremental.cpp b/timing/timeIncremental.cpp
index cac98b09b..61e129699 100644
--- a/timing/timeIncremental.cpp
+++ b/timing/timeIncremental.cpp
@@ -28,6 +28,7 @@
 #include <boost/archive/binary_oarchive.hpp>
 #include <boost/archive/binary_iarchive.hpp>
 #include <boost/serialization/export.hpp>
+#include <boost/range/adaptor/reversed.hpp>
 
 using namespace std;
 using namespace gtsam;
@@ -225,9 +226,9 @@ int main(int argc, char *argv[]) {
   try {
     Marginals marginals(graph, values);
     int i=0;
-    BOOST_REVERSE_FOREACH(Key key1, values.keys()) {
+    for (Key key1: boost::adaptors::reverse(values.keys())) {
       int j=0;
-      BOOST_REVERSE_FOREACH(Key key2, values.keys()) {
+      for (Key key2: boost::adaptors::reverse(values.keys())) {
         if(i != j) {
           gttic_(jointMarginalInformation);
           std::vector<Key> keys(2);