diff --git a/gtsam.h b/gtsam.h
index 432c95698..356914127 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -107,6 +107,9 @@ class Rot3 {
 	Matrix transpose() const;
 	Vector xyz() const;
 	Vector ypr() const;
+  double roll() const;
+  double pitch() const;
+  double yaw() const;
 //  Vector toQuaternion() const;  // FIXME: Can't cast to Vector properly
 	void print(string s) const;
 	bool equals(const Rot3& rot, double tol) const;
@@ -134,6 +137,8 @@ class Pose2 {
 	Pose2 retract(Vector v);
 	Pose2 compose(const Pose2& p2);
 	Pose2 between(const Pose2& p2);
+	Rot2 bearing(const Point2& point);
+	double range(const Point2& point);
 };
 
 class Pose3 {
diff --git a/gtsam/geometry/Rot3M.h b/gtsam/geometry/Rot3M.h
index e41e01ef3..02ca733d1 100644
--- a/gtsam/geometry/Rot3M.h
+++ b/gtsam/geometry/Rot3M.h
@@ -226,10 +226,20 @@ namespace gtsam {
 
     /**
      * Use RQ to calculate roll-pitch-yaw angle representation
-     * @return a vector containing ypr s.t. R = Rot3M::ypr(y,p,r)
+     * @return a vector containing rpy s.t. R = Rot3M::ypr(y,p,r)
      */
     Vector rpy() const;
 
+    /**
+     * Accessors to get to components of angle representations
+     * NOTE: these are not efficient to get to multiple separate parts,
+     * you should instead use xyz() or ypr()
+     * TODO: make this more efficient
+     */
+    inline double roll() const  { return ypr()(2); }
+    inline double pitch() const { return ypr()(1); }
+    inline double yaw() const   { return ypr()(0); }
+
     /** Compute the quaternion representation of this rotation.
      * @return The quaternion
      */