diff --git a/gtsam/geometry/BearingRange.h b/gtsam/geometry/BearingRange.h
index a147c60cd..b54a4e255 100644
--- a/gtsam/geometry/BearingRange.h
+++ b/gtsam/geometry/BearingRange.h
@@ -20,6 +20,7 @@
 
 #include <gtsam/base/Manifold.h>
 #include <gtsam/base/Testable.h>
+#include <gtsam/base/OptionalJacobian.h>
 #include <boost/concept/assert.hpp>
 
 namespace gtsam {
@@ -63,7 +64,7 @@ struct BearingRange
   //    if (H2) *H2 << HB2, HR2;
   //    return BearingRange(b, r);
   //  }
-  //
+
   void print(const std::string& str = "") const {
     traits<B>::Print(this->first, str);
     traits<R>::Print(this->second, str);
@@ -86,8 +87,7 @@ struct BearingRange
 
 template <typename A1, typename A2>
 struct traits<BearingRange<A1, A2> >
-    : Testable<BearingRange<A1, A2> >
-      //    : internal::ManifoldTraits<BearingRange<A1, A2> >
-      {};
+    : Testable<BearingRange<A1, A2> >,
+      internal::ManifoldTraits<BearingRange<A1, A2> > {};
 
 }  // namespace gtsam
diff --git a/gtsam/geometry/tests/testBearingRange.cpp b/gtsam/geometry/tests/testBearingRange.cpp
index b12a5a288..636f7458b 100644
--- a/gtsam/geometry/tests/testBearingRange.cpp
+++ b/gtsam/geometry/tests/testBearingRange.cpp
@@ -33,6 +33,14 @@ BearingRange2D br2D(1, 2);
 typedef BearingRange<Pose3, Point3> BearingRange3D;
 BearingRange3D br3D(Pose3().bearing(Point3(1, 0, 0)), 1);
 
+//******************************************************************************
+TEST(BearingRange2D, Concept) {
+  BOOST_CONCEPT_ASSERT((IsManifold<BearingRange2D>));
+}
+
+/* ************************************************************************* */
+TEST(BearingRange, 2D) {}
+
 /* ************************************************************************* */
 TEST(BearingRange, Serialization2D) {
   EXPECT(equalsObj<BearingRange2D>(br2D));
@@ -40,8 +48,13 @@ TEST(BearingRange, Serialization2D) {
   EXPECT(equalsBinary<BearingRange2D>(br2D));
 }
 
+//******************************************************************************
+TEST(BearingRange3D, Concept) {
+  BOOST_CONCEPT_ASSERT((IsManifold<BearingRange3D>));
+}
+
 /* ************************************************************************* */
-TEST(BearingRange, 2D) {}
+TEST(BearingRange, 3D) {}
 
 /* ************************************************************************* */
 TEST(BearingRange, Serialization3D) {
@@ -50,9 +63,6 @@ TEST(BearingRange, Serialization3D) {
   EXPECT(equalsBinary<BearingRange3D>(br3D));
 }
 
-/* ************************************************************************* */
-TEST(BearingRange, 3D) {}
-
 /* ************************************************************************* */
 int main() {
   TestResult tr;