diff --git a/gtsam.h b/gtsam.h
index 7ad901ae9..e1e3e0e93 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -674,6 +674,7 @@ class Values {
 	void print(string s) const;
 	static pose2SLAM::Values Circle(size_t n, double R);
 	void insertPose(size_t key, const gtsam::Pose2& pose);
+	void updatePose(size_t key, const gtsam::Pose2& pose);
 	gtsam::Pose2 pose(size_t i);
   Vector xs() const;
   Vector ys() const;
@@ -723,6 +724,7 @@ class Values {
 	void print(string s) const;
 	static pose3SLAM::Values Circle(size_t n, double R);
 	void insertPose(size_t key, const gtsam::Pose3& pose);
+	void updatePose(size_t key, const gtsam::Pose3& pose);
 	gtsam::Pose3 pose(size_t i);
   Vector xs() const;
   Vector ys() const;
@@ -770,6 +772,8 @@ class Values {
 	void print(string s) const;
 	void insertPose(size_t key, const gtsam::Pose2& pose);
 	void insertPoint(size_t key, const gtsam::Point2& point);
+	void updatePose(size_t key, const gtsam::Pose2& pose);
+	void updatePoint(size_t key, const gtsam::Point2& point);
 	gtsam::Pose2 pose(size_t key) const;
 	gtsam::Point2 point(size_t key) const;
 };
@@ -871,6 +875,8 @@ class Values {
   Values();
   void insertPose(size_t key, const gtsam::Pose3& pose);
   void insertPoint(size_t key, const gtsam::Point3& pose);
+  void updatePose(size_t key, const gtsam::Pose3& pose);
+  void updatePoint(size_t key, const gtsam::Point3& pose);
   size_t size() const;
   void print(string s) const;
   gtsam::Pose3 pose(size_t i);
diff --git a/gtsam/slam/planarSLAM.h b/gtsam/slam/planarSLAM.h
index 5d03cd646..01a9df763 100644
--- a/gtsam/slam/planarSLAM.h
+++ b/gtsam/slam/planarSLAM.h
@@ -78,7 +78,13 @@ namespace planarSLAM {
 
     /// insert a point
     void insertPoint(Key j, const Point2& point) { insert(j, point); }
-  };
+
+    /// update a pose
+    void updatePose(Key i, const Pose2& pose) { update(i, pose); }
+
+    /// update a point
+    void updatePoint(Key j, const Point2& point) { update(j, point); }
+};
 
   /**
    * Graph class, inherited from NonlinearFactorGraph, used as a convenience for MATLAB wrapper
diff --git a/gtsam/slam/pose2SLAM.h b/gtsam/slam/pose2SLAM.h
index 71710f823..778d844f2 100644
--- a/gtsam/slam/pose2SLAM.h
+++ b/gtsam/slam/pose2SLAM.h
@@ -58,6 +58,9 @@ namespace pose2SLAM {
     /// insert a pose
     void insertPose(Key i, const Pose2& pose) { insert(i, pose); }
 
+    /// update a pose
+    void updatePose(Key i, const Pose2& pose) { update(i, pose); }
+
     /// get a pose
     Pose2 pose(Key i) const { return at<Pose2>(i); }
 
diff --git a/gtsam/slam/pose3SLAM.h b/gtsam/slam/pose3SLAM.h
index 448914f0d..9be699fd8 100644
--- a/gtsam/slam/pose3SLAM.h
+++ b/gtsam/slam/pose3SLAM.h
@@ -57,6 +57,9 @@ namespace pose3SLAM {
     /// insert a pose
     void insertPose(Key i, const Pose3& pose) { insert(i, pose); }
 
+    /// update a pose
+    void updatePose(Key i, const Pose3& pose) { update(i, pose); }
+
     /// get a pose
     Pose3 pose(Key i) const { return at<Pose3>(i); }
 
diff --git a/gtsam/slam/visualSLAM.h b/gtsam/slam/visualSLAM.h
index 7674ed1e3..96a1e037c 100644
--- a/gtsam/slam/visualSLAM.h
+++ b/gtsam/slam/visualSLAM.h
@@ -66,6 +66,12 @@ namespace visualSLAM {
     /// insert a point
     void insertPoint(Key j, const Point3& point) { insert(j, point); }
 
+    /// update a pose
+    void updatePose(Key i, const Pose3& pose) { update(i, pose); }
+
+    /// update a point
+    void updatePoint(Key j, const Point3& point) { update(j, point); }
+
     /// get a pose
     Pose3 pose(Key i) const { return at<Pose3>(i); }