diff --git a/cpp/testPose2.cpp b/cpp/testPose2.cpp
index e5cfd0025..83689fcde 100644
--- a/cpp/testPose2.cpp
+++ b/cpp/testPose2.cpp
@@ -47,6 +47,19 @@ TEST(Pose2, constructors) {
   assert_equal(pose,origin);
 }
 
+/* ************************************************************************* */
+TEST(Pose2, manifold) {
+	Pose2 t1(M_PI_2, Point2(1, 2));
+	Pose2 t2(M_PI_2+0.018, Point2(1.015, 2.01));
+	Pose2 origin;
+	Vector d12 = t1.log(t2);
+	CHECK(assert_equal(t2, t1.exmap(d12)));
+	CHECK(assert_equal(t2, origin.exmap(d12)*t1));
+	Vector d21 = t2.log(t1);
+	CHECK(assert_equal(t1, t2.exmap(d21)));
+	CHECK(assert_equal(t1, origin.exmap(d21)*t2));
+}
+
 /* ************************************************************************* */
 TEST(Pose2, exmap) {
   Pose2 pose(M_PI_2, Point2(1, 2));