diff --git a/gtsam/geometry/Pose2.cpp b/gtsam/geometry/Pose2.cpp
index 8e5d58047..a2dfc9f18 100644
--- a/gtsam/geometry/Pose2.cpp
+++ b/gtsam/geometry/Pose2.cpp
@@ -150,17 +150,16 @@ Matrix3 Pose2::ExpmapDerivative(const Vector3& v) {
      */
     double sZalpha = sin(alpha)/alpha, c_1Zalpha = (cos(alpha)-1)/alpha;
     double v1Zalpha = v[0]/alpha, v2Zalpha = v[1]/alpha;
-    J = (Matrix(3,3) <<
-        sZalpha, -c_1Zalpha, v1Zalpha + v2Zalpha*c_1Zalpha - v1Zalpha*sZalpha,
-        c_1Zalpha, sZalpha, -v1Zalpha*c_1Zalpha + v2Zalpha - v2Zalpha*sZalpha,
-        0, 0, 1).finished();
+    J << sZalpha, -c_1Zalpha, v1Zalpha + v2Zalpha*c_1Zalpha - v1Zalpha*sZalpha,
+         c_1Zalpha, sZalpha, -v1Zalpha*c_1Zalpha + v2Zalpha - v2Zalpha*sZalpha,
+         0, 0, 1;
   }
   else {
     // Thanks to Krunal: Apply L'Hospital rule to several times to
     // compute the limits when alpha -> 0
-    J = (Matrix(3,3) << 1,0,-0.5*v[1],
+    J << 1,0,-0.5*v[1],
         0,1, 0.5*v[0],
-        0,0, 1).finished();
+        0,0, 1;
   }
 
   return J;
@@ -175,15 +174,14 @@ Matrix3 Pose2::LogmapDerivative(const Vector3& v) {
     double halfCotHalfAlpha = 0.5*sin(alpha)/(1-cos(alpha));
     double v1 = v[0], v2 = v[1];
 
-    J = (Matrix(3,3) <<
-        alpha*halfCotHalfAlpha, -0.5*alpha, v1*alphaInv - v1*halfCotHalfAlpha + 0.5*v2,
-        0.5*alpha, alpha*halfCotHalfAlpha,  v2*alphaInv - 0.5*v1 - v2*halfCotHalfAlpha,
-        0, 0, 1).finished();
+    J << alpha*halfCotHalfAlpha, -0.5*alpha, v1*alphaInv - v1*halfCotHalfAlpha + 0.5*v2,
+         0.5*alpha, alpha*halfCotHalfAlpha,  v2*alphaInv - 0.5*v1 - v2*halfCotHalfAlpha,
+         0, 0, 1;
   }
   else {
-    J = (Matrix(3,3) << 1,0, 0.5*v[1],
+    J << 1,0, 0.5*v[1],
         0,1, -0.5*v[0],
-        0,0, 1).finished();
+        0,0, 1;
   }
   return J;
 }