diff --git a/gtsam/geometry/Pose2.cpp b/gtsam/geometry/Pose2.cpp
index 0fc02ea95..9660b86e7 100644
--- a/gtsam/geometry/Pose2.cpp
+++ b/gtsam/geometry/Pose2.cpp
@@ -207,6 +207,18 @@ namespace gtsam {
 	  return result;
   }
 
+  /* ************************************************************************* */
+	Rot2 Pose2::bearing(const Pose2& point,
+			boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const {
+		Rot2 result = bearing(point.t(), H1, H2);
+		if (H2) {
+			Matrix H2_ = *H2 * point.r().matrix();
+			*H2 = zeros(1, 3);
+			insertSub(*H2, H2_, 0, 0);
+		}
+		return result;
+	}
+
   /* ************************************************************************* */
   double Pose2::range(const Point2& point,
 		  boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const {
diff --git a/gtsam/geometry/Pose2.h b/gtsam/geometry/Pose2.h
index 549963856..cc8f8848d 100644
--- a/gtsam/geometry/Pose2.h
+++ b/gtsam/geometry/Pose2.h
@@ -157,6 +157,15 @@ namespace gtsam {
 			boost::optional<Matrix&> H1=boost::none,
 			boost::optional<Matrix&> H2=boost::none) const;
 
+	/**
+	 * Calculate bearing to another pose
+	 * @param point SO(2) location of other pose
+	 * @return 2D rotation \in SO(2)
+	 */
+	Rot2 bearing(const Pose2& point,
+			boost::optional<Matrix&> H1=boost::none,
+			boost::optional<Matrix&> H2=boost::none) const;
+
 	/**
 	 * Calculate range to a landmark
 	 * @param point 2D location of landmark
diff --git a/gtsam/geometry/tests/testPose2.cpp b/gtsam/geometry/tests/testPose2.cpp
index d498bef1f..66b0584ce 100644
--- a/gtsam/geometry/tests/testPose2.cpp
+++ b/gtsam/geometry/tests/testPose2.cpp
@@ -504,6 +504,44 @@ TEST( Pose2, bearing )
 	EXPECT(assert_equal(expectedH1,actualH1));
 }
 
+/* ************************************************************************* */
+Rot2 bearing_pose_proxy(const Pose2& pose, const Pose2& pt) {
+	return pose.bearing(pt);
+}
+
+TEST( Pose2, bearing_pose )
+{
+	Pose2 xl1(1, 0, M_PI_2), xl2(1, 1, M_PI), xl3(2.0, 2.0,-M_PI_2), xl4(1, 3, 0);
+
+	Matrix expectedH1, actualH1, expectedH2, actualH2;
+
+	// establish bearing is indeed zero
+	EXPECT(assert_equal(Rot2(),x1.bearing(xl1)));
+
+	// establish bearing is indeed 45 degrees
+	EXPECT(assert_equal(Rot2::fromAngle(M_PI_4),x1.bearing(xl2)));
+
+	// establish bearing is indeed 45 degrees even if shifted
+	Rot2 actual23 = x2.bearing(xl3, actualH1, actualH2);
+	EXPECT(assert_equal(Rot2::fromAngle(M_PI_4),actual23));
+
+	// Check numerical derivatives
+	expectedH1 = numericalDerivative21(bearing_pose_proxy, x2, xl3);
+	expectedH2 = numericalDerivative22(bearing_pose_proxy, x2, xl3);
+	EXPECT(assert_equal(expectedH1,actualH1));
+	EXPECT(assert_equal(expectedH2,actualH2));
+
+	// establish bearing is indeed 45 degrees even if rotated
+	Rot2 actual34 = x3.bearing(xl4, actualH1, actualH2);
+	EXPECT(assert_equal(Rot2::fromAngle(M_PI_4),actual34));
+
+	// Check numerical derivatives
+	expectedH1 = numericalDerivative21(bearing_pose_proxy, x3, xl4);
+	expectedH2 = numericalDerivative22(bearing_pose_proxy, x3, xl4);
+	EXPECT(assert_equal(expectedH1,actualH1));
+	EXPECT(assert_equal(expectedH2,actualH2));
+}
+
 /* ************************************************************************* */
 LieVector range_proxy(const Pose2& pose, const Point2& point) {
 	return LieVector(pose.range(point));