diff --git a/examples/PlanarSLAMExample_easy.cpp b/examples/PlanarSLAMExample_easy.cpp
index 44200af39..f840c443d 100644
--- a/examples/PlanarSLAMExample_easy.cpp
+++ b/examples/PlanarSLAMExample_easy.cpp
@@ -86,10 +86,8 @@ int main(int argc, char** argv) {
 	initialEstimate.print("initial estimate");
 
 	// optimize using Levenberg-Marquardt optimization with an ordering from colamd
-//	Values result = optimize<Graph, Values>(graph, initialEstimate);
-//	result.print("final result");
-	boost::shared_ptr<Values> result = graph.optimize(initialEstimate);
-	result->print("final result");
+	Values result = optimize<Graph, Values>(graph, initialEstimate);
+	result.print("final result");
 
 	return 0;
 }
diff --git a/examples/matlab/PlanarSLAMExample_easy.m b/examples/matlab/PlanarSLAMExample_easy.m
index 8d9c250b0..d0cb9d6af 100644
--- a/examples/matlab/PlanarSLAMExample_easy.m
+++ b/examples/matlab/PlanarSLAMExample_easy.m
@@ -71,5 +71,5 @@ initialEstimate.insertPoint(l2, Landmark2(4.1, 1.8));
 initialEstimate.print('initial estimate');
 
 %% Optimize using Levenberg-Marquardt optimization with an ordering from colamd
-result = graph.optimize(initialEstimate);
+result = graph.optimize_(initialEstimate);
 result.print('final result');
diff --git a/gtsam/slam/PlanarSLAMValues.h b/gtsam/slam/PlanarSLAMValues.h
index 318cc4e04..d174229fd 100644
--- a/gtsam/slam/PlanarSLAMValues.h
+++ b/gtsam/slam/PlanarSLAMValues.h
@@ -11,7 +11,7 @@
 
 /**
  * @file PlanarSLAMValues.h
- * @brief Re-created on Feb 22, 2010 for compatibility with MATLAB
+ * @brief Convenience for MATLAB wrapper, which does not allow for identically named methods
  * @author Frank Dellaert
  */
 
diff --git a/gtsam/slam/planarSLAM.cpp b/gtsam/slam/planarSLAM.cpp
index 5b1fc033a..e189928f4 100644
--- a/gtsam/slam/planarSLAM.cpp
+++ b/gtsam/slam/planarSLAM.cpp
@@ -26,7 +26,6 @@ namespace gtsam {
 
 	using namespace planarSLAM;
 	INSTANTIATE_LIE_VALUES(PointKey)
-	INSTANTIATE_LIE_VALUES(PoseKey)
 	INSTANTIATE_TUPLE_VALUES2(PoseValues, PointValues)
 	INSTANTIATE_NONLINEAR_FACTOR_GRAPH(Values)
 	INSTANTIATE_NONLINEAR_OPTIMIZER(Graph, Values)
diff --git a/gtsam/slam/planarSLAM.h b/gtsam/slam/planarSLAM.h
index 840c7adae..024b2f8ff 100644
--- a/gtsam/slam/planarSLAM.h
+++ b/gtsam/slam/planarSLAM.h
@@ -68,11 +68,11 @@ namespace gtsam {
 			/// insert a pose
 		  void insertPose(int key, const Pose2& pose) {insert(PoseKey(key), pose); }
 
-		  /// insert a point
+			/// insert a point
 		  void insertPoint(int key, const Point2& point) {insert(PointKey(key), point); }
 		};
 
-			/**
+		/**
 		 * List of typedefs for factors
 		 */
 
@@ -120,12 +120,13 @@ namespace gtsam {
 			void addBearingRange(const PoseKey& i, const PointKey& j,
 					const Rot2& z1, double z2, const SharedNoiseModel& model);
 
-			/// Optimize, mostly here for MATLAB
-			boost::shared_ptr<Values> optimize(const Values& initialEstimate) {
+			/// Optimize_ for MATLAB
+			boost::shared_ptr<Values> optimize_(const Values& initialEstimate) {
 				typedef NonlinearOptimizer<Graph, Values> Optimizer;
-//				NonlinearOptimizationParameters::LAMBDA
 				boost::shared_ptr<Values> result(
-						new Values(*Optimizer::optimizeGN(*this, initialEstimate)));
+						new Values(
+								*Optimizer::optimizeLM(*this, initialEstimate,
+										NonlinearOptimizationParameters::LAMBDA)));
 				return result;
 			}
 		};