diff --git a/doc/Code/LocalizationFactor.cpp b/doc/Code/LocalizationFactor.cpp
index 623aef8cb..d298091dc 100644
--- a/doc/Code/LocalizationFactor.cpp
+++ b/doc/Code/LocalizationFactor.cpp
@@ -8,11 +8,10 @@ public:
   Vector evaluateError(const Pose2& q,
                        boost::optional<Matrix&> H = boost::none) const
   {
-    const double cosTheta = cos(q.theta());
-    const double sinTheta = sin(q.theta());
+    const Rot2& R = q.rotation();
     if (H) (*H) = (gtsam::Matrix(2, 3) <<
-            cosTheta, -sinTheta, 0.0, 
-            sinTheta, cosTheta, 0.0).finished();
+            R.c(), -R.s(), 0.0,
+            R.s(), R.c(), 0.0).finished();
     return (Vector(2) << q.x() - mx_, q.y() - my_).finished();
   }
 };
diff --git a/doc/gtsam.pdf b/doc/gtsam.pdf
index cd125a713..c6a39a79c 100644
Binary files a/doc/gtsam.pdf and b/doc/gtsam.pdf differ
diff --git a/examples/LocalizationExample.cpp b/examples/LocalizationExample.cpp
index aa8e0db19..d9b205359 100644
--- a/examples/LocalizationExample.cpp
+++ b/examples/LocalizationExample.cpp
@@ -92,9 +92,8 @@ class UnaryFactor: public NoiseModelFactor1<Pose2> {
     // Node's orientation reflects in the Jacobian, in tangent space this is equal to the right-hand rule rotation matrix
     // H =  [ cos(q.theta)  -sin(q.theta) 0 ]
     //      [ sin(q.theta)   cos(q.theta) 0 ]
-    const double cosTheta = cos(q.theta());
-    const double sinTheta = sin(q.theta());
-    if (H) (*H) = (gtsam::Matrix(2, 3) << cosTheta, -sinTheta, 0.0, sinTheta, cosTheta, 0.0).finished();
+    const Rot2& R = q.rotation();
+    if (H) (*H) = (gtsam::Matrix(2, 3) << R.c(), -R.s(), 0.0, R.s(), R.c(), 0.0).finished();
     return (Vector(2) << q.x() - mx_, q.y() - my_).finished();
   }