diff --git a/gtsam/geometry/Pose3.cpp b/gtsam/geometry/Pose3.cpp
index 0ee19ef76..1b9285100 100644
--- a/gtsam/geometry/Pose3.cpp
+++ b/gtsam/geometry/Pose3.cpp
@@ -286,9 +286,10 @@ Matrix4 Pose3::matrix() const {
 }
 
 /* ************************************************************************* */
-Pose3 Pose3::transformPoseFrom(const Pose3& aTb) const {
+Pose3 Pose3::transformPoseFrom(const Pose3& aTb, OptionalJacobian<6, 6> Hself,
+                                                 OptionalJacobian<6, 6> HaTb) const {
   const Pose3& wTa = *this;
-  return wTa * aTb;
+  return wTa.compose(aTb, Hself, HaTb);
 }
 
 /* ************************************************************************* */
@@ -310,28 +311,28 @@ Pose3 Pose3::transformPoseTo(const Pose3& wTb, OptionalJacobian<6, 6> Hself,
 }
 
 /* ************************************************************************* */
-Point3 Pose3::transformFrom(const Point3& p, OptionalJacobian<3, 6> Hself,
+Point3 Pose3::transformFrom(const Point3& point, OptionalJacobian<3, 6> Hself,
     OptionalJacobian<3, 3> Hpoint) const {
   // Only get matrix once, to avoid multiple allocations,
   // as well as multiple conversions in the Quaternion case
   const Matrix3 R = R_.matrix();
   if (Hself) {
-    Hself->leftCols<3>() = R * skewSymmetric(-p.x(), -p.y(), -p.z());
+    Hself->leftCols<3>() = R * skewSymmetric(-point.x(), -point.y(), -point.z());
     Hself->rightCols<3>() = R;
   }
   if (Hpoint) {
     *Hpoint = R;
   }
-  return R_ * p + t_;
+  return R_ * point + t_;
 }
 
 /* ************************************************************************* */
-Point3 Pose3::transformTo(const Point3& p, OptionalJacobian<3, 6> Hself,
+Point3 Pose3::transformTo(const Point3& point, OptionalJacobian<3, 6> Hself,
     OptionalJacobian<3, 3> Hpoint) const {
   // Only get transpose once, to avoid multiple allocations,
   // as well as multiple conversions in the Quaternion case
   const Matrix3 Rt = R_.transpose();
-  const Point3 q(Rt*(p - t_));
+  const Point3 q(Rt*(point - t_));
   if (Hself) {
     const double wx = q.x(), wy = q.y(), wz = q.z();
     (*Hself) <<
diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h
index f56e6903a..3825b6241 100644
--- a/gtsam/geometry/Pose3.h
+++ b/gtsam/geometry/Pose3.h
@@ -201,27 +201,27 @@ public:
 
   /**
    * @brief takes point in Pose coordinates and transforms it to world coordinates
-   * @param p point in Pose coordinates
+   * @param point point in Pose coordinates
    * @param Hself optional 3*6 Jacobian wrpt this pose
    * @param Hpoint optional 3*3 Jacobian wrpt point
    * @return point in world coordinates
    */
-  Point3 transformFrom(const Point3& p, OptionalJacobian<3, 6> Hself =
+  Point3 transformFrom(const Point3& point, OptionalJacobian<3, 6> Hself =
       boost::none, OptionalJacobian<3, 3> Hpoint = boost::none) const;
 
   /** syntactic sugar for transformFrom */
-  inline Point3 operator*(const Point3& p) const {
-    return transformFrom(p);
+  inline Point3 operator*(const Point3& point) const {
+    return transformFrom(point);
   }
 
   /**
    * @brief takes point in world coordinates and transforms it to Pose coordinates
-   * @param p point in world coordinates
+   * @param point point in world coordinates
    * @param Hself optional 3*6 Jacobian wrpt this pose
    * @param Hpoint optional 3*3 Jacobian wrpt point
    * @return point in Pose coordinates
    */
-  Point3 transformTo(const Point3& p, OptionalJacobian<3, 6> Hself =
+  Point3 transformTo(const Point3& point, OptionalJacobian<3, 6> Hself =
       boost::none, OptionalJacobian<3, 3> Hpoint = boost::none) const;
 
   /// @}
@@ -252,12 +252,20 @@ public:
   /** convert to 4*4 matrix */
   Matrix4 matrix() const;
 
-  /** receives a pose in local coordinates and transforms it to world coordinates */
-  Pose3 transformPoseFrom(const Pose3& pose) const;
+  /** 
+    * Assuming self == wTa, takes a pose aTb in local coordinates 
+    * and transforms it to world coordinates wTb = wTa * aTb.
+    * This is identical to compose.
+    */
+  Pose3 transformPoseFrom(const Pose3& aTb, OptionalJacobian<6, 6> Hself = boost::none,
+                                            OptionalJacobian<6, 6> HaTb = boost::none) const;
 
-  /** receives a pose in world coordinates and transforms it to local coordinates */
-  Pose3 transformPoseTo(const Pose3& pose, OptionalJacobian<6, 6> Hself = boost::none,
-                                           OptionalJacobian<6, 6> Hpose = boost::none) const;
+  /** 
+   *  Assuming self == wTa, takes a pose wTb in world coordinates 
+   * and transforms it to local coordinates aTb = inv(wTa) * wTb 
+   */
+  Pose3 transformPoseTo(const Pose3& wTb, OptionalJacobian<6, 6> Hself = boost::none,
+                                          OptionalJacobian<6, 6> HwTb = boost::none) const;
 
   /**
    * Calculate range to a landmark