diff --git a/cpp/FactorGraph-inl.h b/cpp/FactorGraph-inl.h
index ba4e4b752..42d8954b3 100644
--- a/cpp/FactorGraph-inl.h
+++ b/cpp/FactorGraph-inl.h
@@ -337,8 +337,10 @@ void FactorGraph<Factor>::split(map<string, string> tree, FactorGraph<Factor>& A
 		if (factor->keys().size() > 2)
 			throw(invalid_argument("split: only support factors with at most two keys"));
 
-		if (factor->keys().size() == 1)
+		if (factor->keys().size() == 1) {
+			Ab1.push_back(factor);
 			continue;
+		}
 
 		string key1 = factor->keys().front();
 		string key2 = factor->keys().back();
diff --git a/cpp/Ordering.cpp b/cpp/Ordering.cpp
index 8e0c23370..4e5a4e2bb 100644
--- a/cpp/Ordering.cpp
+++ b/cpp/Ordering.cpp
@@ -33,8 +33,7 @@ public:
 /* ************************************************************************* */
 Ordering::Ordering(const map<string, string>& p_map) {
 
-	typedef boost::adjacency_list<
-		boost::vecS, boost::vecS, boost::undirectedS,
+	typedef boost::adjacency_list<boost::vecS, boost::vecS, boost::undirectedS,
 		boost::property<boost::vertex_name_t, string> > Graph;
 	typedef boost::graph_traits<Graph>::vertex_descriptor Vertex;
 
diff --git a/cpp/Pose2Prior.h b/cpp/Pose2Prior.h
index 9b3c3933e..24055d222 100644
--- a/cpp/Pose2Prior.h
+++ b/cpp/Pose2Prior.h
@@ -44,7 +44,7 @@ public:
 	/** implement functions needed to derive from Factor */
 	Vector error_vector(const Pose2Config& config) const {
 		Pose2 p = config.get(key_);
-		return -p.log(measured_);
+		return -logmap(p,measured_);
 	}
 
 	std::list<std::string> keys() const { return keys_; }
@@ -53,7 +53,7 @@ public:
 	/** linearize */
 	boost::shared_ptr<GaussianFactor> linearize(const Pose2Config& config) const {
 		Pose2 p = config.get(key_);
-		Vector b = -p.log(measured_);
+		Vector b = logmap(p,measured_);
 		Matrix H(3,3);
 		H(0,0)=1; H(0,1)=0; H(0,2)=0;
 		H(1,0)=0; H(1,1)=1; H(1,2)=0;