diff --git a/cython/gtsam/tests/test_Pose2.py b/cython/gtsam/tests/test_Pose2.py
index f43ec0683..afd0c5773 100644
--- a/cython/gtsam/tests/test_Pose2.py
+++ b/cython/gtsam/tests/test_Pose2.py
@@ -12,8 +12,8 @@ class TestPose2(unittest.TestCase):
     def test_adjoint(self):
         """Test adjoint method."""
         xi = np.array([1, 2, 3])
-        expected = np.dot(Pose2.adjointMap(xi), xi)
-        actual = Pose2.adjoint(xi, xi)
+        expected = np.dot(Pose2.adjointMap_(xi), xi)
+        actual = Pose2.adjoint_(xi, xi)
         np.testing.assert_array_equal(actual, expected)
 
 
diff --git a/gtsam.h b/gtsam.h
index 4720d9d6b..48768db40 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -578,8 +578,8 @@ class Pose2 {
   Matrix AdjointMap() const;
   Vector Adjoint(Vector xi) const;
   static Matrix adjointMap_(Vector v);
-  Vector adjoint_(Vector xi, Vector y);
-  Vector adjointTranspose(Vector xi, Vector y);
+  static Vector adjoint_(Vector xi, Vector y);
+  static Vector adjointTranspose(Vector xi, Vector y);
   static Matrix wedge(double vx, double vy, double w);
 
   // Group Actions on Point2