diff --git a/gtsam/geometry/OrientedPlane3.cpp b/gtsam/geometry/OrientedPlane3.cpp
index f9f30970a..95290497d 100644
--- a/gtsam/geometry/OrientedPlane3.cpp
+++ b/gtsam/geometry/OrientedPlane3.cpp
@@ -31,33 +31,6 @@ void OrientedPlane3::print(const string& s) const {
   cout << s << " : " << coeffs << endl;
 }
 
-/* ************************************************************************* */
-OrientedPlane3 OrientedPlane3::Transform(const OrientedPlane3& plane,
-    const Pose3& xr, OptionalJacobian<3, 6> Hr,
-    OptionalJacobian<3, 3> Hp) {
-  Matrix23 D_rotated_plane;
-  Matrix22 D_rotated_pose;
-  Unit3 n_rotated = xr.rotation().unrotate(plane.n_, D_rotated_plane, D_rotated_pose);
-
-  Vector3 unit_vec = n_rotated.unitVector();
-  double pred_d = plane.n_.unitVector().dot(xr.translation().vector()) + plane.d_;
-
-  if (Hr) {
-    *Hr = zeros(3, 6);
-    Hr->block<2, 3>(0, 0) = D_rotated_plane;
-    Hr->block<1, 3>(2, 3) = unit_vec;
-  }
-  if (Hp) {
-    Vector2 hpp = plane.n_.basis().transpose() * xr.translation().vector();
-    *Hp = Z_3x3;
-    Hp->block<2, 2>(0, 0) = D_rotated_pose;
-    Hp->block<1, 2>(2, 0) = hpp;
-    (*Hp)(2, 2) = 1;
-  }
-
-  return OrientedPlane3(unit_vec(0), unit_vec(1), unit_vec(2), pred_d);
-}
-
 /* ************************************************************************* */
 OrientedPlane3 OrientedPlane3::transform(const Pose3& xr, OptionalJacobian<3, 3> Hp,
     OptionalJacobian<3, 6> Hr) const {
diff --git a/gtsam/geometry/OrientedPlane3.h b/gtsam/geometry/OrientedPlane3.h
index 2d2527a25..949e4a285 100644
--- a/gtsam/geometry/OrientedPlane3.h
+++ b/gtsam/geometry/OrientedPlane3.h
@@ -99,7 +99,9 @@ public:
    */
   static OrientedPlane3 Transform(const OrientedPlane3& plane,
       const Pose3& xr, OptionalJacobian<3, 6> Hr = boost::none,
-      OptionalJacobian<3, 3> Hp = boost::none);
+      OptionalJacobian<3, 3> Hp = boost::none) {
+      return plane.transform(xr, Hp, Hr);
+  }
 
   /** Computes the error between two planes.
    *  The error is a norm 1 difference in tangent space.