diff --git a/gtsam/geometry/Pose2.h b/gtsam/geometry/Pose2.h
index 496400a04..0e4bf4824 100644
--- a/gtsam/geometry/Pose2.h
+++ b/gtsam/geometry/Pose2.h
@@ -79,7 +79,9 @@ public:
 		*this = Expmap(v);
 	}
 
-	// Testable requirements
+
+  /// @name Testable
+  /// @{
 
 	/** print with optional string */
 	void print(const std::string& s = "") const;
@@ -87,30 +89,19 @@ public:
 	/** assert equality up to a tolerance */
 	bool equals(const Pose2& pose, double tol = 1e-9) const;
 
-	// Manifold requirements
+  /// @}
+  /// @name Group
+  /// @{
 
-	/** dimension of the variable - used to autodetect sizes */
-	inline static size_t Dim() { return dimension; }
+  /// identity for group operation
+	inline static Pose2 identity() {
+		return Pose2();
+	}
 
-
-	/** return DOF, dimensionality of tangent space = 3 */
-	inline size_t dim() const { return dimension; }
-
-	/** Apply tangent space update to an object */
-	Pose2 retract(const Vector& v) const;
-
-	/** @return local coordinates of p2 centered at *this */
-	Vector localCoordinates(const Pose2& p2) const;
-
-	// Group Requirements
-
-	/** inverse transformation with derivatives */
+  /// inverse transformation with derivatives
 	Pose2 inverse(boost::optional<Matrix&> H1=boost::none) const;
 
-	/**
-	 * compose this transformation onto another (first *this and then p2)
-	 * With optional derivatives
-	 */
+  /// compose this transformation onto another (first *this and then p2)
 	Pose2 compose(const Pose2& p2,
 			boost::optional<Matrix&> H1 = boost::none,
 			boost::optional<Matrix&> H2 = boost::none) const;
@@ -120,11 +111,43 @@ public:
 		return boost::shared_ptr<Pose2>(new Pose2(compose(p2)));
 	}
 
-	/** compose syntactic sugar */
+  /// compose syntactic sugar
 	inline Pose2 operator*(const Pose2& p2) const {
 		return Pose2(r_*p2.r(), t_ + r_*p2.t());
 	}
 
+  /// @}
+  /// @name Manifold
+  /// @{
+
+  /// Dimensionality of tangent space = 3 DOF - used to autodetect sizes
+	inline static size_t Dim() { return dimension; }
+
+
+  /// Dimensionality of tangent space = 3 DOF
+	inline size_t dim() const { return dimension; }
+
+  /// Retraction from R^3 to Pose2 manifold neighborhood around current pose
+	Pose2 retract(const Vector& v) const;
+
+  /// Local 3D coordinates of Pose2 manifold neighborhood around current pose
+	Vector localCoordinates(const Pose2& p2) const;
+
+  /// @}
+  /// @name Lie Group
+  /// @{
+
+  /// Exponential map from Lie algebra se(2) to SE(2)
+	static Pose2 Expmap(const Vector& xi);
+
+  /// Exponential map from SE(2) to Lie algebra se(2)
+	static Vector Logmap(const Pose2& p);
+
+  /// @}
+
+	/** return transformation matrix */
+	Matrix matrix() const;
+
 	/**
 	 * Return relative pose between p1 and p2, in p1 coordinate frame
 	 */
@@ -137,22 +160,6 @@ public:
 		return boost::shared_ptr<Pose2>(new Pose2(between(p2)));
 	}
 
-	/** identity */
-	inline static Pose2 identity() {
-		return Pose2();
-	}
-
-	// Lie Group requirements
-
-	/** Exponential map using canonical coordinates */
-	static Pose2 Expmap(const Vector& xi);
-
-	/** Log map returning local coordinates */
-	static Vector Logmap(const Pose2& p);
-
-	/** return transformation matrix */
-	Matrix matrix() const;
-
 	/**
 	 * Return point coordinates in pose coordinate frame
 	 */