diff --git a/gtsam/slam/Makefile.am b/gtsam/slam/Makefile.am
index 95c2f1488..7ed3543f1 100644
--- a/gtsam/slam/Makefile.am
+++ b/gtsam/slam/Makefile.am
@@ -54,6 +54,7 @@ check_PROGRAMS += tests/testPlanarSLAM
 headers += Landmark2.h
 headers += PlanarSLAMGraph.h
 headers += PlanarSLAMValues.h
+headers += PlanarSLAMOdometry.h
 
 # 3D Pose constraints
 sources += pose3SLAM.cpp 
@@ -62,7 +63,8 @@ check_PROGRAMS += tests/testPose3SLAM
 # Visual SLAM
 headers += GeneralSFMFactor.h ProjectionFactor.h
 sources += visualSLAM.cpp
-check_PROGRAMS += tests/testProjectionFactor tests/testVSLAM tests/testGeneralSFMFactor tests/testGeneralSFMFactor_Cal3Bundler
+check_PROGRAMS += tests/testProjectionFactor tests/testVSLAM 
+check_PROGRAMS += tests/testGeneralSFMFactor tests/testGeneralSFMFactor_Cal3Bundler
 
 # StereoFactor
 headers += StereoFactor.h
diff --git a/gtsam/slam/PlanarSLAMOdometry.h b/gtsam/slam/PlanarSLAMOdometry.h
new file mode 100644
index 000000000..c15f2a701
--- /dev/null
+++ b/gtsam/slam/PlanarSLAMOdometry.h
@@ -0,0 +1,28 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file PlanarSLAMOdometry.h
+ * @brief Re-created on Feb 22, 2010 for compatibility with MATLAB
+ * @author Frank Dellaert
+ */
+
+#pragma once
+
+#include <gtsam/slam/planarSLAM.h>
+#include <gtsam/slam/planarSLAMValues.h>
+
+namespace gtsam {
+
+	typedef gtsam::planarSLAM::Odometry PlanarSLAMOdometry;
+
+}
+