diff --git a/cpp/CalibratedCamera.cpp b/cpp/CalibratedCamera.cpp
index 7aa8fafbf..ab46ceba3 100644
--- a/cpp/CalibratedCamera.cpp
+++ b/cpp/CalibratedCamera.cpp
@@ -71,8 +71,8 @@ namespace gtsam {
 
 	/* ************************************************************************* */
 	Matrix Dproject_point(const CalibratedCamera& camera, const Point3& point) {
-		Point3 cameraPoint = transform_to(camera.pose(), point);
-		Matrix D_cameraPoint_point = Dtransform_to2(camera.pose());
+		Point3 cameraPoint = transform_to(camera.pose(),point);
+		Matrix D_cameraPoint_point = Dtransform_to2(camera.pose(),point);
 
 		Point2 intrinsic = project_to_camera(cameraPoint);
 		Matrix D_intrinsic_cameraPoint = Dproject_to_camera1(cameraPoint);
@@ -86,8 +86,8 @@ namespace gtsam {
 			Matrix& D_intrinsic_pose, Matrix& D_intrinsic_point) {
 
 		Point3 cameraPoint = transform_to(camera.pose(), point);
-		Matrix D_cameraPoint_pose = Dtransform_to1(camera.pose(), point); // 3*6
-		Matrix D_cameraPoint_point = Dtransform_to2(camera.pose()); // 3*3
+		Matrix D_cameraPoint_pose = Dtransform_to1(camera.pose(),point); // 3*6
+		Matrix D_cameraPoint_point = Dtransform_to2(camera.pose(),point); // 3*3
 
 		Point2 intrinsic = project_to_camera(cameraPoint);
 		Matrix D_intrinsic_cameraPoint = Dproject_to_camera1(cameraPoint);
diff --git a/cpp/Pose3.cpp b/cpp/Pose3.cpp
index 0f32ed6cd..de547210b 100644
--- a/cpp/Pose3.cpp
+++ b/cpp/Pose3.cpp
@@ -75,7 +75,7 @@ Matrix Dtransform_to1(const Pose3& pose, const Point3& p) {
 }
 
 /* ************************************************************************* */
-Matrix Dtransform_to2(const Pose3& pose) {
+Matrix Dtransform_to2(const Pose3& pose, const Point3& p) {
   return Dunrotate2(pose.rotation());
 }
 
@@ -106,10 +106,9 @@ Pose3 Pose3::inverse() const {
 }
 
 /* ************************************************************************* */
-Pose3 Pose3::transformPose_to(const Pose3& pose) const {
+Pose3 Pose3::transform_to(const Pose3& pose) const {
 	Rot3 cRv = R_ * Rot3(pose.R_.inverse());
-	Point3 t = transform_to(pose, t_);
-
+	Point3 t = gtsam::transform_to(pose, t_);
 	return Pose3(cRv, t);
 }
 
diff --git a/cpp/Pose3.h b/cpp/Pose3.h
index 434cfe879..4d24ef03b 100644
--- a/cpp/Pose3.h
+++ b/cpp/Pose3.h
@@ -102,12 +102,12 @@ namespace gtsam {
 		Matrix matrix() const;
 
 		/** transforms */
-		Pose3 transformPose_to(const Pose3& transform) const;
+		Pose3 transform_to(const Pose3& transform) const;
 
 		/** friends */
 		friend Point3 transform_from(const Pose3& pose, const Point3& p);
 		friend Point3 transform_to(const Pose3& pose, const Point3& p);
-		friend Pose3 composeTransform(const Pose3& current, const Pose3& target);
+		friend Pose3 compose(const Pose3& current, const Pose3& target);
 
 	private:
 		/** Serialization function */
@@ -122,7 +122,7 @@ namespace gtsam {
 	/**
 	 * Finds a transform from the current frame dTx to the target frame sTx
 	 */
-	inline Pose3 composeTransform(const Pose3& dTx, const Pose3& sTx) {
+	inline Pose3 compose(const Pose3& dTx, const Pose3& sTx) {
 		return dTx * sTx.inverse();
 	}
 
@@ -134,7 +134,7 @@ namespace gtsam {
 	/** receives the point in world coordinates and transforms it to Pose coordinates */
 	Point3 transform_to(const Pose3& pose, const Point3& p);
 	Matrix Dtransform_to1(const Pose3& pose, const Point3& p);
-	Matrix Dtransform_to2(const Pose3& pose); // does not depend on p !
+	Matrix Dtransform_to2(const Pose3& pose, const Point3& p);
 
 	/**
 	 * Return relative pose between p1 and p2, in p1 coordinate frame
diff --git a/cpp/testPose3.cpp b/cpp/testPose3.cpp
index 8831e4691..024990bd0 100644
--- a/cpp/testPose3.cpp
+++ b/cpp/testPose3.cpp
@@ -93,7 +93,7 @@ TEST( Pose3, Dtransform_to1)
 
 TEST( Pose3, Dtransform_to2)
 {
-  Matrix computed = Dtransform_to2(T);
+  Matrix computed = Dtransform_to2(T,P);
   Matrix numerical = numericalDerivative22(transform_to,T,P);
   CHECK(assert_equal(numerical,computed,error));
 }
@@ -139,13 +139,13 @@ TEST( Pose3, transform_roundtrip)
 TEST( Pose3, transformPose_to_origin)
 {
 		// transform to origin
-		Pose3 actual = pose1.transformPose_to(Pose3());
+		Pose3 actual = pose1.transform_to(Pose3());
 		CHECK(assert_equal(pose1, actual, error));
 }
 TEST( Pose3, transformPose_to_itself)
 {
 		// transform to itself
-		Pose3 actual = pose1.transformPose_to(pose1);
+		Pose3 actual = pose1.transform_to(pose1);
 		CHECK(assert_equal(Pose3(), actual, error));
 }
 TEST( Pose3, transformPose_to_translation)
@@ -153,7 +153,7 @@ TEST( Pose3, transformPose_to_translation)
 		// transform translation only
 		Rot3 r = rodriguez(-1.570796,0,0);
 		Pose3 pose2(r, Point3(21.,32.,13.)); 
-		Pose3 actual = pose2.transformPose_to(Pose3(Rot3(), Point3(1,2,3)));
+		Pose3 actual = pose2.transform_to(Pose3(Rot3(), Point3(1,2,3)));
 		Pose3 expected(r, Point3(20.,30.,10.));  
 		CHECK(assert_equal(expected, actual, error)); 
 }
@@ -163,7 +163,7 @@ TEST( Pose3, transformPose_to_simple_rotate)
 		Rot3 r = rodriguez(0,0,-1.570796);
 		Pose3 pose2(r, Point3(21.,32.,13.)); 
 		Pose3 transform(r, Point3(1,2,3));
-		Pose3 actual = pose2.transformPose_to(transform);
+		Pose3 actual = pose2.transform_to(transform);
 		Pose3 expected(Rot3(), Point3(-30.,20.,10.)); 
 		CHECK(assert_equal(expected, actual, 0.001)); 
 }
@@ -174,7 +174,7 @@ TEST( Pose3, transformPose_to)
 		Rot3 r2 = rodriguez(0,0,0.698131701); //40 degree yaw
 		Pose3 pose2(r2, Point3(21.,32.,13.)); 
 		Pose3 transform(r, Point3(1,2,3));
-		Pose3 actual = pose2.transformPose_to(transform);
+		Pose3 actual = pose2.transform_to(transform);
 		Pose3 expected(rodriguez(0,0,2.26892803), Point3(-30.,20.,10.)); 
 		CHECK(assert_equal(expected, actual, 0.001));  
 }
@@ -194,7 +194,7 @@ TEST( Pose3, composeTransform )
 		Pose3 target(rodriguez(0,0,2.26892803), Point3(-30.,20.,10.)); 
 		
 		// calculate transform
-		Pose3 actual = composeTransform(current, target);
+		Pose3 actual = compose(current, target);
 		
 		//verify
 		CHECK(assert_equal(exp_transform, actual, 0.001));