diff --git a/cpp/graph-inl.h b/cpp/graph-inl.h
index 9a57c6ebb..842767e08 100644
--- a/cpp/graph-inl.h
+++ b/cpp/graph-inl.h
@@ -139,7 +139,7 @@ public:
 		typename Config::Key key_from = boost::get(boost::vertex_name, g, boost::source(edge, g));
 		typename Config::Key key_to = boost::get(boost::vertex_name, g, boost::target(edge, g));
 		Pose relativePose = boost::get(boost::edge_weight, g, edge);
-		config_->insert(key_to, compose(relativePose, (*config_)[key_from]));
+		config_->insert(key_to, compose((*config_)[key_from],relativePose));
 	}
 
 };
@@ -164,7 +164,7 @@ boost::shared_ptr<Config> composePoses(const G& graph, const PredecessorMap<type
 			predecessorMap2Graph<PoseGraph, PoseVertex, typename Config::Key>(tree);
 
 	// attach the relative poses to the edges
-	PoseEdge edge1, edge2;
+	PoseEdge edge12, edge21;
 	bool found1, found2;
 	BOOST_FOREACH(typename G::sharedFactor nl_factor, graph) {
 
@@ -178,18 +178,18 @@ boost::shared_ptr<Config> composePoses(const G& graph, const PredecessorMap<type
 		typename Config::Key key1 = factor->key1();
 		typename Config::Key key2 = factor->key2();
 
-		PoseVertex v_from = key2vertex.find(key1)->second;
-		PoseVertex v_to = key2vertex.find(key2)->second;
+		PoseVertex v1 = key2vertex.find(key1)->second;
+		PoseVertex v2 = key2vertex.find(key2)->second;
 
-		Pose measured = factor->measured();
-		tie(edge1, found1) = boost::edge(v_from, v_to, g);
-		tie(edge2, found2) = boost::edge(v_to, v_from, g);
+		Pose l1Xl2 = factor->measured();
+		tie(edge12, found1) = boost::edge(v1, v2, g);
+		tie(edge21, found2) = boost::edge(v2, v1, g);
 		if (found1 && found2) throw invalid_argument ("composePoses: invalid spanning tree");
 		if (!found1 && !found2) continue;
 		if (found1)
-			boost::put(boost::edge_weight, g, edge1, measured);
+			boost::put(boost::edge_weight, g, edge12, l1Xl2);
 		else if (found2)
-			boost::put(boost::edge_weight, g, edge2, inverse(measured));
+			boost::put(boost::edge_weight, g, edge21, inverse(l1Xl2));
 	}
 
 	// compose poses
diff --git a/cpp/testGraph.cpp b/cpp/testGraph.cpp
index 68100bee4..168f2433c 100644
--- a/cpp/testGraph.cpp
+++ b/cpp/testGraph.cpp
@@ -72,25 +72,30 @@ TEST( Graph, composePoses )
 {
 	Pose2Graph graph;
 	Matrix cov = eye(3);
-	graph.addConstraint(1,2, Pose2(2.0, 0.0, 0.0), cov);
-	graph.addConstraint(2,3, Pose2(3.0, 0.0, 0.0), cov);
+	Pose2 p1(1.0, 2.0, 0.3), p2(4.0, 5.0, 0.6), p3(7.0, 8.0, 0.9), p4(2.0, 2.0, 2.9);
+	Pose2 p12=between(p1,p2), p23=between(p2,p3), p43=between(p4,p3);
+	graph.addConstraint(1,2, p12, cov);
+	graph.addConstraint(2,3, p23, cov);
+	graph.addConstraint(4,3, p43, cov);
 
 	PredecessorMap<Pose2Config::Key> tree;
 	tree.insert(1,2);
 	tree.insert(2,2);
 	tree.insert(3,2);
+	tree.insert(4,3);
 
-	Pose2 rootPose(3.0, 0.0, 0.0);
+	Pose2 rootPose = p2;
 
 	boost::shared_ptr<Pose2Config> actual = composePoses<Pose2Graph, Pose2Factor,
 			Pose2, Pose2Config> (graph, tree, rootPose);
 
 	Pose2Config expected;
-	expected.insert(1, Pose2(1.0, 0.0, 0.0));
-	expected.insert(2, Pose2(3.0, 0.0, 0.0));
-	expected.insert(3, Pose2(6.0, 0.0, 0.0));
+	expected.insert(1, p1);
+	expected.insert(2, p2);
+	expected.insert(3, p3);
+	expected.insert(4, p4);
 
-	LONGS_EQUAL(3, actual->size());
+	LONGS_EQUAL(4, actual->size());
 	CHECK(assert_equal(expected, *actual));
 }
 
diff --git a/cpp/testVSLAMFactor.cpp b/cpp/testVSLAMFactor.cpp
index a6bab9f98..471e77ba0 100644
--- a/cpp/testVSLAMFactor.cpp
+++ b/cpp/testVSLAMFactor.cpp
@@ -76,6 +76,7 @@ TEST( ProjectionFactor, error )
   CHECK(assert_equal(expected_config,actual_config,1e-9));
 }
 
+/* ************************************************************************* */
 TEST( ProjectionFactor, equals )
 {
 	// Create two identical factors and make sure they're equal