diff --git a/cpp/Pose2.cpp b/cpp/Pose2.cpp
index fd1a84acd..d16f91e46 100644
--- a/cpp/Pose2.cpp
+++ b/cpp/Pose2.cpp
@@ -72,6 +72,15 @@ namespace gtsam {
   	return eye(3);
   }
 
+  /* ************************************************************************* */
+  Point2 transform_from(const Pose2& pose, const Point2& point,
+  		boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) {
+  	Point2 point_transformed = rotate(pose.r(), point, H1, H2) + pose.t();
+  	Matrix R = pose.r().matrix();
+  	if (H1) *H1 = collect(2, &R, &(*H1));
+    return  point_transformed;
+  }
+
   /* ************************************************************************* */
   Pose2 between(const Pose2& p1, const Pose2& p2, boost::optional<Matrix&> H1,
 			boost::optional<Matrix&> H2) {
diff --git a/cpp/Pose2.h b/cpp/Pose2.h
index 53898cef7..c8688a723 100644
--- a/cpp/Pose2.h
+++ b/cpp/Pose2.h
@@ -102,8 +102,8 @@ namespace gtsam {
   Matrix Dtransform_to2(const Pose2& pose, const Point2& point);
 
   /** Return point coordinates in global frame */
-  inline Point2 transform_from(const Pose2& pose, const Point2& point) {
-    return rotate(pose.r(), point)+pose.t(); }
+  Point2 transform_from(const Pose2& pose, const Point2& point,
+  		boost::optional<Matrix&> H1 = boost::none, boost::optional<Matrix&> H2 = boost::none);
 
   /** Return relative pose between p1 and p2, in p1 coordinate frame */
   Pose2 between(const Pose2& p1, const Pose2& p2,
diff --git a/cpp/testPose2.cpp b/cpp/testPose2.cpp
index dfa81d47a..c0cf58930 100644
--- a/cpp/testPose2.cpp
+++ b/cpp/testPose2.cpp
@@ -113,6 +113,33 @@ TEST( Pose2, transform_to )
   CHECK(assert_equal(numericalH2,actualH2));
 }
 
+/* ************************************************************************* */
+Point2 transform_from_proxy(const Pose2& pose, const Point2& point) {
+	return transform_from(pose, point);
+}
+
+TEST (Pose2, transform_from)
+{
+	Pose2 pose(1., 0., M_PI_2);
+	Point2 pt(2., 1.);
+	Matrix H1, H2;
+	Point2 actual = transform_from(pose, pt, H1, H2);
+
+	Point2 expected(0., 2.);
+	CHECK(assert_equal(expected, actual));
+
+	Matrix H1_expected = Matrix_(2, 3, 0., -1., -2., 1., 0., -1.);
+	Matrix H2_expected = Matrix_(2, 2, 0., -1., 1., 0.);
+
+	Matrix numericalH1 = numericalDerivative21(transform_from_proxy, pose, pt, 1e-5);
+	CHECK(assert_equal(H1_expected, H1));
+	CHECK(assert_equal(H1_expected, numericalH1));
+
+	Matrix numericalH2 = numericalDerivative22(transform_from_proxy, pose, pt, 1e-5);
+	CHECK(assert_equal(H2_expected, H2));
+	CHECK(assert_equal(H2_expected, numericalH2));
+}
+
 /* ************************************************************************* */
 TEST(Pose2, compose_a)
 {