diff --git a/geometry/Point2.cpp b/geometry/Point2.cpp
index 87caea645..c9b225f16 100644
--- a/geometry/Point2.cpp
+++ b/geometry/Point2.cpp
@@ -30,5 +30,19 @@ namespace gtsam {
   }
 
   /* ************************************************************************* */
+  Point2 Point2::transform_to(const Point2& point,
+  		boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const {
+	  if (H1) *H1 = -eye(2);
+	  if (H2) *H2 = eye(2);
+	  return point - *this;
+  }
+
+  /* ************************************************************************* */
+  Point2 Point2::transform_from(const Point2& point,
+  	boost::optional<Matrix&> H1, boost::optional<Matrix&> H2) const {
+	  if (H1) *H1 = eye(2);
+	  if (H2) *H2 = eye(2);
+	  return point + *this;
+  }
 
 } // namespace gtsam
diff --git a/geometry/Point2.h b/geometry/Point2.h
index 1dfdd7a47..ef94e3ff8 100644
--- a/geometry/Point2.h
+++ b/geometry/Point2.h
@@ -41,6 +41,17 @@ namespace gtsam {
     /** equals with an tolerance, prints out message if unequal*/
     bool equals(const Point2& q, double tol = 1e-9) const;
 
+    /** simple transform_[to|from] to allow for generic algorithms */
+    /** Return point coordinates in pose coordinate frame */
+    Point2 transform_to(const Point2& point,
+    		boost::optional<Matrix&> H1=boost::none,
+    		boost::optional<Matrix&> H2=boost::none) const;
+
+    /** Return point coordinates in global frame */
+    Point2 transform_from(const Point2& point,
+    	boost::optional<Matrix&> H1=boost::none,
+    	boost::optional<Matrix&> H2=boost::none) const;
+
     /** Lie requirements */
 
     /** Size of the tangent space of the Lie type */
diff --git a/geometry/tests/testPoint2.cpp b/geometry/tests/testPoint2.cpp
index cc90cefef..13775e859 100644
--- a/geometry/tests/testPoint2.cpp
+++ b/geometry/tests/testPoint2.cpp
@@ -42,8 +42,14 @@ TEST( Point2, norm)
 }
 
 /* ************************************************************************* */
-int main() {
-	TestResult tr;
-	return TestRegistry::runAllTests(tr);
+TEST( Point2, transforms ) {
+	Point2 offset(3.0, 4.0);
+	EXPECT(assert_equal(Point2(5.0, 6.0), offset.transform_from(Point2(2.0, 2.0))));
+	EXPECT(assert_equal(Point2(-1.0, -2.0), offset.transform_to(Point2(2.0, 2.0))));
+	EXPECT(assert_equal(Point2(1.0, 2.0), offset.transform_to(
+			offset.transform_from(Point2(1.0, 2.0)))));
 }
+
+/* ************************************************************************* */
+int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
 /* ************************************************************************* */