diff --git a/cpp/graph-inl.h b/cpp/graph-inl.h
index 83aeed001..8808911ba 100644
--- a/cpp/graph-inl.h
+++ b/cpp/graph-inl.h
@@ -124,7 +124,7 @@ public:
 			string key_from = boost::get(boost::vertex_name, g, boost::source(edge, g));
 			string 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(config->get(key_from), relativePose));
+			config->insert(key_to, compose(relativePose, config->get(key_from)));
 	}
 
 private:
diff --git a/cpp/testPose2.cpp b/cpp/testPose2.cpp
index ce50ed36b..e58f24db3 100644
--- a/cpp/testPose2.cpp
+++ b/cpp/testPose2.cpp
@@ -181,6 +181,15 @@ TEST( Pose2, between )
   CHECK(assert_equal(numericalH2,actualH2));
 }
 
+/* ************************************************************************* */
+TEST( Pose2, round_trip )
+{
+	Pose2 p1(1.23, 2.30, 0.2);
+	Pose2 odo(0.53, 0.39, 0.15);
+	Pose2 p2 = compose(odo, p1);
+	CHECK(assert_equal(odo, between(p1, p2)));
+}
+
 /* ************************************************************************* */
 TEST(Pose2, members)
 {