diff --git a/doc/Code/LocalizationFactor.cpp b/doc/Code/LocalizationFactor.cpp
index 79a54903e..d298091dc 100644
--- a/doc/Code/LocalizationFactor.cpp
+++ b/doc/Code/LocalizationFactor.cpp
@@ -8,7 +8,10 @@ public:
   Vector evaluateError(const Pose2& q,
                        boost::optional<Matrix&> H = boost::none) const
   {
-    if (H) (*H) = (Matrix(2,3)<< 1.0,0.0,0.0, 0.0,1.0,0.0).finished();
+    const Rot2& R = q.rotation();
+    if (H) (*H) = (gtsam::Matrix(2, 3) <<
+            R.c(), -R.s(), 0.0,
+            R.s(), R.c(), 0.0).finished();
     return (Vector(2) << q.x() - mx_, q.y() - my_).finished();
   }
 };
diff --git a/doc/gtsam.lyx b/doc/gtsam.lyx
index 29be8dbe4..a5adc2b60 100644
--- a/doc/gtsam.lyx
+++ b/doc/gtsam.lyx
@@ -1,7 +1,9 @@
-#LyX 2.1 created this file. For more info see http://www.lyx.org/
-\lyxformat 474
+#LyX 2.2 created this file. For more info see http://www.lyx.org/
+\lyxformat 508
 \begin_document
 \begin_header
+\save_transient_properties true
+\origin unavailable
 \textclass article
 \begin_preamble
 \usepackage{times}
@@ -50,16 +52,16 @@
 \language_package default
 \inputencoding auto
 \fontencoding T1
-\font_roman ae
-\font_sans default
-\font_typewriter default
-\font_math auto
+\font_roman "ae" "default"
+\font_sans "default" "default"
+\font_typewriter "default" "default"
+\font_math "auto" "auto"
 \font_default_family rmdefault
 \use_non_tex_fonts false
 \font_sc false
 \font_osf false
-\font_sf_scale 100
-\font_tt_scale 100
+\font_sf_scale 100 100
+\font_tt_scale 100 100
 \graphics default
 \default_output_format default
 \output_sync 0
@@ -1061,7 +1063,7 @@ noindent
 \begin_layout Subsection
 \begin_inset CommandInset label
 LatexCommand label
-name "sub:Full-Posterior-Inference"
+name "subsec:Full-Posterior-Inference"
 
 \end_inset
 
@@ -1272,7 +1274,7 @@ ing to odometry measurements.
  (see Section 
 \begin_inset CommandInset ref
 LatexCommand ref
-reference "sub:Full-Posterior-Inference"
+reference "subsec:Full-Posterior-Inference"
 
 \end_inset
 
@@ -1469,7 +1471,7 @@ GPS-like
 \begin_inset CommandInset include
 LatexCommand lstinputlisting
 filename "Code/LocalizationFactor.cpp"
-lstparams "aboveskip=10pt,basicstyle={\\ttfamily\\small},caption={Excerpt from examples/LocalizationExample.cpp},captionpos=b,frame=single,identifierstyle={\\bfseries},label={listing:LocalizationFactor},language={C++},numbers=left"
+lstparams "aboveskip=10pt,basicstyle={\\ttfamily\\small},captionpos=b,frame=single,identifierstyle={\\bfseries},language={C++},numbers=left,caption={Excerpt from examples/LocalizationExample.cpp},label={listing:LocalizationFactor}"
 
 \end_inset
 
@@ -1590,15 +1592,15 @@ q_{y}
 \begin_inset Formula $2\times3$
 \end_inset
 
- matrix:
+ matrix in tangent space which is the same the as the rotation matrix:
 \end_layout
 
 \begin_layout Standard
 \begin_inset Formula 
 \[
 H=\left[\begin{array}{ccc}
-1 & 0 & 0\\
-0 & 1 & 0
+\cos(q_{\theta}) & -\sin(q_{\theta}) & 0\\
+\sin(q_{\theta}) & \cos(q_{\theta}) & 0
 \end{array}\right]
 \]
 
@@ -1750,7 +1752,7 @@ global
  The marginals can be recovered exactly as in Section 
 \begin_inset CommandInset ref
 LatexCommand ref
-reference "sub:Full-Posterior-Inference"
+reference "subsec:Full-Posterior-Inference"
 
 \end_inset
 
@@ -1770,7 +1772,7 @@ filename "Code/LocalizationOutput5.txt"
 Comparing this with the covariance matrices in Section 
 \begin_inset CommandInset ref
 LatexCommand ref
-reference "sub:Full-Posterior-Inference"
+reference "subsec:Full-Posterior-Inference"
 
 \end_inset
 
diff --git a/doc/gtsam.pdf b/doc/gtsam.pdf
index 240528179..c6a39a79c 100644
Binary files a/doc/gtsam.pdf and b/doc/gtsam.pdf differ
diff --git a/examples/LocalizationExample.cpp b/examples/LocalizationExample.cpp
index 33fe96ed8..d9b205359 100644
--- a/examples/LocalizationExample.cpp
+++ b/examples/LocalizationExample.cpp
@@ -84,15 +84,16 @@ class UnaryFactor: public NoiseModelFactor1<Pose2> {
   // The first is the 'evaluateError' function. This function implements the desired measurement
   // function, returning a vector of errors when evaluated at the provided variable value. It
   // must also calculate the Jacobians for this measurement function, if requested.
-  Vector evaluateError(const Pose2& q,
-                       boost::optional<Matrix&> H = boost::none) const override {
-    // The measurement function for a GPS-like measurement is simple:
-    // error_x = pose.x - measurement.x
-    // error_y = pose.y - measurement.y
-    // Consequently, the Jacobians are:
-    // [ derror_x/dx  derror_x/dy  derror_x/dtheta ] = [1 0 0]
-    // [ derror_y/dx  derror_y/dy  derror_y/dtheta ] = [0 1 0]
-    if (H) (*H) = (Matrix(2, 3) << 1.0, 0.0, 0.0, 0.0, 1.0, 0.0).finished();
+  Vector evaluateError(const Pose2& q, boost::optional<Matrix&> H = boost::none) const override {
+    // The measurement function for a GPS-like measurement h(q) which predicts the measurement (m) is h(q) = q, q = [qx qy qtheta]
+    // The error is then simply calculated as E(q) = h(q) - m:
+    // error_x = q.x - mx
+    // error_y = q.y - my
+    // Node's orientation reflects in the Jacobian, in tangent space this is equal to the right-hand rule rotation matrix
+    // H =  [ cos(q.theta)  -sin(q.theta) 0 ]
+    //      [ sin(q.theta)   cos(q.theta) 0 ]
+    const Rot2& R = q.rotation();
+    if (H) (*H) = (gtsam::Matrix(2, 3) << R.c(), -R.s(), 0.0, R.s(), R.c(), 0.0).finished();
     return (Vector(2) << q.x() - mx_, q.y() - my_).finished();
   }