diff --git a/gtsam.h b/gtsam.h
index b21b59a1a..47158734e 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -448,8 +448,8 @@ virtual class Pose2 : gtsam::Value {
   // Lie Group
   static gtsam::Pose2 Expmap(Vector v);
   static Vector Logmap(const gtsam::Pose2& p);
-  Matrix adjointMap() const;
-  Vector adjoint(const Vector& xi) const;
+  Matrix AdjointMap() const;
+  Vector Adjoint(const Vector& xi) const;
   static Matrix wedge(double vx, double vy, double w);
 
   // Group Actions on Point2
diff --git a/gtsam/geometry/Pose2.cpp b/gtsam/geometry/Pose2.cpp
index 06b4f0942..3282f3392 100644
--- a/gtsam/geometry/Pose2.cpp
+++ b/gtsam/geometry/Pose2.cpp
@@ -108,7 +108,7 @@ Vector Pose2::localCoordinates(const Pose2& p2) const {
 /* ************************************************************************* */
 // Calculate Adjoint map
 // Ad_pose is 3*3 matrix that when applied to twist xi, returns Ad_pose(xi)
-Matrix Pose2::adjointMap() const {
+Matrix Pose2::AdjointMap() const {
   double c = r_.c(), s = r_.s(), x = t_.x(), y = t_.y();
   return Matrix_(3,3,
       c,  -s,   y,
@@ -119,7 +119,7 @@ Matrix Pose2::adjointMap() const {
 
 /* ************************************************************************* */
 Pose2 Pose2::inverse(boost::optional<Matrix&> H1) const {
-  if (H1) *H1 = -adjointMap();
+  if (H1) *H1 = -AdjointMap();
   return Pose2(r_.inverse(), r_.unrotate(Point2(-t_.x(), -t_.y())));
 }
 
@@ -142,7 +142,7 @@ Point2 Pose2::transform_to(const Point2& point,
 Pose2 Pose2::compose(const Pose2& p2, boost::optional<Matrix&> H1,
     boost::optional<Matrix&> H2) const {
   // TODO: inline and reuse?
-  if(H1) *H1 = p2.inverse().adjointMap();
+  if(H1) *H1 = p2.inverse().AdjointMap();
   if(H2) *H2 = I3;
   return (*this)*p2;
 }
diff --git a/gtsam/geometry/Pose2.h b/gtsam/geometry/Pose2.h
index 812c02f9d..fd6fbe9ad 100644
--- a/gtsam/geometry/Pose2.h
+++ b/gtsam/geometry/Pose2.h
@@ -158,10 +158,10 @@ public:
    * Calculate Adjoint map
    * Ad_pose is 3*3 matrix that when applied to twist xi \f$ [T_x,T_y,\theta] \f$, returns Ad_pose(xi)
    */
-  Matrix adjointMap() const;
-  inline Vector adjoint(const Vector& xi) const {
+  Matrix AdjointMap() const;
+  inline Vector Adjoint(const Vector& xi) const {
     assert(xi.size() == 3);
-    return adjointMap()*xi;
+    return AdjointMap()*xi;
   }
 
   /**
diff --git a/gtsam/geometry/tests/testPose2.cpp b/gtsam/geometry/tests/testPose2.cpp
index 1b73318ec..e155807ae 100644
--- a/gtsam/geometry/tests/testPose2.cpp
+++ b/gtsam/geometry/tests/testPose2.cpp
@@ -429,7 +429,7 @@ TEST( Pose2, between )
   EXPECT(assert_equal(expectedH1,actualH1));
   EXPECT(assert_equal(numericalH1,actualH1));
   // Assert H1 = -AdjointMap(between(p2,p1)) as in doc/math.lyx
-  EXPECT(assert_equal(-gT2.between(gT1).adjointMap(),actualH1));
+  EXPECT(assert_equal(-gT2.between(gT1).AdjointMap(),actualH1));
 
   Matrix expectedH2 = Matrix_(3,3,
        1.0, 0.0, 0.0,