diff --git a/gtsam/geometry/Point2.h b/gtsam/geometry/Point2.h
index 724306159..b276d9dce 100644
--- a/gtsam/geometry/Point2.h
+++ b/gtsam/geometry/Point2.h
@@ -33,7 +33,6 @@ namespace gtsam {
  * \nosubgrouping
  */
 class GTSAM_EXPORT Point2 {
-
 private:
 
   double x_, y_;
@@ -118,7 +117,10 @@ public:
   }
 
   /// "Inverse" - negates each coordinate such that compose(p,inverse(p)) == identity()
-  inline Point2 inverse() const { return Point2(-x_, -y_); }
+  inline Point2 inverse(OptionalJacobian<2,2> H=boost::none) const {
+    if (H) *H = -I_2x2;
+    return Point2(-x_, -y_);
+  }
 
   /// syntactic sugar for inverse, i.e., -p == inverse(p)
   inline Point2 operator- () const {return Point2(-x_,-y_);}
@@ -159,9 +161,17 @@ public:
 
   /// Updates a with tangent space delta
   inline Point2 retract(const Vector& v) const { return *this + Point2(v); }
+  inline Point2 retract(const Vector& v, OptionalJacobian<2,2> H1, OptionalJacobian<2,2> H2) const {
+    CONCEPT_NOT_IMPLEMENTED;
+    return *this + Point2(v);
+  }
 
   /// Local coordinates of manifold neighborhood around current value
   inline Vector localCoordinates(const Point2& t2) const { return Logmap(between(t2)); }
+  inline Vector localCoordinates(const Point2& t2, OptionalJacobian<2,2> H1, OptionalJacobian<2,2> H2) const {
+    CONCEPT_NOT_IMPLEMENTED;
+    return Logmap(between(t2));
+  }
 
   /// @}
   /// @name Lie Group
@@ -169,9 +179,17 @@ public:
 
   /// Exponential map around identity - just create a Point2 from a vector
   static inline Point2 Expmap(const Vector& v) { return Point2(v); }
+  static Point2 Expmap(const Vector& v, OptionalJacobian<2,2> H) {
+    CONCEPT_NOT_IMPLEMENTED;
+  }
 
   /// Log map around identity - just return the Point2 as a vector
   static inline Vector Logmap(const Point2& dp) { return (Vector(2) << dp.x(), dp.y()).finished(); }
+  static Vector Logmap(const Point2& dp, OptionalJacobian<2,2> H) {
+    CONCEPT_NOT_IMPLEMENTED;
+    return (Vector(2) << dp.x(), dp.y()).finished();
+  }
+
 
   /// @}
   /// @name Vector Space
diff --git a/gtsam/geometry/Point3.h b/gtsam/geometry/Point3.h
index 05359ff1f..6075c2643 100644
--- a/gtsam/geometry/Point3.h
+++ b/gtsam/geometry/Point3.h
@@ -87,7 +87,10 @@ namespace gtsam {
     }
 
     /// "Inverse" - negates the coordinates such that compose(p, inverse(p)) = Point3()
-    inline Point3 inverse() const { return Point3(-x_, -y_, -z_); }
+    inline Point3 inverse(OptionalJacobian<3,3> H=boost::none) const {
+      if (H) *H = -I_3x3;
+      return Point3(-x_, -y_, -z_);
+    }
 
     /// syntactic sugar for inverse, i.e., -p == inverse(p)
     Point3 operator - () const { return Point3(-x_,-y_,-z_);}
@@ -128,6 +131,10 @@ namespace gtsam {
 
     /// Updates a with tangent space delta
     inline Point3 retract(const Vector& v) const { return Point3(*this + v); }
+    inline Point3 retract(const Vector& v, OptionalJacobian<3,3> Horigin, OptionalJacobian<3,3> Hv) const {
+      CONCEPT_NOT_IMPLEMENTED;
+      return Point3(*this + v);
+    }
 
     /// Returns inverse retraction
     inline Vector3 localCoordinates(const Point3& q) const { return (q -*this).vector(); }
@@ -141,10 +148,16 @@ namespace gtsam {
     /// @{
 
     /** Exponential map at identity - just create a Point3 from x,y,z */
-    static inline Point3 Expmap(const Vector& v) { return Point3(v); }
+    static inline Point3 Expmap(const Vector& v, OptionalJacobian<3,3> H=boost::none) {
+      if (H) *H = I_3x3;
+      return Point3(v);
+    }
 
     /** Log map at identity - return the x,y,z of this point */
-    static inline Vector3 Logmap(const Point3& dp) { return Vector3(dp.x(), dp.y(), dp.z()); }
+    static inline Vector3 Logmap(const Point3& dp, OptionalJacobian<3,3> H=boost::none) {
+      if (H) *H = I_3x3;
+      return Vector3(dp.x(), dp.y(), dp.z());
+    }
 
     /// Left-trivialized derivative of the exponential map
     static Matrix3 dexpL(const Vector& v) {