diff --git a/cpp/Pose3.cpp b/cpp/Pose3.cpp
index 4e40b1923..e4b08be5c 100644
--- a/cpp/Pose3.cpp
+++ b/cpp/Pose3.cpp
@@ -5,6 +5,8 @@
 
 #include "Pose3.h"
 
+using namespace std;
+
 namespace gtsam {
 
 /* ************************************************************************* */
@@ -12,6 +14,25 @@ Pose3 Pose3::exmap(const Vector& v) const {
   return Pose3(R_.exmap(sub(v,0,3)), t_.exmap(sub(v,3,6)));
 }
 
+/* ************************************************************************* */
+Vector Pose3::vector() const {
+	Vector r = R_.vector(), t = t_.vector();
+	return concatVectors(2, &r, &t);
+}
+
+/* ************************************************************************* */
+Matrix Pose3::matrix() const {
+	const double row4[] = { 0, 0, 0, 1 };
+	Matrix A34 = Matrix_(3, 4, vector()), A14 = Matrix_(1, 4, row4);
+	return stack(2, &A34, &A14);
+}
+
+/* ************************************************************************* */
+void Pose3::print(const string& s) const {
+	R_.print(s + ".R");
+	t_.print(s + ".t");
+}
+
 /* ************************************************************************* */
 Point3 transform_from(const Pose3& pose, const Point3& p) {
   return pose.R_ * p + pose.t_;
diff --git a/cpp/Pose3.h b/cpp/Pose3.h
index 75a2d813d..90d8041c8 100644
--- a/cpp/Pose3.h
+++ b/cpp/Pose3.h
@@ -65,23 +65,13 @@ namespace gtsam {
 		}
 
 		/** return 12D vectorized form (column-wise) */
-		Vector vector() const {
-			Vector r = R_.vector(), t = t_.vector();
-			return concatVectors(2, &r, &t);
-		}
+		Vector vector() const;
 
 		/** convert to 4*4 matrix */
-		Matrix matrix() const {
-			const double row4[] = { 0, 0, 0, 1 };
-			Matrix A34 = Matrix_(3, 4, vector()), A14 = Matrix_(1, 4, row4);
-			return stack(2, &A34, &A14);
-		}
+		Matrix matrix() const;
 
 		/** print with optional string */
-		void print(const std::string& s = "") const {
-			R_.print(s + ".R");
-			t_.print(s + ".t");
-		}
+		void print(const std::string& s = "") const;
 
 		/** transforms */
 		Pose3 transformPose_to(const Pose3& transform) const;