diff --git a/gtsam/base/Matrix.cpp b/gtsam/base/Matrix.cpp
index 3cafdd0ba..c6af89486 100644
--- a/gtsam/base/Matrix.cpp
+++ b/gtsam/base/Matrix.cpp
@@ -580,15 +580,6 @@ Matrix vector_scale(const Matrix& A, const Vector& v, bool inf_mask) {
   return M;
 }
 
-/* ************************************************************************* */
-Matrix3 skewSymmetric(double wx, double wy, double wz)
-{
-  return (Matrix3() <<
-      0.0, -wz, +wy,
-      +wz, 0.0, -wx,
-      -wy, +wx, 0.0).finished();
-}
-
 /* ************************************************************************* */
 Matrix LLt(const Matrix& A)
 {
diff --git a/gtsam/base/Matrix.h b/gtsam/base/Matrix.h
index 41ffa27b5..e2b40b02b 100644
--- a/gtsam/base/Matrix.h
+++ b/gtsam/base/Matrix.h
@@ -477,9 +477,15 @@ GTSAM_EXPORT Matrix vector_scale(const Matrix& A, const Vector& v, bool inf_mask
  * @param wz
  * @return a 3*3 skew symmetric matrix
 */
-GTSAM_EXPORT Matrix3 skewSymmetric(double wx, double wy, double wz);
-template<class Derived>
-inline Matrix3 skewSymmetric(const Eigen::MatrixBase<Derived>& w) { return skewSymmetric(w(0),w(1),w(2));}
+
+inline Matrix3 skewSymmetric(double wx, double wy, double wz) {
+  return (Matrix3() << 0.0, -wz, +wy, +wz, 0.0, -wx, -wy, +wx, 0.0).finished();
+}
+
+template <class Derived>
+inline Matrix3 skewSymmetric(const Eigen::MatrixBase<Derived>& w) {
+  return skewSymmetric(w(0), w(1), w(2));
+}
 
 /** Use Cholesky to calculate inverse square root of a matrix */
 GTSAM_EXPORT Matrix inverse_square_root(const Matrix& A);