diff --git a/gtsam/geometry/Rot3.cpp b/gtsam/geometry/Rot3.cpp
index 56acab747..50de5cdf5 100644
--- a/gtsam/geometry/Rot3.cpp
+++ b/gtsam/geometry/Rot3.cpp
@@ -255,6 +255,12 @@ ostream &operator<<(ostream &os, const Rot3& R) {
   return os;
 }
 
+/* ************************************************************************* */
+Point3 Rot3::unrotate(const Point3& p) const {
+  // Eigen expression
+  return Point3(transpose_*p.vector()); // q = Rt*p
+}
+
 /* ************************************************************************* */
 
 } // namespace gtsam
diff --git a/gtsam/geometry/Rot3M.cpp b/gtsam/geometry/Rot3M.cpp
index e0d3086e9..3f2f13057 100644
--- a/gtsam/geometry/Rot3M.cpp
+++ b/gtsam/geometry/Rot3M.cpp
@@ -313,12 +313,6 @@ Quaternion Rot3::toQuaternion() const {
   return Quaternion(rot_);
 }
 
-/* ************************************************************************* */
-Point3 Rot3::unrotate(const Point3& p) const {
-  // Eigen expression
-  return Point3(transpose()*p.vector()); // q = Rt*p
-}
-
 /* ************************************************************************* */
 
 } // namespace gtsam
diff --git a/gtsam/geometry/Rot3Q.cpp b/gtsam/geometry/Rot3Q.cpp
index b52acd017..4c79a6957 100644
--- a/gtsam/geometry/Rot3Q.cpp
+++ b/gtsam/geometry/Rot3Q.cpp
@@ -173,11 +173,6 @@ namespace gtsam {
   /* ************************************************************************* */
   Quaternion Rot3::toQuaternion() const { return quaternion_; }
 
-  /* ************************************************************************* */
-  Point3 Rot3::unrotate(const Point3& p) const {
-    return Point3(transpose()*p.vector()); // q = Rt*p
-  }
-
  /* ************************************************************************* */
 
 } // namespace gtsam