diff --git a/gtsam/geometry/SO3.h b/gtsam/geometry/SO3.h
index e52eaae1e..5f9bc37b0 100644
--- a/gtsam/geometry/SO3.h
+++ b/gtsam/geometry/SO3.h
@@ -30,7 +30,7 @@ namespace gtsam {
  *  We guarantee (all but first) constructors only generate from sub-manifold.
  *  However, round-off errors in repeated composition could move off it...
  */
-class SO3: public Matrix3, public LieGroup<SO3,3> {
+class GTSAM_EXPORT SO3: public Matrix3, public LieGroup<SO3,3> {
 
 protected:
 
diff --git a/gtsam/navigation/AHRSFactor.h b/gtsam/navigation/AHRSFactor.h
index fd4b9be87..42bcb8027 100644
--- a/gtsam/navigation/AHRSFactor.h
+++ b/gtsam/navigation/AHRSFactor.h
@@ -26,7 +26,7 @@
 
 namespace gtsam {
 
-class AHRSFactor: public NoiseModelFactor3<Rot3, Rot3, Vector3> {
+class GTSAM_EXPORT AHRSFactor: public NoiseModelFactor3<Rot3, Rot3, Vector3> {
 public:
 
   /**
@@ -36,7 +36,7 @@ public:
    * Can be built incrementally so as to avoid costly integration at time of
    * factor construction.
    */
-  class PreintegratedMeasurements : public PreintegratedRotation {
+  class GTSAM_EXPORT PreintegratedMeasurements : public PreintegratedRotation {
 
     friend class AHRSFactor;