diff --git a/cpp/Point3.h b/cpp/Point3.h
index 48350edc5..b4baaddbe 100644
--- a/cpp/Point3.h
+++ b/cpp/Point3.h
@@ -46,9 +46,9 @@ namespace gtsam {
     }
 
     /** get functions for x, y, z */
-    double x() const {return x_;}
-    double y() const {return y_;}
-    double z() const {return z_;}
+    inline double x() const {return x_;}
+    inline double y() const {return y_;}
+    inline double z() const {return z_;}
 
     /** operators */
     Point3 operator - () const { return Point3(-x_,-y_,-z_);}
diff --git a/cpp/Pose2.h b/cpp/Pose2.h
index d6e634fb8..3be38d09e 100644
--- a/cpp/Pose2.h
+++ b/cpp/Pose2.h
@@ -56,11 +56,12 @@ namespace gtsam {
     Matrix matrix() const;
 
     /** get functions for x, y, theta */
-    double x()     const { return t_.x(); }
-    double y()     const { return t_.y(); }
-    double theta() const { return r_.theta(); }
-    Point2 t()     const { return t_; }
-    Rot2 r()       const { return r_; }
+    inline double x()     const { return t_.x(); }
+    inline double y()     const { return t_.y(); }
+    inline double theta() const { return r_.theta(); }
+
+    inline const Point2& t() const { return t_; }
+    inline const Rot2&   r() const { return r_; }
 
     static inline size_t dim() { return 3; };
 
diff --git a/cpp/Pose3.h b/cpp/Pose3.h
index ae5d31c4f..106e882c5 100644
--- a/cpp/Pose3.h
+++ b/cpp/Pose3.h
@@ -43,12 +43,12 @@ namespace gtsam {
       R_(V(0), V(3), V(6), V(1), V(4), V(7), V(2), V(5), V(8)),
       t_(V(9), V(10),V(11)) {}
 
-    const Rot3& rotation() const { return R_; }
+    inline const Rot3& rotation() const { return R_; }
+    inline const Point3& translation() const { return t_; }
 
-    const Point3& translation() const { return t_; }
-    double x() const { return t_.x(); }
-    double y() const { return t_.y(); }
-    double z() const { return t_.z(); }
+    inline double x() const { return t_.x(); }
+    inline double y() const { return t_.y(); }
+    inline double z() const { return t_.z(); }
 
     /** convert to 4*4 matrix */
     Matrix matrix() const;
diff --git a/cpp/Rot2.h b/cpp/Rot2.h
index b6a885a65..40e3858a3 100644
--- a/cpp/Rot2.h
+++ b/cpp/Rot2.h
@@ -25,8 +25,9 @@ namespace gtsam {
   public:
 
     /** constructor from cos/sin */
-    Rot2(double c, double s) :
+    inline Rot2(double c, double s) :
       c_(c), s_(s) {
+#ifdef ROT2_RENORMALIZE
     	// rtodo: Could do this scale correction only when creating from compose
     	// Don't let scale drift
     	double scale = c*c + s*s;
@@ -35,6 +36,7 @@ namespace gtsam {
     		c_ *= scale;
     		s_ *= scale;
     	}
+#endif
     }
 
     /** default constructor, zero rotation */
@@ -47,10 +49,10 @@ namespace gtsam {
     double theta() const { return atan2(s_,c_); }
 
     /** return cos */
-    double c() const { return c_; }
+    inline double c() const { return c_; }
 
     /** return sin */
-    double s() const { return s_; }
+    inline double s() const { return s_; }
 
     /** print */
     void print(const std::string& s = "theta") const;