diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4529c6153..4257b2eb5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -57,7 +57,7 @@ option(GTSAM_USE_QUATERNIONS             "Enable/Disable using an internal Quate
 if(NOT MSVC)
   option(GTSAM_BUILD_CONVENIENCE_LIBRARIES "Enable/Disable use of convenience libraries for faster development rebuilds, but slower install" OFF)
 endif()
-
+option(GTSAM_POSE3_EXPMAP 			 	 "Enable/Disable using Pose3::EXPMAP as the default mode. If disabled, Pose3::FIRST_ORDER will be used." OFF)
 
 # Options relating to MATLAB wrapper
 # TODO: Check for matlab mex binary before handling building of binaries
diff --git a/gtsam/config.h.in b/gtsam/config.h.in
index 1205bcf31..9ecfcb3d7 100644
--- a/gtsam/config.h.in
+++ b/gtsam/config.h.in
@@ -23,3 +23,6 @@
 
 // Whether GTSAM is compiled to use quaternions for Rot3 (otherwise uses rotation matrices)
 #cmakedefine GTSAM_USE_QUATERNIONS
+
+// Whether GTSAM is compiled to use Pose3::EXPMAP as the default coordinates mode for Pose3's retract and localCoordinates (otherwise, Pose3::FIRST_ORDER will be used)
+#cmakedefine GTSAM_POSE3_EXPMAP 
\ No newline at end of file
diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h
index 208f25e77..9d7444233 100644
--- a/gtsam/geometry/Pose3.h
+++ b/gtsam/geometry/Pose3.h
@@ -18,7 +18,11 @@
 
 #pragma once
 
-#ifndef POSE3_DEFAULT_COORDINATES_MODE
+#include <gtsam/config.h>
+
+#ifndef GTSAM_POSE3_EXPMAP
+#define POSE3_DEFAULT_COORDINATES_MODE Pose3::FIRST_ORDER
+#else
 #define POSE3_DEFAULT_COORDINATES_MODE Pose3::EXPMAP
 #endif