diff --git a/gtsam/geometry/SimpleCamera.h b/gtsam/geometry/SimpleCamera.h
index fe493c075..a7e021394 100644
--- a/gtsam/geometry/SimpleCamera.h
+++ b/gtsam/geometry/SimpleCamera.h
@@ -31,7 +31,7 @@ typedef gtsam::PinholeCamera<gtsam::Cal3_S2> PinholeCameraCal3_S2;
  * @deprecated: SimpleCamera for backwards compatability with GTSAM 3.x
  * Use PinholeCameraCal3_S2 instead
  */
-class SimpleCamera : public PinholeCameraCal3_S2 {
+class GTSAM_EXPORT SimpleCamera : public PinholeCameraCal3_S2 {
 
   typedef PinholeCamera<Cal3_S2> Base;
   typedef boost::shared_ptr<SimpleCamera> shared_ptr;
diff --git a/gtsam/navigation/ImuBias.h b/gtsam/navigation/ImuBias.h
index 2ad3c17dd..84458f521 100644
--- a/gtsam/navigation/ImuBias.h
+++ b/gtsam/navigation/ImuBias.h
@@ -27,7 +27,7 @@ namespace gtsam {
 /// All bias models live in the imuBias namespace
 namespace imuBias {
 
-class ConstantBias {
+class GTSAM_EXPORT ConstantBias {
 private:
   Vector3 biasAcc_;
   Vector3 biasGyro_;
diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h
index 532abdac0..e713fcb99 100644
--- a/gtsam/navigation/ImuFactor.h
+++ b/gtsam/navigation/ImuFactor.h
@@ -68,7 +68,7 @@ typedef ManifoldPreintegration PreintegrationType;
  *
  * @addtogroup SLAM
  */
-class PreintegratedImuMeasurements: public PreintegrationType {
+class GTSAM_EXPORT PreintegratedImuMeasurements: public PreintegrationType {
 
   friend class ImuFactor;
   friend class ImuFactor2;
@@ -176,7 +176,7 @@ private:
  *
  * @addtogroup SLAM
  */
-class ImuFactor: public NoiseModelFactor5<Pose3, Vector3, Pose3, Vector3,
+class GTSAM_EXPORT ImuFactor: public NoiseModelFactor5<Pose3, Vector3, Pose3, Vector3,
     imuBias::ConstantBias> {
 private:
 
@@ -285,7 +285,7 @@ private:
  * ImuFactor2 is a ternary factor that uses NavStates rather than Pose/Velocity.
  * @addtogroup SLAM
  */
-class ImuFactor2 : public NoiseModelFactor3<NavState, NavState, imuBias::ConstantBias> {
+class GTSAM_EXPORT ImuFactor2 : public NoiseModelFactor3<NavState, NavState, imuBias::ConstantBias> {
 private:
 
   typedef ImuFactor2 This;
diff --git a/gtsam/navigation/ManifoldPreintegration.h b/gtsam/navigation/ManifoldPreintegration.h
index 92d3f4814..22897b9d4 100644
--- a/gtsam/navigation/ManifoldPreintegration.h
+++ b/gtsam/navigation/ManifoldPreintegration.h
@@ -30,7 +30,7 @@ namespace gtsam {
  * IMU pre-integration on NavSatet manifold.
  * This corresponds to the original RSS paper (with one difference: V is rotated)
  */
-class ManifoldPreintegration : public PreintegrationBase {
+class GTSAM_EXPORT ManifoldPreintegration : public PreintegrationBase {
  protected:
 
   /**
diff --git a/gtsam/navigation/NavState.h b/gtsam/navigation/NavState.h
index a1544735d..e9afcd3ac 100644
--- a/gtsam/navigation/NavState.h
+++ b/gtsam/navigation/NavState.h
@@ -31,7 +31,7 @@ typedef Vector3 Velocity3;
  * Navigation state: Pose (rotation, translation) + velocity
  * NOTE(frank): it does not make sense to make this a Lie group, but it is a 9D manifold
  */
-class NavState {
+class GTSAM_EXPORT NavState {
 private:
 
   // TODO(frank):
diff --git a/gtsam/navigation/PreintegratedRotation.h b/gtsam/navigation/PreintegratedRotation.h
index 88d9c6437..c03cab88a 100644
--- a/gtsam/navigation/PreintegratedRotation.h
+++ b/gtsam/navigation/PreintegratedRotation.h
@@ -28,7 +28,7 @@ namespace gtsam {
 
 /// Parameters for pre-integration:
 /// Usage: Create just a single Params and pass a shared pointer to the constructor
-struct PreintegratedRotationParams {
+struct GTSAM_EXPORT PreintegratedRotationParams {
   Matrix3 gyroscopeCovariance;  ///< continuous-time "Covariance" of gyroscope measurements
   boost::optional<Vector3> omegaCoriolis;  ///< Coriolis constant
   boost::optional<Pose3> body_P_sensor;    ///< The pose of the sensor in the body frame
@@ -63,7 +63,7 @@ struct PreintegratedRotationParams {
  * classes (in AHRSFactor, ImuFactor, and CombinedImuFactor).
  * It includes the definitions of the preintegrated rotation.
  */
-class PreintegratedRotation {
+class GTSAM_EXPORT PreintegratedRotation {
  public:
   typedef PreintegratedRotationParams Params;
 
diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h
index 06be4642d..cf5465c05 100644
--- a/gtsam/navigation/PreintegrationBase.h
+++ b/gtsam/navigation/PreintegrationBase.h
@@ -55,7 +55,7 @@ struct PoseVelocityBias {
  * It includes the definitions of the preintegrated variables and the methods
  * to access, print, and compare them.
  */
-class PreintegrationBase {
+class GTSAM_EXPORT PreintegrationBase {
  public:
   typedef imuBias::ConstantBias Bias;
   typedef PreintegrationParams Params;
diff --git a/gtsam/navigation/PreintegrationParams.h b/gtsam/navigation/PreintegrationParams.h
index f2b2c0fef..831da0a12 100644
--- a/gtsam/navigation/PreintegrationParams.h
+++ b/gtsam/navigation/PreintegrationParams.h
@@ -23,7 +23,7 @@ namespace gtsam {
 
 /// Parameters for pre-integration:
 /// Usage: Create just a single Params and pass a shared pointer to the constructor
-struct PreintegrationParams: PreintegratedRotationParams {
+struct GTSAM_EXPORT PreintegrationParams: PreintegratedRotationParams {
   Matrix3 accelerometerCovariance; ///< continuous-time "Covariance" of accelerometer
   Matrix3 integrationCovariance; ///< continuous-time "Covariance" describing integration uncertainty
   bool use2ndOrderCoriolis; ///< Whether to use second order Coriolis integration
diff --git a/gtsam/navigation/TangentPreintegration.h b/gtsam/navigation/TangentPreintegration.h
index dddafad7a..f5e3f7960 100644
--- a/gtsam/navigation/TangentPreintegration.h
+++ b/gtsam/navigation/TangentPreintegration.h
@@ -25,7 +25,7 @@ namespace gtsam {
  * Integrate on the 9D tangent space of the NavState manifold.
  * See extensive discussion in ImuFactor.lyx
  */
-class TangentPreintegration : public PreintegrationBase {
+class GTSAM_EXPORT TangentPreintegration : public PreintegrationBase {
  protected:
 
   /**