diff --git a/gtsam/gtsam.i b/gtsam/gtsam.i
index 8ed93868f..2f5e4e99c 100644
--- a/gtsam/gtsam.i
+++ b/gtsam/gtsam.i
@@ -2158,6 +2158,7 @@ class Values {
   void insert(size_t j, const gtsam::SOn& P);
   void insert(size_t j, const gtsam::Rot3& rot3);
   void insert(size_t j, const gtsam::Pose3& pose3);
+  void insert(size_t j, const gtsam::Unit3& unit3);
   void insert(size_t j, const gtsam::Cal3_S2& cal3_s2);
   void insert(size_t j, const gtsam::Cal3DS2& cal3ds2);
   void insert(size_t j, const gtsam::Cal3Bundler& cal3bundler);
@@ -2176,6 +2177,7 @@ class Values {
   void update(size_t j, const gtsam::SOn& P);
   void update(size_t j, const gtsam::Rot3& rot3);
   void update(size_t j, const gtsam::Pose3& pose3);
+  void update(size_t j, const gtsam::Unit3& unit3);
   void update(size_t j, const gtsam::Cal3_S2& cal3_s2);
   void update(size_t j, const gtsam::Cal3DS2& cal3ds2);
   void update(size_t j, const gtsam::Cal3Bundler& cal3bundler);
@@ -2187,7 +2189,7 @@ class Values {
   void update(size_t j, Vector vector);
   void update(size_t j, Matrix matrix);
 
-  template<T = {gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Pose2, gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler, gtsam::EssentialMatrix, gtsam::PinholeCameraCal3_S2, gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::imuBias::ConstantBias, gtsam::NavState, Vector, Matrix}>
+  template<T = {gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Pose2, gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose3, gtsam::Unit3, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler, gtsam::EssentialMatrix, gtsam::PinholeCameraCal3_S2, gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::imuBias::ConstantBias, gtsam::NavState, Vector, Matrix}>
   T at(size_t j);
 
   /// version for double
@@ -2530,7 +2532,7 @@ class NonlinearISAM {
 #include <gtsam/geometry/StereoPoint2.h>
 
 #include <gtsam/nonlinear/PriorFactor.h>
-template<T = {Vector, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2,gtsam::CalibratedCamera, gtsam::SimpleCamera, gtsam::PinholeCameraCal3_S2, gtsam::imuBias::ConstantBias, gtsam::PinholeCamera<gtsam::Cal3Bundler>}>
+template<T = {Vector, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Unit3, gtsam::Cal3_S2,gtsam::CalibratedCamera, gtsam::SimpleCamera, gtsam::PinholeCameraCal3_S2, gtsam::imuBias::ConstantBias, gtsam::PinholeCamera<gtsam::Cal3Bundler>}>
 virtual class PriorFactor : gtsam::NoiseModelFactor {
   PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
   T prior() const;