diff --git a/cython/gtsam/tests/test_Pose3.py b/cython/gtsam/tests/test_Pose3.py
new file mode 100644
index 000000000..8fa50b90c
--- /dev/null
+++ b/cython/gtsam/tests/test_Pose3.py
@@ -0,0 +1,44 @@
+import math
+import unittest
+
+from gtsam import Point3, Rot3, Pose3
+
+
+class TestPose3(unittest.TestCase):
+
+    def test__between(self):
+        T2 = Pose3(Rot3.Rodrigues(0.3,0.2,0.1),Point3(3.5,-8.2,4.2))
+        T3 = Pose3(Rot3.Rodrigues(-90, 0, 0), Point3(1, 2, 3))
+        expected = T2.inverse().compose(T3)
+        actual = T2.between(T3)
+        self.assertTrue(actual.equals(expected, 1e-6))
+
+    def test_transform_to(self):
+        transform = Pose3(Rot3.Rodrigues(0,0,-1.570796), Point3(2,4, 0))
+        actual = transform.transform_to(Point3(3,2,10))
+        expected = Point3 (2,1,10)
+        self.assertTrue(actual.equals(expected, 1e-6))
+
+    def test_range(self):
+        l1 = Point3(1, 0, 0)
+        l2 = Point3(1, 1, 0)
+        x1 = Pose3()
+
+        xl1 = Pose3(Rot3.Ypr(0.0, 0.0, 0.0), Point3(1, 0, 0))
+        xl2 = Pose3(Rot3.Ypr(0.0, 1.0, 0.0), Point3(1, 1, 0))
+
+        # establish range is indeed zero
+        self.assertEqual(1,x1.range(point=l1))
+
+        # establish range is indeed sqrt2
+        self.assertEqual(math.sqrt(2.0),x1.range(point=l2))
+
+        # establish range is indeed zero
+        self.assertEqual(1,x1.range(pose=xl1))
+        
+        # establish range is indeed sqrt2
+        self.assertEqual(math.sqrt(2.0),x1.range(pose=xl2))
+
+
+if __name__ == "__main__":
+    unittest.main()
diff --git a/cython/gtsam/tests/test_SimpleCamera.py b/cython/gtsam/tests/test_SimpleCamera.py
index d6a095d23..7924a9b1c 100644
--- a/cython/gtsam/tests/test_SimpleCamera.py
+++ b/cython/gtsam/tests/test_SimpleCamera.py
@@ -6,7 +6,7 @@ from gtsam import Pose2, Point3, Rot3, Pose3, Cal3_S2, SimpleCamera
 
 K = Cal3_S2(625, 625, 0, 0, 0)
 
-class TestCal3Unified(unittest.TestCase):
+class TestSimpleCamera(unittest.TestCase):
 
     def test_constructor(self):
         pose1 = Pose3(Rot3(np.diag([1, -1, -1])), Point3(0, 0, 0.5))
diff --git a/gtsam.h b/gtsam.h
index 282fafdc5..4bbca9896 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -496,6 +496,7 @@ class Rot3 {
   static gtsam::Rot3 Ypr(double y, double p, double r);
   static gtsam::Rot3 Quaternion(double w, double x, double y, double z);
   static gtsam::Rot3 Rodrigues(Vector v);
+  static gtsam::Rot3 Rodrigues(double wx, double wy, double wz);
 
   // Testable
   void print(string s) const;