diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h
index 6fba7a500..7d405a6e7 100644
--- a/gtsam/geometry/Rot3.h
+++ b/gtsam/geometry/Rot3.h
@@ -240,10 +240,10 @@ namespace gtsam {
     size_t dim() const { return dimension; }
 
     /// Retraction from R^3 to Pose2 manifold neighborhood around current pose
-    Rot3 retract(const Vector& omega, CoordinatesMode mode = ROT3_DEFAULT_COORDINATES_MODE) const;
+    Rot3 retract(const Vector& omega, Rot3::CoordinatesMode mode = ROT3_DEFAULT_COORDINATES_MODE) const;
 
     /// Returns inverse retraction
-    Vector localCoordinates(const Rot3& t2, CoordinatesMode mode = ROT3_DEFAULT_COORDINATES_MODE) const;
+    Vector localCoordinates(const Rot3& t2, Rot3::CoordinatesMode mode = ROT3_DEFAULT_COORDINATES_MODE) const;
 
     /// @}
     /// @name Lie Group
diff --git a/gtsam/geometry/Rot3M.cpp b/gtsam/geometry/Rot3M.cpp
index e9cc40c68..658c66305 100644
--- a/gtsam/geometry/Rot3M.cpp
+++ b/gtsam/geometry/Rot3M.cpp
@@ -246,7 +246,7 @@ Vector Rot3::Logmap(const Rot3& R) {
 }
 
 /* ************************************************************************* */
-Rot3 Rot3::retract(const Vector& omega, CoordinatesMode mode) const {
+Rot3 Rot3::retract(const Vector& omega, Rot3::CoordinatesMode mode) const {
   if(mode == Rot3::FIRST_ORDER) {
     const double x = omega(0), y = omega(1), z = omega(2);
     const double x2 = x*x, y2 = y*y, z2 = z*z;
@@ -269,7 +269,7 @@ Rot3 Rot3::retract(const Vector& omega, CoordinatesMode mode) const {
 }
 
 /* ************************************************************************* */
-Vector Rot3::localCoordinates(const Rot3& T, CoordinatesMode mode) const {
+Vector Rot3::localCoordinates(const Rot3& T, Rot3::CoordinatesMode mode) const {
   if(mode == Rot3::FIRST_ORDER) {
     // Create a fixed-size matrix
     Eigen::Matrix3d A(between(T).matrix());
diff --git a/gtsam/geometry/Rot3Q.cpp b/gtsam/geometry/Rot3Q.cpp
index b703bbf48..d86c37a30 100644
--- a/gtsam/geometry/Rot3Q.cpp
+++ b/gtsam/geometry/Rot3Q.cpp
@@ -150,12 +150,12 @@ namespace gtsam {
   }
 
   /* ************************************************************************* */
-	Rot3 Rot3::retract(const Vector& omega, CoordinatesMode mode) const {
+	Rot3 Rot3::retract(const Vector& omega, Rot3::CoordinatesMode mode) const {
 		return compose(Expmap(omega));
 	}
 
 	/* ************************************************************************* */
-	Vector Rot3::localCoordinates(const Rot3& t2, CoordinatesMode mode) const {
+	Vector Rot3::localCoordinates(const Rot3& t2, Rot3::CoordinatesMode mode) const {
 		return Logmap(between(t2));
 	}