diff --git a/gtsam/slam/expressions.h b/gtsam/slam/expressions.h
index 8d34ce681..f2967a88b 100644
--- a/gtsam/slam/expressions.h
+++ b/gtsam/slam/expressions.h
@@ -58,6 +58,10 @@ inline Pose3_ transformPoseTo(const Pose3_& p, const Pose3_& q) {
   return Pose3_(p, &Pose3::transformPoseTo, q);
 }
 
+inline Pose3_ interpolateRt(const Pose3_& p, const Pose3_& q, const Double_& t) {
+  return Pose3_(&Pose3::interpolateRt, p, q, t);
+}
+
 inline Point3_ normalize(const Point3_& a){
   Point3 (*f)(const Point3 &, OptionalJacobian<3, 3>) = &normalize;
   return Point3_(f, a);