diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp
index 2031a4b73..6ab26474a 100644
--- a/gtsam/linear/NoiseModel.cpp
+++ b/gtsam/linear/NoiseModel.cpp
@@ -514,6 +514,11 @@ void Isotropic::WhitenInPlace(Matrix& H) const {
   H *= invsigma_;
 }
 
+/* ************************************************************************* */
+void Isotropic::whitenInPlace(Vector& v) const {
+  v *= invsigma_;
+}
+
 /* ************************************************************************* */
 void Isotropic::WhitenInPlace(Eigen::Block<Matrix> H) const {
   H *= invsigma_;
diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h
index 098af8b6d..94012c7c2 100644
--- a/gtsam/linear/NoiseModel.h
+++ b/gtsam/linear/NoiseModel.h
@@ -545,6 +545,7 @@ namespace gtsam {
       virtual Vector unwhiten(const Vector& v) const;
       virtual Matrix Whiten(const Matrix& H) const;
       virtual void WhitenInPlace(Matrix& H) const;
+      virtual void whitenInPlace(Vector& v) const;
       virtual void WhitenInPlace(Eigen::Block<Matrix> H) const;
 
       /**