diff --git a/gtsam/slam/tests/testSlamExpressions.cpp b/gtsam/slam/tests/testSlamExpressions.cpp
index 66b236ac2..294b821d3 100644
--- a/gtsam/slam/tests/testSlamExpressions.cpp
+++ b/gtsam/slam/tests/testSlamExpressions.cpp
@@ -45,6 +45,19 @@ TEST(SlamExpressions, project2) {
   EXPECT_CORRECT_EXPRESSION_JACOBIANS(point2_expr, values, 1e-7, 1e-5);
 }
 
+/* ************************************************************************* */
+TEST(SlamExpressions, rotation) {
+  Pose3_ T_(0);
+  const Rot3_ R_ = rotation(T_);
+}
+
+/* ************************************************************************* */
+TEST(SlamExpressions, unrotate) {
+  Rot3_ R_(0);
+  Point3_ p_(1);
+  const Point3_ q_ = unrotate(R_, p_);
+}
+
 /* ************************************************************************* */
 int main() {
   TestResult tr;