diff --git a/gtsam/nonlinear/Marginals.cpp b/gtsam/nonlinear/Marginals.cpp
index 34d620bc2..6df7dfdac 100644
--- a/gtsam/nonlinear/Marginals.cpp
+++ b/gtsam/nonlinear/Marginals.cpp
@@ -73,6 +73,19 @@ Matrix Marginals::marginalInformation(Key variable) const {
   }
 }
 
+/* ************************************************************************* */
+JointMarginal::JointMarginal(const JointMarginal& other) :
+  blockView_(fullMatrix_) {
+  *this = other;
+}
+
+/* ************************************************************************* */
+JointMarginal& JointMarginal::operator=(const JointMarginal& rhs) {
+  indices_ = rhs.indices_;
+  blockView_.assignNoalias(rhs.blockView_);
+  return *this;
+}
+
 /* ************************************************************************* */
 JointMarginal Marginals::jointMarginalCovariance(const std::vector<Key>& variables) const {
   JointMarginal info = jointMarginalInformation(variables);
diff --git a/gtsam/nonlinear/Marginals.h b/gtsam/nonlinear/Marginals.h
index 77bccdfd2..fe5d4b21d 100644
--- a/gtsam/nonlinear/Marginals.h
+++ b/gtsam/nonlinear/Marginals.h
@@ -102,6 +102,12 @@ public:
   Block operator()(Key iVariable, Key jVariable) const {
     return blockView_(indices_[iVariable], indices_[jVariable]); }
 
+  /** Copy constructor */
+  JointMarginal(const JointMarginal& other);
+
+  /** Assignment operator */
+  JointMarginal& operator=(const JointMarginal& rhs);
+
 protected:
   Matrix fullMatrix_;
   BlockView blockView_;