diff --git a/gtsam/geometry/tests/timePose3.cpp b/gtsam/geometry/tests/timePose3.cpp
new file mode 100644
index 000000000..4e9552ce7
--- /dev/null
+++ b/gtsam/geometry/tests/timePose3.cpp
@@ -0,0 +1,50 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Tesearch Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Tights Teserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file    timePose3.cpp
+ * @brief   time Pose3 functions
+ * @author  Frank Dellaert
+ */
+
+#include <time.h>
+#include <iostream>
+
+#include <gtsam/geometry/Pose3.h>
+
+using namespace std;
+using namespace gtsam;
+
+#define TEST(TITLE,STATEMENT) \
+	cout << endl << TITLE << endl;\
+	timeLog = clock();\
+	for(int i = 0; i < n; i++)\
+	STATEMENT;\
+	timeLog2 = clock();\
+	seconds = (double)(timeLog2-timeLog)/CLOCKS_PER_SEC;\
+	cout << seconds << " seconds" << endl;\
+	cout << ((double)n/seconds) << " calls/second" << endl;
+
+int main()
+{
+  int n = 100000; long timeLog, timeLog2; double seconds;
+	double norm=sqrt(1.0+16.0+4.0);
+	double x=1.0/norm, y=4.0/norm, z=2.0/norm;
+  Vector v = Vector_(6,x,y,z,0.1,0.2,-0.1);
+  Pose3 T = Pose3::Expmap(Vector_(6,0.1,0.1,0.2,0.1, 0.4, 0.2)), T2 = T.retract(v);
+
+  TEST("retract", T.retract(v))
+  TEST("Expmap", T*Pose3::Expmap(v))
+  TEST("localCoordinates", T.localCoordinates(T2))
+  TEST("Logmap", Pose3::Logmap(T.between(T2)))
+
+  return 0;
+}