diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h
index 9c99cd7aa..53895d7bb 100644
--- a/gtsam/geometry/Rot3.h
+++ b/gtsam/geometry/Rot3.h
@@ -181,7 +181,7 @@ namespace gtsam {
     /// @{
 
     /** print */
-    void print(const std::string& s="R") const { gtsam::print((Matrix)matrix(), s);}
+    void print(const std::string& s="R") const;
 
     /** equals with an tolerance */
     bool equals(const Rot3& p, double tol = 1e-9) const;
diff --git a/gtsam/geometry/Rot3M.cpp b/gtsam/geometry/Rot3M.cpp
index 2663f1bf8..36f4ac258 100644
--- a/gtsam/geometry/Rot3M.cpp
+++ b/gtsam/geometry/Rot3M.cpp
@@ -69,6 +69,11 @@ Rot3::Rot3(const Matrix& R) {
 /* ************************************************************************* */
 Rot3::Rot3(const Quaternion& q) : rot_(q.toRotationMatrix()) {}
 
+/* ************************************************************************* */
+void Rot3::print(const std::string& s) const {
+  gtsam::print((Matrix)matrix(), s);
+}
+
 /* ************************************************************************* */
 Rot3 Rot3::Rx(double t) {
   double st = sin(t), ct = cos(t);