diff --git a/gtsam/geometry/Rot2.h b/gtsam/geometry/Rot2.h
index e1c79657e..d50ef2be3 100644
--- a/gtsam/geometry/Rot2.h
+++ b/gtsam/geometry/Rot2.h
@@ -154,6 +154,9 @@ namespace gtsam {
     /// @name Lie Group
     /// @{
 
+    /** Calculate Adjoint map */
+    Matrix1 AdjointMap() const { return I_1x1; }
+
     ///Exponential map at identity - create a rotation from canonical coordinates
     static Rot2 Expmap(const Vector& v, OptionalJacobian<1, 1> H = boost::none);
 
diff --git a/gtsam/geometry/Rot3.h b/gtsam/geometry/Rot3.h
index df08efa98..ea3d38892 100644
--- a/gtsam/geometry/Rot3.h
+++ b/gtsam/geometry/Rot3.h
@@ -307,6 +307,9 @@ namespace gtsam {
         OptionalJacobian<3, 3> H2 = boost::none, Rot3::CoordinatesMode mode =
             ROT3_DEFAULT_COORDINATES_MODE) const;
 
+    /** Calculate Adjoint map */
+    Matrix3 AdjointMap() const { return matrix(); }
+
     /**
      * Right Jacobian for Exponential map in SO(3) - equation (10.86) and following equations in
      * G.S. Chirikjian, "Stochastic Models, Information Theory, and Lie Groups", Volume 2, 2008.