diff --git a/gtsam/geometry/SO3.cpp b/gtsam/geometry/SO3.cpp
index e341911b93..ef1fa374b4 100644
--- a/gtsam/geometry/SO3.cpp
+++ b/gtsam/geometry/SO3.cpp
@@ -93,15 +93,7 @@ DexpFunctor::DexpFunctor(const Vector3& omega, bool nearZeroApprox)
   E = nearZero ? _one_sixtieth : (B - 3.0 * C) / theta2;
 }
 
-Matrix3 DexpFunctor::rightJacobian() const {
-  if (nearZero) {
-    return I_3x3 - B * W;  // + C * WW;
-  } else {
-    return I_3x3 - B * W + C * WW;
-  }
-}
-
-Vector3 DexpFunctor::cross(const Vector3& v, OptionalJacobian<3, 3> H) const {
+Vector3 DexpFunctor::crossB(const Vector3& v, OptionalJacobian<3, 3> H) const {
   // Wv = omega x * v
   const Vector3 Wv = gtsam::cross(omega, v);
   if (H) {
@@ -113,8 +105,8 @@ Vector3 DexpFunctor::cross(const Vector3& v, OptionalJacobian<3, 3> H) const {
   return B * Wv;
 }
 
-Vector3 DexpFunctor::doubleCross(const Vector3& v,
-                                 OptionalJacobian<3, 3> H) const {
+Vector3 DexpFunctor::doubleCrossC(const Vector3& v,
+                                  OptionalJacobian<3, 3> H) const {
   // WWv = omega x (omega x * v)
   Matrix3 doubleCrossJacobian;
   const Vector3 WWv =
@@ -131,18 +123,12 @@ Vector3 DexpFunctor::doubleCross(const Vector3& v,
 // Multiplies v with left Jacobian through vector operations only.
 Vector3 DexpFunctor::applyDexp(const Vector3& v, OptionalJacobian<3, 3> H1,
                                OptionalJacobian<3, 3> H2) const {
-  if (nearZero) {
-    if (H1) *H1 = 0.5 * skewSymmetric(v);
-    if (H2) *H2 = I_3x3 - 0.5 * W;
-    return v - 0.5 * gtsam::cross(omega, v);
-  } else {
   Matrix3 D_BWv_omega, D_CWWv_omega;
-    const Vector3 BWv = cross(v, D_BWv_omega);
-    const Vector3 CWWv = doubleCross(v, D_CWWv_omega);
-    if (H1) *H1 = - D_BWv_omega + D_CWWv_omega;
+  const Vector3 BWv = crossB(v, D_BWv_omega);
+  const Vector3 CWWv = doubleCrossC(v, D_CWWv_omega);
+  if (H1) *H1 = -D_BWv_omega + D_CWWv_omega;
   if (H2) *H2 = rightJacobian();
   return v - BWv + CWWv;
-  }
 }
 
 Vector3 DexpFunctor::applyInvDexp(const Vector3& v, OptionalJacobian<3, 3> H1,
@@ -158,29 +144,15 @@ Vector3 DexpFunctor::applyInvDexp(const Vector3& v, OptionalJacobian<3, 3> H1,
   return c;
 }
 
-Matrix3 DexpFunctor::leftJacobian() const {
-  if (nearZero) {
-    return I_3x3 + 0.5 * W;  // + one_sixth * WW;
-  } else {
-    return I_3x3 + B * W + C * WW;
-  }
-}
-
 Vector3 DexpFunctor::applyLeftJacobian(const Vector3& v,
                                        OptionalJacobian<3, 3> H1,
                                        OptionalJacobian<3, 3> H2) const {
-  if (nearZero) {
-    if (H1) *H1 = - 0.5 * skewSymmetric(v);
-    if (H2) *H2 = I_3x3 + 0.5 * W;
-    return v + 0.5 * gtsam::cross(omega, v);
-  } else {
-    Matrix3 D_BWv_omega, D_CWWv_omega;
-    const Vector3 BWv = cross(v, D_BWv_omega);
-    const Vector3 CWWv = doubleCross(v, D_CWWv_omega);
-    if (H1) *H1 = D_BWv_omega + D_CWWv_omega;
-    if (H2) *H2 = leftJacobian();
-    return v + BWv + CWWv;
-  }
+  Matrix3 D_BWv_omega, D_CWWv_omega;
+  const Vector3 BWv = crossB(v, D_BWv_omega);
+  const Vector3 CWWv = doubleCrossC(v, D_CWWv_omega);
+  if (H1) *H1 = D_BWv_omega + D_CWWv_omega;
+  if (H2) *H2 = leftJacobian();
+  return v + BWv + CWWv;
 }
 
 }  // namespace so3
diff --git a/gtsam/geometry/SO3.h b/gtsam/geometry/SO3.h
index 6403c3ae0d..efb947e730 100644
--- a/gtsam/geometry/SO3.h
+++ b/gtsam/geometry/SO3.h
@@ -155,7 +155,7 @@ class GTSAM_EXPORT ExpmapFunctor {
 };
 
 /// Functor that implements Exponential map *and* its derivatives
-class DexpFunctor : public ExpmapFunctor {
+class GTSAM_EXPORT DexpFunctor : public ExpmapFunctor {
  protected:
   const Vector3 omega;
   double C;  // Ethan's C constant: (1 - A) / theta^2 or 1/6 for theta->0
@@ -164,15 +164,8 @@ class DexpFunctor : public ExpmapFunctor {
   double E;  // (B - 3.0 * C) / theta2 or -1/60 for theta->0
 
  public:
-  /// Computes B * (omega x v).
-  Vector3 cross(const Vector3& v, OptionalJacobian<3, 3> H = {}) const;
-
-  /// Computes C * (omega x (omega x v)).
-  Vector3 doubleCross(const Vector3& v, OptionalJacobian<3, 3> H = {}) const;
-
   /// Constructor with element of Lie algebra so(3)
-  GTSAM_EXPORT explicit DexpFunctor(const Vector3& omega,
-                                    bool nearZeroApprox = false);
+  explicit DexpFunctor(const Vector3& omega, bool nearZeroApprox = false);
 
   // NOTE(luca): Right Jacobian for Exponential map in SO(3) - equation
   // (10.86) and following equations in G.S. Chirikjian, "Stochastic Models,
@@ -180,28 +173,31 @@ class DexpFunctor : public ExpmapFunctor {
   //   expmap(omega + v) \approx expmap(omega) * expmap(dexp * v)
   // This maps a perturbation v in the tangent space to
   // a perturbation on the manifold Expmap(dexp * v)
-  GTSAM_EXPORT Matrix3 rightJacobian() const;
+  Matrix3 rightJacobian() const { return I_3x3 - B * W + C * WW; }
+
+  // Compute the left Jacobian for Exponential map in SO(3)
+  Matrix3 leftJacobian() const { return I_3x3 + B * W + C * WW; }
 
   /// differential of expmap == right Jacobian
-  GTSAM_EXPORT Matrix3 dexp() const { return rightJacobian(); }
+  inline Matrix3 dexp() const { return rightJacobian(); }
+
+  /// Computes B * (omega x v).
+  Vector3 crossB(const Vector3& v, OptionalJacobian<3, 3> H = {}) const;
+
+  /// Computes C * (omega x (omega x v)).
+  Vector3 doubleCrossC(const Vector3& v, OptionalJacobian<3, 3> H = {}) const;
 
   /// Multiplies with dexp(), with optional derivatives
-  GTSAM_EXPORT Vector3 applyDexp(const Vector3& v,
-                                 OptionalJacobian<3, 3> H1 = {},
-                                 OptionalJacobian<3, 3> H2 = {}) const;
+  Vector3 applyDexp(const Vector3& v, OptionalJacobian<3, 3> H1 = {},
+                    OptionalJacobian<3, 3> H2 = {}) const;
 
   /// Multiplies with dexp().inverse(), with optional derivatives
-  GTSAM_EXPORT Vector3 applyInvDexp(const Vector3& v,
-                                    OptionalJacobian<3, 3> H1 = {},
-                                    OptionalJacobian<3, 3> H2 = {}) const;
-
-  // Compute the left Jacobian for Exponential map in SO(3)
-  GTSAM_EXPORT Matrix3 leftJacobian() const;
+  Vector3 applyInvDexp(const Vector3& v, OptionalJacobian<3, 3> H1 = {},
+                       OptionalJacobian<3, 3> H2 = {}) const;
 
   /// Multiplies with leftJacobian(), with optional derivatives
-  GTSAM_EXPORT Vector3 applyLeftJacobian(const Vector3& v,
-                                         OptionalJacobian<3, 3> H1 = {},
-                                         OptionalJacobian<3, 3> H2 = {}) const;
+  Vector3 applyLeftJacobian(const Vector3& v, OptionalJacobian<3, 3> H1 = {},
+                            OptionalJacobian<3, 3> H2 = {}) const;
 
  protected:
   static constexpr double one_sixth = 1.0 / 6.0;