diff --git a/cmake/HandleGeneralOptions.cmake b/cmake/HandleGeneralOptions.cmake
index 27d73bd866..4bc74804cb 100644
--- a/cmake/HandleGeneralOptions.cmake
+++ b/cmake/HandleGeneralOptions.cmake
@@ -31,6 +31,13 @@ if(NOT MSVC AND NOT XCODE_VERSION)
     option(GTSAM_BUILD_WITH_CCACHE           "Use ccache compiler cache" ON)
 endif()
 
+# Enable GTSAM_ROT3_EXPMAP if GTSAM_POSE3_EXPMAP is enabled, and vice versa.
+if(GTSAM_POSE3_EXPMAP)
+    set(GTSAM_ROT3_EXPMAP 1 CACHE BOOL "" FORCE)
+elseif(GTSAM_ROT3_EXPMAP)
+    set(GTSAM_POSE3_EXPMAP 1 CACHE BOOL "" FORCE)
+endif()
+
 # Options relating to MATLAB wrapper
 # TODO: Check for matlab mex binary before handling building of binaries
 option(GTSAM_INSTALL_MATLAB_TOOLBOX      "Enable/Disable installation of matlab toolbox"  OFF)