diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index dcc5bf3c1..65a55fcfa 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -136,7 +136,11 @@ if (PYTHONLIBS_FOUND)
     set(python_tests
       Angle_TEST
       GaussMarkovProcess_TEST
+      Matrix3_TEST
+      Matrix4_TEST
+      Pose3_TEST
       python_TEST
+      Quaternion_TEST
       Rand_TEST
       Vector2_TEST
       Vector3_TEST
diff --git a/src/python/python.i b/src/python/python.i
index e80c81f87..d7084912d 100644
--- a/src/python/python.i
+++ b/src/python/python.i
@@ -5,3 +5,7 @@
 %include ../Vector2.i
 %include ../Vector3.i
 %include ../Vector4.i
+%include ../Quaternion.i
+%include ../Pose3.i
+%include ../Matrix3.i
+%include ../Matrix4.i