diff --git a/include/ignition/math/Vector2.hh b/include/ignition/math/Vector2.hh
index dc8530a92..717fba2eb 100644
--- a/include/ignition/math/Vector2.hh
+++ b/include/ignition/math/Vector2.hh
@@ -18,6 +18,7 @@
 #define IGNITION_MATH_VECTOR2_HH_
 
 #include <algorithm>
+#include <limits>
 
 #include <ignition/math/Helpers.hh>
 #include <ignition/math/config.hh>
@@ -40,6 +41,9 @@ namespace ignition
       /// \brief math::Vector2(1, 1)
       public: static const Vector2<T> One;
 
+      /// \brief math::Vector2(NaN, NaN, NaN)
+      public: static const Vector2 NaN;
+
       /// \brief Default Constructor
       public: Vector2()
       {
@@ -579,6 +583,11 @@ namespace ignition
     template<typename T>
     const Vector2<T> Vector2<T>::One(1, 1);
 
+    template<typename T>
+    const Vector2<T> Vector2<T>::NaN(
+        std::numeric_limits<T>::quiet_NaN(),
+        std::numeric_limits<T>::quiet_NaN());
+
     typedef Vector2<int> Vector2i;
     typedef Vector2<double> Vector2d;
     typedef Vector2<float> Vector2f;
diff --git a/include/ignition/math/Vector3.hh b/include/ignition/math/Vector3.hh
index 4d5622374..af1dc71a0 100644
--- a/include/ignition/math/Vector3.hh
+++ b/include/ignition/math/Vector3.hh
@@ -17,10 +17,11 @@
 #ifndef IGNITION_MATH_VECTOR3_HH_
 #define IGNITION_MATH_VECTOR3_HH_
 
-#include <iostream>
-#include <fstream>
-#include <cmath>
 #include <algorithm>
+#include <cmath>
+#include <fstream>
+#include <iostream>
+#include <limits>
 
 #include <ignition/math/Helpers.hh>
 #include <ignition/math/config.hh>
@@ -54,6 +55,9 @@ namespace ignition
       /// \brief math::Vector3(0, 0, 1)
       public: static const Vector3 UnitZ;
 
+      /// \brief math::Vector3(NaN, NaN, NaN)
+      public: static const Vector3 NaN;
+
       /// \brief Constructor
       public: Vector3()
       {
@@ -757,6 +761,10 @@ namespace ignition
     template<typename T> const Vector3<T> Vector3<T>::UnitX(1, 0, 0);
     template<typename T> const Vector3<T> Vector3<T>::UnitY(0, 1, 0);
     template<typename T> const Vector3<T> Vector3<T>::UnitZ(0, 0, 1);
+    template<typename T> const Vector3<T> Vector3<T>::NaN(
+        std::numeric_limits<T>::quiet_NaN(),
+        std::numeric_limits<T>::quiet_NaN(),
+        std::numeric_limits<T>::quiet_NaN());
 
     typedef Vector3<int> Vector3i;
     typedef Vector3<double> Vector3d;
diff --git a/include/ignition/math/Vector4.hh b/include/ignition/math/Vector4.hh
index 0403f1cca..9d27b4b87 100644
--- a/include/ignition/math/Vector4.hh
+++ b/include/ignition/math/Vector4.hh
@@ -18,6 +18,7 @@
 #define IGNITION_MATH_VECTOR4_HH_
 
 #include <algorithm>
+#include <limits>
 
 #include <ignition/math/Matrix4.hh>
 #include <ignition/math/Helpers.hh>
@@ -41,6 +42,9 @@ namespace ignition
       /// \brief math::Vector4(1, 1, 1, 1)
       public: static const Vector4<T> One;
 
+      /// \brief math::Vector4(NaN, NaN, NaN, NaN)
+      public: static const Vector4 NaN;
+
       /// \brief Constructor
       public: Vector4()
       {
@@ -735,6 +739,12 @@ namespace ignition
     template<typename T>
     const Vector4<T> Vector4<T>::One(1, 1, 1, 1);
 
+    template<typename T> const Vector4<T> Vector4<T>::NaN(
+        std::numeric_limits<T>::quiet_NaN(),
+        std::numeric_limits<T>::quiet_NaN(),
+        std::numeric_limits<T>::quiet_NaN(),
+        std::numeric_limits<T>::quiet_NaN());
+
     typedef Vector4<int> Vector4i;
     typedef Vector4<double> Vector4d;
     typedef Vector4<float> Vector4f;
diff --git a/src/Vector2_TEST.cc b/src/Vector2_TEST.cc
index 7a289fe97..3e6e95f75 100644
--- a/src/Vector2_TEST.cc
+++ b/src/Vector2_TEST.cc
@@ -443,3 +443,25 @@ TEST(Vector2Test, Length)
   EXPECT_EQ(vi.SquaredLength(), 25);
 }
 
+/////////////////////////////////////////////////
+TEST(Vector2Test, NaN)
+{
+  auto nanVec = math::Vector2d::NaN;
+  EXPECT_FALSE(nanVec.IsFinite());
+  EXPECT_TRUE(math::isnan(nanVec.X()));
+  EXPECT_TRUE(math::isnan(nanVec.Y()));
+
+  nanVec.Correct();
+  EXPECT_EQ(math::Vector2d::Zero, nanVec);
+  EXPECT_TRUE(nanVec.IsFinite());
+
+  auto nanVecF = math::Vector2f::NaN;
+  EXPECT_FALSE(nanVecF.IsFinite());
+  EXPECT_TRUE(math::isnan(nanVecF.X()));
+  EXPECT_TRUE(math::isnan(nanVecF.Y()));
+
+  nanVecF.Correct();
+  EXPECT_EQ(math::Vector2f::Zero, nanVecF);
+  EXPECT_TRUE(nanVecF.IsFinite());
+}
+
diff --git a/src/Vector3_TEST.cc b/src/Vector3_TEST.cc
index c6207a8b2..9076b1099 100644
--- a/src/Vector3_TEST.cc
+++ b/src/Vector3_TEST.cc
@@ -125,11 +125,25 @@ TEST(Vector3dTest, Vector3d)
   EXPECT_TRUE(v.Equal(math::Vector3d(2, 1, .4)));
 
   // Test the static defines.
-  EXPECT_TRUE(math::Vector3d::Zero == math::Vector3d(0, 0, 0));
-  EXPECT_TRUE(math::Vector3d::One == math::Vector3d(1, 1, 1));
-  EXPECT_TRUE(math::Vector3d::UnitX == math::Vector3d(1, 0, 0));
-  EXPECT_TRUE(math::Vector3d::UnitY == math::Vector3d(0, 1, 0));
-  EXPECT_TRUE(math::Vector3d::UnitZ == math::Vector3d(0, 0, 1));
+  EXPECT_EQ(math::Vector3d::Zero, math::Vector3d(0, 0, 0));
+  EXPECT_EQ(math::Vector3f::Zero, math::Vector3f(0, 0, 0));
+  EXPECT_EQ(math::Vector3i::Zero, math::Vector3i(0, 0, 0));
+
+  EXPECT_EQ(math::Vector3d::One, math::Vector3d(1, 1, 1));
+  EXPECT_EQ(math::Vector3f::One, math::Vector3f(1, 1, 1));
+  EXPECT_EQ(math::Vector3i::One, math::Vector3i(1, 1, 1));
+
+  EXPECT_EQ(math::Vector3d::UnitX, math::Vector3d(1, 0, 0));
+  EXPECT_EQ(math::Vector3f::UnitX, math::Vector3f(1, 0, 0));
+  EXPECT_EQ(math::Vector3i::UnitX, math::Vector3i(1, 0, 0));
+
+  EXPECT_EQ(math::Vector3d::UnitY, math::Vector3d(0, 1, 0));
+  EXPECT_EQ(math::Vector3f::UnitY, math::Vector3f(0, 1, 0));
+  EXPECT_EQ(math::Vector3i::UnitY, math::Vector3i(0, 1, 0));
+
+  EXPECT_EQ(math::Vector3d::UnitZ, math::Vector3d(0, 0, 1));
+  EXPECT_EQ(math::Vector3f::UnitZ, math::Vector3f(0, 0, 1));
+  EXPECT_EQ(math::Vector3i::UnitZ, math::Vector3i(0, 0, 1));
 }
 
 /////////////////////////////////////////////////
@@ -467,3 +481,26 @@ TEST(Vector3dTest, NoException)
   EXPECT_NO_THROW(ss << vInf);
 }
 
+/////////////////////////////////////////////////
+TEST(Vector3dTest, NaN)
+{
+  auto nanVec = math::Vector3d::NaN;
+  EXPECT_FALSE(nanVec.IsFinite());
+  EXPECT_TRUE(math::isnan(nanVec.X()));
+  EXPECT_TRUE(math::isnan(nanVec.Y()));
+  EXPECT_TRUE(math::isnan(nanVec.Z()));
+
+  nanVec.Correct();
+  EXPECT_EQ(math::Vector3d::Zero, nanVec);
+  EXPECT_TRUE(nanVec.IsFinite());
+
+  auto nanVecF = math::Vector3f::NaN;
+  EXPECT_FALSE(nanVecF.IsFinite());
+  EXPECT_TRUE(math::isnan(nanVecF.X()));
+  EXPECT_TRUE(math::isnan(nanVecF.Y()));
+  EXPECT_TRUE(math::isnan(nanVecF.Z()));
+
+  nanVecF.Correct();
+  EXPECT_EQ(math::Vector3f::Zero, nanVecF);
+  EXPECT_TRUE(nanVecF.IsFinite());
+}
diff --git a/src/Vector4_TEST.cc b/src/Vector4_TEST.cc
index 5d99f2402..400a1f90c 100644
--- a/src/Vector4_TEST.cc
+++ b/src/Vector4_TEST.cc
@@ -443,3 +443,28 @@ TEST(Vector4dTest, Length)
   EXPECT_EQ(math::Vector4i::One.SquaredLength(), 4);
 }
 
+/////////////////////////////////////////////////
+TEST(Vector4Test, NaN)
+{
+  auto nanVec = math::Vector4d::NaN;
+  EXPECT_FALSE(nanVec.IsFinite());
+  EXPECT_TRUE(math::isnan(nanVec.X()));
+  EXPECT_TRUE(math::isnan(nanVec.Y()));
+  EXPECT_TRUE(math::isnan(nanVec.Z()));
+  EXPECT_TRUE(math::isnan(nanVec.W()));
+
+  nanVec.Correct();
+  EXPECT_EQ(math::Vector4d::Zero, nanVec);
+  EXPECT_TRUE(nanVec.IsFinite());
+
+  auto nanVecF = math::Vector4f::NaN;
+  EXPECT_FALSE(nanVecF.IsFinite());
+  EXPECT_TRUE(math::isnan(nanVecF.X()));
+  EXPECT_TRUE(math::isnan(nanVecF.Y()));
+  EXPECT_TRUE(math::isnan(nanVecF.Z()));
+  EXPECT_TRUE(math::isnan(nanVecF.W()));
+
+  nanVecF.Correct();
+  EXPECT_EQ(math::Vector4f::Zero, nanVecF);
+  EXPECT_TRUE(nanVecF.IsFinite());
+}
diff --git a/src/python/Vector2.i b/src/python/Vector2.i
index ff2f80098..6ff486814 100644
--- a/src/python/Vector2.i
+++ b/src/python/Vector2.i
@@ -37,6 +37,7 @@ namespace ignition
       %rename("%(uppercase)s", %$isstatic, %$isvariable) "";
       public: static const Vector2 Zero;
       public: static const Vector2 One;
+      public: static const Vector2 NaN;
 
       public: Vector2();
       public: Vector2(const T &_x, const T &_y);
diff --git a/src/python/Vector2_TEST.py b/src/python/Vector2_TEST.py
index 7bcac078f..6043f0f0c 100644
--- a/src/python/Vector2_TEST.py
+++ b/src/python/Vector2_TEST.py
@@ -15,6 +15,7 @@
 import unittest
 import math
 from ignition.math import Vector2d
+from ignition.math import Vector2f
 
 
 class TestVector2(unittest.TestCase):
@@ -295,6 +296,24 @@ def test_lenght(self):
         self.assertAlmostEqual(v.length(), 5)
         self.assertAlmostEqual(v.squared_length(), 25)
 
+    def test_nan(self):
+        nanVec = Vector2d.NAN
+        self.assertFalse(nanVec.is_finite())
+        self.assertTrue(math.isnan(nanVec.x()))
+        self.assertTrue(math.isnan(nanVec.y()))
+
+        nanVec.correct()
+        self.assertEqual(Vector2d.ZERO, nanVec)
+        self.assertTrue(nanVec.is_finite())
+
+        nanVecF = Vector2f.NAN
+        self.assertFalse(nanVecF.is_finite())
+        self.assertTrue(math.isnan(nanVecF.x()))
+        self.assertTrue(math.isnan(nanVecF.y()))
+
+        nanVecF.correct()
+        self.assertEqual(Vector2f.ZERO, nanVecF)
+        self.assertTrue(nanVecF.is_finite())
 
 if __name__ == '__main__':
     unittest.main()
diff --git a/src/python/Vector3.i b/src/python/Vector3.i
index 12b48ced9..751350fb7 100644
--- a/src/python/Vector3.i
+++ b/src/python/Vector3.i
@@ -43,6 +43,7 @@ namespace ignition
       public: static const Vector3 UnitY;
       %rename(UNIT_Z) UnitZ;
       public: static const Vector3 UnitZ;
+      public: static const Vector3 NaN;
       public: Vector3();
       public: Vector3(const T &_x, const T &_y, const T &_z);
       public: Vector3(const Vector3<T> &_v);
diff --git a/src/python/Vector3_TEST.py b/src/python/Vector3_TEST.py
index 2ac6ab18e..0c3b7e610 100644
--- a/src/python/Vector3_TEST.py
+++ b/src/python/Vector3_TEST.py
@@ -15,6 +15,7 @@
 import unittest
 import math
 from ignition.math import Vector3d
+from ignition.math import Vector3f
 
 
 class TestVector3(unittest.TestCase):
@@ -350,6 +351,26 @@ def test_finite(self):
 
         self.assertTrue(vec1.is_finite())
 
+    def test_nan(self):
+        nanVec = Vector3d.NAN
+        self.assertFalse(nanVec.is_finite())
+        self.assertTrue(math.isnan(nanVec.x()))
+        self.assertTrue(math.isnan(nanVec.y()))
+        self.assertTrue(math.isnan(nanVec.z()))
+
+        nanVec.correct()
+        self.assertEqual(Vector3d.ZERO, nanVec)
+        self.assertTrue(nanVec.is_finite())
+
+        nanVecF = Vector3f.NAN
+        self.assertFalse(nanVecF.is_finite())
+        self.assertTrue(math.isnan(nanVecF.x()))
+        self.assertTrue(math.isnan(nanVecF.y()))
+        self.assertTrue(math.isnan(nanVecF.z()))
+
+        nanVecF.correct()
+        self.assertEqual(Vector3f.ZERO, nanVecF)
+        self.assertTrue(nanVecF.is_finite())
 
 if __name__ == '__main__':
     unittest.main()
diff --git a/src/python/Vector4.i b/src/python/Vector4.i
index 1608bce03..aaea4dbc6 100644
--- a/src/python/Vector4.i
+++ b/src/python/Vector4.i
@@ -37,6 +37,7 @@ namespace ignition
       %rename("%(uppercase)s", %$isstatic, %$isvariable) "";
       public: static const Vector4 Zero;
       public: static const Vector4 One;
+      public: static const Vector4 NaN;
       public: Vector4();
       public: Vector4(const T &_x, const T &_y, const T &_z, const T &_w);
       public: Vector4(const Vector4<T> &_v);
@@ -58,6 +59,7 @@ namespace ignition
       public: bool operator==(const Vector4<T> &_v) const;
       public: bool Equal(const Vector4 &_v, const T &_tol) const;
       public: bool IsFinite() const;
+      public: inline void Correct();
       public: inline T X() const;
       public: inline T Y() const;
       public: inline T Z() const;
diff --git a/src/python/Vector4_TEST.py b/src/python/Vector4_TEST.py
index b85ecf9cd..854050277 100644
--- a/src/python/Vector4_TEST.py
+++ b/src/python/Vector4_TEST.py
@@ -16,6 +16,7 @@
 import unittest
 import math
 from ignition.math import Vector4d
+from ignition.math import Vector4f
 
 
 class TestVector4(unittest.TestCase):
@@ -256,6 +257,28 @@ def test_finite(self):
         vec1 = Vector4d(0.1, 0.2, 0.3, 0.4)
         self.assertTrue(vec1.is_finite())
 
+    def test_nan(self):
+        nanVec = Vector4d.NAN
+        self.assertFalse(nanVec.is_finite())
+        self.assertTrue(math.isnan(nanVec.x()))
+        self.assertTrue(math.isnan(nanVec.y()))
+        self.assertTrue(math.isnan(nanVec.z()))
+        self.assertTrue(math.isnan(nanVec.w()))
+
+        nanVec.correct()
+        self.assertEqual(Vector4d.ZERO, nanVec)
+        self.assertTrue(nanVec.is_finite())
+
+        nanVecF = Vector4f.NAN
+        self.assertFalse(nanVecF.is_finite())
+        self.assertTrue(math.isnan(nanVecF.x()))
+        self.assertTrue(math.isnan(nanVecF.y()))
+        self.assertTrue(math.isnan(nanVecF.z()))
+        self.assertTrue(math.isnan(nanVecF.w()))
+
+        nanVecF.correct()
+        self.assertEqual(Vector4f.ZERO, nanVecF)
+        self.assertTrue(nanVecF.is_finite())
 
 if __name__ == '__main__':
     unittest.main()
diff --git a/src/ruby/Vector2.i b/src/ruby/Vector2.i
index 63ae8adee..cad4128ea 100644
--- a/src/ruby/Vector2.i
+++ b/src/ruby/Vector2.i
@@ -35,6 +35,7 @@ namespace ignition
     {
       public: static const Vector2 Zero;
       public: static const Vector2 One;
+      public: static const Vector2 NaN;
 
       public: Vector2();
       public: Vector2(const T &_x, const T &_y);
diff --git a/src/ruby/Vector2_TEST.rb b/src/ruby/Vector2_TEST.rb
index 653a47d86..cdc350e2c 100644
--- a/src/ruby/Vector2_TEST.rb
+++ b/src/ruby/Vector2_TEST.rb
@@ -257,6 +257,28 @@ def test_length
     assert((v.SquaredLength() - 17.65).abs < 1e-8,
            "Squared length of v should be near 17.65")
   end
+
+  def test_nan
+    nanVec = Ignition::Math::Vector2d.NaN
+    assert(!nanVec.IsFinite(),
+           "NaN vector shouldn't be finite")
+    assert(nanVec.X().nan?, "X should be NaN")
+    assert(nanVec.Y().nan?, "Y should be NaN")
+
+    nanVec.Correct()
+    assert(Ignition::Math::Vector2d.Zero == nanVec,
+           "Corrected vector should equal zero")
+
+    nanVecF = Ignition::Math::Vector2f.NaN
+    assert(!nanVecF.IsFinite(),
+           "NaN vector shouldn't be finite")
+    assert(nanVecF.X().nan?, "X should be NaN")
+    assert(nanVecF.Y().nan?, "Y should be NaN")
+
+    nanVecF.Correct()
+    assert(Ignition::Math::Vector2f.Zero == nanVecF,
+           "Corrected vector should equal zero")
+  end
 end
 
 exit Test::Unit::UI::Console::TestRunner.run(Vector2_TEST).passed? ? 0 : -1
diff --git a/src/ruby/Vector3.i b/src/ruby/Vector3.i
index 0d8508d3c..0acf12da5 100644
--- a/src/ruby/Vector3.i
+++ b/src/ruby/Vector3.i
@@ -38,6 +38,7 @@ namespace ignition
       public: static const Vector3 UnitX;
       public: static const Vector3 UnitY;
       public: static const Vector3 UnitZ;
+      public: static const Vector3 NaN;
       public: Vector3();
       public: Vector3(const T &_x, const T &_y, const T &_z);
       public: Vector3(const Vector3<T> &_v);
diff --git a/src/ruby/Vector3_TEST.rb b/src/ruby/Vector3_TEST.rb
index 1448cdf4e..d698b06d7 100755
--- a/src/ruby/Vector3_TEST.rb
+++ b/src/ruby/Vector3_TEST.rb
@@ -425,6 +425,29 @@ def test_finite
     assert(vec1.IsFinite(), "Vector3 vec1 should be be finite")
   end
 
+  def test_nan
+    nanVec = Ignition::Math::Vector3d.NaN
+    assert(!nanVec.IsFinite(),
+           "NaN vector shouldn't be finite")
+    assert(nanVec.X().nan?, "X should be NaN")
+    assert(nanVec.Y().nan?, "Y should be NaN")
+    assert(nanVec.Z().nan?, "Z should be NaN")
+
+    nanVec.Correct()
+    assert(Ignition::Math::Vector3d.Zero == nanVec,
+           "Corrected vector should equal zero")
+
+    nanVecF = Ignition::Math::Vector3f.NaN
+    assert(!nanVecF.IsFinite(),
+           "NaN vector shouldn't be finite")
+    assert(nanVecF.X().nan?, "X should be NaN")
+    assert(nanVecF.Y().nan?, "Y should be NaN")
+    assert(nanVecF.Z().nan?, "Z should be NaN")
+
+    nanVecF.Correct()
+    assert(Ignition::Math::Vector3f.Zero == nanVecF,
+           "Corrected vector should equal zero")
+  end
 end
 
 exit Test::Unit::UI::Console::TestRunner.run(Vector3_TEST).passed? ? 0 : -1
diff --git a/src/ruby/Vector4.i b/src/ruby/Vector4.i
index d5f2bbf7b..a9235cae3 100644
--- a/src/ruby/Vector4.i
+++ b/src/ruby/Vector4.i
@@ -35,6 +35,7 @@ namespace ignition
     {
       public: static const Vector4 Zero;
       public: static const Vector4 One;
+      public: static const Vector4 NaN;
       public: Vector4();
       public: Vector4(const T &_x, const T &_y, const T &_z, const T &_w);
       public: Vector4(const Vector4<T> &_v);
@@ -56,6 +57,7 @@ namespace ignition
       public: bool operator==(const Vector4<T> &_v) const;
       public: bool Equal(const Vector4 &_v, const T &_tol) const;
       public: bool IsFinite() const;
+      public: inline void Correct();
       public: inline T X() const;
       public: inline T Y() const;
       public: inline T Z() const;
diff --git a/src/ruby/Vector4_TEST.rb b/src/ruby/Vector4_TEST.rb
index 1d750133d..c594bcc16 100644
--- a/src/ruby/Vector4_TEST.rb
+++ b/src/ruby/Vector4_TEST.rb
@@ -295,6 +295,32 @@ def test_finite
 
     assert(vec1.IsFinite(), "Vector4 vec1 should be be finite")
   end
+
+  def test_nan
+    nanVec = Ignition::Math::Vector4d.NaN
+    assert(!nanVec.IsFinite(),
+           "NaN vector shouldn't be finite")
+    assert(nanVec.X().nan?, "X should be NaN")
+    assert(nanVec.Y().nan?, "Y should be NaN")
+    assert(nanVec.Z().nan?, "Z should be NaN")
+    assert(nanVec.W().nan?, "W should be NaN")
+
+    nanVec.Correct()
+    assert(Ignition::Math::Vector4d.Zero == nanVec,
+           "Corrected vector should equal zero")
+
+    nanVecF = Ignition::Math::Vector4f.NaN
+    assert(!nanVecF.IsFinite(),
+           "NaN vector shouldn't be finite")
+    assert(nanVecF.X().nan?, "X should be NaN")
+    assert(nanVecF.Y().nan?, "Y should be NaN")
+    assert(nanVecF.Z().nan?, "Z should be NaN")
+    assert(nanVecF.W().nan?, "W should be NaN")
+
+    nanVecF.Correct()
+    assert(Ignition::Math::Vector4f.Zero == nanVecF,
+           "Corrected vector should equal zero")
+  end
 end
 
 exit Test::Unit::UI::Console::TestRunner.run(Vector4_TEST).passed? ? 0 : -1