diff --git a/.gitignore b/.gitignore
index b3f2406..0c0a0dd 100644
--- a/.gitignore
+++ b/.gitignore
@@ -7,6 +7,7 @@
 *.out
 *.exe
 *.asm
+*.backup
 
 # Folder-exclusions
 build/
diff --git a/tests/cpp/.clang-tidy b/tests/cpp/.clang-tidy
index 72affbd..d99244e 100644
--- a/tests/cpp/.clang-tidy
+++ b/tests/cpp/.clang-tidy
@@ -10,11 +10,12 @@ Checks: >
         modernize-*,
         performance-*,
         readability-*,
-        -cppcoreguidelines-avoid-magic-numbers,
         -readability-redundant-access-specifiers,
+        -cppcoreguidelines-non-private-member-variables-in-classes,
+        -cppcoreguidelines-avoid-magic-numbers,
         -readability-magic-numbers,
-        -readability-function-cognitive-complexity,
         -readability-identifier-length,
+        -readability-function-cognitive-complexity,
 
 WarningsAsErrors: ''
 FormatStyle: none
diff --git a/tests/cpp/CMakeLists.txt b/tests/cpp/CMakeLists.txt
index 7f5e4d3..f516e1c 100644
--- a/tests/cpp/CMakeLists.txt
+++ b/tests/cpp/CMakeLists.txt
@@ -34,10 +34,12 @@ add_executable(
   ${CMAKE_CURRENT_SOURCE_DIR}/test_quat_type.cpp
   ${CMAKE_CURRENT_SOURCE_DIR}/test_quat_operations.cpp
   ${CMAKE_CURRENT_SOURCE_DIR}/test_euler_type.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/test_pose3d_type.cpp
   ${CMAKE_CURRENT_SOURCE_DIR}/test_mat2_functions.cpp
   ${CMAKE_CURRENT_SOURCE_DIR}/test_mat3_functions.cpp
   ${CMAKE_CURRENT_SOURCE_DIR}/test_mat4_functions.cpp
   ${CMAKE_CURRENT_SOURCE_DIR}/test_utils_spherical_coordinates.cpp)
 target_link_libraries(MathCppTests PRIVATE math::math Catch2::Catch2)
+target_include_directories(MathCppTests PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})
 # Discover tets and pick an integer as the random seed
 catch_discover_tests(MathCppTests)
diff --git a/tests/cpp/common_math_generators.hpp b/tests/cpp/common_math_generators.hpp
new file mode 100644
index 0000000..07c6d18
--- /dev/null
+++ b/tests/cpp/common_math_generators.hpp
@@ -0,0 +1,121 @@
+#include <catch2/catch.hpp>
+#include <math/vec2_t.hpp>
+#include <math/vec3_t.hpp>
+#include <math/vec4_t.hpp>
+#include <math/mat3_t.hpp>
+#include <math/quat_t.hpp>
+
+#include <random>
+
+namespace math {
+
+template <typename T, typename V>
+class RandomValueBase : public Catch::Generators::IGenerator<V> {
+ public:
+    RandomValueBase(T val_range_min, T val_range_max)
+        : m_Dist(val_range_min, val_range_max),  // NOLINT
+          m_Gen(std::random_device{}()) {}       // NOLINT
+
+    auto get() const -> const V& override { return m_Value; }
+
+ protected:
+    /// Distribution from which to generate random real values
+    std::uniform_real_distribution<T> m_Dist;
+    /// The method used to generate random numbers
+    std::minstd_rand m_Gen;
+    /// The vector value to be exposed
+    V m_Value;
+};
+
+//****************************************************************************//
+//                        Generators for Vector types                         //
+//****************************************************************************//
+
+template <typename T>
+class RandomVec2Generator : public RandomValueBase<T, Vector2<T>> {
+ public:
+    RandomVec2Generator(T val_range_min, T val_range_max)
+        : RandomValueBase<T, Vector2<T>>(val_range_min, val_range_max) {}
+
+    auto next() -> bool override {
+        this->m_value = {this->m_Dist(this->m_Gen), this->m_Dist(this->m_Gen)};
+        return true;
+    }
+};
+
+template <typename T>
+class RandomVec3Generator : public RandomValueBase<T, Vector3<T>> {
+ public:
+    RandomVec3Generator(T val_range_min, T val_range_max)
+        : RandomValueBase<T, Vector3<T>>(val_range_min, val_range_max) {}
+
+    auto next() -> bool override {
+        this->m_Value = {this->m_Dist(this->m_Gen), this->m_Dist(this->m_Gen),
+                         this->m_Dist(this->m_Gen)};
+        return true;
+    }
+};
+
+template <typename T>
+class RandomVec4Generator : public RandomValueBase<T, Vector4<T>> {
+ public:
+    RandomVec4Generator(T val_range_min, T val_range_max)
+        : RandomValueBase<T, Vector4<T>>(val_range_min, val_range_max) {}
+
+    auto next() -> bool override {
+        this->m_Value = {this->m_Dist(this->m_Gen), this->m_Dist(this->m_Gen),
+                         this->m_Dist(this->m_Gen), this->m_Dist(this->m_Gen)};
+        return true;
+    }
+};
+
+template <typename T>
+auto random_vec2(T val_range_min = static_cast<T>(-1.0),
+                 T val_range_max = static_cast<T>(1.0))
+    -> Catch::Generators::GeneratorWrapper<Vector2<T>> {
+    return Catch::Generators::GeneratorWrapper<Vector2<T>>(
+        Catch::Generators::pf::make_unique<RandomVec2Generator<T>>(
+            val_range_min, val_range_max));
+}
+
+template <typename T>
+auto random_vec3(T val_range_min = static_cast<T>(-1.0),
+                 T val_range_max = static_cast<T>(1.0))
+    -> Catch::Generators::GeneratorWrapper<Vector3<T>> {
+    return Catch::Generators::GeneratorWrapper<Vector3<T>>(
+        Catch::Generators::pf::make_unique<RandomVec3Generator<T>>(
+            val_range_min, val_range_max));
+}
+
+template <typename T>
+auto random_vec4(T val_range_min = static_cast<T>(-1.0),
+                 T val_range_max = static_cast<T>(1.0))
+    -> Catch::Generators::GeneratorWrapper<Vector4<T>> {
+    return Catch::Generators::GeneratorWrapper<Vector4<T>>(
+        Catch::Generators::pf::make_unique<RandomVec4Generator<T>>(
+            val_range_min, val_range_max));
+}
+
+//****************************************************************************//
+//                      Generators for Quaternion type                        //
+//****************************************************************************//
+
+template <typename T>
+class RandomQuaternion : public RandomValueBase<T, Quaternion<T>> {
+ public:
+    RandomQuaternion() : RandomValueBase<T, Quaternion<T>>(-1.0, 1.0) {}
+
+    auto next() -> bool override {
+        this->m_Value = {this->m_Dist(this->m_Gen), this->m_Dist(this->m_Gen),
+                         this->m_Dist(this->m_Gen), this->m_Dist(this->m_Gen)};
+        return true;
+    }
+};
+
+template <typename T>
+auto random_quaternion() -> Catch::Generators::GeneratorWrapper<Quaternion<T>> {
+    return Catch::Generators::GeneratorWrapper<Quaternion<T>>(
+        Catch::Generators::pf::make_unique<RandomQuaternion<T>>());
+}
+
+}  // namespace math
diff --git a/tests/cpp/test_pose3d_type.cpp b/tests/cpp/test_pose3d_type.cpp
new file mode 100644
index 0000000..b800a18
--- /dev/null
+++ b/tests/cpp/test_pose3d_type.cpp
@@ -0,0 +1,44 @@
+#include <cmath>
+#include <random>
+
+#include <catch2/catch.hpp>
+#include <math/pose3d_t.hpp>
+
+#include <common_math_generators.hpp>
+
+#if defined(__clang__)
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wimplicit-float-conversion"
+#pragma clang diagnostic ignored "-Wdouble-promotion"
+#endif
+
+// NOLINTNEXTLINE
+TEMPLATE_TEST_CASE("Pose3d class (pose3d_t) constructors",
+                   "[pose3d_t][template", ::math::float32_t,
+                   ::math::float64_t) {
+    using T = TestType;
+    using Pose = ::math::Pose3d<T>;
+    using Quat = ::math::Quaternion<T>;
+    using Vec3 = ::math::Vector3<T>;
+
+    SECTION("Default constructor") {
+        Pose X;  // NOLINT
+        REQUIRE(X.position == Vec3(0.0, 0.0, 0.0));
+        REQUIRE(X.orientation == Quat(1.0, 0.0, 0.0, 0.0));
+    }
+
+    SECTION("From position(Vec3) and orientation(Quat)") {
+        auto position = GENERATE(take(10, ::math::random_vec3<T>(-10.0, 10.0)));
+        auto orientation = GENERATE(take(10, ::math::random_quaternion<T>()));
+
+        Pose X(position, orientation);  // NOLINT
+        // Position should be copied directly to the pose object
+        REQUIRE(X.position == position);
+        // Orientation normalized to ensure it represents a rotation
+        REQUIRE(std::abs(X.orientation.length() - 1.0) < 1e-5);
+    }
+}
+
+#if defined(__clang__)
+#pragma clang diagnostic pop  // NOLINT
+#endif