diff --git a/source/RobotAPI/libraries/core/Pose.cpp b/source/RobotAPI/libraries/core/Pose.cpp
index f837f87117f5c8934ab5430af9491277010cb4e9..4849196ad868ebc11c5247c780e9dd6ea41814a6 100644
--- a/source/RobotAPI/libraries/core/Pose.cpp
+++ b/source/RobotAPI/libraries/core/Pose.cpp
@@ -432,3 +432,8 @@ armarx::PosePtr armarx::toIce(const Eigen::Matrix4f& pose)
 {
     return new Pose(pose);
 }
+
+armarx::PosePtr armarx::toIce(const Eigen::Isometry3f& pose)
+{
+    return armarx::toIce(pose.matrix());
+}
diff --git a/source/RobotAPI/libraries/core/Pose.h b/source/RobotAPI/libraries/core/Pose.h
index 268b6ba846022f0586fbdfafb5cf8d2999665c55..2748a0ded0a959633c3a44a1c8dd3f1c789c6ff6 100644
--- a/source/RobotAPI/libraries/core/Pose.h
+++ b/source/RobotAPI/libraries/core/Pose.h
@@ -289,6 +289,7 @@ namespace armarx
     QuaternionPtr toIce(const Eigen::Matrix3f& rotation);
     QuaternionPtr toIce(const Eigen::Quaternionf& quaternion);
     PosePtr toIce(const Eigen::Matrix4f& pose);
+    PosePtr toIce(const Eigen::Isometry3f& pose);
 
 }