diff --git a/Changelog.md b/Changelog.md
index 04889d290..9817d2329 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -30,6 +30,9 @@
 1. Evict large function definitions from the Helpers.hh header file.
     * [Pull request 288](https://github.com/ignitionrobotics/ign-math/pull/288)
 
+1. Remove virtual from destructors of copyable classes.
+    * [Pull request 293](https://github.com/ignitionrobotics/ign-math/pull/293)
+
 ## Ignition Math 6.x
 
 ### Ignition Math 6.x.x
diff --git a/include/ignition/math/AxisAlignedBox.hh b/include/ignition/math/AxisAlignedBox.hh
index 81bc1c1a6..19bb8ce2e 100644
--- a/include/ignition/math/AxisAlignedBox.hh
+++ b/include/ignition/math/AxisAlignedBox.hh
@@ -71,7 +71,7 @@ namespace ignition
       public: AxisAlignedBox(const AxisAlignedBox &_b);
 
       /// \brief Destructor
-      public: virtual ~AxisAlignedBox();
+      public: ~AxisAlignedBox();
 
       /// \brief Get the length along the x dimension
       /// \return Double value of the length in the x dimension
diff --git a/include/ignition/math/Box.hh b/include/ignition/math/Box.hh
index 8074303c3..86990fdfe 100644
--- a/include/ignition/math/Box.hh
+++ b/include/ignition/math/Box.hh
@@ -84,10 +84,10 @@ namespace ignition
 
       /// \brief Copy Constructor.
       /// \param[in]  _b Box to copy.
-      public: Box(const Box<Precision> &_b);
+      public: Box(const Box<Precision> &_b) = default;
 
       /// \brief Destructor.
-      public: virtual ~Box() = default;
+      public: ~Box() = default;
 
       /// \brief Get the size of the box.
       /// \return Size of the box in meters.
diff --git a/include/ignition/math/Color.hh b/include/ignition/math/Color.hh
index 6d8131407..abc8675eb 100644
--- a/include/ignition/math/Color.hh
+++ b/include/ignition/math/Color.hh
@@ -86,7 +86,7 @@ namespace ignition
       public: Color(const Color &_clr);
 
       /// \brief Destructor
-      public: virtual ~Color();
+      public: ~Color();
 
       /// \brief Reset the color to default values to red=0, green=0,
       /// blue=0, alpha=1.
diff --git a/include/ignition/math/Frustum.hh b/include/ignition/math/Frustum.hh
index d297490cd..b85e23f2a 100644
--- a/include/ignition/math/Frustum.hh
+++ b/include/ignition/math/Frustum.hh
@@ -91,7 +91,7 @@ namespace ignition
       public: Frustum(const Frustum &_p);
 
       /// \brief Destructor
-      public: virtual ~Frustum();
+      public: ~Frustum();
 
       /// \brief Get the near distance. This is the distance from the
       /// frustum's vertex to the closest plane.
diff --git a/include/ignition/math/Inertial.hh b/include/ignition/math/Inertial.hh
index e15d96779..00a133ff1 100644
--- a/include/ignition/math/Inertial.hh
+++ b/include/ignition/math/Inertial.hh
@@ -64,12 +64,10 @@ namespace ignition
 
       /// \brief Copy constructor.
       /// \param[in] _inertial Inertial element to copy
-      public: Inertial(const Inertial<T> &_inertial)
-      : massMatrix(_inertial.MassMatrix()), pose(_inertial.Pose())
-      {}
+      public: Inertial(const Inertial<T> &_inertial) = default;
 
       /// \brief Destructor.
-      public: virtual ~Inertial() {}
+      public: ~Inertial() = default;
 
       /// \brief Set the mass and inertia matrix.
       ///
@@ -166,13 +164,7 @@ namespace ignition
       /// \brief Equal operator.
       /// \param[in] _inertial Inertial to copy.
       /// \return Reference to this object.
-      public: Inertial &operator=(const Inertial<T> &_inertial)
-      {
-        this->massMatrix = _inertial.MassMatrix();
-        this->pose = _inertial.Pose();
-
-        return *this;
-      }
+      public: Inertial &operator=(const Inertial<T> &_inertial) = default;
 
       /// \brief Equality comparison operator.
       /// \param[in] _inertial Inertial to copy.
diff --git a/include/ignition/math/Line3.hh b/include/ignition/math/Line3.hh
index f8d73b53f..7ff4c7b40 100644
--- a/include/ignition/math/Line3.hh
+++ b/include/ignition/math/Line3.hh
@@ -39,11 +39,7 @@ namespace ignition
 
       /// \brief Copy constructor
       /// \param[in] _line a line object
-      public: Line3(const Line3<T> &_line)
-      {
-        this->pts[0] = _line[0];
-        this->pts[1] = _line[1];
-      }
+      public: Line3(const Line3<T> &_line) = default;
 
       /// \brief Constructor.
       /// \param[in] _ptA Start point of the line segment
@@ -373,13 +369,7 @@ namespace ignition
       /// \brief Assignment operator
       /// \param[in] _line a new value
       /// \return this
-      public: Line3 &operator=(const Line3<T> &_line)
-      {
-        this->pts[0] = _line[0];
-        this->pts[1] = _line[1];
-
-        return *this;
-      }
+      public: Line3 &operator=(const Line3<T> &_line) = default;
 
       /// \brief Vector for storing the start and end points of the line
       private: math::Vector3<T> pts[2];
diff --git a/include/ignition/math/MassMatrix3.hh b/include/ignition/math/MassMatrix3.hh
index 114ec869a..25b2f68f0 100644
--- a/include/ignition/math/MassMatrix3.hh
+++ b/include/ignition/math/MassMatrix3.hh
@@ -61,13 +61,10 @@ namespace ignition
 
       /// \brief Copy constructor.
       /// \param[in] _m MassMatrix3 element to copy
-      public: MassMatrix3(const MassMatrix3<T> &_m)
-      : mass(_m.Mass()), Ixxyyzz(_m.DiagonalMoments()),
-        Ixyxzyz(_m.OffDiagonalMoments())
-      {}
+      public: MassMatrix3(const MassMatrix3<T> &_m) = default;
 
       /// \brief Destructor.
-      public: virtual ~MassMatrix3() {}
+      public: ~MassMatrix3() = default;
 
       /// \brief Set the mass.
       /// \param[in] _m New mass value.
@@ -259,13 +256,7 @@ namespace ignition
       /// \param[in] _massMatrix MassMatrix3 to copy.
       /// \return Reference to this object.
       public: MassMatrix3 &operator=(const MassMatrix3<T> &_massMatrix)
-      {
-        this->mass = _massMatrix.Mass();
-        this->Ixxyyzz = _massMatrix.DiagonalMoments();
-        this->Ixyxzyz = _massMatrix.OffDiagonalMoments();
-
-        return *this;
-      }
+        = default;
 
       /// \brief Equality comparison operator.
       /// \param[in] _m MassMatrix3 to copy.
diff --git a/include/ignition/math/Matrix3.hh b/include/ignition/math/Matrix3.hh
index 35ae47ed6..dfb0c5769 100644
--- a/include/ignition/math/Matrix3.hh
+++ b/include/ignition/math/Matrix3.hh
@@ -109,10 +109,7 @@ namespace ignition
 
       /// \brief Copy constructor.
       /// \param _m Matrix to copy
-      public: Matrix3(const Matrix3<T> &_m)
-      {
-        std::memcpy(this->data, _m.data, sizeof(this->data[0][0])*9);
-      }
+      public: Matrix3(const Matrix3<T> &_m) = default;
 
       /// \brief Construct a matrix3 using nine values.
       /// \param[in] _v00 Row 0, Col 0 value
@@ -157,7 +154,7 @@ namespace ignition
       }
 
       /// \brief Desctructor
-      public: ~Matrix3() {}
+      public: ~Matrix3() = default;
 
       /// \brief Set a single value.
       /// \param[in] _row row index. _row is clamped to the range [0,2]
@@ -333,11 +330,7 @@ namespace ignition
       /// \brief Equal operator. this = _mat
       /// \param _mat Matrix to copy.
       /// \return This matrix.
-      public: Matrix3<T> &operator=(const Matrix3<T> &_mat)
-      {
-        memcpy(this->data, _mat.data, sizeof(this->data[0][0])*9);
-        return *this;
-      }
+      public: Matrix3<T> &operator=(const Matrix3<T> &_mat) = default;
 
       /// \brief Subtraction operator.
       /// \param[in] _m Matrix to subtract.
diff --git a/include/ignition/math/Matrix4.hh b/include/ignition/math/Matrix4.hh
index 33446aa79..260342747 100644
--- a/include/ignition/math/Matrix4.hh
+++ b/include/ignition/math/Matrix4.hh
@@ -51,10 +51,7 @@ namespace ignition
 
       /// \brief Copy constructor
       /// \param _m Matrix to copy
-      public: Matrix4(const Matrix4<T> &_m)
-      {
-        memcpy(this->data, _m.data, sizeof(this->data[0][0])*16);
-      }
+      public: Matrix4(const Matrix4<T> &_m) = default;
 
       /// \brief Constructor
       /// \param[in] _v00 Row 0, Col 0 value
@@ -116,7 +113,7 @@ namespace ignition
       }
 
       /// \brief Destructor
-      public: virtual ~Matrix4() {}
+      public: ~Matrix4() = default;
 
       /// \brief Change the values
       /// \param[in] _v00 Row 0, Col 0 value
@@ -547,11 +544,7 @@ namespace ignition
       /// \brief Equal operator. this = _mat
       /// \param _mat Incoming matrix
       /// \return itself
-      public: Matrix4<T> &operator=(const Matrix4<T> &_mat)
-      {
-        memcpy(this->data, _mat.data, sizeof(this->data[0][0])*16);
-        return *this;
-      }
+      public: Matrix4<T> &operator=(const Matrix4<T> &_mat) = default;
 
       /// \brief Equal operator for 3x3 matrix
       /// \param _mat Incoming matrix
diff --git a/include/ignition/math/OrientedBox.hh b/include/ignition/math/OrientedBox.hh
index aa333802a..bdaef55f6 100644
--- a/include/ignition/math/OrientedBox.hh
+++ b/include/ignition/math/OrientedBox.hh
@@ -83,15 +83,10 @@ namespace ignition
 
       /// \brief Copy constructor.
       /// \param[in] _b OrientedBox to copy.
-      public: OrientedBox(const OrientedBox<T> &_b)
-          : size(_b.size), pose(_b.pose), material(_b.material)
-      {
-      }
+      public: OrientedBox(const OrientedBox<T> &_b) = default;
 
       /// \brief Destructor
-      public: virtual ~OrientedBox()
-      {
-      }
+      public: ~OrientedBox() = default;
 
       /// \brief Get the length along the x dimension
       /// \return Value of the length in the x dimension
@@ -147,13 +142,7 @@ namespace ignition
       /// \brief Assignment operator. Set this box to the parameter
       /// \param[in]  _b OrientedBox to copy
       /// \return The new box.
-      public: OrientedBox &operator=(const OrientedBox<T> &_b)
-      {
-        this->size = _b.size;
-        this->pose = _b.pose;
-        this->material = _b.material;
-        return *this;
-      }
+      public: OrientedBox &operator=(const OrientedBox<T> &_b) = default;
 
       /// \brief Equality test operator
       /// \param[in] _b OrientedBox to test
diff --git a/include/ignition/math/Plane.hh b/include/ignition/math/Plane.hh
index b7ae61a7a..7c267e23e 100644
--- a/include/ignition/math/Plane.hh
+++ b/include/ignition/math/Plane.hh
@@ -80,12 +80,10 @@ namespace ignition
 
       /// \brief Copy constructor
       /// \param[in] _plane Plane to copy
-      public: Plane(const Plane &_plane)
-      : normal(_plane.normal), size(_plane.size), d(_plane.d)
-      {}
+      public: Plane(const Plane &_plane) = default;
 
       /// \brief Destructor
-      public: virtual ~Plane() {}
+      public: ~Plane() = default;
 
       /// \brief Set the plane
       /// \param[in] _normal The plane normal
@@ -213,14 +211,7 @@ namespace ignition
       /// \brief Equal operator
       /// \param _p another plane
       /// \return itself
-      public: Plane<T> &operator=(const Plane<T> &_p)
-      {
-        this->normal = _p.normal;
-        this->size = _p.size;
-        this->d = _p.d;
-
-        return *this;
-      }
+      public: Plane<T> &operator=(const Plane<T> &_p) = default;
 
       /// \brief Plane normal
       private: Vector3<T> normal;
diff --git a/include/ignition/math/Pose3.hh b/include/ignition/math/Pose3.hh
index 566b078af..78473c452 100644
--- a/include/ignition/math/Pose3.hh
+++ b/include/ignition/math/Pose3.hh
@@ -118,13 +118,10 @@ namespace ignition
 
       /// \brief Copy constructor.
       /// \param[in] _pose Pose3<T> to copy
-      public: Pose3(const Pose3<T> &_pose)
-      : p(_pose.p), q(_pose.q)
-      {
-      }
+      public: Pose3(const Pose3<T> &_pose) = default;
 
       /// \brief Destructor.
-      public: ~Pose3() {}
+      public: ~Pose3() = default;
 
       /// \brief Set the pose from a Vector3<T> and a Quaternion<T>
       /// \param[in] _pos The position.
@@ -280,12 +277,7 @@ namespace ignition
 
       /// \brief Assignment operator
       /// \param[in] _pose Pose3<T> to copy
-      public: Pose3<T> &operator=(const Pose3<T> &_pose)
-      {
-        this->p = _pose.p;
-        this->q = _pose.q;
-        return *this;
-      }
+      public: Pose3<T> &operator=(const Pose3<T> &_pose) = default;
 
       /// \brief Add one point to a vector: result = this + pos.
       /// \param[in] _pos Position to add to this pose
diff --git a/include/ignition/math/Quaternion.hh b/include/ignition/math/Quaternion.hh
index c44ebad14..d1eefd498 100644
--- a/include/ignition/math/Quaternion.hh
+++ b/include/ignition/math/Quaternion.hh
@@ -146,28 +146,14 @@ namespace ignition
       /// \brief Copy constructor. This constructor does not normalize the
       /// quaternion.
       /// \param[in] _qt Quaternion<T> to copy
-      public: Quaternion(const Quaternion<T> &_qt)
-      {
-        this->qw = _qt.qw;
-        this->qx = _qt.qx;
-        this->qy = _qt.qy;
-        this->qz = _qt.qz;
-      }
+      public: Quaternion(const Quaternion<T> &_qt) = default;
 
       /// \brief Destructor
-      public: ~Quaternion() {}
+      public: ~Quaternion() = default;
 
       /// \brief Assignment operator
       /// \param[in] _qt Quaternion<T> to copy
-      public: Quaternion<T> &operator=(const Quaternion<T> &_qt)
-      {
-        this->qw = _qt.qw;
-        this->qx = _qt.qx;
-        this->qy = _qt.qy;
-        this->qz = _qt.qz;
-
-        return *this;
-      }
+      public: Quaternion<T> &operator=(const Quaternion<T> &_qt) = default;
 
       /// \brief Invert the quaternion. The quaternion is first normalized,
       /// then inverted.
diff --git a/include/ignition/math/Stopwatch.hh b/include/ignition/math/Stopwatch.hh
index f469672f5..2e302d2fc 100644
--- a/include/ignition/math/Stopwatch.hh
+++ b/include/ignition/math/Stopwatch.hh
@@ -72,7 +72,7 @@ namespace ignition
       public: Stopwatch(Stopwatch &&_watch) noexcept;
 
       /// \brief Destructor.
-      public: virtual ~Stopwatch();
+      public: ~Stopwatch();
 
       /// \brief Start the stopwatch.
       /// \param[in] _reset If true the stopwatch is reset first.
diff --git a/include/ignition/math/Vector2.hh b/include/ignition/math/Vector2.hh
index 3d297b424..ae38dc889 100644
--- a/include/ignition/math/Vector2.hh
+++ b/include/ignition/math/Vector2.hh
@@ -58,14 +58,10 @@ namespace ignition
 
       /// \brief Copy constructor
       /// \param[in] _v the value
-      public: Vector2(const Vector2<T> &_v)
-      {
-        this->data[0] = _v[0];
-        this->data[1] = _v[1];
-      }
+      public: constexpr Vector2(const Vector2<T> &_v) = default;
 
       /// \brief Destructor
-      public: virtual ~Vector2() {}
+      public: ~Vector2() = default;
 
       /// \brief Return the sum of the values
       /// \return the sum
@@ -222,13 +218,7 @@ namespace ignition
       /// \brief Assignment operator
       /// \param[in] _v a value for x and y element
       /// \return this
-      public: Vector2 &operator=(const Vector2 &_v)
-      {
-        this->data[0] = _v[0];
-        this->data[1] = _v[1];
-
-        return *this;
-      }
+      public: Vector2 &operator=(const Vector2 &_v) = default;
 
       /// \brief Assignment operator
       /// \param[in] _v the value for x and y element
diff --git a/include/ignition/math/Vector3.hh b/include/ignition/math/Vector3.hh
index eafa60307..39bbb08d4 100644
--- a/include/ignition/math/Vector3.hh
+++ b/include/ignition/math/Vector3.hh
@@ -75,15 +75,10 @@ namespace ignition
 
       /// \brief Copy constructor
       /// \param[in] _v a vector
-      public: Vector3(const Vector3<T> &_v)
-      {
-        this->data[0] = _v[0];
-        this->data[1] = _v[1];
-        this->data[2] = _v[2];
-      }
+      public: Vector3(const Vector3<T> &_v) = default;
 
       /// \brief Destructor
-      public: virtual ~Vector3() {}
+      public: ~Vector3() = default;
 
       /// \brief Return the sum of the values
       /// \return the sum
@@ -330,14 +325,7 @@ namespace ignition
       /// \brief Assignment operator
       /// \param[in] _v a new value
       /// \return this
-      public: Vector3 &operator=(const Vector3<T> &_v)
-      {
-        this->data[0] = _v[0];
-        this->data[1] = _v[1];
-        this->data[2] = _v[2];
-
-        return *this;
-      }
+      public: Vector3 &operator=(const Vector3<T> &_v) = default;
 
       /// \brief Assignment operator
       /// \param[in] _v assigned to all elements
diff --git a/include/ignition/math/Vector4.hh b/include/ignition/math/Vector4.hh
index b1484cc6e..bfb39ddab 100644
--- a/include/ignition/math/Vector4.hh
+++ b/include/ignition/math/Vector4.hh
@@ -62,16 +62,10 @@ namespace ignition
 
       /// \brief Copy constructor
       /// \param[in] _v vector
-      public: Vector4(const Vector4<T> &_v)
-      {
-        this->data[0] = _v[0];
-        this->data[1] = _v[1];
-        this->data[2] = _v[2];
-        this->data[3] = _v[3];
-      }
+      public: Vector4(const Vector4<T> &_v) = default;
 
       /// \brief Destructor
-      public: virtual ~Vector4() {}
+      public: ~Vector4() = default;
 
       /// \brief Calc distance to the given point
       /// \param[in] _pt the point
@@ -264,15 +258,7 @@ namespace ignition
       /// \brief Assignment operator
       /// \param[in] _v the vector
       /// \return a reference to this vector
-      public: Vector4<T> &operator=(const Vector4<T> &_v)
-      {
-        this->data[0] = _v[0];
-        this->data[1] = _v[1];
-        this->data[2] = _v[2];
-        this->data[3] = _v[3];
-
-        return *this;
-      }
+      public: Vector4<T> &operator=(const Vector4<T> &_v) = default;
 
       /// \brief Assignment operator
       /// \param[in] _value
diff --git a/src/Color.cc b/src/Color.cc
index f70b9d69a..e9ffec67f 100644
--- a/src/Color.cc
+++ b/src/Color.cc
@@ -44,16 +44,10 @@ Color::Color(const float _r, const float _g, const float _b, const float _a)
 }
 
 //////////////////////////////////////////////////
-Color::Color(const Color &_pt)
-: r(_pt.r), g(_pt.g), b(_pt.b), a(_pt.a)
-{
-  this->Clamp();
-}
+Color::Color(const Color &_pt) = default;
 
 //////////////////////////////////////////////////
-Color::~Color()
-{
-}
+Color::~Color() = default;
 
 //////////////////////////////////////////////////
 void Color::Reset()
diff --git a/src/PID.cc b/src/PID.cc
index c1fad8725..37376635e 100644
--- a/src/PID.cc
+++ b/src/PID.cc
@@ -51,27 +51,7 @@ void PID::Init(const double _p, const double _i, const double _d,
 }
 
 /////////////////////////////////////////////////
-PID &PID::operator=(const PID &_p)
-{
-  if (this == &_p)
-    return *this;
-
-  this->pGain = _p.pGain;
-  this->iGain = _p.iGain;
-  this->dGain = _p.dGain;
-  this->iMax = _p.iMax;
-  this->iMin = _p.iMin;
-  this->cmdMax = _p.cmdMax;
-  this->cmdMin = _p.cmdMin;
-  this->cmdOffset = _p.cmdOffset;
-  this->pErrLast = _p.pErrLast;
-  this->pErr = _p.pErr;
-  this->iErr = _p.iErr;
-  this->dErr = _p.dErr;
-  this->cmd = _p.cmd;
-
-  return *this;
-}
+PID &PID::operator=(const PID &_p) = default;
 
 /////////////////////////////////////////////////
 void PID::SetPGain(const double _p)