From 9bc5da6d2df4c3eb0a7ef27cf8d065702c87a333 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Thu, 16 Feb 2017 00:31:06 -0500
Subject: [PATCH] update matrix and fix test_matrix (#6524)

---
 src/lib/matrix                       |  2 +-
 src/systemcmds/tests/test_matrix.cpp | 14 +++++++-------
 2 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/src/lib/matrix b/src/lib/matrix
index c31686379c..e2211c5867 160000
--- a/src/lib/matrix
+++ b/src/lib/matrix
@@ -1 +1 @@
-Subproject commit c31686379c7bbeacb469c3407b5e4ef159098c9c
+Subproject commit e2211c586714d0c3175d5d38c28d7f1f677d64a3
diff --git a/src/systemcmds/tests/test_matrix.cpp b/src/systemcmds/tests/test_matrix.cpp
index ba5900f5e3..d2e574810f 100644
--- a/src/systemcmds/tests/test_matrix.cpp
+++ b/src/systemcmds/tests/test_matrix.cpp
@@ -4,6 +4,7 @@
 #include <matrix/math.hpp>
 #include <matrix/filter.hpp>
 #include <matrix/integration.hpp>
+#include <matrix/Quaternion.hpp>
 
 using namespace matrix;
 
@@ -58,10 +59,10 @@ bool MatrixTest::run_tests()
 
 ut_declare_test_c(test_matrix, MatrixTest)
 
-
-template class matrix::Quaternion<float>;
-template class matrix::Euler<float>;
-template class matrix::Dcm<float>;
+using matrix::Dcmf;
+using matrix::Quatf;
+using matrix::Eulerf;
+using matrix::Vector3f;
 
 bool MatrixTest::attitudeTests()
 {
@@ -207,11 +208,10 @@ bool MatrixTest::attitudeTests()
 	ut_test(isEqual(q_from_m, m4));
 
 	// quaternion derivate
-	Vector<float, 4> q_dot = q.derivative(Vector3f(1, 2, 3));
+	Vector<float, 4> q_dot = q.derivative1(Vector3f(1, 2, 3));
 
 	// quaternion product
-	Quatf q_prod_check(
-		0.93394439f, 0.0674002f, 0.20851f, 0.28236266f);
+	Quatf q_prod_check(0.93394439f, 0.0674002f, 0.20851f, 0.28236266f);
 	ut_test(isEqual(q_prod_check, q_check * q_check));
 	q_check *= q_check;
 	ut_test(isEqual(q_prod_check, q_check));