diff --git a/EKF/mathlib.h b/EKF/mathlib.h
index aebcd6d5ce..31c325db39 100644
--- a/EKF/mathlib.h
+++ b/EKF/mathlib.h
@@ -41,15 +41,15 @@
 #ifndef MATHLIB_H
 #define MATHLIB_H
 #ifdef POSIX_SHARED
-// #include <Eigen/Dense>
-// #include <algorithm>
-// #include "Limits.hpp"
+#include <Eigen/Dense>
+#include <algorithm>
+#include "Limits.hpp"
 #define M_PI_F 3.14159265358979323846f
 #define constexpr
 
 namespace math
 {
-// using namespace Eigen;
+using namespace Eigen;
 using namespace std;
 
 float min(float val1, float val2);