diff --git a/matrix/Euler.hpp b/matrix/Euler.hpp
index 472ee3da8d..61e26753b6 100644
--- a/matrix/Euler.hpp
+++ b/matrix/Euler.hpp
@@ -7,9 +7,8 @@
  */
 
 #pragma once
-#include <Vector.hpp>
-#include <Dcm.hpp>
-#include <Quaternion.hpp>
+
+#include "matrix.hpp"
 
 namespace matrix
 {
diff --git a/matrix/Quaternion.hpp b/matrix/Quaternion.hpp
index cf29a646f5..96a9497277 100644
--- a/matrix/Quaternion.hpp
+++ b/matrix/Quaternion.hpp
@@ -7,9 +7,8 @@
  */
 
 #pragma once
-#include <Vector.hpp>
-#include <Dcm.hpp>
-#include <Euler.hpp>
+
+#include "matrix.hpp"
 
 namespace matrix
 {
diff --git a/matrix/Scalar.hpp b/matrix/Scalar.hpp
index fdf2df6fb8..6523060f12 100644
--- a/matrix/Scalar.hpp
+++ b/matrix/Scalar.hpp
@@ -14,7 +14,7 @@
 #include <string.h>
 #include <math.h>
 
-#include "Matrix.hpp"
+#include "matrix.hpp"
 
 namespace matrix
 {
diff --git a/matrix/SquareMatrix.hpp b/matrix/SquareMatrix.hpp
index ad74b217da..a3dbdc6c78 100644
--- a/matrix/SquareMatrix.hpp
+++ b/matrix/SquareMatrix.hpp
@@ -14,7 +14,7 @@
 #include <string.h>
 #include <math.h>
 
-#include "Matrix.hpp"
+#include "matrix.hpp"
 
 namespace matrix
 {
diff --git a/matrix/Vector.hpp b/matrix/Vector.hpp
index 785db2fb8d..db42f6bdbf 100644
--- a/matrix/Vector.hpp
+++ b/matrix/Vector.hpp
@@ -7,7 +7,7 @@
  */
 
 #pragma once
-#include <Matrix.hpp>
+#include "matrix.hpp"
 
 namespace matrix
 {
diff --git a/matrix/Vector3.hpp b/matrix/Vector3.hpp
index 8f667f90a7..86ee427209 100644
--- a/matrix/Vector3.hpp
+++ b/matrix/Vector3.hpp
@@ -7,7 +7,8 @@
  */
 
 #pragma once
-#include <Vector.hpp>
+
+#include "matrix.hpp"
 
 namespace matrix
 {
diff --git a/matrix/matrix.hpp b/matrix/matrix.hpp
index 0b49dc895c..b3c2997712 100644
--- a/matrix/matrix.hpp
+++ b/matrix/matrix.hpp
@@ -7,5 +7,5 @@
 #include "Euler.hpp"
 #include "Dcm.hpp"
 #include "Scalar.hpp"
-
+#include "Quaternion.hpp"
 #include "filter.hpp"