diff --git a/wpimath/src/main/native/include/frc/controller/ControlAffinePlantInversionFeedforward.h b/wpimath/src/main/native/include/frc/controller/ControlAffinePlantInversionFeedforward.h
index 656f767a6b..75d85a7bc6 100644
--- a/wpimath/src/main/native/include/frc/controller/ControlAffinePlantInversionFeedforward.h
+++ b/wpimath/src/main/native/include/frc/controller/ControlAffinePlantInversionFeedforward.h
@@ -104,7 +104,7 @@ class ControlAffinePlantInversionFeedforward {
    *
    * @return The row of the calculated feedforward.
    */
-  double Uff(int i) const { return m_uff(i, 0); }
+  double Uff(int i) const { return m_uff(i); }
 
   /**
    * Returns the current reference vector r.
@@ -120,7 +120,7 @@ class ControlAffinePlantInversionFeedforward {
    *
    * @return The row of the current reference vector.
    */
-  double R(int i) const { return m_r(i, 0); }
+  double R(int i) const { return m_r(i); }
 
   /**
    * Resets the feedforward with a specified initial state vector.
diff --git a/wpimath/src/main/native/include/frc/controller/LinearPlantInversionFeedforward.h b/wpimath/src/main/native/include/frc/controller/LinearPlantInversionFeedforward.h
index 519368da37..780d2e1d72 100644
--- a/wpimath/src/main/native/include/frc/controller/LinearPlantInversionFeedforward.h
+++ b/wpimath/src/main/native/include/frc/controller/LinearPlantInversionFeedforward.h
@@ -72,7 +72,7 @@ class LinearPlantInversionFeedforward {
    *
    * @return The row of the calculated feedforward.
    */
-  double Uff(int i) const { return m_uff(i, 0); }
+  double Uff(int i) const { return m_uff(i); }
 
   /**
    * Returns the current reference vector r.
@@ -88,7 +88,7 @@ class LinearPlantInversionFeedforward {
    *
    * @return The row of the current reference vector.
    */
-  double R(int i) const { return m_r(i, 0); }
+  double R(int i) const { return m_r(i); }
 
   /**
    * Resets the feedforward with a specified initial state vector.
diff --git a/wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h b/wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h
index 44a850178b..c0e5dfd5de 100644
--- a/wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h
+++ b/wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h
@@ -173,7 +173,7 @@ class LinearQuadraticRegulatorImpl {
    *
    * @return The row of the reference vector.
    */
-  double R(int i) const { return m_r(i, 0); }
+  double R(int i) const { return m_r(i); }
 
   /**
    * Returns the control input vector u.
@@ -189,7 +189,7 @@ class LinearQuadraticRegulatorImpl {
    *
    * @return The row of the control input vector.
    */
-  double U(int i) const { return m_u(i, 0); }
+  double U(int i) const { return m_u(i); }
 
   /**
    * Resets the controller.
diff --git a/wpimath/src/main/native/include/frc/estimator/ExtendedKalmanFilter.h b/wpimath/src/main/native/include/frc/estimator/ExtendedKalmanFilter.h
index a7e0f3df94..b42fbf07a7 100644
--- a/wpimath/src/main/native/include/frc/estimator/ExtendedKalmanFilter.h
+++ b/wpimath/src/main/native/include/frc/estimator/ExtendedKalmanFilter.h
@@ -197,7 +197,7 @@ class ExtendedKalmanFilter {
    *
    * @param i Row of x-hat.
    */
-  double Xhat(int i) const { return m_xHat(i, 0); }
+  double Xhat(int i) const { return m_xHat(i); }
 
   /**
    * Set initial state estimate x-hat.
@@ -212,7 +212,7 @@ class ExtendedKalmanFilter {
    * @param i     Row of x-hat.
    * @param value Value for element of x-hat.
    */
-  void SetXhat(int i, double value) { m_xHat(i, 0) = value; }
+  void SetXhat(int i, double value) { m_xHat(i) = value; }
 
   /**
    * Resets the observer.
diff --git a/wpimath/src/main/native/include/frc/estimator/UnscentedKalmanFilter.h b/wpimath/src/main/native/include/frc/estimator/UnscentedKalmanFilter.h
index 3aa3e59b05..1c87b5e7a8 100644
--- a/wpimath/src/main/native/include/frc/estimator/UnscentedKalmanFilter.h
+++ b/wpimath/src/main/native/include/frc/estimator/UnscentedKalmanFilter.h
@@ -192,7 +192,7 @@ class UnscentedKalmanFilter {
    *
    * @param i Row of x-hat.
    */
-  double Xhat(int i) const { return m_xHat(i, 0); }
+  double Xhat(int i) const { return m_xHat(i); }
 
   /**
    * Set initial state estimate x-hat.
@@ -207,7 +207,7 @@ class UnscentedKalmanFilter {
    * @param i     Row of x-hat.
    * @param value Value for element of x-hat.
    */
-  void SetXhat(int i, double value) { m_xHat(i, 0) = value; }
+  void SetXhat(int i, double value) { m_xHat(i) = value; }
 
   /**
    * Resets the observer.