diff --git a/wpimath/src/test/native/cpp/StateSpaceUtilTest.cpp b/wpimath/src/test/native/cpp/StateSpaceUtilTest.cpp
index c1984255cd..3710cffd6c 100644
--- a/wpimath/src/test/native/cpp/StateSpaceUtilTest.cpp
+++ b/wpimath/src/test/native/cpp/StateSpaceUtilTest.cpp
@@ -114,30 +114,23 @@ TEST(StateSpaceUtilTest, WhiteNoiseVectorArray) {
 TEST(StateSpaceUtilTest, IsStabilizable) {
   Eigen::Matrix<double, 2, 1> B{0, 1};
 
-  // We separate the result of IsStabilizable from the assertion because
-  // templates break gtest.
-
   // First eigenvalue is uncontrollable and unstable.
   // Second eigenvalue is controllable and stable.
-  Eigen::Matrix<double, 2, 2> A1{{1.2, 0}, {0, 0.5}};
-  bool ret = frc::IsStabilizable<2, 1>(A1, B);
-  EXPECT_FALSE(ret);
+  EXPECT_FALSE((frc::IsStabilizable<2, 1>(
+      Eigen::Matrix<double, 2, 2>{{1.2, 0}, {0, 0.5}}, B)));
 
   // First eigenvalue is uncontrollable and marginally stable.
   // Second eigenvalue is controllable and stable.
-  Eigen::Matrix<double, 2, 2> A2{{1, 0}, {0, 0.5}};
-  ret = frc::IsStabilizable<2, 1>(A2, B);
-  EXPECT_FALSE(ret);
+  EXPECT_FALSE((frc::IsStabilizable<2, 1>(
+      Eigen::Matrix<double, 2, 2>{{1, 0}, {0, 0.5}}, B)));
 
   // First eigenvalue is uncontrollable and stable.
   // Second eigenvalue is controllable and stable.
-  Eigen::Matrix<double, 2, 2> A3{{0.2, 0}, {0, 0.5}};
-  ret = frc::IsStabilizable<2, 1>(A3, B);
-  EXPECT_TRUE(ret);
+  EXPECT_TRUE((frc::IsStabilizable<2, 1>(
+      Eigen::Matrix<double, 2, 2>{{0.2, 0}, {0, 0.5}}, B)));
 
   // First eigenvalue is uncontrollable and stable.
   // Second eigenvalue is controllable and unstable.
-  Eigen::Matrix<double, 2, 2> A4{{0.2, 0}, {0, 1.2}};
-  ret = frc::IsStabilizable<2, 1>(A4, B);
-  EXPECT_TRUE(ret);
+  EXPECT_TRUE((frc::IsStabilizable<2, 1>(
+      Eigen::Matrix<double, 2, 2>{{0.2, 0}, {0, 1.2}}, B)));
 }