diff --git a/gtsam/base/Matrix.cpp b/gtsam/base/Matrix.cpp
index 7bcd32b9f..7136db768 100644
--- a/gtsam/base/Matrix.cpp
+++ b/gtsam/base/Matrix.cpp
@@ -32,6 +32,9 @@
 #include <fstream>
 #include <limits>
 
+#include <gtsam/3rdparty/Eigen/Eigen/SVD>  
+#include <gtsam/3rdparty/Eigen/Eigen/LU>
+
 using namespace std;
 
 namespace gtsam {
@@ -697,6 +700,19 @@ std::string formatMatrixIndented(const std::string& label, const Matrix& matrix,
   return ss.str();
 }
 
+void inplace_QR(Matrix& A){
+  size_t rows = A.rows();
+  size_t cols = A.cols();
+  size_t size = std::min(rows,cols);
 
+  typedef Eigen::internal::plain_diag_type<Matrix>::type HCoeffsType;
+  typedef Eigen::internal::plain_row_type<Matrix>::type RowVectorType;
+  HCoeffsType hCoeffs(size);
+  RowVectorType temp(cols);
+
+  Eigen::internal::householder_qr_inplace_blocked<Matrix, HCoeffsType>::run(A, hCoeffs, 48, temp.data());
+
+  zeroBelowDiagonal(A);
+}
 
 } // namespace gtsam
diff --git a/gtsam/base/Matrix.h b/gtsam/base/Matrix.h
index d5c433d35..ee3c84464 100644
--- a/gtsam/base/Matrix.h
+++ b/gtsam/base/Matrix.h
@@ -25,10 +25,8 @@
 #include <boost/format.hpp>
 #include <boost/tuple/tuple.hpp>
 #include <boost/math/special_functions/fpclassify.hpp>
-
 #include <gtsam/3rdparty/Eigen/Eigen/Core>
 #include <gtsam/3rdparty/Eigen/Eigen/Cholesky>
-#include <gtsam/3rdparty/Eigen/Eigen/SVD> 
 #include <gtsam/3rdparty/Eigen/Eigen/LU>
 
 
@@ -372,21 +370,8 @@ GTSAM_EXPORT std::pair<Matrix,Matrix> qr(const Matrix& A);
  * @param A is the input matrix, and is the output
  * @param clear_below_diagonal enables zeroing out below diagonal
  */
-template <class MATRIX>
-void inplace_QR(MATRIX& A) {
-  size_t rows = A.rows();
-  size_t cols = A.cols();
-  size_t size = std::min(rows,cols);
-
-  typedef Eigen::internal::plain_diag_type<Matrix>::type HCoeffsType;
-  typedef Eigen::internal::plain_row_type<Matrix>::type RowVectorType;
-  HCoeffsType hCoeffs(size);
-  RowVectorType temp(cols);
-
-  Eigen::internal::householder_qr_inplace_blocked<MATRIX, HCoeffsType>::run(A, hCoeffs, 48, temp.data());
-
-  zeroBelowDiagonal(A);
-}
+//template <class MATRIX>
+void inplace_QR(Matrix& A);
 
 /**
  * Imperative algorithm for in-place full elimination with