diff --git a/CMakeLists.txt b/CMakeLists.txt
index 87255c6..037b594 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -616,4 +616,8 @@ install(TARGETS OndselSolver
         LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
         PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/OndselSolver)
 install(FILES ${CMAKE_BINARY_DIR}/OndselSolver.pc
-        DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/pkgconfig)
\ No newline at end of file
+        DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/pkgconfig)
+
+add_executable(testappexe testapp/OndselSolver.cpp)
+target_link_libraries(testappexe OndselSolver)
+target_include_directories(testappexe PUBLIC "../OndselSolver")
diff --git a/OndselSolver/EulerAngles.cpp b/OndselSolver/EulerAngles.cpp
index a33456d..5c3033f 100644
--- a/OndselSolver/EulerAngles.cpp
+++ b/OndselSolver/EulerAngles.cpp
@@ -65,14 +65,6 @@ namespace MbD {
     {
         assert(false);
     }
-    template<typename T>
-    inline void EulerAngles<T>::setRotOrder(int i, int j, int k)
-    {
-        rotOrder = std::make_shared<FullColumn<int>>(3);
-        rotOrder->at(0) = i;
-        rotOrder->at(1) = j;
-        rotOrder->at(2) = k;
-    }
     // type-specific helper functions
     std::shared_ptr<EulerAnglesDot<std::shared_ptr<MbD::Symbolic>>> differentiateWRT(EulerAngles<std::shared_ptr<MbD::Symbolic>>& ref, std::shared_ptr<MbD::Symbolic> var)
     {
diff --git a/OndselSolver/EulerAngles.h b/OndselSolver/EulerAngles.h
index 48bceae..216e6ad 100644
--- a/OndselSolver/EulerAngles.h
+++ b/OndselSolver/EulerAngles.h
@@ -36,5 +36,14 @@ namespace MbD {
     template class EulerAngles<std::shared_ptr<MbD::Symbolic>>;
     template class EulerAngles<double>;
     std::shared_ptr<EulerAnglesDot<std::shared_ptr<MbD::Symbolic>>> differentiateWRT(EulerAngles<std::shared_ptr<MbD::Symbolic>>& ref, std::shared_ptr<MbD::Symbolic> var);
+    template<typename T>
+
+    void EulerAngles<T>::setRotOrder(int i, int j, int k)
+    {
+        rotOrder = std::make_shared<FullColumn<int>>(3);
+        rotOrder->at(0) = i;
+        rotOrder->at(1) = j;
+        rotOrder->at(2) = k;
+    }
 }
 
diff --git a/OndselSolver/EulerParametersDot.h b/OndselSolver/EulerParametersDot.h
index 6389f13..283408c 100644
--- a/OndselSolver/EulerParametersDot.h
+++ b/OndselSolver/EulerParametersDot.h
@@ -185,7 +185,8 @@ namespace MbD {
 	inline FColDsptr EulerParametersDot<T>::omeOpO()
 	{
 		auto aaa = this->aB();
-		auto bbb = aaa->timesFullColumn((MbD::FColsptr<double>)this);
+//		auto bbb = aaa->timesFullColumn((MbD::FColsptr<double>)this);
+		auto bbb = aaa->timesFullColumn(this);
 		auto ccc = bbb->times(2.0);
 		return ccc;
 		//return this->aB->timesFullColumn(this)->times(2.0);
diff --git a/OndselSolver/FullMatrix.cpp b/OndselSolver/FullMatrix.cpp
index 0377eca..fa2053f 100644
--- a/OndselSolver/FullMatrix.cpp
+++ b/OndselSolver/FullMatrix.cpp
@@ -15,7 +15,18 @@
 namespace MbD {
     FColsptr<double> FullMatrixDouble::timesFullColumn(FColsptr<double> fullCol)
     {
-//        return this->timesFullColumn(fullCol.get());
+        return this->timesFullColumn(fullCol.get());
+//        auto nrow = this->nrow();
+//        auto answer = std::make_shared<FullColumn<double>>(nrow);
+//        for (int i = 0; i < nrow; i++)
+//        {
+//            answer->at(i) = this->at(i)->timesFullColumn(fullCol);
+//        }
+//        return answer;
+    }
+    FColsptr<double> FullMatrixDouble::timesFullColumn(FullColumn<double>* fullCol) // local
+    {
+        //"a*b = a(i,j)b(j) sum j."
         auto nrow = this->nrow();
         auto answer = std::make_shared<FullColumn<double>>(nrow);
         for (int i = 0; i < nrow; i++)
@@ -24,17 +35,6 @@ namespace MbD {
         }
         return answer;
     }
-//    FColsptr<double> timesFullColumn(FullColumn<double>* fullCol) // local
-//    {
-//        //"a*b = a(i,j)b(j) sum j."
-//        auto nrow = this->nrow();
-//        auto answer = std::make_shared<FullColumn<double>>(nrow);
-//        for (int i = 0; i < nrow; i++)
-//        {
-//            answer->at(i) = this->at(i)->timesFullColumn(fullCol);
-//        }
-//        return answer;
-//    }
     std::shared_ptr<FullMatrixDouble> FullMatrixDouble::rotatex(double the)
     {
         auto sthe = std::sin(the);
diff --git a/OndselSolver/FullMatrix.h b/OndselSolver/FullMatrix.h
index 91684ef..8e2c535 100644
--- a/OndselSolver/FullMatrix.h
+++ b/OndselSolver/FullMatrix.h
@@ -97,7 +97,7 @@ namespace MbD {
         void conditionSelfWithTol(double tol);
         std::ostream& printOn(std::ostream& s) const override;
         FColsptr<double> timesFullColumn(FColsptr<double> fullCol);
-        // FColsptr<double> timesFullColumn(FullColumn<double>* fullCol);
+        FColsptr<double> timesFullColumn(FullColumn<double>* fullCol);
     };
 
     //
diff --git a/testapp/CMakeLists.txt b/testapp/CMakeLists.txt
deleted file mode 100644
index f75fd3d..0000000
--- a/testapp/CMakeLists.txt
+++ /dev/null
@@ -1,10 +0,0 @@
-cmake_minimum_required(VERSION 3.16)
-
-project(OndselSolverLibrary VERSION 1.0.1 DESCRIPTION "Assembly Constraints and Multibody Dynamics code")
-
-set(CMAKE_CXX_STANDARD 17)
-set(CMAKE_CXX_STANDARD_REQUIRED True)
-
-add_executable(testapp OndselSolver.cpp)
-target_link_libraries(testapp OndselSolver)
-target_include_directories(testapp PUBLIC "../OndselSolver")
diff --git a/testapp/OndselSolver.cpp b/testapp/OndselSolver.cpp
index 0e6e2b3..165f70d 100644
--- a/testapp/OndselSolver.cpp
+++ b/testapp/OndselSolver.cpp
@@ -25,21 +25,21 @@ void runSpMat();
 
 int main()
 {
-//	// ASMTAssembly::readWriteFile("piston.asmt");
-//	MBDynSystem::runFile("MBDynCase.mbd");		//To be completed
-//	MBDynSystem::runFile("crank_slider.mbd");		//To be completed
-//	//ASMTAssembly::runSinglePendulumSuperSimplified();	//Mass is missing
-//	//ASMTAssembly::runSinglePendulumSuperSimplified2();	//DOF has infinite acceleration due to zero mass and inertias
-//	ASMTAssembly::runSinglePendulumSimplified();
-//	ASMTAssembly::runSinglePendulum();
-//	ASMTAssembly::runFile("piston.asmt");
-//	ASMTAssembly::runFile("00backhoe.asmt");
-//	//ASMTAssembly::runFile("circular.asmt");	//Needs checking
-//	//ASMTAssembly::runFile("cirpendu.asmt");	//Under constrained. Testing ICKine.
-//	//ASMTAssembly::runFile("engine1.asmt");	//Needs checking
-//	ASMTAssembly::runFile("fourbar.asmt");
-//	//ASMTAssembly::runFile("fourbot.asmt");	//Very large but works
-//	ASMTAssembly::runFile("wobpump.asmt");
+	// ASMTAssembly::readWriteFile("piston.asmt");
+	// MBDynSystem::runFile("MBDynCase.mbd");		//To be completed
+	// MBDynSystem::runFile("crank_slider.mbd");		//To be completed
+	//ASMTAssembly::runSinglePendulumSuperSimplified();	//Mass is missing
+	//ASMTAssembly::runSinglePendulumSuperSimplified2();	//DOF has infinite acceleration due to zero mass and inertias
+	ASMTAssembly::runSinglePendulumSimplified();
+	ASMTAssembly::runSinglePendulum();
+	ASMTAssembly::runFile("../testapp/piston.asmt");
+	ASMTAssembly::runFile("../testapp/00backhoe.asmt");
+	//ASMTAssembly::runFile("circular.asmt");	//Needs checking
+	//ASMTAssembly::runFile("cirpendu.asmt");	//Under constrained. Testing ICKine.
+	//ASMTAssembly::runFile("engine1.asmt");	//Needs checking
+	ASMTAssembly::runFile("../testapp/fourbar.asmt");
+	//ASMTAssembly::runFile("fourbot.asmt");	//Very large but works
+	ASMTAssembly::runFile("../testapp/wobpump.asmt");
 
 	auto cadSystem = std::make_shared<CADSystem>();
 	cadSystem->runOndselSinglePendulum();