diff --git a/wpimath/src/main/native/include/frc/proto/MatrixProto.h b/wpimath/src/main/native/include/frc/proto/MatrixProto.h
index 6d3d9e30c36..5fbe5d68ea3 100644
--- a/wpimath/src/main/native/include/frc/proto/MatrixProto.h
+++ b/wpimath/src/main/native/include/frc/proto/MatrixProto.h
@@ -9,12 +9,16 @@
 
 #include "frc/EigenCore.h"
 
-template <int Rows, int Cols>
-struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Matrixd<Rows, Cols>> {
+template <int Rows, int Cols, int Options, int MaxRows, int MaxCols>
+  requires(Cols != 1)
+struct WPILIB_DLLEXPORT
+    wpi::Protobuf<frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>> {
   static google::protobuf::Message* New(google::protobuf::Arena* arena);
-  static frc::Matrixd<Rows, Cols> Unpack(const google::protobuf::Message& msg);
-  static void Pack(google::protobuf::Message* msg,
-                   const frc::Matrixd<Rows, Cols>& value);
+  static frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols> Unpack(
+      const google::protobuf::Message& msg);
+  static void Pack(
+      google::protobuf::Message* msg,
+      const frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>& value);
 };
 
 #include "frc/proto/MatrixProto.inc"
diff --git a/wpimath/src/main/native/include/frc/proto/MatrixProto.inc b/wpimath/src/main/native/include/frc/proto/MatrixProto.inc
index 5e95d8a57d9..34c0e1bd969 100644
--- a/wpimath/src/main/native/include/frc/proto/MatrixProto.inc
+++ b/wpimath/src/main/native/include/frc/proto/MatrixProto.inc
@@ -7,15 +7,19 @@
 #include "frc/proto/MatrixProto.h"
 #include "wpimath.pb.h"
 
-template <int Rows, int Cols>
-google::protobuf::Message* wpi::Protobuf<frc::Matrixd<Rows, Cols>>::New(
+template <int Rows, int Cols, int Options, int MaxRows, int MaxCols>
+  requires(Cols != 1)
+google::protobuf::Message*
+wpi::Protobuf<frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>>::New(
     google::protobuf::Arena* arena) {
   return google::protobuf::Arena::CreateMessage<wpi::proto::ProtobufMatrix>(
       arena);
 }
 
-template <int Rows, int Cols>
-frc::Matrixd<Rows, Cols> wpi::Protobuf<frc::Matrixd<Rows, Cols>>::Unpack(
+template <int Rows, int Cols, int Options, int MaxRows, int MaxCols>
+  requires(Cols != 1)
+frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>
+wpi::Protobuf<frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>>::Unpack(
     const google::protobuf::Message& msg) {
   auto m = static_cast<const wpi::proto::ProtobufMatrix*>(&msg);
   if (m->num_rows() != Rows || m->num_cols() != Cols) {
@@ -24,16 +28,18 @@ frc::Matrixd<Rows, Cols> wpi::Protobuf<frc::Matrixd<Rows, Cols>>::Unpack(
   if (m->data_size() != Rows * Cols) {
     // TODO Error
   }
-  frc::Matrixd<Rows, Cols> mat;
+  frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols> mat;
   for (int i = 0; i < Rows * Cols; i++) {
     mat(i) = m->data(i);
   }
   return mat;
 }
 
-template <int Rows, int Cols>
-void wpi::Protobuf<frc::Matrixd<Rows, Cols>>::Pack(
-    google::protobuf::Message* msg, const frc::Matrixd<Rows, Cols>& value) {
+template <int Rows, int Cols, int Options, int MaxRows, int MaxCols>
+  requires(Cols != 1)
+void wpi::Protobuf<frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>>::Pack(
+    google::protobuf::Message* msg,
+    const frc::Matrixd<Rows, Cols, Options, MaxRows, MaxCols>& value) {
   auto m = static_cast<wpi::proto::ProtobufMatrix*>(msg);
   m->set_num_rows(Rows);
   m->set_num_cols(Cols);
diff --git a/wpimath/src/main/native/include/frc/proto/VectorProto.h b/wpimath/src/main/native/include/frc/proto/VectorProto.h
index 190950e4304..25c54b4e540 100644
--- a/wpimath/src/main/native/include/frc/proto/VectorProto.h
+++ b/wpimath/src/main/native/include/frc/proto/VectorProto.h
@@ -9,12 +9,15 @@
 
 #include "frc/EigenCore.h"
 
-template <int Size>
-struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Matrixd<Size, 1>> {
+template <int Size, int Options, int MaxRows, int MaxCols>
+struct WPILIB_DLLEXPORT
+    wpi::Protobuf<frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>> {
   static google::protobuf::Message* New(google::protobuf::Arena* arena);
-  static frc::Vectord<Size> Unpack(const google::protobuf::Message& msg);
-  static void Pack(google::protobuf::Message* msg,
-                   const frc::Vectord<Size>& value);
+  static frc::Matrixd<Size, 1, Options, MaxRows, MaxCols> Unpack(
+      const google::protobuf::Message& msg);
+  static void Pack(
+      google::protobuf::Message* msg,
+      const frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>& value);
 };
 
 #include "frc/proto/VectorProto.inc"
diff --git a/wpimath/src/main/native/include/frc/proto/VectorProto.inc b/wpimath/src/main/native/include/frc/proto/VectorProto.inc
index 98761d2dfc9..b2d9040fd62 100644
--- a/wpimath/src/main/native/include/frc/proto/VectorProto.inc
+++ b/wpimath/src/main/native/include/frc/proto/VectorProto.inc
@@ -7,30 +7,33 @@
 #include "frc/proto/VectorProto.h"
 #include "wpimath.pb.h"
 
-template <int Size>
-google::protobuf::Message* wpi::Protobuf<frc::Vectord<Size>>::New(
+template <int Size, int Options, int MaxRows, int MaxCols>
+google::protobuf::Message*
+wpi::Protobuf<frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>>::New(
     google::protobuf::Arena* arena) {
   return google::protobuf::Arena::CreateMessage<wpi::proto::ProtobufVector>(
       arena);
 }
 
-template <int Size>
-frc::Vectord<Size> wpi::Protobuf<frc::Vectord<Size>>::Unpack(
+template <int Size, int Options, int MaxRows, int MaxCols>
+frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>
+wpi::Protobuf<frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>>::Unpack(
     const google::protobuf::Message& msg) {
   auto m = static_cast<const wpi::proto::ProtobufVector*>(&msg);
   if (m->rows_size() != Size) {
     // TODO Error
   }
-  frc::Vectord<Size> vec;
+  frc::Matrixd<Size, 1, Options, MaxRows, MaxCols> vec;
   for (int i = 0; i < Size; i++) {
     vec(i) = m->rows(i);
   }
   return vec;
 }
 
-template <int Size>
-void wpi::Protobuf<frc::Vectord<Size>>::Pack(google::protobuf::Message* msg,
-                                             const frc::Vectord<Size>& value) {
+template <int Size, int Options, int MaxRows, int MaxCols>
+void wpi::Protobuf<frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>>::Pack(
+    google::protobuf::Message* msg,
+    const frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>& value) {
   auto m = static_cast<wpi::proto::ProtobufVector*>(msg);
   m->clear_rows();
   for (int i = 0; i < Size; i++) {