diff --git a/CMakeLists.txt b/CMakeLists.txt
index d25936d..3a26204 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -69,15 +69,9 @@ OPTION (RBDL_USE_PYTHON_2 "Use python 2 instead of python 3" OFF)
 OPTION (RBDL_BUILD_CASADI "Use the CasADi backend" OFF)
 OPTION (RBDL_VCPKG_BUILD "Building RBDL in vcpkg environment" OFF)
 
-
 # Find and use the system's Eigen3 library
-FIND_PACKAGE (Eigen3 3.0.0)
-
-IF (NOT EIGEN3_FOUND)
-    MESSAGE (WARNING "Could not find Eigen3 on your system. Please install it!")
-ENDIF (NOT EIGEN3_FOUND)
-
-INCLUDE_DIRECTORIES (${EIGEN3_INCLUDE_DIR})
+FIND_PACKAGE (Eigen3 REQUIRED)
+LINK_LIBRARIES (Eigen3::Eigen)
 
 # Addons
 IF (RBDL_BUILD_ADDON_URDFREADER)
diff --git a/addons/urdfreader/thirdparty/CMakeLists.txt b/addons/urdfreader/thirdparty/CMakeLists.txt
index a57f5a7..77a36dd 100644
--- a/addons/urdfreader/thirdparty/CMakeLists.txt
+++ b/addons/urdfreader/thirdparty/CMakeLists.txt
@@ -1,7 +1,9 @@
-FIND_FILE(URDF_MODULE CMakeLists.txt PATHS ${CMAKE_CURRENT_SOURCE_DIR}/urdfparser NO_DEFAULT_PATH)
-IF (URDF_MODULE STREQUAL URDF_MODULE-NOTFOUND)
-  MESSAGE(FATAL_ERROR "The urdfreader module was not initalized correctly! Please make sure that you recursively cloned rbdl. For more information take a closer look at the README!")
-ENDIF(URDF_MODULE STREQUAL URDF_MODULE-NOTFOUND)
+SET(URDF_MODULE "${CMAKE_CURRENT_SOURCE_DIR}/urdfparser/CMakeLists.txt")
+IF (NOT EXISTS "${URDF_MODULE}")
+  MESSAGE(FATAL_ERROR "The urdfreader module was not initialized correctly!\n"
+    "The required file '${URDF_MODULE}' does not exist.\n"
+    "Please make sure that you recursively cloned rbdl. For more information take a closer look at the README!")
+ENDIF()
 ADD_SUBDIRECTORY(
 	urdfparser
 )
diff --git a/include/rbdl/rbdl_eigenmath.h b/include/rbdl/rbdl_eigenmath.h
index 917eb41..8cf2f8c 100644
--- a/include/rbdl/rbdl_eigenmath.h
+++ b/include/rbdl/rbdl_eigenmath.h
@@ -44,15 +44,11 @@ class RBDL_TEMPLATE_DLLAPI Vector2_t : public Eigen::Vector2d
         const double& v0, const double& v1
         )
     {
-      Base::_check_template_params();
-
       (*this) << v0, v1;
     }
 
     void set(const double& v0, const double& v1)
     {
-      Base::_check_template_params();
-
       (*this) << v0, v1;
     }
 };
@@ -81,15 +77,11 @@ class RBDL_TEMPLATE_DLLAPI Vector3_t : public Eigen::Vector3d
         const double& v0, const double& v1, const double& v2
         )
     {
-      Base::_check_template_params();
-
       (*this) << v0, v1, v2;
     }
 
     void set(const double& v0, const double& v1, const double& v2)
     {
-      Base::_check_template_params();
-
       (*this) << v0, v1, v2;
     }
 };
@@ -120,8 +112,6 @@ class RBDL_TEMPLATE_DLLAPI Matrix3_t : public Eigen::Matrix3d
         const double& m20, const double& m21, const double& m22
         )
     {
-      Base::_check_template_params();
-
       (*this)
         << m00, m01, m02,
         m10, m11, m12,
@@ -154,15 +144,11 @@ class RBDL_TEMPLATE_DLLAPI Vector4_t : public Eigen::Vector4d
         const double& v0, const double& v1, const double& v2, const double& v3
         )
     {
-      Base::_check_template_params();
-
       (*this) << v0, v1, v2, v3;
     }
 
     void set(const double& v0, const double& v1, const double& v2, const double& v3)
     {
-      Base::_check_template_params();
-
       (*this) << v0, v1, v2, v3;
     }
 };
@@ -192,8 +178,6 @@ class RBDL_TEMPLATE_DLLAPI SpatialVector_t : public Eigen::Matrix<double, 6, 1>
         const double& v3, const double& v4, const double& v5
         )
     {
-      Base::_check_template_params();
-
       (*this) << v0, v1, v2, v3, v4, v5;
     }
 
@@ -202,8 +186,6 @@ class RBDL_TEMPLATE_DLLAPI SpatialVector_t : public Eigen::Matrix<double, 6, 1>
         const double& v3, const double& v4, const double& v5
         )
     {
-      Base::_check_template_params();
-
       (*this) << v0, v1, v2, v3, v4, v5;
     }
 };
@@ -235,8 +217,6 @@ class RBDL_TEMPLATE_DLLAPI Matrix4_t : public Eigen::Matrix<double, 4, 4>
         const Scalar& m30, const Scalar& m31, const Scalar& m32, const Scalar& m33
         )
     {
-      Base::_check_template_params();
-
       (*this)
         << m00, m01, m02, m03
         , m10, m11, m12, m13
@@ -252,8 +232,6 @@ class RBDL_TEMPLATE_DLLAPI Matrix4_t : public Eigen::Matrix<double, 4, 4>
         const Scalar& m30, const Scalar& m31, const Scalar& m32, const Scalar& m33
         )
     {
-      Base::_check_template_params();
-
       (*this)
         << m00, m01, m02, m03
         , m10, m11, m12, m13
@@ -292,8 +270,6 @@ class RBDL_TEMPLATE_DLLAPI SpatialMatrix_t : public Eigen::Matrix<double, 6, 6>
         const Scalar& m50, const Scalar& m51, const Scalar& m52, const Scalar& m53, const Scalar& m54, const Scalar& m55
         )
     {
-      Base::_check_template_params();
-
       (*this)
         << m00, m01, m02, m03, m04, m05
         , m10, m11, m12, m13, m14, m15
@@ -313,8 +289,6 @@ class RBDL_TEMPLATE_DLLAPI SpatialMatrix_t : public Eigen::Matrix<double, 6, 6>
         const Scalar& m50, const Scalar& m51, const Scalar& m52, const Scalar& m53, const Scalar& m54, const Scalar& m55
         )
     {
-      Base::_check_template_params();
-
       (*this)
         << m00, m01, m02, m03, m04, m05
         , m10, m11, m12, m13, m14, m15