diff --git a/casadi-bindings.cabal b/casadi-bindings.cabal
--- a/casadi-bindings.cabal
+++ b/casadi-bindings.cabal
@@ -1,5 +1,5 @@
 name:                casadi-bindings
-version:             2.4.1.6
+version:             2.4.1.7
 synopsis:            mid-level bindings to CasADi
 category:            Numerical, Math
 description:
@@ -57,6 +57,7 @@
   other-modules:       Casadi.SharedObject
   build-depends:       base >=4.6 && <5,
                        linear,
+                       spatial-math >= 0.2.6.0,
                        vector,
                        containers,
                        cereal,
diff --git a/src/Casadi/Overloading.hs b/src/Casadi/Overloading.hs
--- a/src/Casadi/Overloading.hs
+++ b/src/Casadi/Overloading.hs
@@ -10,6 +10,7 @@
        ) where
 
 import Data.Fixed ( mod' )
+import SpatialMath ( ArcTan2(..) )
 
 -- | doesn't require Real, used for overloading symbolics
 class Fmod a where
@@ -17,13 +18,6 @@
 
 instance Fmod Double where fmod = mod'
 instance Fmod Float where fmod = mod'
-
--- | doesn't require RealFloat, used for overloading symbolics
-class ArcTan2 a where
-  arctan2 :: a -> a -> a
-
-instance ArcTan2 Double where arctan2 = atan2
-instance ArcTan2 Float where arctan2 = atan2
 
 -- | error function
 class Erf a where