SCRIPT: wpiformat

2026-06-28 02:11:43 +00:00 · 2025-11-07 19:57:55 -05:00
parent c48b722dac
commit 1e7604f81c
1218 changed files with 2709 additions and 3267 deletions
--- a/wpimath/src/main/native/include/wpi/math/controller/ArmFeedforward.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/ArmFeedforward.hpp
@@ -6,14 +6,13 @@

 #include <cstdlib>

-#include "wpi/util/MathExtras.hpp"
-#include "wpi/util/SymbolExports.hpp"
-
+#include "wpi/math/util/MathShared.hpp"
 #include "wpi/units/angle.hpp"
 #include "wpi/units/angular_velocity.hpp"
 #include "wpi/units/math.hpp"
 #include "wpi/units/voltage.hpp"
-#include "wpi/math/util/MathShared.hpp"
+#include "wpi/util/MathExtras.hpp"
+#include "wpi/util/SymbolExports.hpp"

 namespace frc {
 /**
--- a/wpimath/src/main/native/include/wpi/math/controller/BangBangController.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/BangBangController.hpp
@@ -7,12 +7,12 @@
 #include <limits>

 #include <gcem.hpp>
+
+#include "wpi/math/util/MathShared.hpp"
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/sendable/Sendable.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"

-#include "wpi/math/util/MathShared.hpp"
-
 namespace frc {

 /**
--- a/wpimath/src/main/native/include/wpi/math/controller/DifferentialDriveAccelerationLimiter.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/DifferentialDriveAccelerationLimiter.hpp
@@ -7,7 +7,6 @@
 #include <utility>

 #include <Eigen/Core>
-#include "wpi/util/SymbolExports.hpp"

 #include "wpi/math/controller/DifferentialDriveWheelVoltages.hpp"
 #include "wpi/math/system/LinearSystem.hpp"
@@ -16,6 +15,7 @@
 #include "wpi/units/length.hpp"
 #include "wpi/units/velocity.hpp"
 #include "wpi/units/voltage.hpp"
+#include "wpi/util/SymbolExports.hpp"

 namespace frc {

--- a/wpimath/src/main/native/include/wpi/math/controller/DifferentialDriveFeedforward.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/DifferentialDriveFeedforward.hpp
@@ -4,8 +4,6 @@

 #pragma once

-#include "wpi/util/SymbolExports.hpp"
-
 #include "wpi/math/controller/DifferentialDriveWheelVoltages.hpp"
 #include "wpi/math/system/LinearSystem.hpp"
 #include "wpi/math/system/plant/LinearSystemId.hpp"
@@ -16,6 +14,7 @@
 #include "wpi/units/time.hpp"
 #include "wpi/units/velocity.hpp"
 #include "wpi/units/voltage.hpp"
+#include "wpi/util/SymbolExports.hpp"

 namespace frc {
 /**
--- a/wpimath/src/main/native/include/wpi/math/controller/ElevatorFeedforward.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/ElevatorFeedforward.hpp
@@ -4,15 +4,14 @@

 #pragma once

-#include "wpi/util/MathExtras.hpp"
-
-#include "wpi/math/linalg/EigenCore.hpp"
 #include "wpi/math/controller/LinearPlantInversionFeedforward.hpp"
+#include "wpi/math/linalg/EigenCore.hpp"
 #include "wpi/math/system/plant/LinearSystemId.hpp"
+#include "wpi/math/util/MathShared.hpp"
 #include "wpi/units/length.hpp"
 #include "wpi/units/time.hpp"
 #include "wpi/units/voltage.hpp"
-#include "wpi/math/util/MathShared.hpp"
+#include "wpi/util/MathExtras.hpp"

 namespace frc {
 /**
--- a/wpimath/src/main/native/include/wpi/math/controller/ImplicitModelFollower.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/ImplicitModelFollower.hpp
@@ -4,11 +4,10 @@

 #pragma once

-#include "wpi/math/system/LinearSystem.hpp"
-
 #include <Eigen/QR>

 #include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/system/LinearSystem.hpp"
 #include "wpi/units/time.hpp"

 namespace frc {
--- a/wpimath/src/main/native/include/wpi/math/controller/LTVDifferentialDriveController.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/LTVDifferentialDriveController.hpp
@@ -7,17 +7,17 @@
 #include <cmath>

 #include <Eigen/Core>
-#include "wpi/util/SymbolExports.hpp"
-#include "wpi/util/array.hpp"

-#include "wpi/math/util/StateSpaceUtil.hpp"
 #include "wpi/math/controller/DifferentialDriveWheelVoltages.hpp"
 #include "wpi/math/geometry/Pose2d.hpp"
 #include "wpi/math/system/LinearSystem.hpp"
 #include "wpi/math/trajectory/Trajectory.hpp"
+#include "wpi/math/util/StateSpaceUtil.hpp"
 #include "wpi/units/length.hpp"
 #include "wpi/units/time.hpp"
 #include "wpi/units/velocity.hpp"
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"

 namespace frc {

--- a/wpimath/src/main/native/include/wpi/math/controller/LTVUnicycleController.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/LTVUnicycleController.hpp
@@ -5,17 +5,17 @@
 #pragma once

 #include <Eigen/Core>
-#include "wpi/util/SymbolExports.hpp"
-#include "wpi/util/array.hpp"

-#include "wpi/math/util/StateSpaceUtil.hpp"
 #include "wpi/math/geometry/Pose2d.hpp"
 #include "wpi/math/kinematics/ChassisSpeeds.hpp"
 #include "wpi/math/trajectory/Trajectory.hpp"
+#include "wpi/math/util/StateSpaceUtil.hpp"
 #include "wpi/units/angular_velocity.hpp"
 #include "wpi/units/math.hpp"
 #include "wpi/units/time.hpp"
 #include "wpi/units/velocity.hpp"
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"

 namespace frc {

--- a/wpimath/src/main/native/include/wpi/math/controller/LinearQuadraticRegulator.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/LinearQuadraticRegulator.hpp
@@ -9,17 +9,17 @@

 #include <Eigen/Cholesky>
 #include <unsupported/Eigen/MatrixFunctions>
-#include "wpi/util/SymbolExports.hpp"
-#include "wpi/util/array.hpp"

+#include "wpi/math/fmt/Eigen.hpp"
 #include "wpi/math/linalg/DARE.hpp"
 #include "wpi/math/linalg/EigenCore.hpp"
-#include "wpi/math/util/StateSpaceUtil.hpp"
-#include "wpi/math/fmt/Eigen.hpp"
 #include "wpi/math/system/Discretization.hpp"
 #include "wpi/math/system/LinearSystem.hpp"
-#include "wpi/units/time.hpp"
 #include "wpi/math/util/MathShared.hpp"
+#include "wpi/math/util/StateSpaceUtil.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"

 namespace frc {

--- a/wpimath/src/main/native/include/wpi/math/controller/PIDController.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/PIDController.hpp
@@ -10,15 +10,15 @@
 #include <type_traits>

 #include <gcem.hpp>
+
+#include "wpi/math/util/MathShared.hpp"
+#include "wpi/math/util/MathUtil.hpp"
+#include "wpi/units/time.hpp"
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/sendable/Sendable.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"
 #include "wpi/util/sendable/SendableRegistry.hpp"

-#include "wpi/math/util/MathUtil.hpp"
-#include "wpi/units/time.hpp"
-#include "wpi/math/util/MathShared.hpp"
-
 namespace frc {

 /**
--- a/wpimath/src/main/native/include/wpi/math/controller/ProfiledPIDController.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/ProfiledPIDController.hpp
@@ -8,16 +8,15 @@
 #include <limits>
 #include <type_traits>

+#include "wpi/math/controller/PIDController.hpp"
+#include "wpi/math/trajectory/TrapezoidProfile.hpp"
+#include "wpi/math/util/MathUtil.hpp"
+#include "wpi/units/time.hpp"
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/sendable/Sendable.hpp"
 #include "wpi/util/sendable/SendableBuilder.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"

-#include "wpi/math/util/MathUtil.hpp"
-#include "wpi/math/controller/PIDController.hpp"
-#include "wpi/math/trajectory/TrapezoidProfile.hpp"
-#include "wpi/units/time.hpp"
-
 namespace frc {
 namespace detail {
 WPILIB_DLLEXPORT
--- a/wpimath/src/main/native/include/wpi/math/controller/SimpleMotorFeedforward.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/SimpleMotorFeedforward.hpp
@@ -5,13 +5,13 @@
 #pragma once

 #include <gcem.hpp>
-#include "wpi/util/MathExtras.hpp"

+#include "wpi/math/util/MathShared.hpp"
 #include "wpi/units/angle.hpp"
 #include "wpi/units/length.hpp"
 #include "wpi/units/time.hpp"
 #include "wpi/units/voltage.hpp"
-#include "wpi/math/util/MathShared.hpp"
+#include "wpi/util/MathExtras.hpp"

 namespace frc {

--- a/wpimath/src/main/native/include/wpi/math/controller/proto/ArmFeedforwardProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/proto/ArmFeedforwardProto.hpp
@@ -4,11 +4,10 @@

 #pragma once

+#include "pb.h"
+#include "wpi/math/controller/ArmFeedforward.hpp"
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/protobuf/Protobuf.hpp"
-
-#include "wpi/math/controller/ArmFeedforward.hpp"
-#include "pb.h"
 #include "wpimath/protobuf/controller.npb.h"

 template <>
--- a/wpimath/src/main/native/include/wpi/math/controller/proto/DifferentialDriveFeedforwardProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/proto/DifferentialDriveFeedforwardProto.hpp
@@ -4,11 +4,10 @@

 #pragma once

+#include "pb.h"
+#include "wpi/math/controller/DifferentialDriveFeedforward.hpp"
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/protobuf/Protobuf.hpp"
-
-#include "wpi/math/controller/DifferentialDriveFeedforward.hpp"
-#include "pb.h"
 #include "wpimath/protobuf/controller.npb.h"

 template <>
--- a/wpimath/src/main/native/include/wpi/math/controller/proto/DifferentialDriveWheelVoltagesProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/proto/DifferentialDriveWheelVoltagesProto.hpp
@@ -4,11 +4,10 @@

 #pragma once

+#include "pb.h"
+#include "wpi/math/controller/DifferentialDriveWheelVoltages.hpp"
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/protobuf/Protobuf.hpp"
-
-#include "wpi/math/controller/DifferentialDriveWheelVoltages.hpp"
-#include "pb.h"
 #include "wpimath/protobuf/controller.npb.h"

 template <>
--- a/wpimath/src/main/native/include/wpi/math/controller/proto/ElevatorFeedforwardProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/proto/ElevatorFeedforwardProto.hpp
@@ -4,11 +4,10 @@

 #pragma once

+#include "pb.h"
+#include "wpi/math/controller/ElevatorFeedforward.hpp"
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/protobuf/Protobuf.hpp"
-
-#include "wpi/math/controller/ElevatorFeedforward.hpp"
-#include "pb.h"
 #include "wpimath/protobuf/controller.npb.h"

 template <>
--- a/wpimath/src/main/native/include/wpi/math/controller/proto/SimpleMotorFeedforwardProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/proto/SimpleMotorFeedforwardProto.hpp
@@ -4,11 +4,10 @@

 #pragma once

-#include "wpi/util/protobuf/Protobuf.hpp"
-
-#include "wpi/math/controller/SimpleMotorFeedforward.hpp"
 #include "pb.h"
+#include "wpi/math/controller/SimpleMotorFeedforward.hpp"
 #include "wpi/units/length.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 #include "wpimath/protobuf/controller.npb.h"

 // Everything is converted into units for
--- a/wpimath/src/main/native/include/wpi/math/controller/struct/ArmFeedforwardStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/struct/ArmFeedforwardStruct.hpp
@@ -4,11 +4,10 @@

 #pragma once

+#include "wpi/math/controller/ArmFeedforward.hpp"
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/struct/Struct.hpp"

-#include "wpi/math/controller/ArmFeedforward.hpp"
-
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::ArmFeedforward> {
  static constexpr std::string_view GetTypeName() { return "ArmFeedforward"; }
--- a/wpimath/src/main/native/include/wpi/math/controller/struct/DifferentialDriveFeedforwardStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/struct/DifferentialDriveFeedforwardStruct.hpp
@@ -4,11 +4,10 @@

 #pragma once

+#include "wpi/math/controller/DifferentialDriveFeedforward.hpp"
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/struct/Struct.hpp"

-#include "wpi/math/controller/DifferentialDriveFeedforward.hpp"
-
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::DifferentialDriveFeedforward> {
  static constexpr std::string_view GetTypeName() {
--- a/wpimath/src/main/native/include/wpi/math/controller/struct/DifferentialDriveWheelVoltagesStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/struct/DifferentialDriveWheelVoltagesStruct.hpp
@@ -4,11 +4,10 @@

 #pragma once

+#include "wpi/math/controller/DifferentialDriveWheelVoltages.hpp"
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/struct/Struct.hpp"

-#include "wpi/math/controller/DifferentialDriveWheelVoltages.hpp"
-
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::DifferentialDriveWheelVoltages> {
  static constexpr std::string_view GetTypeName() {
--- a/wpimath/src/main/native/include/wpi/math/controller/struct/ElevatorFeedforwardStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/struct/ElevatorFeedforwardStruct.hpp
@@ -4,11 +4,10 @@

 #pragma once

+#include "wpi/math/controller/ElevatorFeedforward.hpp"
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/struct/Struct.hpp"

-#include "wpi/math/controller/ElevatorFeedforward.hpp"
-
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::ElevatorFeedforward> {
  static constexpr std::string_view GetTypeName() {
--- a/wpimath/src/main/native/include/wpi/math/controller/struct/SimpleMotorFeedforwardStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/struct/SimpleMotorFeedforwardStruct.hpp
@@ -4,10 +4,9 @@

 #pragma once

-#include "wpi/util/struct/Struct.hpp"
-
 #include "wpi/math/controller/SimpleMotorFeedforward.hpp"
 #include "wpi/units/length.hpp"
+#include "wpi/util/struct/Struct.hpp"

 // Everything is converted into units for
 // frc::SimpleMotorFeedforward<units::meters> or
--- a/wpimath/src/main/native/include/wpi/math/estimator/DifferentialDrivePoseEstimator.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/DifferentialDrivePoseEstimator.hpp
@@ -4,15 +4,14 @@

 #pragma once

-#include "wpi/util/SymbolExports.hpp"
-#include "wpi/util/array.hpp"
-
 #include "wpi/math/estimator/PoseEstimator.hpp"
 #include "wpi/math/geometry/Pose2d.hpp"
 #include "wpi/math/geometry/Rotation2d.hpp"
 #include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
 #include "wpi/math/kinematics/DifferentialDriveOdometry.hpp"
 #include "wpi/units/time.hpp"
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"

 namespace frc {
 /**
--- a/wpimath/src/main/native/include/wpi/math/estimator/DifferentialDrivePoseEstimator3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/DifferentialDrivePoseEstimator3d.hpp
@@ -4,15 +4,14 @@

 #pragma once

-#include "wpi/util/SymbolExports.hpp"
-#include "wpi/util/array.hpp"
-
 #include "wpi/math/estimator/PoseEstimator3d.hpp"
 #include "wpi/math/geometry/Pose2d.hpp"
 #include "wpi/math/geometry/Rotation2d.hpp"
 #include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
 #include "wpi/math/kinematics/DifferentialDriveOdometry3d.hpp"
 #include "wpi/units/time.hpp"
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"

 namespace frc {
 /**
--- a/wpimath/src/main/native/include/wpi/math/estimator/ExtendedKalmanFilter.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/ExtendedKalmanFilter.hpp
@@ -9,16 +9,16 @@
 #include <utility>

 #include <Eigen/Cholesky>
-#include "wpi/util/array.hpp"

+#include "wpi/math/fmt/Eigen.hpp"
 #include "wpi/math/linalg/DARE.hpp"
 #include "wpi/math/linalg/EigenCore.hpp"
-#include "wpi/math/util/StateSpaceUtil.hpp"
-#include "wpi/math/fmt/Eigen.hpp"
 #include "wpi/math/system/Discretization.hpp"
 #include "wpi/math/system/NumericalIntegration.hpp"
 #include "wpi/math/system/NumericalJacobian.hpp"
+#include "wpi/math/util/StateSpaceUtil.hpp"
 #include "wpi/units/time.hpp"
+#include "wpi/util/array.hpp"

 namespace frc {

--- a/wpimath/src/main/native/include/wpi/math/estimator/KalmanFilter.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/KalmanFilter.hpp
@@ -9,16 +9,16 @@
 #include <string>

 #include <Eigen/Cholesky>
-#include "wpi/util/array.hpp"

+#include "wpi/math/fmt/Eigen.hpp"
 #include "wpi/math/linalg/DARE.hpp"
 #include "wpi/math/linalg/EigenCore.hpp"
-#include "wpi/math/util/StateSpaceUtil.hpp"
-#include "wpi/math/fmt/Eigen.hpp"
 #include "wpi/math/system/Discretization.hpp"
 #include "wpi/math/system/LinearSystem.hpp"
-#include "wpi/units/time.hpp"
 #include "wpi/math/util/MathShared.hpp"
+#include "wpi/math/util/StateSpaceUtil.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/util/array.hpp"

 namespace frc {

--- a/wpimath/src/main/native/include/wpi/math/estimator/MecanumDrivePoseEstimator.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/MecanumDrivePoseEstimator.hpp
@@ -6,9 +6,6 @@

 #include <functional>

-#include "wpi/util/SymbolExports.hpp"
-#include "wpi/util/array.hpp"
-
 #include "wpi/math/estimator/PoseEstimator.hpp"
 #include "wpi/math/geometry/Pose2d.hpp"
 #include "wpi/math/geometry/Rotation2d.hpp"
@@ -16,6 +13,8 @@
 #include "wpi/math/kinematics/MecanumDriveKinematics.hpp"
 #include "wpi/math/kinematics/MecanumDriveOdometry.hpp"
 #include "wpi/units/time.hpp"
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"

 namespace frc {
 /**
--- a/wpimath/src/main/native/include/wpi/math/estimator/MecanumDrivePoseEstimator3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/MecanumDrivePoseEstimator3d.hpp
@@ -6,9 +6,6 @@

 #include <functional>

-#include "wpi/util/SymbolExports.hpp"
-#include "wpi/util/array.hpp"
-
 #include "wpi/math/estimator/PoseEstimator3d.hpp"
 #include "wpi/math/geometry/Pose2d.hpp"
 #include "wpi/math/geometry/Rotation2d.hpp"
@@ -16,6 +13,8 @@
 #include "wpi/math/kinematics/MecanumDriveKinematics.hpp"
 #include "wpi/math/kinematics/MecanumDriveOdometry3d.hpp"
 #include "wpi/units/time.hpp"
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"

 namespace frc {
 /**
--- a/wpimath/src/main/native/include/wpi/math/estimator/MerweUKF.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/MerweUKF.hpp
@@ -4,10 +4,9 @@

 #pragma once

-#include "wpi/util/SymbolExports.hpp"
-
 #include "wpi/math/estimator/MerweScaledSigmaPoints.hpp"
 #include "wpi/math/estimator/UnscentedKalmanFilter.hpp"
+#include "wpi/util/SymbolExports.hpp"

 namespace frc {

--- a/wpimath/src/main/native/include/wpi/math/estimator/PoseEstimator.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/PoseEstimator.hpp
@@ -9,8 +9,6 @@
 #include <vector>

 #include <Eigen/Core>
-#include "wpi/util/SymbolExports.hpp"
-#include "wpi/util/array.hpp"

 #include "wpi/math/geometry/Pose2d.hpp"
 #include "wpi/math/geometry/Rotation2d.hpp"
@@ -18,8 +16,10 @@
 #include "wpi/math/interpolation/TimeInterpolatableBuffer.hpp"
 #include "wpi/math/kinematics/Kinematics.hpp"
 #include "wpi/math/kinematics/Odometry.hpp"
-#include "wpi/units/time.hpp"
 #include "wpi/math/util/MathShared.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"

 namespace frc {

--- a/wpimath/src/main/native/include/wpi/math/estimator/PoseEstimator3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/PoseEstimator3d.hpp
@@ -10,18 +10,18 @@
 #include <vector>

 #include <Eigen/Core>
-#include "wpi/util/SymbolExports.hpp"
-#include "wpi/util/array.hpp"

-#include "wpi/math/linalg/EigenCore.hpp"
 #include "wpi/math/geometry/Pose2d.hpp"
 #include "wpi/math/geometry/Rotation2d.hpp"
 #include "wpi/math/geometry/Translation2d.hpp"
 #include "wpi/math/interpolation/TimeInterpolatableBuffer.hpp"
 #include "wpi/math/kinematics/Kinematics.hpp"
 #include "wpi/math/kinematics/Odometry3d.hpp"
-#include "wpi/units/time.hpp"
+#include "wpi/math/linalg/EigenCore.hpp"
 #include "wpi/math/util/MathShared.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"

 namespace frc {

--- a/wpimath/src/main/native/include/wpi/math/estimator/S3SigmaPoints.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/S3SigmaPoints.hpp
@@ -4,10 +4,9 @@

 #pragma once

-#include "wpi/util/array.hpp"
-
-#include "wpi/math/linalg/EigenCore.hpp"
 #include "wpi/math/estimator/SigmaPoints.hpp"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/util/array.hpp"

 namespace frc {

--- a/wpimath/src/main/native/include/wpi/math/estimator/S3UKF.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/S3UKF.hpp
@@ -4,10 +4,9 @@

 #pragma once

-#include "wpi/util/SymbolExports.hpp"
-
 #include "wpi/math/estimator/S3SigmaPoints.hpp"
 #include "wpi/math/estimator/UnscentedKalmanFilter.hpp"
+#include "wpi/util/SymbolExports.hpp"

 namespace frc {

--- a/wpimath/src/main/native/include/wpi/math/estimator/SteadyStateKalmanFilter.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/SteadyStateKalmanFilter.hpp
@@ -9,17 +9,17 @@
 #include <string>

 #include <Eigen/Cholesky>
-#include "wpi/util/SymbolExports.hpp"
-#include "wpi/util/array.hpp"

+#include "wpi/math/fmt/Eigen.hpp"
 #include "wpi/math/linalg/DARE.hpp"
 #include "wpi/math/linalg/EigenCore.hpp"
-#include "wpi/math/util/StateSpaceUtil.hpp"
-#include "wpi/math/fmt/Eigen.hpp"
 #include "wpi/math/system/Discretization.hpp"
 #include "wpi/math/system/LinearSystem.hpp"
-#include "wpi/units/time.hpp"
 #include "wpi/math/util/MathShared.hpp"
+#include "wpi/math/util/StateSpaceUtil.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"

 namespace frc {

--- a/wpimath/src/main/native/include/wpi/math/estimator/SwerveDrivePoseEstimator.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/SwerveDrivePoseEstimator.hpp
@@ -6,15 +6,14 @@

 #include <cmath>

-#include "wpi/util/SymbolExports.hpp"
-#include "wpi/util/array.hpp"
-
 #include "wpi/math/estimator/PoseEstimator.hpp"
 #include "wpi/math/geometry/Pose2d.hpp"
 #include "wpi/math/geometry/Rotation2d.hpp"
 #include "wpi/math/kinematics/SwerveDriveKinematics.hpp"
 #include "wpi/math/kinematics/SwerveDriveOdometry.hpp"
 #include "wpi/units/time.hpp"
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"

 namespace frc {

--- a/wpimath/src/main/native/include/wpi/math/estimator/SwerveDrivePoseEstimator3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/SwerveDrivePoseEstimator3d.hpp
@@ -6,15 +6,14 @@

 #include <cmath>

-#include "wpi/util/SymbolExports.hpp"
-#include "wpi/util/array.hpp"
-
 #include "wpi/math/estimator/PoseEstimator3d.hpp"
 #include "wpi/math/geometry/Pose2d.hpp"
 #include "wpi/math/geometry/Rotation2d.hpp"
 #include "wpi/math/kinematics/SwerveDriveKinematics.hpp"
 #include "wpi/math/kinematics/SwerveDriveOdometry3d.hpp"
 #include "wpi/units/time.hpp"
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"

 namespace frc {

--- a/wpimath/src/main/native/include/wpi/math/estimator/UnscentedKalmanFilter.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/UnscentedKalmanFilter.hpp
@@ -8,17 +8,17 @@
 #include <utility>

 #include <Eigen/Cholesky>
-#include "wpi/util/SymbolExports.hpp"
-#include "wpi/util/array.hpp"

-#include "wpi/math/linalg/EigenCore.hpp"
-#include "wpi/math/util/StateSpaceUtil.hpp"
 #include "wpi/math/estimator/SigmaPoints.hpp"
 #include "wpi/math/estimator/UnscentedTransform.hpp"
+#include "wpi/math/linalg/EigenCore.hpp"
 #include "wpi/math/system/Discretization.hpp"
 #include "wpi/math/system/NumericalIntegration.hpp"
 #include "wpi/math/system/NumericalJacobian.hpp"
+#include "wpi/math/util/StateSpaceUtil.hpp"
 #include "wpi/units/time.hpp"
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"

 namespace frc {

--- a/wpimath/src/main/native/include/wpi/math/filter/Debouncer.hpp
+++ b/wpimath/src/main/native/include/wpi/math/filter/Debouncer.hpp
@@ -4,11 +4,10 @@

 #pragma once

+#include "wpi/units/time.hpp"
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/timestamp.h"

-#include "wpi/units/time.hpp"
-
 namespace frc {
 /**
 * A simple debounce filter for boolean streams.  Requires that the boolean
--- a/wpimath/src/main/native/include/wpi/math/filter/LinearFilter.hpp
+++ b/wpimath/src/main/native/include/wpi/math/filter/LinearFilter.hpp
@@ -13,12 +13,12 @@

 #include <Eigen/QR>
 #include <gcem.hpp>
-#include "wpi/util/array.hpp"
-#include "wpi/util/circular_buffer.hpp"

 #include "wpi/math/linalg/EigenCore.hpp"
-#include "wpi/units/time.hpp"
 #include "wpi/math/util/MathShared.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/util/array.hpp"
+#include "wpi/util/circular_buffer.hpp"

 namespace frc {

--- a/wpimath/src/main/native/include/wpi/math/filter/SlewRateLimiter.hpp
+++ b/wpimath/src/main/native/include/wpi/math/filter/SlewRateLimiter.hpp
@@ -6,10 +6,9 @@

 #include <algorithm>

-#include "wpi/util/timestamp.h"
-
-#include "wpi/units/time.hpp"
 #include "wpi/math/util/MathShared.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/util/timestamp.h"

 namespace frc {
 /**
--- a/wpimath/src/main/native/include/wpi/math/geometry/CoordinateAxis.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/CoordinateAxis.hpp
@@ -6,10 +6,10 @@

 #include <Eigen/Core>
 #include <gcem.hpp>
-#include "wpi/util/SymbolExports.hpp"

 #include "wpi/math/geometry/Pose3d.hpp"
 #include "wpi/math/geometry/Rotation3d.hpp"
+#include "wpi/util/SymbolExports.hpp"

 namespace frc {

--- a/wpimath/src/main/native/include/wpi/math/geometry/CoordinateSystem.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/CoordinateSystem.hpp
@@ -4,12 +4,11 @@

 #pragma once

-#include "wpi/util/SymbolExports.hpp"
-
 #include "wpi/math/geometry/CoordinateAxis.hpp"
 #include "wpi/math/geometry/Pose3d.hpp"
 #include "wpi/math/geometry/Rotation3d.hpp"
 #include "wpi/math/geometry/Translation3d.hpp"
+#include "wpi/util/SymbolExports.hpp"

 namespace frc {

--- a/wpimath/src/main/native/include/wpi/math/geometry/Ellipse2d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Ellipse2d.hpp
@@ -7,8 +7,6 @@
 #include <stdexcept>

 #include <gcem.hpp>
-#include "wpi/util/SymbolExports.hpp"
-#include "wpi/util/array.hpp"

 #include "wpi/math/geometry/Pose2d.hpp"
 #include "wpi/math/geometry/Rotation2d.hpp"
@@ -16,6 +14,8 @@
 #include "wpi/math/geometry/Translation2d.hpp"
 #include "wpi/units/length.hpp"
 #include "wpi/units/math.hpp"
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"

 namespace frc {

--- a/wpimath/src/main/native/include/wpi/math/geometry/Pose2d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Pose2d.hpp
@@ -10,12 +10,12 @@
 #include <utility>

 #include <gcem.hpp>
-#include "wpi/util/SymbolExports.hpp"
-#include "wpi/util/json_fwd.hpp"

 #include "wpi/math/geometry/Rotation2d.hpp"
 #include "wpi/math/geometry/Translation2d.hpp"
 #include "wpi/units/length.hpp"
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/json_fwd.hpp"

 namespace frc {

--- a/wpimath/src/main/native/include/wpi/math/geometry/Pose3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Pose3d.hpp
@@ -12,13 +12,13 @@
 #include <utility>

 #include <Eigen/Core>
-#include "wpi/util/SymbolExports.hpp"
-#include "wpi/util/json_fwd.hpp"

-#include "wpi/math/linalg/ct_matrix.hpp"
 #include "wpi/math/geometry/Pose2d.hpp"
 #include "wpi/math/geometry/Rotation3d.hpp"
 #include "wpi/math/geometry/Translation3d.hpp"
+#include "wpi/math/linalg/ct_matrix.hpp"
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/json_fwd.hpp"

 namespace frc {

--- a/wpimath/src/main/native/include/wpi/math/geometry/Quaternion.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Quaternion.hpp
@@ -8,6 +8,7 @@

 #include <Eigen/Core>
 #include <gcem.hpp>
+
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/json_fwd.hpp"

--- a/wpimath/src/main/native/include/wpi/math/geometry/Rectangle2d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Rectangle2d.hpp
@@ -7,14 +7,13 @@
 #include <algorithm>
 #include <stdexcept>

-#include "wpi/util/SymbolExports.hpp"
-
 #include "wpi/math/geometry/Pose2d.hpp"
 #include "wpi/math/geometry/Rotation2d.hpp"
 #include "wpi/math/geometry/Transform2d.hpp"
 #include "wpi/math/geometry/Translation2d.hpp"
 #include "wpi/units/length.hpp"
 #include "wpi/units/math.hpp"
+#include "wpi/util/SymbolExports.hpp"

 namespace frc {

--- a/wpimath/src/main/native/include/wpi/math/geometry/Rotation2d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Rotation2d.hpp
@@ -9,14 +9,14 @@

 #include <Eigen/Core>
 #include <gcem.hpp>
+
+#include "wpi/math/linalg/ct_matrix.hpp"
+#include "wpi/math/util/MathShared.hpp"
+#include "wpi/units/angle.hpp"
 #include "wpi/util/StackTrace.hpp"
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/json_fwd.hpp"

-#include "wpi/math/linalg/ct_matrix.hpp"
-#include "wpi/units/angle.hpp"
-#include "wpi/math/util/MathShared.hpp"
-
 namespace frc {

 /**
--- a/wpimath/src/main/native/include/wpi/math/geometry/Rotation3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Rotation3d.hpp
@@ -10,16 +10,16 @@
 #include <Eigen/Core>
 #include <fmt/format.h>
 #include <gcem.hpp>
-#include "wpi/util/SymbolExports.hpp"
-#include "wpi/util/json_fwd.hpp"

-#include "wpi/math/linalg/ct_matrix.hpp"
 #include "wpi/math/fmt/Eigen.hpp"
 #include "wpi/math/geometry/Quaternion.hpp"
 #include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/math/linalg/ct_matrix.hpp"
+#include "wpi/math/util/MathShared.hpp"
 #include "wpi/units/angle.hpp"
 #include "wpi/units/math.hpp"
-#include "wpi/math/util/MathShared.hpp"
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/json_fwd.hpp"

 namespace frc {

--- a/wpimath/src/main/native/include/wpi/math/geometry/Transform2d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Transform2d.hpp
@@ -6,10 +6,9 @@

 #include <utility>

-#include "wpi/util/SymbolExports.hpp"
-
 #include "wpi/math/geometry/Rotation2d.hpp"
 #include "wpi/math/geometry/Translation2d.hpp"
+#include "wpi/util/SymbolExports.hpp"

 namespace frc {

--- a/wpimath/src/main/native/include/wpi/math/geometry/Transform3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Transform3d.hpp
@@ -6,10 +6,9 @@

 #include <utility>

-#include "wpi/util/SymbolExports.hpp"
-
 #include "wpi/math/geometry/Transform2d.hpp"
 #include "wpi/math/geometry/Translation3d.hpp"
+#include "wpi/util/SymbolExports.hpp"

 namespace frc {

--- a/wpimath/src/main/native/include/wpi/math/geometry/Translation2d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Translation2d.hpp
@@ -9,13 +9,13 @@
 #include <span>

 #include <Eigen/Core>
-#include "wpi/util/SymbolExports.hpp"
-#include "wpi/util/json_fwd.hpp"

 #include "wpi/math/geometry/Rotation2d.hpp"
 #include "wpi/units/area.hpp"
 #include "wpi/units/length.hpp"
 #include "wpi/units/math.hpp"
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/json_fwd.hpp"

 namespace frc {

--- a/wpimath/src/main/native/include/wpi/math/geometry/Translation3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Translation3d.hpp
@@ -9,14 +9,14 @@
 #include <span>

 #include <Eigen/Core>
-#include "wpi/util/SymbolExports.hpp"
-#include "wpi/util/json_fwd.hpp"

 #include "wpi/math/geometry/Rotation3d.hpp"
 #include "wpi/math/geometry/Translation2d.hpp"
 #include "wpi/units/area.hpp"
 #include "wpi/units/length.hpp"
 #include "wpi/units/math.hpp"
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/json_fwd.hpp"

 namespace frc {

--- a/wpimath/src/main/native/include/wpi/math/geometry/Twist2d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Twist2d.hpp
@@ -4,11 +4,10 @@

 #pragma once

-#include "wpi/util/SymbolExports.hpp"
-
 #include "wpi/units/angle.hpp"
 #include "wpi/units/length.hpp"
 #include "wpi/units/math.hpp"
+#include "wpi/util/SymbolExports.hpp"

 namespace frc {

--- a/wpimath/src/main/native/include/wpi/math/geometry/Twist3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Twist3d.hpp
@@ -4,11 +4,10 @@

 #pragma once

-#include "wpi/util/SymbolExports.hpp"
-
 #include "wpi/units/angle.hpp"
 #include "wpi/units/length.hpp"
 #include "wpi/units/math.hpp"
+#include "wpi/util/SymbolExports.hpp"

 namespace frc {

--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Ellipse2dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Ellipse2dProto.hpp
@@ -4,10 +4,9 @@

 #pragma once

+#include "wpi/math/geometry/Ellipse2d.hpp"
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/protobuf/Protobuf.hpp"
-
-#include "wpi/math/geometry/Ellipse2d.hpp"
 #include "wpimath/protobuf/geometry2d.npb.h"

 template <>
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Pose2dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Pose2dProto.hpp
@@ -4,11 +4,10 @@

 #pragma once

+#include "pb.h"
+#include "wpi/math/geometry/Pose2d.hpp"
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/protobuf/Protobuf.hpp"
-
-#include "wpi/math/geometry/Pose2d.hpp"
-#include "pb.h"
 #include "wpimath/protobuf/geometry2d.npb.h"

 template <>
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Pose3dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Pose3dProto.hpp
@@ -4,10 +4,9 @@

 #pragma once

+#include "wpi/math/geometry/Pose3d.hpp"
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/protobuf/Protobuf.hpp"
-
-#include "wpi/math/geometry/Pose3d.hpp"
 #include "wpimath/protobuf/geometry3d.npb.h"

 template <>
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/QuaternionProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/QuaternionProto.hpp
@@ -4,10 +4,9 @@

 #pragma once

+#include "wpi/math/geometry/Quaternion.hpp"
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/protobuf/Protobuf.hpp"
-
-#include "wpi/math/geometry/Quaternion.hpp"
 #include "wpimath/protobuf/geometry3d.npb.h"

 template <>
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Rectangle2dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Rectangle2dProto.hpp
@@ -4,10 +4,9 @@

 #pragma once

+#include "wpi/math/geometry/Rectangle2d.hpp"
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/protobuf/Protobuf.hpp"
-
-#include "wpi/math/geometry/Rectangle2d.hpp"
 #include "wpimath/protobuf/geometry2d.npb.h"

 template <>
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Rotation2dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Rotation2dProto.hpp
@@ -4,11 +4,10 @@

 #pragma once

+#include "pb.h"
+#include "wpi/math/geometry/Rotation2d.hpp"
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/protobuf/Protobuf.hpp"
-
-#include "wpi/math/geometry/Rotation2d.hpp"
-#include "pb.h"
 #include "wpimath/protobuf/geometry2d.npb.h"

 template <>
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Rotation3dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Rotation3dProto.hpp
@@ -4,10 +4,9 @@

 #pragma once

+#include "wpi/math/geometry/Rotation3d.hpp"
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/protobuf/Protobuf.hpp"
-
-#include "wpi/math/geometry/Rotation3d.hpp"
 #include "wpimath/protobuf/geometry3d.npb.h"

 template <>
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Transform2dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Transform2dProto.hpp
@@ -4,10 +4,9 @@

 #pragma once

+#include "wpi/math/geometry/Transform2d.hpp"
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/protobuf/Protobuf.hpp"
-
-#include "wpi/math/geometry/Transform2d.hpp"
 #include "wpimath/protobuf/geometry2d.npb.h"

 template <>
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Transform3dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Transform3dProto.hpp
@@ -4,10 +4,9 @@

 #pragma once

+#include "wpi/math/geometry/Transform3d.hpp"
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/protobuf/Protobuf.hpp"
-
-#include "wpi/math/geometry/Transform3d.hpp"
 #include "wpimath/protobuf/geometry3d.npb.h"

 template <>
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Translation2dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Translation2dProto.hpp
@@ -4,11 +4,10 @@

 #pragma once

+#include "pb.h"
+#include "wpi/math/geometry/Translation2d.hpp"
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/protobuf/Protobuf.hpp"
-
-#include "wpi/math/geometry/Translation2d.hpp"
-#include "pb.h"
 #include "wpimath/protobuf/geometry2d.npb.h"

 template <>
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Translation3dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Translation3dProto.hpp
@@ -4,10 +4,9 @@

 #pragma once

+#include "wpi/math/geometry/Translation3d.hpp"
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/protobuf/Protobuf.hpp"
-
-#include "wpi/math/geometry/Translation3d.hpp"
 #include "wpimath/protobuf/geometry3d.npb.h"

 template <>
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Twist2dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Twist2dProto.hpp
@@ -4,10 +4,9 @@

 #pragma once

+#include "wpi/math/geometry/Twist2d.hpp"
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/protobuf/Protobuf.hpp"
-
-#include "wpi/math/geometry/Twist2d.hpp"
 #include "wpimath/protobuf/geometry2d.npb.h"

 template <>
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Twist3dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Twist3dProto.hpp
@@ -4,10 +4,9 @@

 #pragma once

+#include "wpi/math/geometry/Twist3d.hpp"
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/protobuf/Protobuf.hpp"
-
-#include "wpi/math/geometry/Twist3d.hpp"
 #include "wpimath/protobuf/geometry3d.npb.h"

 template <>
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Ellipse2dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Ellipse2dStruct.hpp
@@ -4,11 +4,10 @@

 #pragma once

+#include "wpi/math/geometry/Ellipse2d.hpp"
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/struct/Struct.hpp"

-#include "wpi/math/geometry/Ellipse2d.hpp"
-
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Ellipse2d> {
  static constexpr std::string_view GetTypeName() { return "Ellipse2d"; }
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Pose2dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Pose2dStruct.hpp
@@ -4,11 +4,10 @@

 #pragma once

+#include "wpi/math/geometry/Pose2d.hpp"
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/struct/Struct.hpp"

-#include "wpi/math/geometry/Pose2d.hpp"
-
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Pose2d> {
  static constexpr std::string_view GetTypeName() { return "Pose2d"; }
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Pose3dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Pose3dStruct.hpp
@@ -4,11 +4,10 @@

 #pragma once

+#include "wpi/math/geometry/Pose3d.hpp"
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/struct/Struct.hpp"

-#include "wpi/math/geometry/Pose3d.hpp"
-
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Pose3d> {
  static constexpr std::string_view GetTypeName() { return "Pose3d"; }
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/QuaternionStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/QuaternionStruct.hpp
@@ -4,11 +4,10 @@

 #pragma once

+#include "wpi/math/geometry/Quaternion.hpp"
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/struct/Struct.hpp"

-#include "wpi/math/geometry/Quaternion.hpp"
-
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Quaternion> {
  static constexpr std::string_view GetTypeName() { return "Quaternion"; }
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Rectangle2dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Rectangle2dStruct.hpp
@@ -4,11 +4,10 @@

 #pragma once

+#include "wpi/math/geometry/Rectangle2d.hpp"
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/struct/Struct.hpp"

-#include "wpi/math/geometry/Rectangle2d.hpp"
-
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Rectangle2d> {
  static constexpr std::string_view GetTypeName() { return "Rectangle2d"; }
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Rotation2dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Rotation2dStruct.hpp
@@ -4,11 +4,10 @@

 #pragma once

+#include "wpi/math/geometry/Rotation2d.hpp"
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/struct/Struct.hpp"

-#include "wpi/math/geometry/Rotation2d.hpp"
-
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Rotation2d> {
  static constexpr std::string_view GetTypeName() { return "Rotation2d"; }
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Rotation3dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Rotation3dStruct.hpp
@@ -4,11 +4,10 @@

 #pragma once

+#include "wpi/math/geometry/Rotation3d.hpp"
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/struct/Struct.hpp"

-#include "wpi/math/geometry/Rotation3d.hpp"
-
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Rotation3d> {
  static constexpr std::string_view GetTypeName() { return "Rotation3d"; }
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Transform2dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Transform2dStruct.hpp
@@ -4,11 +4,10 @@

 #pragma once

+#include "wpi/math/geometry/Transform2d.hpp"
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/struct/Struct.hpp"

-#include "wpi/math/geometry/Transform2d.hpp"
-
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Transform2d> {
  static constexpr std::string_view GetTypeName() { return "Transform2d"; }
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Transform3dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Transform3dStruct.hpp
@@ -4,11 +4,10 @@

 #pragma once

+#include "wpi/math/geometry/Transform3d.hpp"
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/struct/Struct.hpp"

-#include "wpi/math/geometry/Transform3d.hpp"
-
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Transform3d> {
  static constexpr std::string_view GetTypeName() { return "Transform3d"; }
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Translation2dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Translation2dStruct.hpp
@@ -4,11 +4,10 @@

 #pragma once

+#include "wpi/math/geometry/Translation2d.hpp"
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/struct/Struct.hpp"

-#include "wpi/math/geometry/Translation2d.hpp"
-
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Translation2d> {
  static constexpr std::string_view GetTypeName() { return "Translation2d"; }
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Translation3dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Translation3dStruct.hpp
@@ -4,11 +4,10 @@

 #pragma once

+#include "wpi/math/geometry/Translation3d.hpp"
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/struct/Struct.hpp"

-#include "wpi/math/geometry/Translation3d.hpp"
-
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Translation3d> {
  static constexpr std::string_view GetTypeName() { return "Translation3d"; }
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Twist2dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Twist2dStruct.hpp
@@ -4,11 +4,10 @@

 #pragma once

+#include "wpi/math/geometry/Twist2d.hpp"
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/struct/Struct.hpp"

-#include "wpi/math/geometry/Twist2d.hpp"
-
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Twist2d> {
  static constexpr std::string_view GetTypeName() { return "Twist2d"; }
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Twist3dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Twist3dStruct.hpp
@@ -4,11 +4,10 @@

 #pragma once

+#include "wpi/math/geometry/Twist3d.hpp"
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/struct/Struct.hpp"

-#include "wpi/math/geometry/Twist3d.hpp"
-
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Twist3d> {
  static constexpr std::string_view GetTypeName() { return "Twist3d"; }
--- a/wpimath/src/main/native/include/wpi/math/interpolation/TimeInterpolatableBuffer.hpp
+++ b/wpimath/src/main/native/include/wpi/math/interpolation/TimeInterpolatableBuffer.hpp
@@ -10,11 +10,10 @@
 #include <utility>
 #include <vector>

-#include "wpi/util/MathExtras.hpp"
-#include "wpi/util/SymbolExports.hpp"
-
 #include "wpi/math/geometry/Pose2d.hpp"
 #include "wpi/units/time.hpp"
+#include "wpi/util/MathExtras.hpp"
+#include "wpi/util/SymbolExports.hpp"

 namespace frc {

--- a/wpimath/src/main/native/include/wpi/math/kinematics/ChassisSpeeds.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/ChassisSpeeds.hpp
@@ -4,12 +4,11 @@

 #pragma once

-#include "wpi/util/SymbolExports.hpp"
-
 #include "wpi/math/geometry/Pose2d.hpp"
 #include "wpi/math/geometry/Rotation2d.hpp"
 #include "wpi/units/angular_velocity.hpp"
 #include "wpi/units/velocity.hpp"
+#include "wpi/util/SymbolExports.hpp"

 namespace frc {
 /**
--- a/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveKinematics.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveKinematics.hpp
@@ -6,16 +6,15 @@

 #include <type_traits>

-#include "wpi/util/SymbolExports.hpp"
-
 #include "wpi/math/geometry/Twist2d.hpp"
 #include "wpi/math/kinematics/ChassisSpeeds.hpp"
 #include "wpi/math/kinematics/DifferentialDriveWheelPositions.hpp"
 #include "wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp"
 #include "wpi/math/kinematics/Kinematics.hpp"
+#include "wpi/math/util/MathShared.hpp"
 #include "wpi/units/angle.hpp"
 #include "wpi/units/length.hpp"
-#include "wpi/math/util/MathShared.hpp"
+#include "wpi/util/SymbolExports.hpp"

 namespace frc {
 /**
--- a/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveOdometry.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveOdometry.hpp
@@ -4,14 +4,13 @@

 #pragma once

-#include "wpi/util/SymbolExports.hpp"
-
 #include "wpi/math/geometry/Pose2d.hpp"
 #include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
 #include "wpi/math/kinematics/DifferentialDriveWheelPositions.hpp"
 #include "wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp"
 #include "wpi/math/kinematics/Odometry.hpp"
 #include "wpi/units/length.hpp"
+#include "wpi/util/SymbolExports.hpp"

 namespace frc {
 /**
--- a/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveOdometry3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveOdometry3d.hpp
@@ -4,14 +4,13 @@

 #pragma once

-#include "wpi/util/SymbolExports.hpp"
-
 #include "wpi/math/geometry/Pose2d.hpp"
 #include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
 #include "wpi/math/kinematics/DifferentialDriveWheelPositions.hpp"
 #include "wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp"
 #include "wpi/math/kinematics/Odometry3d.hpp"
 #include "wpi/units/length.hpp"
+#include "wpi/util/SymbolExports.hpp"

 namespace frc {
 /**
--- a/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveWheelPositions.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveWheelPositions.hpp
@@ -4,11 +4,10 @@

 #pragma once

+#include "wpi/units/length.hpp"
 #include "wpi/util/MathExtras.hpp"
 #include "wpi/util/SymbolExports.hpp"

-#include "wpi/units/length.hpp"
-
 namespace frc {
 /**
 * Represents the wheel positions for a differential drive drivetrain.
--- a/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp
@@ -4,10 +4,9 @@

 #pragma once

-#include "wpi/util/SymbolExports.hpp"
-
 #include "wpi/units/math.hpp"
 #include "wpi/units/velocity.hpp"
+#include "wpi/util/SymbolExports.hpp"

 namespace frc {
 /**
--- a/wpimath/src/main/native/include/wpi/math/kinematics/Kinematics.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/Kinematics.hpp
@@ -4,10 +4,9 @@

 #pragma once

-#include "wpi/util/SymbolExports.hpp"
-
 #include "wpi/math/geometry/Twist2d.hpp"
 #include "wpi/math/kinematics/ChassisSpeeds.hpp"
+#include "wpi/util/SymbolExports.hpp"

 namespace frc {
 /**
--- a/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveKinematics.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveKinematics.hpp
@@ -5,16 +5,16 @@
 #pragma once

 #include <Eigen/QR>
-#include "wpi/util/SymbolExports.hpp"

-#include "wpi/math/linalg/EigenCore.hpp"
 #include "wpi/math/geometry/Translation2d.hpp"
 #include "wpi/math/geometry/Twist2d.hpp"
 #include "wpi/math/kinematics/ChassisSpeeds.hpp"
 #include "wpi/math/kinematics/Kinematics.hpp"
 #include "wpi/math/kinematics/MecanumDriveWheelPositions.hpp"
 #include "wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp"
+#include "wpi/math/linalg/EigenCore.hpp"
 #include "wpi/math/util/MathShared.hpp"
+#include "wpi/util/SymbolExports.hpp"

 namespace frc {

--- a/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveOdometry.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveOdometry.hpp
@@ -4,15 +4,14 @@

 #pragma once

-#include "wpi/util/SymbolExports.hpp"
-#include "wpi/util/timestamp.h"
-
 #include "wpi/math/geometry/Pose2d.hpp"
 #include "wpi/math/kinematics/MecanumDriveKinematics.hpp"
 #include "wpi/math/kinematics/MecanumDriveWheelPositions.hpp"
 #include "wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp"
 #include "wpi/math/kinematics/Odometry.hpp"
 #include "wpi/units/time.hpp"
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/timestamp.h"

 namespace frc {

--- a/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveOdometry3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveOdometry3d.hpp
@@ -4,15 +4,14 @@

 #pragma once

-#include "wpi/util/SymbolExports.hpp"
-#include "wpi/util/timestamp.h"
-
 #include "wpi/math/geometry/Pose2d.hpp"
 #include "wpi/math/kinematics/MecanumDriveKinematics.hpp"
 #include "wpi/math/kinematics/MecanumDriveWheelPositions.hpp"
 #include "wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp"
 #include "wpi/math/kinematics/Odometry3d.hpp"
 #include "wpi/units/time.hpp"
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/timestamp.h"

 namespace frc {

--- a/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveWheelPositions.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveWheelPositions.hpp
@@ -4,11 +4,10 @@

 #pragma once

+#include "wpi/units/length.hpp"
 #include "wpi/util/MathExtras.hpp"
 #include "wpi/util/SymbolExports.hpp"

-#include "wpi/units/length.hpp"
-
 namespace frc {
 /**
 * Represents the wheel positions for a mecanum drive drivetrain.
--- a/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp
@@ -8,10 +8,9 @@
 #include <array>
 #include <cmath>

-#include "wpi/util/SymbolExports.hpp"
-
 #include "wpi/units/math.hpp"
 #include "wpi/units/velocity.hpp"
+#include "wpi/util/SymbolExports.hpp"

 namespace frc {
 /**
--- a/wpimath/src/main/native/include/wpi/math/kinematics/Odometry.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/Odometry.hpp
@@ -4,12 +4,11 @@

 #pragma once

-#include "wpi/util/SymbolExports.hpp"
-
 #include "wpi/math/geometry/Pose2d.hpp"
 #include "wpi/math/geometry/Rotation2d.hpp"
 #include "wpi/math/geometry/Translation2d.hpp"
 #include "wpi/math/kinematics/Kinematics.hpp"
+#include "wpi/util/SymbolExports.hpp"

 namespace frc {

--- a/wpimath/src/main/native/include/wpi/math/kinematics/Odometry3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/Odometry3d.hpp
@@ -4,8 +4,6 @@

 #pragma once

-#include "wpi/util/SymbolExports.hpp"
-
 #include "wpi/math/geometry/Pose2d.hpp"
 #include "wpi/math/geometry/Pose3d.hpp"
 #include "wpi/math/geometry/Rotation2d.hpp"
@@ -13,6 +11,7 @@
 #include "wpi/math/geometry/Translation2d.hpp"
 #include "wpi/math/geometry/Translation3d.hpp"
 #include "wpi/math/kinematics/Kinematics.hpp"
+#include "wpi/util/SymbolExports.hpp"

 namespace frc {

--- a/wpimath/src/main/native/include/wpi/math/kinematics/SwerveDriveKinematics.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/SwerveDriveKinematics.hpp
@@ -9,10 +9,7 @@
 #include <cstddef>

 #include <Eigen/QR>
-#include "wpi/util/SymbolExports.hpp"
-#include "wpi/util/array.hpp"

-#include "wpi/math/linalg/EigenCore.hpp"
 #include "wpi/math/geometry/Rotation2d.hpp"
 #include "wpi/math/geometry/Translation2d.hpp"
 #include "wpi/math/geometry/Twist2d.hpp"
@@ -20,9 +17,12 @@
 #include "wpi/math/kinematics/Kinematics.hpp"
 #include "wpi/math/kinematics/SwerveModulePosition.hpp"
 #include "wpi/math/kinematics/SwerveModuleState.hpp"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/util/MathShared.hpp"
 #include "wpi/units/math.hpp"
 #include "wpi/units/velocity.hpp"
-#include "wpi/math/util/MathShared.hpp"
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"

 namespace frc {

--- a/wpimath/src/main/native/include/wpi/math/kinematics/SwerveDriveOdometry.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/SwerveDriveOdometry.hpp
@@ -7,15 +7,14 @@
 #include <cstddef>
 #include <ctime>

-#include "wpi/util/SymbolExports.hpp"
-#include "wpi/util/timestamp.h"
-
+#include "wpi/math/geometry/Pose2d.hpp"
 #include "wpi/math/kinematics/Odometry.hpp"
 #include "wpi/math/kinematics/SwerveDriveKinematics.hpp"
 #include "wpi/math/kinematics/SwerveModulePosition.hpp"
 #include "wpi/math/kinematics/SwerveModuleState.hpp"
-#include "wpi/math/geometry/Pose2d.hpp"
 #include "wpi/math/util/MathShared.hpp"
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/timestamp.h"

 namespace frc {

--- a/wpimath/src/main/native/include/wpi/math/kinematics/SwerveDriveOdometry3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/SwerveDriveOdometry3d.hpp
@@ -8,15 +8,14 @@
 #include <cstddef>
 #include <ctime>

-#include "wpi/util/SymbolExports.hpp"
-#include "wpi/util/timestamp.h"
-
+#include "wpi/math/geometry/Pose2d.hpp"
 #include "wpi/math/kinematics/Odometry3d.hpp"
 #include "wpi/math/kinematics/SwerveDriveKinematics.hpp"
 #include "wpi/math/kinematics/SwerveModulePosition.hpp"
 #include "wpi/math/kinematics/SwerveModuleState.hpp"
-#include "wpi/math/geometry/Pose2d.hpp"
 #include "wpi/units/time.hpp"
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/timestamp.h"

 namespace frc {

--- a/wpimath/src/main/native/include/wpi/math/kinematics/SwerveModulePosition.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/SwerveModulePosition.hpp
@@ -4,12 +4,11 @@

 #pragma once

-#include "wpi/util/MathExtras.hpp"
-#include "wpi/util/SymbolExports.hpp"
-
 #include "wpi/math/geometry/Rotation2d.hpp"
 #include "wpi/units/length.hpp"
 #include "wpi/units/math.hpp"
+#include "wpi/util/MathExtras.hpp"
+#include "wpi/util/SymbolExports.hpp"

 namespace frc {
 /**
--- a/Show More
+++ b/Show More