diff --git a/wpimath/src/main/native/include/frc/StateSpaceUtil.h b/wpimath/src/main/native/include/frc/StateSpaceUtil.h
index ae462f1170..371003fc21 100644
--- a/wpimath/src/main/native/include/frc/StateSpaceUtil.h
+++ b/wpimath/src/main/native/include/frc/StateSpaceUtil.h
@@ -10,8 +10,8 @@
 #include <type_traits>
 
 #include "Eigen/Core"
+#include "Eigen/Eigenvalues"
 #include "Eigen/QR"
-#include "Eigen/src/Eigenvalues/EigenSolver.h"
 #include "frc/geometry/Pose2d.h"
 
 namespace frc {
diff --git a/wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h b/wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h
index 30ba8b7c56..439d6ae398 100644
--- a/wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h
+++ b/wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h
@@ -6,18 +6,15 @@
 
 #include <wpi/array.h>
 
+#include "Eigen/Cholesky"
 #include "Eigen/Core"
-#include "Eigen/src/Cholesky/LLT.h"
-#include "Eigen/src/Eigenvalues/ComplexSchur.h"
-#include "Eigen/src/LU/Determinant.h"
-#include "Eigen/src/LU/InverseImpl.h"
+#include "Eigen/Eigenvalues"
 #include "drake/math/discrete_algebraic_riccati_equation.h"
 #include "frc/StateSpaceUtil.h"
 #include "frc/system/Discretization.h"
 #include "frc/system/LinearSystem.h"
 #include "units/time.h"
-#include "unsupported/Eigen/src/MatrixFunctions/MatrixPower.h"
-#include "unsupported/Eigen/src/MatrixFunctions/MatrixSquareRoot.h"
+#include "unsupported/Eigen/MatrixFunctions"
 
 namespace frc {
 namespace detail {
diff --git a/wpimath/src/main/native/include/frc/estimator/ExtendedKalmanFilter.h b/wpimath/src/main/native/include/frc/estimator/ExtendedKalmanFilter.h
index 7e9e74a5fd..26a8fd4370 100644
--- a/wpimath/src/main/native/include/frc/estimator/ExtendedKalmanFilter.h
+++ b/wpimath/src/main/native/include/frc/estimator/ExtendedKalmanFilter.h
@@ -8,8 +8,8 @@
 
 #include <wpi/array.h>
 
+#include "Eigen/Cholesky"
 #include "Eigen/Core"
-#include "Eigen/src/Cholesky/LDLT.h"
 #include "drake/math/discrete_algebraic_riccati_equation.h"
 #include "frc/StateSpaceUtil.h"
 #include "frc/system/Discretization.h"
diff --git a/wpimath/src/main/native/include/frc/estimator/KalmanFilter.h b/wpimath/src/main/native/include/frc/estimator/KalmanFilter.h
index adf6fecf79..1ee7aae8dc 100644
--- a/wpimath/src/main/native/include/frc/estimator/KalmanFilter.h
+++ b/wpimath/src/main/native/include/frc/estimator/KalmanFilter.h
@@ -8,8 +8,8 @@
 
 #include <wpi/array.h>
 
+#include "Eigen/Cholesky"
 #include "Eigen/Core"
-#include "Eigen/src/Cholesky/LDLT.h"
 #include "drake/math/discrete_algebraic_riccati_equation.h"
 #include "frc/StateSpaceUtil.h"
 #include "frc/system/Discretization.h"
diff --git a/wpimath/src/main/native/include/frc/estimator/MerweScaledSigmaPoints.h b/wpimath/src/main/native/include/frc/estimator/MerweScaledSigmaPoints.h
index 36c593c517..543f7a9af0 100644
--- a/wpimath/src/main/native/include/frc/estimator/MerweScaledSigmaPoints.h
+++ b/wpimath/src/main/native/include/frc/estimator/MerweScaledSigmaPoints.h
@@ -6,8 +6,8 @@
 
 #include <cmath>
 
+#include "Eigen/Cholesky"
 #include "Eigen/Core"
-#include "Eigen/src/Cholesky/LLT.h"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/frc/estimator/UnscentedKalmanFilter.h b/wpimath/src/main/native/include/frc/estimator/UnscentedKalmanFilter.h
index 8ce39ad446..75a11a60dd 100644
--- a/wpimath/src/main/native/include/frc/estimator/UnscentedKalmanFilter.h
+++ b/wpimath/src/main/native/include/frc/estimator/UnscentedKalmanFilter.h
@@ -8,8 +8,8 @@
 
 #include <wpi/array.h>
 
+#include "Eigen/Cholesky"
 #include "Eigen/Core"
-#include "Eigen/src/Cholesky/LDLT.h"
 #include "frc/StateSpaceUtil.h"
 #include "frc/estimator/MerweScaledSigmaPoints.h"
 #include "frc/estimator/UnscentedTransform.h"
diff --git a/wpimath/src/main/native/include/frc/system/Discretization.h b/wpimath/src/main/native/include/frc/system/Discretization.h
index 4216d5b9b3..09b75e530e 100644
--- a/wpimath/src/main/native/include/frc/system/Discretization.h
+++ b/wpimath/src/main/native/include/frc/system/Discretization.h
@@ -5,9 +5,8 @@
 #pragma once
 
 #include "Eigen/Core"
-#include "Eigen/src/LU/PartialPivLU.h"
 #include "units/time.h"
-#include "unsupported/Eigen/src/MatrixFunctions/MatrixExponential.h"
+#include "unsupported/Eigen/MatrixFunctions"
 
 namespace frc {