SCRIPT Run cc include replacements

wpimath/src/main/native/include/wpi/math/controller/ArmFeedforward.hpp

@@ -6,14 +6,14 @@
 
 #include <cstdlib>
 
-#include <wpi/MathExtras.h>
-#include <wpi/SymbolExports.h>
+#include "wpi/util/MathExtras.hpp"
+#include "wpi/util/SymbolExports.hpp"
 
-#include "units/angle.h"
-#include "units/angular_velocity.h"
-#include "units/math.h"
-#include "units/voltage.h"
-#include "wpimath/MathShared.h"
+#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"
 
 namespace frc {
 /**
@@ -318,5 +318,5 @@ class WPILIB_DLLEXPORT ArmFeedforward {
 };
 }  // namespace frc
 
-#include "frc/controller/proto/ArmFeedforwardProto.h"
-#include "frc/controller/struct/ArmFeedforwardStruct.h"
+#include "wpi/math/controller/proto/ArmFeedforwardProto.hpp"
+#include "wpi/math/controller/struct/ArmFeedforwardStruct.hpp"

wpimath/src/main/native/include/wpi/math/controller/BangBangController.hpp

@@ -7,11 +7,11 @@
 #include <limits>
 
 #include <gcem.hpp>
-#include <wpi/SymbolExports.h>
-#include <wpi/sendable/Sendable.h>
-#include <wpi/sendable/SendableHelper.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
 
-#include "wpimath/MathShared.h"
+#include "wpi/math/util/MathShared.hpp"
 
 namespace frc {
 

wpimath/src/main/native/include/wpi/math/controller/ControlAffinePlantInversionFeedforward.hpp

@@ -9,9 +9,9 @@
 
 #include <Eigen/QR>
 
-#include "frc/EigenCore.h"
-#include "frc/system/NumericalJacobian.h"
-#include "units/time.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/system/NumericalJacobian.hpp"
+#include "wpi/units/time.hpp"
 
 namespace frc {
 

wpimath/src/main/native/include/wpi/math/controller/DifferentialDriveAccelerationLimiter.hpp

@@ -7,15 +7,15 @@
 #include <utility>
 
 #include <Eigen/Core>
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/controller/DifferentialDriveWheelVoltages.h"
-#include "frc/system/LinearSystem.h"
-#include "units/acceleration.h"
-#include "units/angular_acceleration.h"
-#include "units/length.h"
-#include "units/velocity.h"
-#include "units/voltage.h"
+#include "wpi/math/controller/DifferentialDriveWheelVoltages.hpp"
+#include "wpi/math/system/LinearSystem.hpp"
+#include "wpi/units/acceleration.hpp"
+#include "wpi/units/angular_acceleration.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/velocity.hpp"
+#include "wpi/units/voltage.hpp"
 
 namespace frc {
 

wpimath/src/main/native/include/wpi/math/controller/DifferentialDriveFeedforward.hpp

@@ -4,18 +4,18 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/controller/DifferentialDriveWheelVoltages.h"
-#include "frc/system/LinearSystem.h"
-#include "frc/system/plant/LinearSystemId.h"
-#include "units/acceleration.h"
-#include "units/angular_acceleration.h"
-#include "units/angular_velocity.h"
-#include "units/length.h"
-#include "units/time.h"
-#include "units/velocity.h"
-#include "units/voltage.h"
+#include "wpi/math/controller/DifferentialDriveWheelVoltages.hpp"
+#include "wpi/math/system/LinearSystem.hpp"
+#include "wpi/math/system/plant/LinearSystemId.hpp"
+#include "wpi/units/acceleration.hpp"
+#include "wpi/units/angular_acceleration.hpp"
+#include "wpi/units/angular_velocity.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/units/velocity.hpp"
+#include "wpi/units/voltage.hpp"
 
 namespace frc {
 /**
@@ -99,5 +99,5 @@ class WPILIB_DLLEXPORT DifferentialDriveFeedforward {
 };
 }  // namespace frc
 
-#include "frc/controller/proto/DifferentialDriveFeedforwardProto.h"
-#include "frc/controller/struct/DifferentialDriveFeedforwardStruct.h"
+#include "wpi/math/controller/proto/DifferentialDriveFeedforwardProto.hpp"
+#include "wpi/math/controller/struct/DifferentialDriveFeedforwardStruct.hpp"

wpimath/src/main/native/include/wpi/math/controller/DifferentialDriveWheelVoltages.hpp

@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include "units/voltage.h"
+#include "wpi/units/voltage.hpp"
 
 namespace frc {
 
@@ -21,5 +21,5 @@ struct DifferentialDriveWheelVoltages {
 
 }  // namespace frc
 
-#include "frc/controller/proto/DifferentialDriveWheelVoltagesProto.h"
-#include "frc/controller/struct/DifferentialDriveWheelVoltagesStruct.h"
+#include "wpi/math/controller/proto/DifferentialDriveWheelVoltagesProto.hpp"
+#include "wpi/math/controller/struct/DifferentialDriveWheelVoltagesStruct.hpp"

wpimath/src/main/native/include/wpi/math/controller/ElevatorFeedforward.hpp

@@ -4,15 +4,15 @@
 
 #pragma once
 
-#include <wpi/MathExtras.h>
+#include "wpi/util/MathExtras.hpp"
 
-#include "frc/EigenCore.h"
-#include "frc/controller/LinearPlantInversionFeedforward.h"
-#include "frc/system/plant/LinearSystemId.h"
-#include "units/length.h"
-#include "units/time.h"
-#include "units/voltage.h"
-#include "wpimath/MathShared.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/controller/LinearPlantInversionFeedforward.hpp"
+#include "wpi/math/system/plant/LinearSystemId.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/units/voltage.hpp"
+#include "wpi/math/util/MathShared.hpp"
 
 namespace frc {
 /**
@@ -290,5 +290,5 @@ class ElevatorFeedforward {
 };
 }  // namespace frc
 
-#include "frc/controller/proto/ElevatorFeedforwardProto.h"
-#include "frc/controller/struct/ElevatorFeedforwardStruct.h"
+#include "wpi/math/controller/proto/ElevatorFeedforwardProto.hpp"
+#include "wpi/math/controller/struct/ElevatorFeedforwardStruct.hpp"

wpimath/src/main/native/include/wpi/math/controller/ImplicitModelFollower.hpp

@@ -4,12 +4,12 @@
 
 #pragma once
 
-#include <frc/system/LinearSystem.h>
+#include "wpi/math/system/LinearSystem.hpp"
 
 #include <Eigen/QR>
 
-#include "frc/EigenCore.h"
-#include "units/time.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/units/time.hpp"
 
 namespace frc {
 

wpimath/src/main/native/include/wpi/math/controller/LTVDifferentialDriveController.hpp

@@ -7,17 +7,17 @@
 #include <cmath>
 
 #include <Eigen/Core>
-#include <wpi/SymbolExports.h>
-#include <wpi/array.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"
 
-#include "frc/StateSpaceUtil.h"
-#include "frc/controller/DifferentialDriveWheelVoltages.h"
-#include "frc/geometry/Pose2d.h"
-#include "frc/system/LinearSystem.h"
-#include "frc/trajectory/Trajectory.h"
-#include "units/length.h"
-#include "units/time.h"
-#include "units/velocity.h"
+#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/units/length.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/units/velocity.hpp"
 
 namespace frc {
 

wpimath/src/main/native/include/wpi/math/controller/LTVUnicycleController.hpp

@@ -5,17 +5,17 @@
 #pragma once
 
 #include <Eigen/Core>
-#include <wpi/SymbolExports.h>
-#include <wpi/array.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"
 
-#include "frc/StateSpaceUtil.h"
-#include "frc/geometry/Pose2d.h"
-#include "frc/kinematics/ChassisSpeeds.h"
-#include "frc/trajectory/Trajectory.h"
-#include "units/angular_velocity.h"
-#include "units/math.h"
-#include "units/time.h"
-#include "units/velocity.h"
+#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/units/angular_velocity.hpp"
+#include "wpi/units/math.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/units/velocity.hpp"
 
 namespace frc {
 

wpimath/src/main/native/include/wpi/math/controller/LinearPlantInversionFeedforward.hpp

@@ -9,10 +9,10 @@
 
 #include <Eigen/QR>
 
-#include "frc/EigenCore.h"
-#include "frc/system/Discretization.h"
-#include "frc/system/LinearSystem.h"
-#include "units/time.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/system/Discretization.hpp"
+#include "wpi/math/system/LinearSystem.hpp"
+#include "wpi/units/time.hpp"
 
 namespace frc {
 

wpimath/src/main/native/include/wpi/math/controller/LinearQuadraticRegulator.hpp

@@ -9,17 +9,17 @@
 
 #include <Eigen/Cholesky>
 #include <unsupported/Eigen/MatrixFunctions>
-#include <wpi/SymbolExports.h>
-#include <wpi/array.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"
 
-#include "frc/DARE.h"
-#include "frc/EigenCore.h"
-#include "frc/StateSpaceUtil.h"
-#include "frc/fmt/Eigen.h"
-#include "frc/system/Discretization.h"
-#include "frc/system/LinearSystem.h"
-#include "units/time.h"
-#include "wpimath/MathShared.h"
+#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"
 
 namespace frc {
 

wpimath/src/main/native/include/wpi/math/controller/PIDController.hpp

@@ -10,14 +10,14 @@
 #include <type_traits>
 
 #include <gcem.hpp>
-#include <wpi/SymbolExports.h>
-#include <wpi/sendable/Sendable.h>
-#include <wpi/sendable/SendableHelper.h>
-#include <wpi/sendable/SendableRegistry.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
+#include "wpi/util/sendable/SendableRegistry.hpp"
 
-#include "frc/MathUtil.h"
-#include "units/time.h"
-#include "wpimath/MathShared.h"
+#include "wpi/math/util/MathUtil.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/math/util/MathShared.hpp"
 
 namespace frc {
 

wpimath/src/main/native/include/wpi/math/controller/ProfiledPIDController.hpp

@@ -8,15 +8,15 @@
 #include <limits>
 #include <type_traits>
 
-#include <wpi/SymbolExports.h>
-#include <wpi/sendable/Sendable.h>
-#include <wpi/sendable/SendableBuilder.h>
-#include <wpi/sendable/SendableHelper.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/sendable/Sendable.hpp"
+#include "wpi/util/sendable/SendableBuilder.hpp"
+#include "wpi/util/sendable/SendableHelper.hpp"
 
-#include "frc/MathUtil.h"
-#include "frc/controller/PIDController.h"
-#include "frc/trajectory/TrapezoidProfile.h"
-#include "units/time.h"
+#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 {

wpimath/src/main/native/include/wpi/math/controller/SimpleMotorFeedforward.hpp

@@ -5,13 +5,13 @@
 #pragma once
 
 #include <gcem.hpp>
-#include <wpi/MathExtras.h>
+#include "wpi/util/MathExtras.hpp"
 
-#include "units/angle.h"
-#include "units/length.h"
-#include "units/time.h"
-#include "units/voltage.h"
-#include "wpimath/MathShared.h"
+#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"
 
 namespace frc {
 

wpimath/src/main/native/include/wpi/math/controller/proto/ArmFeedforwardProto.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/controller/ArmFeedforward.h"
+#include "wpi/math/controller/ArmFeedforward.hpp"
 #include "pb.h"
 #include "wpimath/protobuf/controller.npb.h"
 

wpimath/src/main/native/include/wpi/math/controller/proto/DifferentialDriveFeedforwardProto.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/controller/DifferentialDriveFeedforward.h"
+#include "wpi/math/controller/DifferentialDriveFeedforward.hpp"
 #include "pb.h"
 #include "wpimath/protobuf/controller.npb.h"
 

wpimath/src/main/native/include/wpi/math/controller/proto/DifferentialDriveWheelVoltagesProto.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/controller/DifferentialDriveWheelVoltages.h"
+#include "wpi/math/controller/DifferentialDriveWheelVoltages.hpp"
 #include "pb.h"
 #include "wpimath/protobuf/controller.npb.h"
 

wpimath/src/main/native/include/wpi/math/controller/proto/ElevatorFeedforwardProto.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/controller/ElevatorFeedforward.h"
+#include "wpi/math/controller/ElevatorFeedforward.hpp"
 #include "pb.h"
 #include "wpimath/protobuf/controller.npb.h"
 

wpimath/src/main/native/include/wpi/math/controller/proto/SimpleMotorFeedforwardProto.hpp

@@ -4,11 +4,11 @@
 
 #pragma once
 
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/controller/SimpleMotorFeedforward.h"
+#include "wpi/math/controller/SimpleMotorFeedforward.hpp"
 #include "pb.h"
-#include "units/length.h"
+#include "wpi/units/length.hpp"
 #include "wpimath/protobuf/controller.npb.h"
 
 // Everything is converted into units for

wpimath/src/main/native/include/wpi/math/controller/struct/ArmFeedforwardStruct.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/controller/ArmFeedforward.h"
+#include "wpi/math/controller/ArmFeedforward.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::ArmFeedforward> {

wpimath/src/main/native/include/wpi/math/controller/struct/DifferentialDriveFeedforwardStruct.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/controller/DifferentialDriveFeedforward.h"
+#include "wpi/math/controller/DifferentialDriveFeedforward.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::DifferentialDriveFeedforward> {

wpimath/src/main/native/include/wpi/math/controller/struct/DifferentialDriveWheelVoltagesStruct.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/controller/DifferentialDriveWheelVoltages.h"
+#include "wpi/math/controller/DifferentialDriveWheelVoltages.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::DifferentialDriveWheelVoltages> {

wpimath/src/main/native/include/wpi/math/controller/struct/ElevatorFeedforwardStruct.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/controller/ElevatorFeedforward.h"
+#include "wpi/math/controller/ElevatorFeedforward.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::ElevatorFeedforward> {

wpimath/src/main/native/include/wpi/math/controller/struct/SimpleMotorFeedforwardStruct.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/struct/Struct.h>
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/controller/SimpleMotorFeedforward.h"
-#include "units/length.h"
+#include "wpi/math/controller/SimpleMotorFeedforward.hpp"
+#include "wpi/units/length.hpp"
 
 // Everything is converted into units for
 // frc::SimpleMotorFeedforward<units::meters> or

wpimath/src/main/native/include/wpi/math/estimator/AngleStatistics.hpp

@@ -7,8 +7,8 @@
 #include <functional>
 #include <numbers>
 
-#include "frc/EigenCore.h"
-#include "frc/MathUtil.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/util/MathUtil.hpp"
 
 namespace frc {
 

wpimath/src/main/native/include/wpi/math/estimator/DifferentialDrivePoseEstimator.hpp

@@ -4,15 +4,15 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/array.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"
 
-#include "frc/estimator/PoseEstimator.h"
-#include "frc/geometry/Pose2d.h"
-#include "frc/geometry/Rotation2d.h"
-#include "frc/kinematics/DifferentialDriveKinematics.h"
-#include "frc/kinematics/DifferentialDriveOdometry.h"
-#include "units/time.h"
+#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"
 
 namespace frc {
 /**

wpimath/src/main/native/include/wpi/math/estimator/DifferentialDrivePoseEstimator3d.hpp

@@ -4,15 +4,15 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/array.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"
 
-#include "frc/estimator/PoseEstimator3d.h"
-#include "frc/geometry/Pose2d.h"
-#include "frc/geometry/Rotation2d.h"
-#include "frc/kinematics/DifferentialDriveKinematics.h"
-#include "frc/kinematics/DifferentialDriveOdometry3d.h"
-#include "units/time.h"
+#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"
 
 namespace frc {
 /**

wpimath/src/main/native/include/wpi/math/estimator/ExtendedKalmanFilter.hpp

@@ -9,16 +9,16 @@
 #include <utility>
 
 #include <Eigen/Cholesky>
-#include <wpi/array.h>
+#include "wpi/util/array.hpp"
 
-#include "frc/DARE.h"
-#include "frc/EigenCore.h"
-#include "frc/StateSpaceUtil.h"
-#include "frc/fmt/Eigen.h"
-#include "frc/system/Discretization.h"
-#include "frc/system/NumericalIntegration.h"
-#include "frc/system/NumericalJacobian.h"
-#include "units/time.h"
+#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/units/time.hpp"
 
 namespace frc {
 

wpimath/src/main/native/include/wpi/math/estimator/KalmanFilter.hpp

@@ -9,16 +9,16 @@
 #include <string>
 
 #include <Eigen/Cholesky>
-#include <wpi/array.h>
+#include "wpi/util/array.hpp"
 
-#include "frc/DARE.h"
-#include "frc/EigenCore.h"
-#include "frc/StateSpaceUtil.h"
-#include "frc/fmt/Eigen.h"
-#include "frc/system/Discretization.h"
-#include "frc/system/LinearSystem.h"
-#include "units/time.h"
-#include "wpimath/MathShared.h"
+#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"
 
 namespace frc {
 

wpimath/src/main/native/include/wpi/math/estimator/KalmanFilterLatencyCompensator.hpp

@@ -10,9 +10,9 @@
 #include <utility>
 #include <vector>
 
-#include "frc/EigenCore.h"
-#include "units/math.h"
-#include "units/time.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/units/math.hpp"
+#include "wpi/units/time.hpp"
 
 namespace frc {
 

wpimath/src/main/native/include/wpi/math/estimator/MecanumDrivePoseEstimator.hpp

@@ -6,16 +6,16 @@
 
 #include <functional>
 
-#include <wpi/SymbolExports.h>
-#include <wpi/array.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"
 
-#include "frc/estimator/PoseEstimator.h"
-#include "frc/geometry/Pose2d.h"
-#include "frc/geometry/Rotation2d.h"
-#include "frc/interpolation/TimeInterpolatableBuffer.h"
-#include "frc/kinematics/MecanumDriveKinematics.h"
-#include "frc/kinematics/MecanumDriveOdometry.h"
-#include "units/time.h"
+#include "wpi/math/estimator/PoseEstimator.hpp"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/math/interpolation/TimeInterpolatableBuffer.hpp"
+#include "wpi/math/kinematics/MecanumDriveKinematics.hpp"
+#include "wpi/math/kinematics/MecanumDriveOdometry.hpp"
+#include "wpi/units/time.hpp"
 
 namespace frc {
 /**

wpimath/src/main/native/include/wpi/math/estimator/MecanumDrivePoseEstimator3d.hpp

@@ -6,16 +6,16 @@
 
 #include <functional>
 
-#include <wpi/SymbolExports.h>
-#include <wpi/array.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"
 
-#include "frc/estimator/PoseEstimator3d.h"
-#include "frc/geometry/Pose2d.h"
-#include "frc/geometry/Rotation2d.h"
-#include "frc/interpolation/TimeInterpolatableBuffer.h"
-#include "frc/kinematics/MecanumDriveKinematics.h"
-#include "frc/kinematics/MecanumDriveOdometry3d.h"
-#include "units/time.h"
+#include "wpi/math/estimator/PoseEstimator3d.hpp"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/math/interpolation/TimeInterpolatableBuffer.hpp"
+#include "wpi/math/kinematics/MecanumDriveKinematics.hpp"
+#include "wpi/math/kinematics/MecanumDriveOdometry3d.hpp"
+#include "wpi/units/time.hpp"
 
 namespace frc {
 /**

wpimath/src/main/native/include/wpi/math/estimator/MerweScaledSigmaPoints.hpp

@@ -6,7 +6,7 @@
 
 #include <cmath>
 
-#include "frc/EigenCore.h"
+#include "wpi/math/linalg/EigenCore.hpp"
 
 namespace frc {
 

wpimath/src/main/native/include/wpi/math/estimator/MerweUKF.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/estimator/MerweScaledSigmaPoints.h"
-#include "frc/estimator/UnscentedKalmanFilter.h"
+#include "wpi/math/estimator/MerweScaledSigmaPoints.hpp"
+#include "wpi/math/estimator/UnscentedKalmanFilter.hpp"
 
 namespace frc {
 

wpimath/src/main/native/include/wpi/math/estimator/PoseEstimator.hpp

@@ -9,17 +9,17 @@
 #include <vector>
 
 #include <Eigen/Core>
-#include <wpi/SymbolExports.h>
-#include <wpi/array.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"
 
-#include "frc/geometry/Pose2d.h"
-#include "frc/geometry/Rotation2d.h"
-#include "frc/geometry/Translation2d.h"
-#include "frc/interpolation/TimeInterpolatableBuffer.h"
-#include "frc/kinematics/Kinematics.h"
-#include "frc/kinematics/Odometry.h"
-#include "units/time.h"
-#include "wpimath/MathShared.h"
+#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/Odometry.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/math/util/MathShared.hpp"
 
 namespace frc {
 

wpimath/src/main/native/include/wpi/math/estimator/PoseEstimator3d.hpp

@@ -10,18 +10,18 @@
 #include <vector>
 
 #include <Eigen/Core>
-#include <wpi/SymbolExports.h>
-#include <wpi/array.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"
 
-#include "frc/EigenCore.h"
-#include "frc/geometry/Pose2d.h"
-#include "frc/geometry/Rotation2d.h"
-#include "frc/geometry/Translation2d.h"
-#include "frc/interpolation/TimeInterpolatableBuffer.h"
-#include "frc/kinematics/Kinematics.h"
-#include "frc/kinematics/Odometry3d.h"
-#include "units/time.h"
-#include "wpimath/MathShared.h"
+#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/util/MathShared.hpp"
 
 namespace frc {
 

wpimath/src/main/native/include/wpi/math/estimator/S3SigmaPoints.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/array.h>
+#include "wpi/util/array.hpp"
 
-#include "frc/EigenCore.h"
-#include "frc/estimator/SigmaPoints.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/estimator/SigmaPoints.hpp"
 
 namespace frc {
 

wpimath/src/main/native/include/wpi/math/estimator/S3UKF.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/estimator/S3SigmaPoints.h"
-#include "frc/estimator/UnscentedKalmanFilter.h"
+#include "wpi/math/estimator/S3SigmaPoints.hpp"
+#include "wpi/math/estimator/UnscentedKalmanFilter.hpp"
 
 namespace frc {
 

wpimath/src/main/native/include/wpi/math/estimator/SigmaPoints.hpp

@@ -6,7 +6,7 @@
 
 #include <concepts>
 
-#include "frc/EigenCore.h"
+#include "wpi/math/linalg/EigenCore.hpp"
 
 namespace frc {
 

wpimath/src/main/native/include/wpi/math/estimator/SteadyStateKalmanFilter.hpp

@@ -9,17 +9,17 @@
 #include <string>
 
 #include <Eigen/Cholesky>
-#include <wpi/SymbolExports.h>
-#include <wpi/array.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"
 
-#include "frc/DARE.h"
-#include "frc/EigenCore.h"
-#include "frc/StateSpaceUtil.h"
-#include "frc/fmt/Eigen.h"
-#include "frc/system/Discretization.h"
-#include "frc/system/LinearSystem.h"
-#include "units/time.h"
-#include "wpimath/MathShared.h"
+#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"
 
 namespace frc {
 

wpimath/src/main/native/include/wpi/math/estimator/SwerveDrivePoseEstimator.hpp

@@ -6,15 +6,15 @@
 
 #include <cmath>
 
-#include <wpi/SymbolExports.h>
-#include <wpi/array.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"
 
-#include "frc/estimator/PoseEstimator.h"
-#include "frc/geometry/Pose2d.h"
-#include "frc/geometry/Rotation2d.h"
-#include "frc/kinematics/SwerveDriveKinematics.h"
-#include "frc/kinematics/SwerveDriveOdometry.h"
-#include "units/time.h"
+#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"
 
 namespace frc {
 

wpimath/src/main/native/include/wpi/math/estimator/SwerveDrivePoseEstimator3d.hpp

@@ -6,15 +6,15 @@
 
 #include <cmath>
 
-#include <wpi/SymbolExports.h>
-#include <wpi/array.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"
 
-#include "frc/estimator/PoseEstimator3d.h"
-#include "frc/geometry/Pose2d.h"
-#include "frc/geometry/Rotation2d.h"
-#include "frc/kinematics/SwerveDriveKinematics.h"
-#include "frc/kinematics/SwerveDriveOdometry3d.h"
-#include "units/time.h"
+#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"
 
 namespace frc {
 

wpimath/src/main/native/include/wpi/math/estimator/UnscentedKalmanFilter.hpp

@@ -8,17 +8,17 @@
 #include <utility>
 
 #include <Eigen/Cholesky>
-#include <wpi/SymbolExports.h>
-#include <wpi/array.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"
 
-#include "frc/EigenCore.h"
-#include "frc/StateSpaceUtil.h"
-#include "frc/estimator/SigmaPoints.h"
-#include "frc/estimator/UnscentedTransform.h"
-#include "frc/system/Discretization.h"
-#include "frc/system/NumericalIntegration.h"
-#include "frc/system/NumericalJacobian.h"
-#include "units/time.h"
+#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/system/Discretization.hpp"
+#include "wpi/math/system/NumericalIntegration.hpp"
+#include "wpi/math/system/NumericalJacobian.hpp"
+#include "wpi/units/time.hpp"
 
 namespace frc {
 

wpimath/src/main/native/include/wpi/math/estimator/UnscentedTransform.hpp

@@ -9,7 +9,7 @@
 
 #include <Eigen/QR>
 
-#include "frc/EigenCore.h"
+#include "wpi/math/linalg/EigenCore.hpp"
 
 namespace frc {
 

wpimath/src/main/native/include/wpi/math/filter/Debouncer.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/timestamp.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/timestamp.h"
 
-#include "units/time.h"
+#include "wpi/units/time.hpp"
 
 namespace frc {
 /**

wpimath/src/main/native/include/wpi/math/filter/LinearFilter.hpp

@@ -13,12 +13,12 @@
 
 #include <Eigen/QR>
 #include <gcem.hpp>
-#include <wpi/array.h>
-#include <wpi/circular_buffer.h>
+#include "wpi/util/array.hpp"
+#include "wpi/util/circular_buffer.hpp"
 
-#include "frc/EigenCore.h"
-#include "units/time.h"
-#include "wpimath/MathShared.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/math/util/MathShared.hpp"
 
 namespace frc {
 

wpimath/src/main/native/include/wpi/math/filter/MedianFilter.hpp

@@ -7,8 +7,8 @@
 #include <algorithm>
 #include <vector>
 
-#include <wpi/Algorithm.h>
-#include <wpi/circular_buffer.h>
+#include "wpi/util/Algorithm.hpp"
+#include "wpi/util/circular_buffer.hpp"
 
 namespace frc {
 /**

wpimath/src/main/native/include/wpi/math/filter/SlewRateLimiter.hpp

@@ -6,10 +6,10 @@
 
 #include <algorithm>
 
-#include <wpi/timestamp.h>
+#include "wpi/util/timestamp.h"
 
-#include "units/time.h"
-#include "wpimath/MathShared.h"
+#include "wpi/units/time.hpp"
+#include "wpi/math/util/MathShared.hpp"
 
 namespace frc {
 /**

wpimath/src/main/native/include/wpi/math/geometry/CoordinateAxis.hpp

@@ -6,10 +6,10 @@
 
 #include <Eigen/Core>
 #include <gcem.hpp>
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/geometry/Pose3d.h"
-#include "frc/geometry/Rotation3d.h"
+#include "wpi/math/geometry/Pose3d.hpp"
+#include "wpi/math/geometry/Rotation3d.hpp"
 
 namespace frc {
 

wpimath/src/main/native/include/wpi/math/geometry/CoordinateSystem.hpp

@@ -4,12 +4,12 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/geometry/CoordinateAxis.h"
-#include "frc/geometry/Pose3d.h"
-#include "frc/geometry/Rotation3d.h"
-#include "frc/geometry/Translation3d.h"
+#include "wpi/math/geometry/CoordinateAxis.hpp"
+#include "wpi/math/geometry/Pose3d.hpp"
+#include "wpi/math/geometry/Rotation3d.hpp"
+#include "wpi/math/geometry/Translation3d.hpp"
 
 namespace frc {
 

wpimath/src/main/native/include/wpi/math/geometry/Ellipse2d.hpp

@@ -7,15 +7,15 @@
 #include <stdexcept>
 
 #include <gcem.hpp>
-#include <wpi/SymbolExports.h>
-#include <wpi/array.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/array.hpp"
 
-#include "frc/geometry/Pose2d.h"
-#include "frc/geometry/Rotation2d.h"
-#include "frc/geometry/Transform2d.h"
-#include "frc/geometry/Translation2d.h"
-#include "units/length.h"
-#include "units/math.h"
+#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"
 
 namespace frc {
 
@@ -212,5 +212,5 @@ class WPILIB_DLLEXPORT Ellipse2d {
 
 }  // namespace frc
 
-#include "frc/geometry/proto/Ellipse2dProto.h"
-#include "frc/geometry/struct/Ellipse2dStruct.h"
+#include "wpi/math/geometry/proto/Ellipse2dProto.hpp"
+#include "wpi/math/geometry/struct/Ellipse2dStruct.hpp"

wpimath/src/main/native/include/wpi/math/geometry/Pose2d.hpp

@@ -10,12 +10,12 @@
 #include <utility>
 
 #include <gcem.hpp>
-#include <wpi/SymbolExports.h>
-#include <wpi/json_fwd.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/json_fwd.hpp"
 
-#include "frc/geometry/Rotation2d.h"
-#include "frc/geometry/Translation2d.h"
-#include "units/length.h"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/math/geometry/Translation2d.hpp"
+#include "wpi/units/length.hpp"
 
 namespace frc {
 
@@ -272,10 +272,10 @@ void from_json(const wpi::json& json, Pose2d& pose);
 
 }  // namespace frc
 
-#include "frc/geometry/proto/Pose2dProto.h"
-#include "frc/geometry/struct/Pose2dStruct.h"
+#include "wpi/math/geometry/proto/Pose2dProto.hpp"
+#include "wpi/math/geometry/struct/Pose2dStruct.hpp"
 
-#include "frc/geometry/Transform2d.h"
+#include "wpi/math/geometry/Transform2d.hpp"
 
 namespace frc {
 

wpimath/src/main/native/include/wpi/math/geometry/Pose3d.hpp

@@ -12,13 +12,13 @@
 #include <utility>
 
 #include <Eigen/Core>
-#include <wpi/SymbolExports.h>
-#include <wpi/json_fwd.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/json_fwd.hpp"
 
-#include "frc/ct_matrix.h"
-#include "frc/geometry/Pose2d.h"
-#include "frc/geometry/Rotation3d.h"
-#include "frc/geometry/Translation3d.h"
+#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"
 
 namespace frc {
 
@@ -304,7 +304,7 @@ void from_json(const wpi::json& json, Pose3d& pose);
 
 }  // namespace frc
 
-#include "frc/geometry/Transform3d.h"
+#include "wpi/math/geometry/Transform3d.hpp"
 
 namespace frc {
 
@@ -325,5 +325,5 @@ constexpr Pose3d Pose3d::RelativeTo(const Pose3d& other) const {
 
 }  // namespace frc
 
-#include "frc/geometry/proto/Pose3dProto.h"
-#include "frc/geometry/struct/Pose3dStruct.h"
+#include "wpi/math/geometry/proto/Pose3dProto.hpp"
+#include "wpi/math/geometry/struct/Pose3dStruct.hpp"

wpimath/src/main/native/include/wpi/math/geometry/Quaternion.hpp

@@ -8,8 +8,8 @@
 
 #include <Eigen/Core>
 #include <gcem.hpp>
-#include <wpi/SymbolExports.h>
-#include <wpi/json_fwd.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/json_fwd.hpp"
 
 namespace frc {
 
@@ -334,5 +334,5 @@ void from_json(const wpi::json& json, Quaternion& quaternion);
 
 }  // namespace frc
 
-#include "frc/geometry/proto/QuaternionProto.h"
-#include "frc/geometry/struct/QuaternionStruct.h"
+#include "wpi/math/geometry/proto/QuaternionProto.hpp"
+#include "wpi/math/geometry/struct/QuaternionStruct.hpp"

wpimath/src/main/native/include/wpi/math/geometry/Rectangle2d.hpp

@@ -7,14 +7,14 @@
 #include <algorithm>
 #include <stdexcept>
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/geometry/Pose2d.h"
-#include "frc/geometry/Rotation2d.h"
-#include "frc/geometry/Transform2d.h"
-#include "frc/geometry/Translation2d.h"
-#include "units/length.h"
-#include "units/math.h"
+#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"
 
 namespace frc {
 
@@ -206,5 +206,5 @@ class WPILIB_DLLEXPORT Rectangle2d {
 
 }  // namespace frc
 
-#include "frc/geometry/proto/Rectangle2dProto.h"
-#include "frc/geometry/struct/Rectangle2dStruct.h"
+#include "wpi/math/geometry/proto/Rectangle2dProto.hpp"
+#include "wpi/math/geometry/struct/Rectangle2dStruct.hpp"

wpimath/src/main/native/include/wpi/math/geometry/Rotation2d.hpp

@@ -9,13 +9,13 @@
 
 #include <Eigen/Core>
 #include <gcem.hpp>
-#include <wpi/StackTrace.h>
-#include <wpi/SymbolExports.h>
-#include <wpi/json_fwd.h>
+#include "wpi/util/StackTrace.hpp"
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/json_fwd.hpp"
 
-#include "frc/ct_matrix.h"
-#include "units/angle.h"
-#include "wpimath/MathShared.h"
+#include "wpi/math/linalg/ct_matrix.hpp"
+#include "wpi/units/angle.hpp"
+#include "wpi/math/util/MathShared.hpp"
 
 namespace frc {
 
@@ -248,5 +248,5 @@ void from_json(const wpi::json& json, Rotation2d& rotation);
 
 }  // namespace frc
 
-#include "frc/geometry/proto/Rotation2dProto.h"
-#include "frc/geometry/struct/Rotation2dStruct.h"
+#include "wpi/math/geometry/proto/Rotation2dProto.hpp"
+#include "wpi/math/geometry/struct/Rotation2dStruct.hpp"

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/SymbolExports.h>
-#include <wpi/json_fwd.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/json_fwd.hpp"
 
-#include "frc/ct_matrix.h"
-#include "frc/fmt/Eigen.h"
-#include "frc/geometry/Quaternion.h"
-#include "frc/geometry/Rotation2d.h"
-#include "units/angle.h"
-#include "units/math.h"
-#include "wpimath/MathShared.h"
+#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/units/angle.hpp"
+#include "wpi/units/math.hpp"
+#include "wpi/math/util/MathShared.hpp"
 
 namespace frc {
 
@@ -449,5 +449,5 @@ void from_json(const wpi::json& json, Rotation3d& rotation);
 
 }  // namespace frc
 
-#include "frc/geometry/proto/Rotation3dProto.h"
-#include "frc/geometry/struct/Rotation3dStruct.h"
+#include "wpi/math/geometry/proto/Rotation3dProto.hpp"
+#include "wpi/math/geometry/struct/Rotation3dStruct.hpp"

wpimath/src/main/native/include/wpi/math/geometry/Transform2d.hpp

@@ -6,10 +6,10 @@
 
 #include <utility>
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/geometry/Rotation2d.h"
-#include "frc/geometry/Translation2d.h"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/math/geometry/Translation2d.hpp"
 
 namespace frc {
 
@@ -171,8 +171,8 @@ class WPILIB_DLLEXPORT Transform2d {
 
 }  // namespace frc
 
-#include "frc/geometry/Pose2d.h"
-#include "frc/geometry/Twist2d.h"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/geometry/Twist2d.hpp"
 
 namespace frc {
 
@@ -213,5 +213,5 @@ constexpr Twist2d Transform2d::Log() const {
 
 }  // namespace frc
 
-#include "frc/geometry/proto/Transform2dProto.h"
-#include "frc/geometry/struct/Transform2dStruct.h"
+#include "wpi/math/geometry/proto/Transform2dProto.hpp"
+#include "wpi/math/geometry/struct/Transform2dStruct.hpp"

wpimath/src/main/native/include/wpi/math/geometry/Transform3d.hpp

@@ -6,10 +6,10 @@
 
 #include <utility>
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/geometry/Transform2d.h"
-#include "frc/geometry/Translation3d.h"
+#include "wpi/math/geometry/Transform2d.hpp"
+#include "wpi/math/geometry/Translation3d.hpp"
 
 namespace frc {
 
@@ -196,9 +196,9 @@ class WPILIB_DLLEXPORT Transform3d {
 
 }  // namespace frc
 
-#include "frc/geometry/Pose3d.h"
-#include "frc/geometry/Twist3d.h"
-#include "frc/geometry/detail/RotationVectorToMatrix.h"
+#include "wpi/math/geometry/Pose3d.hpp"
+#include "wpi/math/geometry/Twist3d.hpp"
+#include "wpi/math/geometry/detail/RotationVectorToMatrix.hpp"
 
 namespace frc {
 
@@ -271,5 +271,5 @@ constexpr Twist3d Transform3d::Log() const {
 
 }  // namespace frc
 
-#include "frc/geometry/proto/Transform3dProto.h"
-#include "frc/geometry/struct/Transform3dStruct.h"
+#include "wpi/math/geometry/proto/Transform3dProto.hpp"
+#include "wpi/math/geometry/struct/Transform3dStruct.hpp"

wpimath/src/main/native/include/wpi/math/geometry/Translation2d.hpp

@@ -9,13 +9,13 @@
 #include <span>
 
 #include <Eigen/Core>
-#include <wpi/SymbolExports.h>
-#include <wpi/json_fwd.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/json_fwd.hpp"
 
-#include "frc/geometry/Rotation2d.h"
-#include "units/area.h"
-#include "units/length.h"
-#include "units/math.h"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/units/area.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/math.hpp"
 
 namespace frc {
 
@@ -327,5 +327,5 @@ void from_json(const wpi::json& json, Translation2d& state);
 
 }  // namespace frc
 
-#include "frc/geometry/proto/Translation2dProto.h"
-#include "frc/geometry/struct/Translation2dStruct.h"
+#include "wpi/math/geometry/proto/Translation2dProto.hpp"
+#include "wpi/math/geometry/struct/Translation2dStruct.hpp"

wpimath/src/main/native/include/wpi/math/geometry/Translation3d.hpp

@@ -9,14 +9,14 @@
 #include <span>
 
 #include <Eigen/Core>
-#include <wpi/SymbolExports.h>
-#include <wpi/json_fwd.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/json_fwd.hpp"
 
-#include "frc/geometry/Rotation3d.h"
-#include "frc/geometry/Translation2d.h"
-#include "units/area.h"
-#include "units/length.h"
-#include "units/math.h"
+#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"
 
 namespace frc {
 
@@ -352,5 +352,5 @@ void from_json(const wpi::json& json, Translation3d& state);
 
 }  // namespace frc
 
-#include "frc/geometry/proto/Translation3dProto.h"
-#include "frc/geometry/struct/Translation3dStruct.h"
+#include "wpi/math/geometry/proto/Translation3dProto.hpp"
+#include "wpi/math/geometry/struct/Translation3dStruct.hpp"

wpimath/src/main/native/include/wpi/math/geometry/Twist2d.hpp

@@ -4,11 +4,11 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "units/angle.h"
-#include "units/length.h"
-#include "units/math.h"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/math.hpp"
 
 namespace frc {
 
@@ -80,7 +80,7 @@ struct WPILIB_DLLEXPORT Twist2d {
 
 }  // namespace frc
 
-#include "frc/geometry/Transform2d.h"
+#include "wpi/math/geometry/Transform2d.hpp"
 
 namespace frc {
 
@@ -104,5 +104,5 @@ constexpr Transform2d Twist2d::Exp() const {
 
 }  // namespace frc
 
-#include "frc/geometry/proto/Twist2dProto.h"
-#include "frc/geometry/struct/Twist2dStruct.h"
+#include "wpi/math/geometry/proto/Twist2dProto.hpp"
+#include "wpi/math/geometry/struct/Twist2dStruct.hpp"

wpimath/src/main/native/include/wpi/math/geometry/Twist3d.hpp

@@ -4,11 +4,11 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "units/angle.h"
-#include "units/length.h"
-#include "units/math.h"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/math.hpp"
 
 namespace frc {
 
@@ -99,8 +99,8 @@ struct WPILIB_DLLEXPORT Twist3d {
 
 }  // namespace frc
 
-#include "frc/geometry/Transform3d.h"
-#include "frc/geometry/detail/RotationVectorToMatrix.h"
+#include "wpi/math/geometry/Transform3d.hpp"
+#include "wpi/math/geometry/detail/RotationVectorToMatrix.hpp"
 
 namespace frc {
 
@@ -164,5 +164,5 @@ constexpr Transform3d Twist3d::Exp() const {
 
 }  // namespace frc
 
-#include "frc/geometry/proto/Twist3dProto.h"
-#include "frc/geometry/struct/Twist3dStruct.h"
+#include "wpi/math/geometry/proto/Twist3dProto.hpp"
+#include "wpi/math/geometry/struct/Twist3dStruct.hpp"

wpimath/src/main/native/include/wpi/math/geometry/detail/RotationVectorToMatrix.hpp

@@ -6,7 +6,7 @@
 
 #include <Eigen/Core>
 
-#include "frc/ct_matrix.h"
+#include "wpi/math/linalg/ct_matrix.hpp"
 
 namespace frc::detail {
 

wpimath/src/main/native/include/wpi/math/geometry/proto/Ellipse2dProto.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/geometry/Ellipse2d.h"
+#include "wpi/math/geometry/Ellipse2d.hpp"
 #include "wpimath/protobuf/geometry2d.npb.h"
 
 template <>

wpimath/src/main/native/include/wpi/math/geometry/proto/Pose2dProto.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/geometry/Pose2d.h"
+#include "wpi/math/geometry/Pose2d.hpp"
 #include "pb.h"
 #include "wpimath/protobuf/geometry2d.npb.h"
 

wpimath/src/main/native/include/wpi/math/geometry/proto/Pose3dProto.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/geometry/Pose3d.h"
+#include "wpi/math/geometry/Pose3d.hpp"
 #include "wpimath/protobuf/geometry3d.npb.h"
 
 template <>

wpimath/src/main/native/include/wpi/math/geometry/proto/QuaternionProto.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/geometry/Quaternion.h"
+#include "wpi/math/geometry/Quaternion.hpp"
 #include "wpimath/protobuf/geometry3d.npb.h"
 
 template <>

wpimath/src/main/native/include/wpi/math/geometry/proto/Rectangle2dProto.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/geometry/Rectangle2d.h"
+#include "wpi/math/geometry/Rectangle2d.hpp"
 #include "wpimath/protobuf/geometry2d.npb.h"
 
 template <>

wpimath/src/main/native/include/wpi/math/geometry/proto/Rotation2dProto.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/geometry/Rotation2d.h"
+#include "wpi/math/geometry/Rotation2d.hpp"
 #include "pb.h"
 #include "wpimath/protobuf/geometry2d.npb.h"
 

wpimath/src/main/native/include/wpi/math/geometry/proto/Rotation3dProto.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/geometry/Rotation3d.h"
+#include "wpi/math/geometry/Rotation3d.hpp"
 #include "wpimath/protobuf/geometry3d.npb.h"
 
 template <>

wpimath/src/main/native/include/wpi/math/geometry/proto/Transform2dProto.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/geometry/Transform2d.h"
+#include "wpi/math/geometry/Transform2d.hpp"
 #include "wpimath/protobuf/geometry2d.npb.h"
 
 template <>

wpimath/src/main/native/include/wpi/math/geometry/proto/Transform3dProto.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/geometry/Transform3d.h"
+#include "wpi/math/geometry/Transform3d.hpp"
 #include "wpimath/protobuf/geometry3d.npb.h"
 
 template <>

wpimath/src/main/native/include/wpi/math/geometry/proto/Translation2dProto.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/geometry/Translation2d.h"
+#include "wpi/math/geometry/Translation2d.hpp"
 #include "pb.h"
 #include "wpimath/protobuf/geometry2d.npb.h"
 

wpimath/src/main/native/include/wpi/math/geometry/proto/Translation3dProto.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/geometry/Translation3d.h"
+#include "wpi/math/geometry/Translation3d.hpp"
 #include "wpimath/protobuf/geometry3d.npb.h"
 
 template <>

wpimath/src/main/native/include/wpi/math/geometry/proto/Twist2dProto.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/geometry/Twist2d.h"
+#include "wpi/math/geometry/Twist2d.hpp"
 #include "wpimath/protobuf/geometry2d.npb.h"
 
 template <>

wpimath/src/main/native/include/wpi/math/geometry/proto/Twist3dProto.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
-#include "frc/geometry/Twist3d.h"
+#include "wpi/math/geometry/Twist3d.hpp"
 #include "wpimath/protobuf/geometry3d.npb.h"
 
 template <>

wpimath/src/main/native/include/wpi/math/geometry/struct/Ellipse2dStruct.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/geometry/Ellipse2d.h"
+#include "wpi/math/geometry/Ellipse2d.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Ellipse2d> {

wpimath/src/main/native/include/wpi/math/geometry/struct/Pose2dStruct.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/geometry/Pose2d.h"
+#include "wpi/math/geometry/Pose2d.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Pose2d> {

wpimath/src/main/native/include/wpi/math/geometry/struct/Pose3dStruct.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/geometry/Pose3d.h"
+#include "wpi/math/geometry/Pose3d.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Pose3d> {

wpimath/src/main/native/include/wpi/math/geometry/struct/QuaternionStruct.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/geometry/Quaternion.h"
+#include "wpi/math/geometry/Quaternion.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Quaternion> {

wpimath/src/main/native/include/wpi/math/geometry/struct/Rectangle2dStruct.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/geometry/Rectangle2d.h"
+#include "wpi/math/geometry/Rectangle2d.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Rectangle2d> {

wpimath/src/main/native/include/wpi/math/geometry/struct/Rotation2dStruct.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/geometry/Rotation2d.h"
+#include "wpi/math/geometry/Rotation2d.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Rotation2d> {

wpimath/src/main/native/include/wpi/math/geometry/struct/Rotation3dStruct.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/geometry/Rotation3d.h"
+#include "wpi/math/geometry/Rotation3d.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Rotation3d> {

wpimath/src/main/native/include/wpi/math/geometry/struct/Transform2dStruct.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/geometry/Transform2d.h"
+#include "wpi/math/geometry/Transform2d.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Transform2d> {

wpimath/src/main/native/include/wpi/math/geometry/struct/Transform3dStruct.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/geometry/Transform3d.h"
+#include "wpi/math/geometry/Transform3d.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Transform3d> {

wpimath/src/main/native/include/wpi/math/geometry/struct/Translation2dStruct.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/geometry/Translation2d.h"
+#include "wpi/math/geometry/Translation2d.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Translation2d> {

wpimath/src/main/native/include/wpi/math/geometry/struct/Translation3dStruct.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/geometry/Translation3d.h"
+#include "wpi/math/geometry/Translation3d.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Translation3d> {

wpimath/src/main/native/include/wpi/math/geometry/struct/Twist2dStruct.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/geometry/Twist2d.h"
+#include "wpi/math/geometry/Twist2d.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Twist2d> {

wpimath/src/main/native/include/wpi/math/geometry/struct/Twist3dStruct.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/SymbolExports.hpp"
+#include "wpi/util/struct/Struct.hpp"
 
-#include "frc/geometry/Twist3d.h"
+#include "wpi/math/geometry/Twist3d.hpp"
 
 template <>
 struct WPILIB_DLLEXPORT wpi::Struct<frc::Twist3d> {

wpimath/src/main/native/include/wpi/math/interpolation/TimeInterpolatableBuffer.hpp

@@ -10,11 +10,11 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/MathExtras.h>
-#include <wpi/SymbolExports.h>
+#include "wpi/util/MathExtras.hpp"
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/geometry/Pose2d.h"
-#include "units/time.h"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/units/time.hpp"
 
 namespace frc {
 

wpimath/src/main/native/include/wpi/math/kinematics/ChassisSpeeds.hpp

@@ -4,12 +4,12 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/geometry/Pose2d.h"
-#include "frc/geometry/Rotation2d.h"
-#include "units/angular_velocity.h"
-#include "units/velocity.h"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/units/angular_velocity.hpp"
+#include "wpi/units/velocity.hpp"
 
 namespace frc {
 /**
@@ -197,5 +197,5 @@ struct WPILIB_DLLEXPORT ChassisSpeeds {
 };
 }  // namespace frc
 
-#include "frc/kinematics/proto/ChassisSpeedsProto.h"
-#include "frc/kinematics/struct/ChassisSpeedsStruct.h"
+#include "wpi/math/kinematics/proto/ChassisSpeedsProto.hpp"
+#include "wpi/math/kinematics/struct/ChassisSpeedsStruct.hpp"

wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveKinematics.hpp

@@ -6,16 +6,16 @@
 
 #include <type_traits>
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/geometry/Twist2d.h"
-#include "frc/kinematics/ChassisSpeeds.h"
-#include "frc/kinematics/DifferentialDriveWheelPositions.h"
-#include "frc/kinematics/DifferentialDriveWheelSpeeds.h"
-#include "frc/kinematics/Kinematics.h"
-#include "units/angle.h"
-#include "units/length.h"
-#include "wpimath/MathShared.h"
+#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/units/angle.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/math/util/MathShared.hpp"
 
 namespace frc {
 /**
@@ -104,5 +104,5 @@ class WPILIB_DLLEXPORT DifferentialDriveKinematics
 };
 }  // namespace frc
 
-#include "frc/kinematics/proto/DifferentialDriveKinematicsProto.h"
-#include "frc/kinematics/struct/DifferentialDriveKinematicsStruct.h"
+#include "wpi/math/kinematics/proto/DifferentialDriveKinematicsProto.hpp"
+#include "wpi/math/kinematics/struct/DifferentialDriveKinematicsStruct.hpp"

wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveOdometry.hpp

@@ -4,14 +4,14 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/geometry/Pose2d.h"
-#include "frc/kinematics/DifferentialDriveKinematics.h"
-#include "frc/kinematics/DifferentialDriveWheelPositions.h"
-#include "frc/kinematics/DifferentialDriveWheelSpeeds.h"
-#include "frc/kinematics/Odometry.h"
-#include "units/length.h"
+#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"
 
 namespace frc {
 /**

wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveOdometry3d.hpp

@@ -4,14 +4,14 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/geometry/Pose2d.h"
-#include "frc/kinematics/DifferentialDriveKinematics.h"
-#include "frc/kinematics/DifferentialDriveWheelPositions.h"
-#include "frc/kinematics/DifferentialDriveWheelSpeeds.h"
-#include "frc/kinematics/Odometry3d.h"
-#include "units/length.h"
+#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"
 
 namespace frc {
 /**

wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveWheelPositions.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/MathExtras.h>
-#include <wpi/SymbolExports.h>
+#include "wpi/util/MathExtras.hpp"
+#include "wpi/util/SymbolExports.hpp"
 
-#include "units/length.h"
+#include "wpi/units/length.hpp"
 
 namespace frc {
 /**
@@ -42,5 +42,5 @@ struct WPILIB_DLLEXPORT DifferentialDriveWheelPositions {
 };
 }  // namespace frc
 
-#include "frc/kinematics/proto/DifferentialDriveWheelPositionsProto.h"
-#include "frc/kinematics/struct/DifferentialDriveWheelPositionsStruct.h"
+#include "wpi/math/kinematics/proto/DifferentialDriveWheelPositionsProto.hpp"
+#include "wpi/math/kinematics/struct/DifferentialDriveWheelPositionsStruct.hpp"

wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "units/math.h"
-#include "units/velocity.h"
+#include "wpi/units/math.hpp"
+#include "wpi/units/velocity.hpp"
 
 namespace frc {
 /**
@@ -122,5 +122,5 @@ struct WPILIB_DLLEXPORT DifferentialDriveWheelSpeeds {
 };
 }  // namespace frc
 
-#include "frc/kinematics/proto/DifferentialDriveWheelSpeedsProto.h"
-#include "frc/kinematics/struct/DifferentialDriveWheelSpeedsStruct.h"
+#include "wpi/math/kinematics/proto/DifferentialDriveWheelSpeedsProto.hpp"
+#include "wpi/math/kinematics/struct/DifferentialDriveWheelSpeedsStruct.hpp"

wpimath/src/main/native/include/wpi/math/kinematics/Kinematics.hpp

@@ -4,10 +4,10 @@
 
 #pragma once
 
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/geometry/Twist2d.h"
-#include "frc/kinematics/ChassisSpeeds.h"
+#include "wpi/math/geometry/Twist2d.hpp"
+#include "wpi/math/kinematics/ChassisSpeeds.hpp"
 
 namespace frc {
 /**

wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveKinematics.hpp

@@ -5,16 +5,16 @@
 #pragma once
 
 #include <Eigen/QR>
-#include <wpi/SymbolExports.h>
+#include "wpi/util/SymbolExports.hpp"
 
-#include "frc/EigenCore.h"
-#include "frc/geometry/Translation2d.h"
-#include "frc/geometry/Twist2d.h"
-#include "frc/kinematics/ChassisSpeeds.h"
-#include "frc/kinematics/Kinematics.h"
-#include "frc/kinematics/MecanumDriveWheelPositions.h"
-#include "frc/kinematics/MecanumDriveWheelSpeeds.h"
-#include "wpimath/MathShared.h"
+#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/util/MathShared.hpp"
 
 namespace frc {
 
@@ -199,5 +199,5 @@ class WPILIB_DLLEXPORT MecanumDriveKinematics
 
 }  // namespace frc
 
-#include "frc/kinematics/proto/MecanumDriveKinematicsProto.h"
-#include "frc/kinematics/struct/MecanumDriveKinematicsStruct.h"
+#include "wpi/math/kinematics/proto/MecanumDriveKinematicsProto.hpp"
+#include "wpi/math/kinematics/struct/MecanumDriveKinematicsStruct.hpp"