SCRIPT Run cc include replacements

wpimath/src/test/native/cpp/ComputerVisionUtilTest.cpp

@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/ComputerVisionUtil.h"
+#include "wpi/math/util/ComputerVisionUtil.hpp"
 
 TEST(ComputerVisionUtilTest, ObjectToRobotPose) {
   frc::Pose3d robot{1_m, 2_m, 0_m, frc::Rotation3d{0_deg, 0_deg, 30_deg}};

wpimath/src/test/native/cpp/DARETest.cpp

@@ -7,12 +7,12 @@
 #include <Eigen/Core>
 #include <Eigen/Eigenvalues>
 #include <gtest/gtest.h>
-#include <wpi/expected>
-#include <wpi/print.h>
+#include "wpi/util/expected"
+#include "wpi/util/print.hpp"
 
-#include "frc/DARE.h"
-#include "frc/EigenCore.h"
-#include "frc/fmt/Eigen.h"
+#include "wpi/math/linalg/DARE.hpp"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/fmt/Eigen.hpp"
 
 // 2x1
 extern template wpi::expected<Eigen::Matrix<double, 2, 2>, frc::DAREError>

wpimath/src/test/native/cpp/DARETest_Inst_2x1.cpp

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/DARE.h"
+#include "wpi/math/linalg/DARE.hpp"
 
 template wpi::expected<Eigen::Matrix<double, 2, 2>, frc::DAREError>
 frc::DARE<2, 1>(const Eigen::Matrix<double, 2, 2>& A,

wpimath/src/test/native/cpp/DARETest_Inst_2x2.cpp

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/DARE.h"
+#include "wpi/math/linalg/DARE.hpp"
 
 template wpi::expected<Eigen::Matrix<double, 2, 2>, frc::DAREError>
 frc::DARE<2, 2>(const Eigen::Matrix<double, 2, 2>& A,

wpimath/src/test/native/cpp/DARETest_Inst_2x3.cpp

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/DARE.h"
+#include "wpi/math/linalg/DARE.hpp"
 
 template wpi::expected<Eigen::Matrix<double, 2, 2>, frc::DAREError>
 frc::DARE<2, 3>(const Eigen::Matrix<double, 2, 2>& A,

wpimath/src/test/native/cpp/DARETest_Inst_4x1.cpp

@@ -2,9 +2,9 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include <wpi/expected>
+#include "wpi/util/expected"
 
-#include "frc/DARE.h"
+#include "wpi/math/linalg/DARE.hpp"
 
 template wpi::expected<Eigen::Matrix<double, 4, 4>, frc::DAREError>
 frc::DARE<4, 1>(const Eigen::Matrix<double, 4, 4>& A,

wpimath/src/test/native/cpp/EigenTest.cpp

@@ -5,7 +5,7 @@
 #include <Eigen/LU>
 #include <gtest/gtest.h>
 
-#include "frc/EigenCore.h"
+#include "wpi/math/linalg/EigenCore.hpp"
 
 TEST(EigenTest, Multiplication) {
   frc::Matrixd<2, 2> m1{{2, 1}, {0, 1}};

wpimath/src/test/native/cpp/FormatterTest.cpp

@@ -7,8 +7,8 @@
 #include <fmt/format.h>
 #include <gtest/gtest.h>
 
-#include "frc/fmt/Eigen.h"
-#include "units/velocity.h"
+#include "wpi/math/fmt/Eigen.hpp"
+#include "wpi/units/velocity.hpp"
 
 TEST(FormatterTest, Eigen) {
   Eigen::Matrix<double, 3, 2> A{{0.0, 1.0}, {2.0, 3.0}, {4.0, 5.0}};

wpimath/src/test/native/cpp/MathUtilTest.cpp

@@ -7,13 +7,13 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/MathUtil.h"
-#include "frc/geometry/Translation2d.h"
-#include "frc/geometry/Translation3d.h"
-#include "units/angle.h"
-#include "units/length.h"
-#include "units/time.h"
-#include "units/velocity.h"
+#include "wpi/math/util/MathUtil.hpp"
+#include "wpi/math/geometry/Translation2d.hpp"
+#include "wpi/math/geometry/Translation3d.hpp"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/units/velocity.hpp"
 
 #define EXPECT_UNITS_EQ(a, b) EXPECT_DOUBLE_EQ((a).value(), (b).value())
 

wpimath/src/test/native/cpp/ProtoTestBase.hpp

@@ -5,8 +5,8 @@
 #pragma once
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
-#include <wpi/protobuf/Protobuf.h>
+#include "wpi/util/SmallVector.hpp"
+#include "wpi/util/protobuf/Protobuf.hpp"
 
 template <typename T>
 class ProtoTest : public testing::Test {};

wpimath/src/test/native/cpp/StateSpaceTest.cpp

@@ -7,15 +7,15 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/EigenCore.h"
-#include "frc/controller/LinearPlantInversionFeedforward.h"
-#include "frc/controller/LinearQuadraticRegulator.h"
-#include "frc/estimator/KalmanFilter.h"
-#include "frc/system/LinearSystem.h"
-#include "frc/system/LinearSystemLoop.h"
-#include "frc/system/plant/DCMotor.h"
-#include "frc/system/plant/LinearSystemId.h"
-#include "units/time.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/controller/LinearPlantInversionFeedforward.hpp"
+#include "wpi/math/controller/LinearQuadraticRegulator.hpp"
+#include "wpi/math/estimator/KalmanFilter.hpp"
+#include "wpi/math/system/LinearSystem.hpp"
+#include "wpi/math/system/LinearSystemLoop.hpp"
+#include "wpi/math/system/plant/DCMotor.hpp"
+#include "wpi/math/system/plant/LinearSystemId.hpp"
+#include "wpi/units/time.hpp"
 
 namespace frc {
 

wpimath/src/test/native/cpp/StateSpaceUtilTest.cpp

@@ -4,8 +4,8 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/EigenCore.h"
-#include "frc/StateSpaceUtil.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/util/StateSpaceUtil.hpp"
 
 TEST(StateSpaceUtilTest, CostParameterPack) {
   constexpr frc::Matrixd<3, 3> mat = frc::MakeCostMatrix(1.0, 2.0, 3.0);

wpimath/src/test/native/cpp/StructTestBase.hpp

@@ -5,7 +5,7 @@
 #pragma once
 
 #include <gtest/gtest.h>
-#include <wpi/struct/Struct.h>
+#include "wpi/util/struct/Struct.hpp"
 
 template <typename T>
 class StructTest : public testing::Test {};

wpimath/src/test/native/cpp/UnitsTest.cpp

@@ -8,48 +8,48 @@
 #include <type_traits>
 
 #include <gtest/gtest.h>
-#include <wpi/print.h>
+#include "wpi/util/print.hpp"
 
-#include "units/acceleration.h"
-#include "units/angle.h"
-#include "units/angular_acceleration.h"
-#include "units/angular_jerk.h"
-#include "units/angular_velocity.h"
-#include "units/area.h"
-#include "units/capacitance.h"
-#include "units/charge.h"
-#include "units/concentration.h"
-#include "units/conductance.h"
-#include "units/constants.h"
-#include "units/current.h"
-#include "units/data.h"
-#include "units/data_transfer_rate.h"
-#include "units/density.h"
-#include "units/dimensionless.h"
-#include "units/energy.h"
-#include "units/force.h"
-#include "units/frequency.h"
-#include "units/illuminance.h"
-#include "units/impedance.h"
-#include "units/inductance.h"
-#include "units/length.h"
-#include "units/luminous_flux.h"
-#include "units/luminous_intensity.h"
-#include "units/magnetic_field_strength.h"
-#include "units/magnetic_flux.h"
-#include "units/mass.h"
-#include "units/math.h"
-#include "units/power.h"
-#include "units/pressure.h"
-#include "units/radiation.h"
-#include "units/solid_angle.h"
-#include "units/substance.h"
-#include "units/temperature.h"
-#include "units/time.h"
-#include "units/torque.h"
-#include "units/velocity.h"
-#include "units/voltage.h"
-#include "units/volume.h"
+#include "wpi/units/acceleration.hpp"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/angular_acceleration.hpp"
+#include "wpi/units/angular_jerk.hpp"
+#include "wpi/units/angular_velocity.hpp"
+#include "wpi/units/area.hpp"
+#include "wpi/units/capacitance.hpp"
+#include "wpi/units/charge.hpp"
+#include "wpi/units/concentration.hpp"
+#include "wpi/units/conductance.hpp"
+#include "wpi/units/constants.hpp"
+#include "wpi/units/current.hpp"
+#include "wpi/units/data.hpp"
+#include "wpi/units/data_transfer_rate.hpp"
+#include "wpi/units/density.hpp"
+#include "wpi/units/dimensionless.hpp"
+#include "wpi/units/energy.hpp"
+#include "wpi/units/force.hpp"
+#include "wpi/units/frequency.hpp"
+#include "wpi/units/illuminance.hpp"
+#include "wpi/units/impedance.hpp"
+#include "wpi/units/inductance.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/luminous_flux.hpp"
+#include "wpi/units/luminous_intensity.hpp"
+#include "wpi/units/magnetic_field_strength.hpp"
+#include "wpi/units/magnetic_flux.hpp"
+#include "wpi/units/mass.hpp"
+#include "wpi/units/math.hpp"
+#include "wpi/units/power.hpp"
+#include "wpi/units/pressure.hpp"
+#include "wpi/units/radiation.hpp"
+#include "wpi/units/solid_angle.hpp"
+#include "wpi/units/substance.hpp"
+#include "wpi/units/temperature.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/units/torque.hpp"
+#include "wpi/units/velocity.hpp"
+#include "wpi/units/voltage.hpp"
+#include "wpi/units/volume.hpp"
 
 using namespace units::acceleration;
 using namespace units::angle;

wpimath/src/test/native/cpp/controller/ArmFeedforwardTest.cpp

@@ -7,13 +7,13 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/EigenCore.h"
-#include "frc/controller/ArmFeedforward.h"
-#include "frc/system/NumericalIntegration.h"
-#include "units/angular_acceleration.h"
-#include "units/angular_velocity.h"
-#include "units/time.h"
-#include "units/voltage.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/controller/ArmFeedforward.hpp"
+#include "wpi/math/system/NumericalIntegration.hpp"
+#include "wpi/units/angular_acceleration.hpp"
+#include "wpi/units/angular_velocity.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/units/voltage.hpp"
 
 namespace {
 

wpimath/src/test/native/cpp/controller/BangBangInputOutputTest.cpp

@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/controller/BangBangController.h"
+#include "wpi/math/controller/BangBangController.hpp"
 
 TEST(BangBangInputOutputTest, ShouldOutput) {
   frc::BangBangController controller;

wpimath/src/test/native/cpp/controller/BangBangToleranceTest.cpp

@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/controller/BangBangController.h"
+#include "wpi/math/controller/BangBangController.hpp"
 
 TEST(BangBangToleranceTest, InTolerance) {
   frc::BangBangController controller{0.1};

wpimath/src/test/native/cpp/controller/ControlAffinePlantInversionFeedforwardTest.cpp

@@ -4,9 +4,9 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/EigenCore.h"
-#include "frc/controller/ControlAffinePlantInversionFeedforward.h"
-#include "units/time.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/controller/ControlAffinePlantInversionFeedforward.hpp"
+#include "wpi/units/time.hpp"
 
 namespace frc {
 

wpimath/src/test/native/cpp/controller/DifferentialDriveAccelerationLimiterTest.cpp

@@ -4,9 +4,9 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/controller/DifferentialDriveAccelerationLimiter.h"
-#include "frc/system/plant/LinearSystemId.h"
-#include "units/math.h"
+#include "wpi/math/controller/DifferentialDriveAccelerationLimiter.hpp"
+#include "wpi/math/system/plant/LinearSystemId.hpp"
+#include "wpi/units/math.hpp"
 
 namespace frc {
 

wpimath/src/test/native/cpp/controller/DifferentialDriveFeedforwardTest.cpp

@@ -7,12 +7,12 @@
 #include <Eigen/Core>
 #include <gtest/gtest.h>
 
-#include "frc/controller/DifferentialDriveFeedforward.h"
-#include "frc/controller/LinearPlantInversionFeedforward.h"
-#include "frc/system/plant/LinearSystemId.h"
-#include "units/acceleration.h"
-#include "units/length.h"
-#include "units/time.h"
+#include "wpi/math/controller/DifferentialDriveFeedforward.hpp"
+#include "wpi/math/controller/LinearPlantInversionFeedforward.hpp"
+#include "wpi/math/system/plant/LinearSystemId.hpp"
+#include "wpi/units/acceleration.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/time.hpp"
 
 TEST(DifferentialDriveFeedforwardTest, CalculateWithTrackwidth) {
   constexpr auto kVLinear = 1_V / 1_mps;

wpimath/src/test/native/cpp/controller/ElevatorFeedforwardTest.cpp

@@ -6,12 +6,12 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/EigenCore.h"
-#include "frc/controller/ElevatorFeedforward.h"
-#include "frc/controller/LinearPlantInversionFeedforward.h"
-#include "units/acceleration.h"
-#include "units/length.h"
-#include "units/time.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/controller/ElevatorFeedforward.hpp"
+#include "wpi/math/controller/LinearPlantInversionFeedforward.hpp"
+#include "wpi/units/acceleration.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/time.hpp"
 
 static constexpr auto Ks = 0.5_V;
 static constexpr auto Kv = 1.5_V * 1_s / 1_m;

wpimath/src/test/native/cpp/controller/ImplicitModelFollowerTest.cpp

@@ -4,8 +4,8 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/controller/ImplicitModelFollower.h"
-#include "frc/system/plant/LinearSystemId.h"
+#include "wpi/math/controller/ImplicitModelFollower.hpp"
+#include "wpi/math/system/plant/LinearSystemId.hpp"
 
 namespace frc {
 

wpimath/src/test/native/cpp/controller/LTVDifferentialDriveControllerTest.cpp

@@ -6,12 +6,12 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/MathUtil.h"
-#include "frc/controller/LTVDifferentialDriveController.h"
-#include "frc/system/NumericalIntegration.h"
-#include "frc/system/plant/LinearSystemId.h"
-#include "frc/trajectory/TrajectoryGenerator.h"
-#include "units/math.h"
+#include "wpi/math/util/MathUtil.hpp"
+#include "wpi/math/controller/LTVDifferentialDriveController.hpp"
+#include "wpi/math/system/NumericalIntegration.hpp"
+#include "wpi/math/system/plant/LinearSystemId.hpp"
+#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
+#include "wpi/units/math.hpp"
 
 #define EXPECT_NEAR_UNITS(val1, val2, eps) \
   EXPECT_LE(units::math::abs(val1 - val2), eps)

wpimath/src/test/native/cpp/controller/LTVUnicycleControllerTest.cpp

@@ -4,10 +4,10 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/MathUtil.h"
-#include "frc/controller/LTVUnicycleController.h"
-#include "frc/trajectory/TrajectoryGenerator.h"
-#include "units/math.h"
+#include "wpi/math/util/MathUtil.hpp"
+#include "wpi/math/controller/LTVUnicycleController.hpp"
+#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
+#include "wpi/units/math.hpp"
 
 #define EXPECT_NEAR_UNITS(val1, val2, eps) \
   EXPECT_LE(units::math::abs(val1 - val2), eps)

wpimath/src/test/native/cpp/controller/LinearPlantInversionFeedforwardTest.cpp

@@ -6,9 +6,9 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/EigenCore.h"
-#include "frc/controller/LinearPlantInversionFeedforward.h"
-#include "units/time.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/controller/LinearPlantInversionFeedforward.hpp"
+#include "wpi/units/time.hpp"
 
 namespace frc {
 

wpimath/src/test/native/cpp/controller/LinearQuadraticRegulatorTest.cpp

@@ -6,12 +6,12 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/EigenCore.h"
-#include "frc/controller/LinearQuadraticRegulator.h"
-#include "frc/system/LinearSystem.h"
-#include "frc/system/plant/DCMotor.h"
-#include "frc/system/plant/LinearSystemId.h"
-#include "units/time.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/controller/LinearQuadraticRegulator.hpp"
+#include "wpi/math/system/LinearSystem.hpp"
+#include "wpi/math/system/plant/DCMotor.hpp"
+#include "wpi/math/system/plant/LinearSystemId.hpp"
+#include "wpi/units/time.hpp"
 
 namespace frc {
 

wpimath/src/test/native/cpp/controller/PIDInputOutputTest.cpp

@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/controller/PIDController.h"
+#include "wpi/math/controller/PIDController.hpp"
 
 TEST(PIDInputOutputTest, ContinuousInput) {
   frc::PIDController controller{0.0, 0.0, 0.0};

wpimath/src/test/native/cpp/controller/PIDToleranceTest.cpp

@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/controller/PIDController.h"
+#include "wpi/math/controller/PIDController.hpp"
 
 static constexpr double kSetpoint = 50.0;
 static constexpr double kRange = 200;

wpimath/src/test/native/cpp/controller/ProfiledPIDInputOutputTest.cpp

@@ -6,10 +6,10 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/controller/ProfiledPIDController.h"
-#include "units/angle.h"
-#include "units/angular_acceleration.h"
-#include "units/angular_velocity.h"
+#include "wpi/math/controller/ProfiledPIDController.hpp"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/angular_acceleration.hpp"
+#include "wpi/units/angular_velocity.hpp"
 
 TEST(ProfiledPIDInputOutputTest, ContinuousInput1) {
   frc::ProfiledPIDController<units::degree> controller{

wpimath/src/test/native/cpp/controller/SimpleMotorFeedforwardTest.cpp

@@ -6,13 +6,13 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/EigenCore.h"
-#include "frc/controller/LinearPlantInversionFeedforward.h"
-#include "frc/controller/SimpleMotorFeedforward.h"
-#include "units/acceleration.h"
-#include "units/length.h"
-#include "units/time.h"
-#include "units/velocity.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/controller/LinearPlantInversionFeedforward.hpp"
+#include "wpi/math/controller/SimpleMotorFeedforward.hpp"
+#include "wpi/units/acceleration.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/units/velocity.hpp"
 
 namespace frc {
 

wpimath/src/test/native/cpp/controller/proto/ArmFeedforwardProtoTest.cpp

@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/controller/ArmFeedforward.h"
+#include "wpi/math/controller/ArmFeedforward.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/controller/proto/DifferentialDriveFeedforwardProtoTest.cpp

@@ -4,8 +4,8 @@
 
 #include <gtest/gtest.h>
 
-#include "../../ProtoTestBase.h"
-#include "frc/controller/DifferentialDriveFeedforward.h"
+#include "../../ProtoTestBase.hpp"
+#include "wpi/math/controller/DifferentialDriveFeedforward.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/controller/proto/DifferentialDriveWheelVoltagesProtoTest.cpp

@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/controller/DifferentialDriveWheelVoltages.h"
+#include "wpi/math/controller/DifferentialDriveWheelVoltages.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/controller/proto/ElevatorFeedforwardProtoTest.cpp

@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/controller/ElevatorFeedforward.h"
+#include "wpi/math/controller/ElevatorFeedforward.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/controller/proto/SimpleMotorFeedforwardProtoTest.cpp

@@ -4,11 +4,11 @@
 
 #include <gtest/gtest.h>
 
-#include "../../ProtoTestBase.h"
-#include "frc/controller/SimpleMotorFeedforward.h"
-#include "frc/controller/proto/SimpleMotorFeedforwardProto.h"
-#include "units/acceleration.h"
-#include "units/velocity.h"
+#include "../../ProtoTestBase.hpp"
+#include "wpi/math/controller/SimpleMotorFeedforward.hpp"
+#include "wpi/math/controller/proto/SimpleMotorFeedforwardProto.hpp"
+#include "wpi/units/acceleration.hpp"
+#include "wpi/units/velocity.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/controller/struct/ArmFeedforwardStructTest.cpp

@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/controller/ArmFeedforward.h"
+#include "wpi/math/controller/ArmFeedforward.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/controller/struct/DifferentialDriveFeedforwardStructTest.cpp

@@ -4,8 +4,8 @@
 
 #include <gtest/gtest.h>
 
-#include "../../StructTestBase.h"
-#include "frc/controller/DifferentialDriveFeedforward.h"
+#include "../../StructTestBase.hpp"
+#include "wpi/math/controller/DifferentialDriveFeedforward.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/controller/struct/DifferentialDriveWheelVoltagesStructTest.cpp

@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/controller/DifferentialDriveWheelVoltages.h"
+#include "wpi/math/controller/DifferentialDriveWheelVoltages.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/controller/struct/ElevatorFeedforwardStructTest.cpp

@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/controller/ElevatorFeedforward.h"
+#include "wpi/math/controller/ElevatorFeedforward.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/controller/struct/SimpleMotorFeedforwardStructTest.cpp

@@ -4,11 +4,11 @@
 
 #include <gtest/gtest.h>
 
-#include "../../StructTestBase.h"
-#include "frc/controller/SimpleMotorFeedforward.h"
-#include "frc/controller/struct/SimpleMotorFeedforwardStruct.h"
-#include "units/acceleration.h"
-#include "units/velocity.h"
+#include "../../StructTestBase.hpp"
+#include "wpi/math/controller/SimpleMotorFeedforward.hpp"
+#include "wpi/math/controller/struct/SimpleMotorFeedforwardStruct.hpp"
+#include "wpi/units/acceleration.hpp"
+#include "wpi/units/velocity.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/estimator/AngleStatisticsTest.cpp

@@ -6,8 +6,8 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/EigenCore.h"
-#include "frc/estimator/AngleStatistics.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/estimator/AngleStatistics.hpp"
 
 TEST(AngleStatisticsTest, Mean) {
   frc::Matrixd<3, 3> sigmas{

wpimath/src/test/native/cpp/estimator/DifferentialDrivePoseEstimator3dTest.cpp

@@ -9,17 +9,17 @@
 #include <vector>
 
 #include <gtest/gtest.h>
-#include <wpi/print.h>
+#include "wpi/util/print.hpp"
 
-#include "frc/StateSpaceUtil.h"
-#include "frc/estimator/DifferentialDrivePoseEstimator3d.h"
-#include "frc/geometry/Pose2d.h"
-#include "frc/geometry/Rotation2d.h"
-#include "frc/kinematics/DifferentialDriveKinematics.h"
-#include "frc/trajectory/TrajectoryGenerator.h"
-#include "units/angle.h"
-#include "units/length.h"
-#include "units/time.h"
+#include "wpi/math/util/StateSpaceUtil.hpp"
+#include "wpi/math/estimator/DifferentialDrivePoseEstimator3d.hpp"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
+#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/time.hpp"
 
 void testFollowTrajectory(
     const frc::DifferentialDriveKinematics& kinematics,

wpimath/src/test/native/cpp/estimator/DifferentialDrivePoseEstimatorTest.cpp

@@ -10,17 +10,17 @@
 #include <vector>
 
 #include <gtest/gtest.h>
-#include <wpi/print.h>
+#include "wpi/util/print.hpp"
 
-#include "frc/StateSpaceUtil.h"
-#include "frc/estimator/DifferentialDrivePoseEstimator.h"
-#include "frc/geometry/Pose2d.h"
-#include "frc/geometry/Rotation2d.h"
-#include "frc/kinematics/DifferentialDriveKinematics.h"
-#include "frc/trajectory/TrajectoryGenerator.h"
-#include "units/angle.h"
-#include "units/length.h"
-#include "units/time.h"
+#include "wpi/math/util/StateSpaceUtil.hpp"
+#include "wpi/math/estimator/DifferentialDrivePoseEstimator.hpp"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
+#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/time.hpp"
 
 void testFollowTrajectory(
     const frc::DifferentialDriveKinematics& kinematics,

wpimath/src/test/native/cpp/estimator/ExtendedKalmanFilterTest.cpp

@@ -8,13 +8,13 @@
 #include <Eigen/QR>
 #include <gtest/gtest.h>
 
-#include "frc/EigenCore.h"
-#include "frc/StateSpaceUtil.h"
-#include "frc/estimator/ExtendedKalmanFilter.h"
-#include "frc/system/NumericalJacobian.h"
-#include "frc/system/plant/DCMotor.h"
-#include "frc/trajectory/TrajectoryGenerator.h"
-#include "units/moment_of_inertia.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/util/StateSpaceUtil.hpp"
+#include "wpi/math/estimator/ExtendedKalmanFilter.hpp"
+#include "wpi/math/system/NumericalJacobian.hpp"
+#include "wpi/math/system/plant/DCMotor.hpp"
+#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
+#include "wpi/units/moment_of_inertia.hpp"
 
 namespace {
 

wpimath/src/test/native/cpp/estimator/KalmanFilterTest.cpp

@@ -8,11 +8,11 @@
 #include <Eigen/Core>
 #include <gtest/gtest.h>
 
-#include "frc/estimator/KalmanFilter.h"
-#include "frc/system/plant/DCMotor.h"
-#include "frc/system/plant/LinearSystemId.h"
-#include "units/moment_of_inertia.h"
-#include "units/time.h"
+#include "wpi/math/estimator/KalmanFilter.hpp"
+#include "wpi/math/system/plant/DCMotor.hpp"
+#include "wpi/math/system/plant/LinearSystemId.hpp"
+#include "wpi/units/moment_of_inertia.hpp"
+#include "wpi/units/time.hpp"
 
 TEST(KalmanFilterTest, Flywheel) {
   auto motor = frc::DCMotor::NEO();

wpimath/src/test/native/cpp/estimator/MecanumDrivePoseEstimator3dTest.cpp

@@ -8,12 +8,12 @@
 #include <vector>
 
 #include <gtest/gtest.h>
-#include <wpi/print.h>
+#include "wpi/util/print.hpp"
 
-#include "frc/estimator/MecanumDrivePoseEstimator3d.h"
-#include "frc/geometry/Pose2d.h"
-#include "frc/kinematics/MecanumDriveKinematics.h"
-#include "frc/trajectory/TrajectoryGenerator.h"
+#include "wpi/math/estimator/MecanumDrivePoseEstimator3d.hpp"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/kinematics/MecanumDriveKinematics.hpp"
+#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
 
 void testFollowTrajectory(
     const frc::MecanumDriveKinematics& kinematics,

wpimath/src/test/native/cpp/estimator/MecanumDrivePoseEstimatorTest.cpp

@@ -9,12 +9,12 @@
 #include <vector>
 
 #include <gtest/gtest.h>
-#include <wpi/print.h>
+#include "wpi/util/print.hpp"
 
-#include "frc/estimator/MecanumDrivePoseEstimator.h"
-#include "frc/geometry/Pose2d.h"
-#include "frc/kinematics/MecanumDriveKinematics.h"
-#include "frc/trajectory/TrajectoryGenerator.h"
+#include "wpi/math/estimator/MecanumDrivePoseEstimator.hpp"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/kinematics/MecanumDriveKinematics.hpp"
+#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
 
 void testFollowTrajectory(
     const frc::MecanumDriveKinematics& kinematics,

wpimath/src/test/native/cpp/estimator/MerweScaledSigmaPointsTest.cpp

@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/estimator/MerweScaledSigmaPoints.h"
+#include "wpi/math/estimator/MerweScaledSigmaPoints.hpp"
 
 TEST(MerweScaledSigmaPointsTest, ZeroMean) {
   frc::MerweScaledSigmaPoints<2> sigmaPoints;

wpimath/src/test/native/cpp/estimator/MerweUKFTest.cpp

@@ -10,17 +10,17 @@
 #include <Eigen/QR>
 #include <gtest/gtest.h>
 
-#include "frc/EigenCore.h"
-#include "frc/StateSpaceUtil.h"
-#include "frc/estimator/AngleStatistics.h"
-#include "frc/estimator/MerweUKF.h"
-#include "frc/system/Discretization.h"
-#include "frc/system/NumericalIntegration.h"
-#include "frc/system/NumericalJacobian.h"
-#include "frc/system/plant/DCMotor.h"
-#include "frc/system/plant/LinearSystemId.h"
-#include "frc/trajectory/TrajectoryGenerator.h"
-#include "units/moment_of_inertia.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/util/StateSpaceUtil.hpp"
+#include "wpi/math/estimator/AngleStatistics.hpp"
+#include "wpi/math/estimator/MerweUKF.hpp"
+#include "wpi/math/system/Discretization.hpp"
+#include "wpi/math/system/NumericalIntegration.hpp"
+#include "wpi/math/system/NumericalJacobian.hpp"
+#include "wpi/math/system/plant/DCMotor.hpp"
+#include "wpi/math/system/plant/LinearSystemId.hpp"
+#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
+#include "wpi/units/moment_of_inertia.hpp"
 
 namespace {
 

wpimath/src/test/native/cpp/estimator/S3SigmaPointsTest.cpp

@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/estimator/S3SigmaPoints.h"
+#include "wpi/math/estimator/S3SigmaPoints.hpp"
 
 TEST(S3SigmaPointsTest, Simplex) {
   constexpr double alpha = 1e-3;

wpimath/src/test/native/cpp/estimator/S3UKFTest.cpp

@@ -10,17 +10,17 @@
 #include <Eigen/QR>
 #include <gtest/gtest.h>
 
-#include "frc/EigenCore.h"
-#include "frc/StateSpaceUtil.h"
-#include "frc/estimator/AngleStatistics.h"
-#include "frc/estimator/S3UKF.h"
-#include "frc/system/Discretization.h"
-#include "frc/system/NumericalIntegration.h"
-#include "frc/system/NumericalJacobian.h"
-#include "frc/system/plant/DCMotor.h"
-#include "frc/system/plant/LinearSystemId.h"
-#include "frc/trajectory/TrajectoryGenerator.h"
-#include "units/moment_of_inertia.h"
+#include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/util/StateSpaceUtil.hpp"
+#include "wpi/math/estimator/AngleStatistics.hpp"
+#include "wpi/math/estimator/S3UKF.hpp"
+#include "wpi/math/system/Discretization.hpp"
+#include "wpi/math/system/NumericalIntegration.hpp"
+#include "wpi/math/system/NumericalJacobian.hpp"
+#include "wpi/math/system/plant/DCMotor.hpp"
+#include "wpi/math/system/plant/LinearSystemId.hpp"
+#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
+#include "wpi/units/moment_of_inertia.hpp"
 
 namespace {
 

wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimator3dTest.cpp

@@ -9,13 +9,13 @@
 
 #include <fmt/format.h>
 #include <gtest/gtest.h>
-#include <wpi/print.h>
-#include <wpi/timestamp.h>
+#include "wpi/util/print.hpp"
+#include "wpi/util/timestamp.h"
 
-#include "frc/estimator/SwerveDrivePoseEstimator3d.h"
-#include "frc/geometry/Pose2d.h"
-#include "frc/kinematics/SwerveDriveKinematics.h"
-#include "frc/trajectory/TrajectoryGenerator.h"
+#include "wpi/math/estimator/SwerveDrivePoseEstimator3d.hpp"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/kinematics/SwerveDriveKinematics.hpp"
+#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
 
 void testFollowTrajectory(
     const frc::SwerveDriveKinematics<4>& kinematics,

wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimatorTest.cpp

@@ -10,13 +10,13 @@
 
 #include <fmt/format.h>
 #include <gtest/gtest.h>
-#include <wpi/print.h>
-#include <wpi/timestamp.h>
+#include "wpi/util/print.hpp"
+#include "wpi/util/timestamp.h"
 
-#include "frc/estimator/SwerveDrivePoseEstimator.h"
-#include "frc/geometry/Pose2d.h"
-#include "frc/kinematics/SwerveDriveKinematics.h"
-#include "frc/trajectory/TrajectoryGenerator.h"
+#include "wpi/math/estimator/SwerveDrivePoseEstimator.hpp"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/kinematics/SwerveDriveKinematics.hpp"
+#include "wpi/math/trajectory/TrajectoryGenerator.hpp"
 
 void testFollowTrajectory(
     const frc::SwerveDriveKinematics<4>& kinematics,

wpimath/src/test/native/cpp/filter/DebouncerTest.cpp

@@ -3,10 +3,10 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/timestamp.h>
+#include "wpi/util/timestamp.h"
 
-#include "frc/filter/Debouncer.h"
-#include "units/time.h"
+#include "wpi/math/filter/Debouncer.hpp"
+#include "wpi/units/time.hpp"
 
 static units::second_t now = 0_s;
 

wpimath/src/test/native/cpp/filter/LinearFilterNoiseTest.cpp

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/filter/LinearFilter.h"  // NOLINT(build/include_order)
+#include "wpi/math/filter/LinearFilter.hpp"  // NOLINT(build/include_order)
 
 #include <cmath>
 #include <numbers>
@@ -10,7 +10,7 @@
 
 #include <gtest/gtest.h>
 
-#include "units/time.h"
+#include "wpi/units/time.hpp"
 
 // Filter constants
 static constexpr auto kFilterStep = 5_ms;

wpimath/src/test/native/cpp/filter/LinearFilterOutputTest.cpp

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-#include "frc/filter/LinearFilter.h"  // NOLINT(build/include_order)
+#include "wpi/math/filter/LinearFilter.hpp"  // NOLINT(build/include_order)
 
 #include <cmath>
 #include <functional>
@@ -11,9 +11,9 @@
 #include <random>
 
 #include <gtest/gtest.h>
-#include <wpi/array.h>
+#include "wpi/util/array.hpp"
 
-#include "units/time.h"
+#include "wpi/units/time.hpp"
 
 // Filter constants
 static constexpr auto kFilterStep = 5_ms;

wpimath/src/test/native/cpp/filter/MedianFilterTest.cpp

@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/filter/MedianFilter.h"
+#include "wpi/math/filter/MedianFilter.hpp"
 
 TEST(MedianFilterTest, MedianFilterNotFullTestEven) {
   frc::MedianFilter<double> filter{10};

wpimath/src/test/native/cpp/filter/SlewRateLimiterTest.cpp

@@ -3,12 +3,12 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/timestamp.h>
+#include "wpi/util/timestamp.h"
 
-#include "frc/filter/SlewRateLimiter.h"
-#include "units/length.h"
-#include "units/time.h"
-#include "units/velocity.h"
+#include "wpi/math/filter/SlewRateLimiter.hpp"
+#include "wpi/units/length.hpp"
+#include "wpi/units/time.hpp"
+#include "wpi/units/velocity.hpp"
 
 static units::second_t now = 0_s;
 

wpimath/src/test/native/cpp/geometry/CoordinateSystemTest.cpp

@@ -4,9 +4,9 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/CoordinateSystem.h"
-#include "frc/geometry/Pose3d.h"
-#include "frc/geometry/Transform3d.h"
+#include "wpi/math/geometry/CoordinateSystem.hpp"
+#include "wpi/math/geometry/Pose3d.hpp"
+#include "wpi/math/geometry/Transform3d.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/geometry/Ellipse2dTest.cpp

@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Ellipse2d.h"
+#include "wpi/math/geometry/Ellipse2d.hpp"
 
 TEST(Ellipse2dTest, FocalPoints) {
   constexpr frc::Pose2d center{1_m, 2_m, 0_deg};

wpimath/src/test/native/cpp/geometry/Pose2dTest.cpp

@@ -7,7 +7,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Pose2d.h"
+#include "wpi/math/geometry/Pose2d.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/geometry/Pose3dTest.cpp

@@ -5,9 +5,9 @@
 #include <cmath>
 
 #include <gtest/gtest.h>
-#include <wpi/array.h>
+#include "wpi/util/array.hpp"
 
-#include "frc/geometry/Pose3d.h"
+#include "wpi/math/geometry/Pose3d.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/geometry/QuaternionTest.cpp

@@ -6,9 +6,9 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Quaternion.h"
-#include "units/angle.h"
-#include "units/math.h"
+#include "wpi/math/geometry/Quaternion.hpp"
+#include "wpi/units/angle.hpp"
+#include "wpi/units/math.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/geometry/Rectangle2dTest.cpp

@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Rectangle2d.h"
+#include "wpi/math/geometry/Rectangle2d.hpp"
 
 TEST(Rectangle2dTest, NewWithCorners) {
   constexpr frc::Translation2d cornerA{1_m, 2_m};

wpimath/src/test/native/cpp/geometry/Rotation2dTest.cpp

@@ -7,7 +7,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Rotation2d.h"
+#include "wpi/math/geometry/Rotation2d.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/geometry/Rotation3dTest.cpp

@@ -7,9 +7,9 @@
 
 #include <Eigen/Core>
 #include <gtest/gtest.h>
-#include <wpi/MathExtras.h>
+#include "wpi/util/MathExtras.hpp"
 
-#include "frc/geometry/Rotation3d.h"
+#include "wpi/math/geometry/Rotation3d.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/geometry/Transform2dTest.cpp

@@ -6,10 +6,10 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Pose2d.h"
-#include "frc/geometry/Rotation2d.h"
-#include "frc/geometry/Transform2d.h"
-#include "frc/geometry/Translation2d.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"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/geometry/Transform3dTest.cpp

@@ -6,10 +6,10 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Pose3d.h"
-#include "frc/geometry/Rotation3d.h"
-#include "frc/geometry/Transform3d.h"
-#include "frc/geometry/Translation3d.h"
+#include "wpi/math/geometry/Pose3d.hpp"
+#include "wpi/math/geometry/Rotation3d.hpp"
+#include "wpi/math/geometry/Transform3d.hpp"
+#include "wpi/math/geometry/Translation3d.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/geometry/Translation2dTest.cpp

@@ -6,7 +6,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Translation2d.h"
+#include "wpi/math/geometry/Translation2d.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/geometry/Translation3dTest.cpp

@@ -6,7 +6,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Translation3d.h"
+#include "wpi/math/geometry/Translation3d.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/geometry/Twist2dTest.cpp

@@ -7,7 +7,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Pose2d.h"
+#include "wpi/math/geometry/Pose2d.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/geometry/Twist3dTest.cpp

@@ -7,7 +7,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Pose3d.h"
+#include "wpi/math/geometry/Pose3d.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/geometry/proto/Ellipse2dProtoTest.cpp

@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/geometry/Ellipse2d.h"
+#include "wpi/math/geometry/Ellipse2d.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/geometry/proto/Pose2dProtoTest.cpp

@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/geometry/Pose2d.h"
+#include "wpi/math/geometry/Pose2d.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/geometry/proto/Pose3dProtoTest.cpp

@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/geometry/Pose3d.h"
+#include "wpi/math/geometry/Pose3d.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/geometry/proto/QuaternionProtoTest.cpp

@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/geometry/Quaternion.h"
+#include "wpi/math/geometry/Quaternion.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/geometry/proto/Rectangle2dProtoTest.cpp

@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/geometry/Rectangle2d.h"
+#include "wpi/math/geometry/Rectangle2d.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/geometry/proto/Rotation2dProtoTest.cpp

@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/geometry/Rotation2d.h"
+#include "wpi/math/geometry/Rotation2d.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/geometry/proto/Rotation3dProtoTest.cpp

@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/geometry/Rotation3d.h"
+#include "wpi/math/geometry/Rotation3d.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/geometry/proto/Transform2dProtoTest.cpp

@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/geometry/Transform2d.h"
+#include "wpi/math/geometry/Transform2d.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/geometry/proto/Transform3dProtoTest.cpp

@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/geometry/Transform3d.h"
+#include "wpi/math/geometry/Transform3d.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/geometry/proto/Translation2dProtoTest.cpp

@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/geometry/Translation2d.h"
+#include "wpi/math/geometry/Translation2d.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/geometry/proto/Translation3dProtoTest.cpp

@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/geometry/Translation3d.h"
+#include "wpi/math/geometry/Translation3d.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/geometry/proto/Twist2dProtoTest.cpp

@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/geometry/Twist2d.h"
+#include "wpi/math/geometry/Twist2d.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/geometry/proto/Twist3dProtoTest.cpp

@@ -3,9 +3,9 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <gtest/gtest.h>
-#include <wpi/SmallVector.h>
+#include "wpi/util/SmallVector.hpp"
 
-#include "frc/geometry/Twist3d.h"
+#include "wpi/math/geometry/Twist3d.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/geometry/struct/Ellipse2dStructTest.cpp

@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Ellipse2d.h"
+#include "wpi/math/geometry/Ellipse2d.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/geometry/struct/Pose2dStructTest.cpp

@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Pose2d.h"
+#include "wpi/math/geometry/Pose2d.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/geometry/struct/Pose3dStructTest.cpp

@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Pose3d.h"
+#include "wpi/math/geometry/Pose3d.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/geometry/struct/QuaternionStructTest.cpp

@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Quaternion.h"
+#include "wpi/math/geometry/Quaternion.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/geometry/struct/Rectangle2dStructTest.cpp

@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Rectangle2d.h"
+#include "wpi/math/geometry/Rectangle2d.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/geometry/struct/Rotation2dStructTest.cpp

@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Rotation2d.h"
+#include "wpi/math/geometry/Rotation2d.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/geometry/struct/Rotation3dStructTest.cpp

@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Rotation3d.h"
+#include "wpi/math/geometry/Rotation3d.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/geometry/struct/Transform2dStructTest.cpp

@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Transform2d.h"
+#include "wpi/math/geometry/Transform2d.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/geometry/struct/Transform3dStructTest.cpp

@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Transform3d.h"
+#include "wpi/math/geometry/Transform3d.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/geometry/struct/Translation2dStructTest.cpp

@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Translation2d.h"
+#include "wpi/math/geometry/Translation2d.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/geometry/struct/Translation3dStructTest.cpp

@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Translation3d.h"
+#include "wpi/math/geometry/Translation3d.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/geometry/struct/Twist2dStructTest.cpp

@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Twist2d.h"
+#include "wpi/math/geometry/Twist2d.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/geometry/struct/Twist3dStructTest.cpp

@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Twist3d.h"
+#include "wpi/math/geometry/Twist3d.hpp"
 
 using namespace frc;
 

wpimath/src/test/native/cpp/interpolation/TimeInterpolatableBufferTest.cpp

@@ -6,10 +6,10 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/geometry/Pose2d.h"
-#include "frc/geometry/Rotation2d.h"
-#include "frc/interpolation/TimeInterpolatableBuffer.h"
-#include "units/time.h"
+#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/math/interpolation/TimeInterpolatableBuffer.hpp"
+#include "wpi/units/time.hpp"
 
 TEST(TimeInterpolatableBufferTest, AddSample) {
   frc::TimeInterpolatableBuffer<frc::Rotation2d> buffer{10_s};

wpimath/src/test/native/cpp/kinematics/ChassisSpeedsTest.cpp

@@ -6,7 +6,7 @@
 
 #include <gtest/gtest.h>
 
-#include "frc/kinematics/ChassisSpeeds.h"
+#include "wpi/math/kinematics/ChassisSpeeds.hpp"
 
 static constexpr double kEpsilon = 1E-9;