[wpimath] Remove unused #includes (#8549)

This is based on a filtered list of #includes clangd reported were unused.
2026-06-26 01:51:41 +00:00 · 2026-01-12 19:08:21 -08:00
parent 1724e59f8d
commit 89d0759ef2
41 changed files with 15 additions and 84 deletions
--- a/wpimath/src/main/native/include/wpi/math/controller/ArmFeedforward.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/ArmFeedforward.hpp
@@ -4,8 +4,6 @@

 #pragma once

-#include <cstdlib>
-
 #include "wpi/math/util/MathShared.hpp"
 #include "wpi/units/angle.hpp"
 #include "wpi/units/angular_velocity.hpp"
--- a/wpimath/src/main/native/include/wpi/math/controller/ControlAffinePlantInversionFeedforward.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/ControlAffinePlantInversionFeedforward.hpp
@@ -4,7 +4,6 @@

 #pragma once

-#include <array>
 #include <functional>

 #include <Eigen/QR>
--- a/wpimath/src/main/native/include/wpi/math/controller/ImplicitModelFollower.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/ImplicitModelFollower.hpp
@@ -8,7 +8,6 @@

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

 namespace wpi::math {

--- a/wpimath/src/main/native/include/wpi/math/controller/LinearPlantInversionFeedforward.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/LinearPlantInversionFeedforward.hpp
@@ -4,9 +4,6 @@

 #pragma once

-#include <array>
-#include <functional>
-
 #include <Eigen/QR>

 #include "wpi/math/linalg/EigenCore.hpp"
--- a/wpimath/src/main/native/include/wpi/math/controller/PIDController.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/PIDController.hpp
@@ -5,7 +5,6 @@
 #pragma once

 #include <algorithm>
-#include <cmath>
 #include <limits>
 #include <type_traits>

--- a/wpimath/src/main/native/include/wpi/math/controller/ProfiledPIDController.hpp
+++ b/wpimath/src/main/native/include/wpi/math/controller/ProfiledPIDController.hpp
@@ -4,7 +4,6 @@

 #pragma once

-#include <cmath>
 #include <limits>
 #include <type_traits>

--- a/wpimath/src/main/native/include/wpi/math/estimator/DifferentialDrivePoseEstimator3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/DifferentialDrivePoseEstimator3d.hpp
@@ -5,8 +5,8 @@
 #pragma once

 #include "wpi/math/estimator/PoseEstimator3d.hpp"
-#include "wpi/math/geometry/Pose2d.hpp"
-#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/math/geometry/Pose3d.hpp"
+#include "wpi/math/geometry/Rotation3d.hpp"
 #include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
 #include "wpi/math/kinematics/DifferentialDriveOdometry3d.hpp"
 #include "wpi/units/time.hpp"
--- a/wpimath/src/main/native/include/wpi/math/estimator/KalmanFilter.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/KalmanFilter.hpp
@@ -4,7 +4,6 @@

 #pragma once

-#include <cmath>
 #include <stdexcept>
 #include <string>

--- a/wpimath/src/main/native/include/wpi/math/estimator/KalmanFilterLatencyCompensator.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/KalmanFilterLatencyCompensator.hpp
@@ -5,7 +5,6 @@
 #pragma once

 #include <algorithm>
-#include <array>
 #include <functional>
 #include <utility>
 #include <vector>
--- a/wpimath/src/main/native/include/wpi/math/estimator/MecanumDrivePoseEstimator.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/MecanumDrivePoseEstimator.hpp
@@ -4,15 +4,11 @@

 #pragma once

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

--- a/wpimath/src/main/native/include/wpi/math/estimator/MecanumDrivePoseEstimator3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/MecanumDrivePoseEstimator3d.hpp
@@ -4,15 +4,11 @@

 #pragma once

-#include <functional>
-
 #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/geometry/Pose3d.hpp"
+#include "wpi/math/geometry/Rotation3d.hpp"
 #include "wpi/math/kinematics/MecanumDriveKinematics.hpp"
 #include "wpi/math/kinematics/MecanumDriveOdometry3d.hpp"
-#include "wpi/units/time.hpp"
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/array.hpp"

--- a/wpimath/src/main/native/include/wpi/math/estimator/PoseEstimator.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/PoseEstimator.hpp
@@ -4,6 +4,7 @@

 #pragma once

+#include <cmath>
 #include <map>
 #include <optional>
 #include <vector>
--- a/wpimath/src/main/native/include/wpi/math/estimator/PoseEstimator3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/PoseEstimator3d.hpp
@@ -4,17 +4,17 @@

 #pragma once

+#include <cmath>
 #include <map>
 #include <optional>
-#include <utility>
 #include <vector>

 #include <Eigen/Core>

-#include "wpi/math/geometry/Pose2d.hpp"
-#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/math/geometry/Pose3d.hpp"
+#include "wpi/math/geometry/Rotation3d.hpp"
 #include "wpi/math/geometry/Transform3d.hpp"
-#include "wpi/math/geometry/Translation2d.hpp"
+#include "wpi/math/geometry/Translation3d.hpp"
 #include "wpi/math/interpolation/TimeInterpolatableBuffer.hpp"
 #include "wpi/math/kinematics/Kinematics.hpp"
 #include "wpi/math/kinematics/Odometry3d.hpp"
--- a/wpimath/src/main/native/include/wpi/math/estimator/S3SigmaPoints.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/S3SigmaPoints.hpp
@@ -4,7 +4,6 @@

 #pragma once

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

--- a/wpimath/src/main/native/include/wpi/math/estimator/SteadyStateKalmanFilter.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/SteadyStateKalmanFilter.hpp
@@ -4,7 +4,6 @@

 #pragma once

-#include <cmath>
 #include <stdexcept>
 #include <string>

--- a/wpimath/src/main/native/include/wpi/math/estimator/SwerveDrivePoseEstimator.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/SwerveDrivePoseEstimator.hpp
@@ -4,14 +4,11 @@

 #pragma once

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

--- a/wpimath/src/main/native/include/wpi/math/estimator/SwerveDrivePoseEstimator3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/SwerveDrivePoseEstimator3d.hpp
@@ -4,14 +4,11 @@

 #pragma once

-#include <cmath>
-
 #include "wpi/math/estimator/PoseEstimator3d.hpp"
-#include "wpi/math/geometry/Pose2d.hpp"
-#include "wpi/math/geometry/Rotation2d.hpp"
+#include "wpi/math/geometry/Pose3d.hpp"
+#include "wpi/math/geometry/Rotation3d.hpp"
 #include "wpi/math/kinematics/SwerveDriveKinematics.hpp"
 #include "wpi/math/kinematics/SwerveDriveOdometry3d.hpp"
-#include "wpi/units/time.hpp"
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/array.hpp"

--- a/wpimath/src/main/native/include/wpi/math/estimator/UnscentedKalmanFilter.hpp
+++ b/wpimath/src/main/native/include/wpi/math/estimator/UnscentedKalmanFilter.hpp
@@ -17,7 +17,6 @@
 #include "wpi/math/system/NumericalJacobian.hpp"
 #include "wpi/math/util/StateSpaceUtil.hpp"
 #include "wpi/units/time.hpp"
-#include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/array.hpp"

 namespace wpi::math {
--- a/wpimath/src/main/native/include/wpi/math/filter/Debouncer.hpp
+++ b/wpimath/src/main/native/include/wpi/math/filter/Debouncer.hpp
@@ -6,7 +6,6 @@

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

 namespace wpi::math {
 /**
--- a/wpimath/src/main/native/include/wpi/math/filter/SlewRateLimiter.hpp
+++ b/wpimath/src/main/native/include/wpi/math/filter/SlewRateLimiter.hpp
@@ -8,7 +8,6 @@

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

 namespace wpi::math {
 /**
--- a/wpimath/src/main/native/include/wpi/math/geometry/CoordinateAxis.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/CoordinateAxis.hpp
@@ -7,8 +7,6 @@
 #include <Eigen/Core>
 #include <gcem.hpp>

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

 namespace wpi::math {
--- a/wpimath/src/main/native/include/wpi/math/geometry/Pose3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Pose3d.hpp
@@ -8,7 +8,6 @@
 #include <initializer_list>
 #include <span>
 #include <stdexcept>
-#include <type_traits>
 #include <utility>

 #include <Eigen/Core>
@@ -16,7 +15,6 @@
 #include "wpi/math/geometry/Pose2d.hpp"
 #include "wpi/math/geometry/Rotation3d.hpp"
 #include "wpi/math/geometry/Translation3d.hpp"
-#include "wpi/math/linalg/ct_matrix.hpp"
 #include "wpi/util/SymbolExports.hpp"
 #include "wpi/util/json_fwd.hpp"

--- a/wpimath/src/main/native/include/wpi/math/geometry/Rotation3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Rotation3d.hpp
@@ -4,18 +4,14 @@

 #pragma once

-#include <string>
 #include <type_traits>

 #include <Eigen/Core>
-#include <fmt/format.h>
 #include <gcem.hpp>

-#include "wpi/math/fmt/Eigen.hpp"
 #include "wpi/math/geometry/Quaternion.hpp"
 #include "wpi/math/geometry/Rotation2d.hpp"
 #include "wpi/math/linalg/ct_matrix.hpp"
-#include "wpi/math/util/MathShared.hpp"
 #include "wpi/units/angle.hpp"
 #include "wpi/units/math.hpp"
 #include "wpi/util/SymbolExports.hpp"
--- a/wpimath/src/main/native/include/wpi/math/interpolation/TimeInterpolatableBuffer.hpp
+++ b/wpimath/src/main/native/include/wpi/math/interpolation/TimeInterpolatableBuffer.hpp
@@ -13,7 +13,6 @@
 #include "wpi/math/geometry/Pose2d.hpp"
 #include "wpi/units/time.hpp"
 #include "wpi/util/MathExtras.hpp"
-#include "wpi/util/SymbolExports.hpp"

 namespace wpi::math {

--- a/wpimath/src/main/native/include/wpi/math/kinematics/ChassisAccelerations.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/ChassisAccelerations.hpp
@@ -6,7 +6,6 @@

 #include "wpi/math/geometry/Rotation2d.hpp"
 #include "wpi/math/geometry/Translation2d.hpp"
-#include "wpi/math/util/MathUtil.hpp"
 #include "wpi/units/acceleration.hpp"
 #include "wpi/units/angular_acceleration.hpp"
 #include "wpi/util/SymbolExports.hpp"
--- a/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveOdometry3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveOdometry3d.hpp
@@ -4,7 +4,7 @@

 #pragma once

-#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/geometry/Pose3d.hpp"
 #include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
 #include "wpi/math/kinematics/DifferentialDriveWheelPositions.hpp"
 #include "wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp"
--- a/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveWheelAccelerations.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveWheelAccelerations.hpp
@@ -5,7 +5,6 @@
 #pragma once

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

 namespace wpi::math {
--- a/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveOdometry.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveOdometry.hpp
@@ -9,9 +9,7 @@
 #include "wpi/math/kinematics/MecanumDriveWheelPositions.hpp"
 #include "wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp"
 #include "wpi/math/kinematics/Odometry.hpp"
-#include "wpi/units/time.hpp"
 #include "wpi/util/SymbolExports.hpp"
-#include "wpi/util/timestamp.h"

 namespace wpi::math {

--- a/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveOdometry3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveOdometry3d.hpp
@@ -4,14 +4,12 @@

 #pragma once

-#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/geometry/Pose3d.hpp"
 #include "wpi/math/kinematics/MecanumDriveKinematics.hpp"
 #include "wpi/math/kinematics/MecanumDriveWheelPositions.hpp"
 #include "wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp"
 #include "wpi/math/kinematics/Odometry3d.hpp"
-#include "wpi/units/time.hpp"
 #include "wpi/util/SymbolExports.hpp"
-#include "wpi/util/timestamp.h"

 namespace wpi::math {

--- a/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveWheelAccelerations.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveWheelAccelerations.hpp
@@ -4,12 +4,7 @@

 #pragma once

-#include <algorithm>
-#include <array>
-#include <cmath>
-
 #include "wpi/units/acceleration.hpp"
-#include "wpi/units/math.hpp"
 #include "wpi/util/SymbolExports.hpp"

 namespace wpi::math {
--- a/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp
@@ -6,7 +6,6 @@

 #include <algorithm>
 #include <array>
-#include <cmath>

 #include "wpi/units/math.hpp"
 #include "wpi/units/velocity.hpp"
--- a/wpimath/src/main/native/include/wpi/math/kinematics/Odometry3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/Odometry3d.hpp
@@ -4,11 +4,8 @@

 #pragma once

-#include "wpi/math/geometry/Pose2d.hpp"
 #include "wpi/math/geometry/Pose3d.hpp"
-#include "wpi/math/geometry/Rotation2d.hpp"
 #include "wpi/math/geometry/Rotation3d.hpp"
-#include "wpi/math/geometry/Translation2d.hpp"
 #include "wpi/math/geometry/Translation3d.hpp"
 #include "wpi/math/kinematics/Kinematics.hpp"
 #include "wpi/util/SymbolExports.hpp"
--- a/wpimath/src/main/native/include/wpi/math/kinematics/SwerveDriveOdometry.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/SwerveDriveOdometry.hpp
@@ -5,7 +5,6 @@
 #pragma once

 #include <cstddef>
-#include <ctime>

 #include "wpi/math/geometry/Pose2d.hpp"
 #include "wpi/math/kinematics/Odometry.hpp"
@@ -14,7 +13,6 @@
 #include "wpi/math/kinematics/SwerveModuleState.hpp"
 #include "wpi/math/util/MathShared.hpp"
 #include "wpi/util/SymbolExports.hpp"
-#include "wpi/util/timestamp.h"

 namespace wpi::math {

--- a/wpimath/src/main/native/include/wpi/math/kinematics/SwerveDriveOdometry3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/kinematics/SwerveDriveOdometry3d.hpp
@@ -4,18 +4,14 @@

 #pragma once

-#include <chrono>
 #include <cstddef>
-#include <ctime>

-#include "wpi/math/geometry/Pose2d.hpp"
+#include "wpi/math/geometry/Pose3d.hpp"
 #include "wpi/math/kinematics/Odometry3d.hpp"
 #include "wpi/math/kinematics/SwerveDriveKinematics.hpp"
 #include "wpi/math/kinematics/SwerveModulePosition.hpp"
 #include "wpi/math/kinematics/SwerveModuleState.hpp"
-#include "wpi/units/time.hpp"
 #include "wpi/util/SymbolExports.hpp"
-#include "wpi/util/timestamp.h"

 namespace wpi::math {

--- a/wpimath/src/main/native/include/wpi/math/path/TravelingSalesman.hpp
+++ b/wpimath/src/main/native/include/wpi/math/path/TravelingSalesman.hpp
@@ -4,7 +4,7 @@

 #pragma once

-#include <cmath>
+#include <algorithm>
 #include <functional>
 #include <random>
 #include <utility>
--- a/wpimath/src/main/native/include/wpi/math/spline/SplineParameterizer.hpp
+++ b/wpimath/src/main/native/include/wpi/math/spline/SplineParameterizer.hpp
@@ -29,7 +29,6 @@
 #pragma once

 #include <stack>
-#include <string>
 #include <utility>
 #include <vector>

--- a/wpimath/src/main/native/include/wpi/math/system/NumericalJacobian.hpp
+++ b/wpimath/src/main/native/include/wpi/math/system/NumericalJacobian.hpp
@@ -40,7 +40,6 @@ auto NumericalJacobian(F&& f, const Vectord<Cols>& x) {
 * @param f     Vector-valued function from which to compute Jacobian.
 * @param x     Vector argument.
 */
-
 template <typename F>
 Eigen::MatrixXd NumericalJacobian(F&& f, const Eigen::VectorXd& x) {
  constexpr double kEpsilon = 1e-5;
--- a/wpimath/src/main/native/include/wpi/math/trajectory/TrajectoryConfig.hpp
+++ b/wpimath/src/main/native/include/wpi/math/trajectory/TrajectoryConfig.hpp
@@ -6,7 +6,6 @@

 #include <concepts>
 #include <memory>
-#include <utility>
 #include <vector>

 #include "wpi/math/kinematics/DifferentialDriveKinematics.hpp"
--- a/wpimath/src/main/native/include/wpi/math/trajectory/TrajectoryGenerator.hpp
+++ b/wpimath/src/main/native/include/wpi/math/trajectory/TrajectoryGenerator.hpp
@@ -5,15 +5,12 @@
 #pragma once

 #include <functional>
-#include <memory>
 #include <utility>
 #include <vector>

 #include "wpi/math/spline/SplineParameterizer.hpp"
 #include "wpi/math/trajectory/Trajectory.hpp"
 #include "wpi/math/trajectory/TrajectoryConfig.hpp"
-#include "wpi/math/trajectory/constraint/DifferentialDriveKinematicsConstraint.hpp"
-#include "wpi/math/trajectory/constraint/TrajectoryConstraint.hpp"
 #include "wpi/util/SymbolExports.hpp"

 namespace wpi::math {
--- a/wpimath/src/main/native/include/wpi/math/trajectory/constraint/MecanumDriveKinematicsConstraint.hpp
+++ b/wpimath/src/main/native/include/wpi/math/trajectory/constraint/MecanumDriveKinematicsConstraint.hpp
@@ -4,8 +4,6 @@

 #pragma once

-#include <cmath>
-
 #include "wpi/math/kinematics/MecanumDriveKinematics.hpp"
 #include "wpi/math/trajectory/constraint/TrajectoryConstraint.hpp"
 #include "wpi/units/math.hpp"
--- a/wpimath/src/main/native/include/wpi/math/trajectory/constraint/SwerveDriveKinematicsConstraint.hpp
+++ b/wpimath/src/main/native/include/wpi/math/trajectory/constraint/SwerveDriveKinematicsConstraint.hpp
@@ -4,8 +4,6 @@

 #pragma once

-#include <cmath>
-
 #include "wpi/math/kinematics/SwerveDriveKinematics.hpp"
 #include "wpi/math/trajectory/constraint/TrajectoryConstraint.hpp"
 #include "wpi/units/math.hpp"