diff --git a/wpimath/src/main/native/include/wpi/math/controller/ArmFeedforward.hpp b/wpimath/src/main/native/include/wpi/math/controller/ArmFeedforward.hpp
index 558b61ad2c..d2af2e7bb3 100644
--- 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"
diff --git a/wpimath/src/main/native/include/wpi/math/controller/ControlAffinePlantInversionFeedforward.hpp b/wpimath/src/main/native/include/wpi/math/controller/ControlAffinePlantInversionFeedforward.hpp
index 8315dab993..f4ce105909 100644
--- 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>
diff --git a/wpimath/src/main/native/include/wpi/math/controller/ImplicitModelFollower.hpp b/wpimath/src/main/native/include/wpi/math/controller/ImplicitModelFollower.hpp
index 73a5c829cb..a92589de21 100644
--- 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 {
 
diff --git a/wpimath/src/main/native/include/wpi/math/controller/LinearPlantInversionFeedforward.hpp b/wpimath/src/main/native/include/wpi/math/controller/LinearPlantInversionFeedforward.hpp
index 89bdf6731a..bfb8c516a4 100644
--- 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"
diff --git a/wpimath/src/main/native/include/wpi/math/controller/PIDController.hpp b/wpimath/src/main/native/include/wpi/math/controller/PIDController.hpp
index c967ab7fc4..00fde9a70a 100644
--- 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>
 
diff --git a/wpimath/src/main/native/include/wpi/math/controller/ProfiledPIDController.hpp b/wpimath/src/main/native/include/wpi/math/controller/ProfiledPIDController.hpp
index bbe85d6e3f..28232c5e15 100644
--- 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>
 
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/DifferentialDrivePoseEstimator3d.hpp b/wpimath/src/main/native/include/wpi/math/estimator/DifferentialDrivePoseEstimator3d.hpp
index 4093b4dc41..b6b2a8e61d 100644
--- 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"
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/KalmanFilter.hpp b/wpimath/src/main/native/include/wpi/math/estimator/KalmanFilter.hpp
index 9fac41cf62..d11a230aea 100644
--- 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>
 
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/KalmanFilterLatencyCompensator.hpp b/wpimath/src/main/native/include/wpi/math/estimator/KalmanFilterLatencyCompensator.hpp
index 01a56ca8ee..bef5a387aa 100644
--- 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>
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/MecanumDrivePoseEstimator.hpp b/wpimath/src/main/native/include/wpi/math/estimator/MecanumDrivePoseEstimator.hpp
index 95dd150084..c35b4e4462 100644
--- 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"
 
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/MecanumDrivePoseEstimator3d.hpp b/wpimath/src/main/native/include/wpi/math/estimator/MecanumDrivePoseEstimator3d.hpp
index 849531e605..02a37bb7c8 100644
--- 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"
 
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/PoseEstimator.hpp b/wpimath/src/main/native/include/wpi/math/estimator/PoseEstimator.hpp
index 23db711753..d093efe096 100644
--- 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>
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/PoseEstimator3d.hpp b/wpimath/src/main/native/include/wpi/math/estimator/PoseEstimator3d.hpp
index 66dd453341..1cd77c0d9d 100644
--- 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"
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/S3SigmaPoints.hpp b/wpimath/src/main/native/include/wpi/math/estimator/S3SigmaPoints.hpp
index 956f8cb9cd..7b6ee351c8 100644
--- 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"
 
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/SteadyStateKalmanFilter.hpp b/wpimath/src/main/native/include/wpi/math/estimator/SteadyStateKalmanFilter.hpp
index c21cebba5f..a748f5bc22 100644
--- 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>
 
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/SwerveDrivePoseEstimator.hpp b/wpimath/src/main/native/include/wpi/math/estimator/SwerveDrivePoseEstimator.hpp
index d65cb0b541..e9649557f2 100644
--- 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"
 
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/SwerveDrivePoseEstimator3d.hpp b/wpimath/src/main/native/include/wpi/math/estimator/SwerveDrivePoseEstimator3d.hpp
index 2700270f91..f749b1c2c0 100644
--- 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"
 
diff --git a/wpimath/src/main/native/include/wpi/math/estimator/UnscentedKalmanFilter.hpp b/wpimath/src/main/native/include/wpi/math/estimator/UnscentedKalmanFilter.hpp
index 75a953ce34..3628cb3c67 100644
--- 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 {
diff --git a/wpimath/src/main/native/include/wpi/math/filter/Debouncer.hpp b/wpimath/src/main/native/include/wpi/math/filter/Debouncer.hpp
index 70978055f9..287aeef2be 100644
--- 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 {
 /**
diff --git a/wpimath/src/main/native/include/wpi/math/filter/SlewRateLimiter.hpp b/wpimath/src/main/native/include/wpi/math/filter/SlewRateLimiter.hpp
index abe1017fd5..86ac913f4e 100644
--- 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 {
 /**
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/CoordinateAxis.hpp b/wpimath/src/main/native/include/wpi/math/geometry/CoordinateAxis.hpp
index 335b129432..c6c64fec7d 100644
--- 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 {
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/Pose3d.hpp b/wpimath/src/main/native/include/wpi/math/geometry/Pose3d.hpp
index e1a303db83..c19d786e11 100644
--- 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"
 
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/Rotation3d.hpp b/wpimath/src/main/native/include/wpi/math/geometry/Rotation3d.hpp
index 70b71b68ad..d569e6bb84 100644
--- 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"
diff --git a/wpimath/src/main/native/include/wpi/math/interpolation/TimeInterpolatableBuffer.hpp b/wpimath/src/main/native/include/wpi/math/interpolation/TimeInterpolatableBuffer.hpp
index bb6f328b30..794706ab04 100644
--- 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 {
 
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/ChassisAccelerations.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/ChassisAccelerations.hpp
index f97bf0f295..a12de755bd 100644
--- 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"
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveOdometry3d.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveOdometry3d.hpp
index 85a7ade5fc..6c921688e5 100644
--- 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"
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveWheelAccelerations.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/DifferentialDriveWheelAccelerations.hpp
index 932184a698..2a142e457b 100644
--- 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 {
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveOdometry.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveOdometry.hpp
index 19fb6f45a8..1bf1c43ecc 100644
--- 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 {
 
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveOdometry3d.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveOdometry3d.hpp
index d35de415b2..3caf28636b 100644
--- 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 {
 
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveWheelAccelerations.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveWheelAccelerations.hpp
index 713e311995..cb9f323df3 100644
--- 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 {
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp
index 797413a8d6..9b292eb01d 100644
--- 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"
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/Odometry3d.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/Odometry3d.hpp
index 49e416073e..f059633422 100644
--- 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"
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/SwerveDriveOdometry.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/SwerveDriveOdometry.hpp
index 9011c2893c..9a893c007f 100644
--- 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 {
 
diff --git a/wpimath/src/main/native/include/wpi/math/kinematics/SwerveDriveOdometry3d.hpp b/wpimath/src/main/native/include/wpi/math/kinematics/SwerveDriveOdometry3d.hpp
index c709447ee2..f5e1c44a25 100644
--- 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 {
 
diff --git a/wpimath/src/main/native/include/wpi/math/path/TravelingSalesman.hpp b/wpimath/src/main/native/include/wpi/math/path/TravelingSalesman.hpp
index 8af12a2f93..f5b1d01f43 100644
--- 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>
diff --git a/wpimath/src/main/native/include/wpi/math/spline/SplineParameterizer.hpp b/wpimath/src/main/native/include/wpi/math/spline/SplineParameterizer.hpp
index 7adab5952b..41be3a317a 100644
--- 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>
 
diff --git a/wpimath/src/main/native/include/wpi/math/system/NumericalJacobian.hpp b/wpimath/src/main/native/include/wpi/math/system/NumericalJacobian.hpp
index 547d380a91..1c5be8a680 100644
--- 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;
diff --git a/wpimath/src/main/native/include/wpi/math/trajectory/TrajectoryConfig.hpp b/wpimath/src/main/native/include/wpi/math/trajectory/TrajectoryConfig.hpp
index 252c44f790..112436ccff 100644
--- 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"
diff --git a/wpimath/src/main/native/include/wpi/math/trajectory/TrajectoryGenerator.hpp b/wpimath/src/main/native/include/wpi/math/trajectory/TrajectoryGenerator.hpp
index 5e7ea6ead3..cd9701fb31 100644
--- 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 {
diff --git a/wpimath/src/main/native/include/wpi/math/trajectory/constraint/MecanumDriveKinematicsConstraint.hpp b/wpimath/src/main/native/include/wpi/math/trajectory/constraint/MecanumDriveKinematicsConstraint.hpp
index 0f593c464d..c2cd2ac67a 100644
--- 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"
diff --git a/wpimath/src/main/native/include/wpi/math/trajectory/constraint/SwerveDriveKinematicsConstraint.hpp b/wpimath/src/main/native/include/wpi/math/trajectory/constraint/SwerveDriveKinematicsConstraint.hpp
index 2a005a502f..8b5e475611 100644
--- 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"