diff --git a/wpimath/CMakeLists.txt b/wpimath/CMakeLists.txt
index 5ea819b4d8..42a533b088 100644
--- a/wpimath/CMakeLists.txt
+++ b/wpimath/CMakeLists.txt
@@ -4,7 +4,7 @@ include(SubDirList)
 include(CompileWarnings)
 include(AddTest)
 
-file(GLOB wpimath_jni_src src/main/native/cpp/jni/DrakeJNI.cpp)
+file(GLOB wpimath_jni_src src/main/native/cpp/jni/WPIMathJNI.cpp)
 
 # Java bindings
 if (NOT WITHOUT_JAVA)
diff --git a/wpimath/src/main/java/edu/wpi/first/wpiutil/math/Drake.java b/wpimath/src/main/java/edu/wpi/first/math/Drake.java
similarity index 91%
rename from wpimath/src/main/java/edu/wpi/first/wpiutil/math/Drake.java
rename to wpimath/src/main/java/edu/wpi/first/math/Drake.java
index a98fa57337..edf360d1b2 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpiutil/math/Drake.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/Drake.java
@@ -5,10 +5,12 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
-package edu.wpi.first.wpiutil.math;
+package edu.wpi.first.math;
 
 import org.ejml.simple.SimpleMatrix;
 
+import edu.wpi.first.wpiutil.math.Matrix;
+
 public final class Drake {
   private Drake() {
   }
@@ -29,7 +31,7 @@ public final class Drake {
           SimpleMatrix Q,
           SimpleMatrix R) {
     var S = new SimpleMatrix(A.numRows(), A.numCols());
-    DrakeJNI.discreteAlgebraicRiccatiEquation(A.getDDRM().getData(), B.getDDRM().getData(),
+    WPIMathJNI.discreteAlgebraicRiccatiEquation(A.getDDRM().getData(), B.getDDRM().getData(),
             Q.getDDRM().getData(), R.getDDRM().getData(), A.numCols(), B.numCols(),
             S.getDDRM().getData());
     return S;
diff --git a/wpimath/src/main/java/edu/wpi/first/wpiutil/math/DrakeJNI.java b/wpimath/src/main/java/edu/wpi/first/math/WPIMathJNI.java
similarity index 93%
rename from wpimath/src/main/java/edu/wpi/first/wpiutil/math/DrakeJNI.java
rename to wpimath/src/main/java/edu/wpi/first/math/WPIMathJNI.java
index 288384efa6..d9d8fc882e 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpiutil/math/DrakeJNI.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/WPIMathJNI.java
@@ -5,22 +5,22 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
-package edu.wpi.first.wpiutil.math;
+package edu.wpi.first.math;
 
 import java.io.IOException;
 import java.util.concurrent.atomic.AtomicBoolean;
 
 import edu.wpi.first.wpiutil.RuntimeLoader;
 
-public final class DrakeJNI {
+public final class WPIMathJNI {
   static boolean libraryLoaded = false;
-  static RuntimeLoader<DrakeJNI> loader = null;
+  static RuntimeLoader<WPIMathJNI> loader = null;
 
   static {
     if (Helper.getExtractOnStaticLoad()) {
       try {
         loader = new RuntimeLoader<>("wpimathjni", RuntimeLoader.getDefaultExtractionRoot(),
-                DrakeJNI.class);
+                WPIMathJNI.class);
         loader.loadLibrary();
       } catch (IOException ex) {
         ex.printStackTrace();
@@ -40,7 +40,7 @@ public final class DrakeJNI {
       return;
     }
     loader = new RuntimeLoader<>("wpimathjni", RuntimeLoader.getDefaultExtractionRoot(),
-            DrakeJNI.class);
+            WPIMathJNI.class);
     loader.loadLibrary();
     libraryLoaded = true;
   }
diff --git a/wpimath/src/main/native/cpp/jni/DrakeJNI.cpp b/wpimath/src/main/native/cpp/jni/WPIMathJNI.cpp
similarity index 92%
rename from wpimath/src/main/native/cpp/jni/DrakeJNI.cpp
rename to wpimath/src/main/native/cpp/jni/WPIMathJNI.cpp
index 2b4a8cae9d..0651dce095 100644
--- a/wpimath/src/main/native/cpp/jni/DrakeJNI.cpp
+++ b/wpimath/src/main/native/cpp/jni/WPIMathJNI.cpp
@@ -12,19 +12,19 @@
 #include <wpi/jni_util.h>
 
 #include "drake/math/discrete_algebraic_riccati_equation.h"
-#include "edu_wpi_first_wpiutil_math_DrakeJNI.h"
+#include "edu_wpi_first_math_WPIMathJNI.h"
 
 using namespace wpi::java;
 
 extern "C" {
 
 /*
- * Class:     edu_wpi_first_wpiutil_math_DrakeJNI
+ * Class:     edu_wpi_first_math_WPIMathJNI
  * Method:    discreteAlgebraicRiccatiEquation
  * Signature: ([D[D[D[DII[D)V
  */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_wpiutil_math_DrakeJNI_discreteAlgebraicRiccatiEquation
+Java_edu_wpi_first_math_WPIMathJNI_discreteAlgebraicRiccatiEquation
   (JNIEnv* env, jclass, jdoubleArray A, jdoubleArray B, jdoubleArray Q,
    jdoubleArray R, jint states, jint inputs, jdoubleArray S)
 {
diff --git a/wpimath/src/test/java/edu/wpi/first/wpiutil/math/DrakeTest.java b/wpimath/src/test/java/edu/wpi/first/math/DrakeTest.java
similarity index 98%
rename from wpimath/src/test/java/edu/wpi/first/wpiutil/math/DrakeTest.java
rename to wpimath/src/test/java/edu/wpi/first/math/DrakeTest.java
index 9c5a670f43..2697c6cb9c 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpiutil/math/DrakeTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/DrakeTest.java
@@ -5,7 +5,7 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
-package edu.wpi.first.wpiutil.math;
+package edu.wpi.first.math;
 
 import org.ejml.simple.SimpleMatrix;
 import org.junit.jupiter.api.Test;
diff --git a/wpimath/src/test/java/edu/wpi/first/wpiutil/math/DrakeJNITest.java b/wpimath/src/test/java/edu/wpi/first/math/WPIMathJNITest.java
similarity index 85%
rename from wpimath/src/test/java/edu/wpi/first/wpiutil/math/DrakeJNITest.java
rename to wpimath/src/test/java/edu/wpi/first/math/WPIMathJNITest.java
index 1f32857963..10ec44c756 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpiutil/math/DrakeJNITest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/WPIMathJNITest.java
@@ -5,15 +5,15 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
-package edu.wpi.first.wpiutil.math;
+package edu.wpi.first.math;
 
 import org.junit.jupiter.api.Test;
 
 import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 
-public class DrakeJNITest {
+public class WPIMathJNITest {
   @Test
   public void testLink() {
-    assertDoesNotThrow(DrakeJNI::forceLoad);
+    assertDoesNotThrow(WPIMathJNI::forceLoad);
   }
 }