Include thirdparty libraries with angle brackets (#5578)

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

@@ -2,8 +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 <gtest/gtest.h>
+
 #include "frc/ComputerVisionUtil.h"
-#include "gtest/gtest.h"
 
 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

@@ -4,12 +4,13 @@
 
 #include <stdexcept>
 
+#include <Eigen/Core>
+#include <gtest/gtest.h>
+
 #include "DARETestUtil.h"
-#include "Eigen/Core"
 #include "frc/DARE.h"
 #include "frc/EigenCore.h"
 #include "frc/fmt/Eigen.h"
-#include "gtest/gtest.h"
 
 // 2x1
 extern template Eigen::Matrix<double, 2, 2> frc::DARE<2, 1>(

wpimath/src/test/native/cpp/DARETestUtil.cpp

@@ -4,11 +4,11 @@
 
 #include "DARETestUtil.h"
 
+#include <Eigen/Eigenvalues>
 #include <fmt/core.h>
+#include <gtest/gtest.h>
 
-#include "Eigen/Eigenvalues"
 #include "frc/fmt/Eigen.h"
-#include "gtest/gtest.h"
 
 void ExpectMatrixEqual(const Eigen::MatrixXd& lhs, const Eigen::MatrixXd& rhs,
                        double tolerance) {

wpimath/src/test/native/cpp/DARETestUtil.h

@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include "Eigen/Core"
+#include <Eigen/Core>
 
 void ExpectMatrixEqual(const Eigen::MatrixXd& lhs, const Eigen::MatrixXd& rhs,
                        double tolerance);

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

@@ -2,9 +2,10 @@
 // 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 "Eigen/LU"
+#include <Eigen/LU>
+#include <gtest/gtest.h>
+
 #include "frc/EigenCore.h"
-#include "gtest/gtest.h"
 
 TEST(EigenTest, Multiplication) {
   frc::Matrixd<2, 2> m1{{2, 1}, {0, 1}};

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

@@ -5,9 +5,9 @@
 #include <vector>
 
 #include <fmt/format.h>
+#include <gtest/gtest.h>
 
 #include "frc/fmt/Eigen.h"
-#include "gtest/gtest.h"
 #include "units/velocity.h"
 
 TEST(FormatterTest, Eigen) {

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

@@ -4,8 +4,9 @@
 
 #include <limits>
 
+#include <gtest/gtest.h>
+
 #include "frc/MathUtil.h"
-#include "gtest/gtest.h"
 #include "units/angle.h"
 
 #define EXPECT_UNITS_EQ(a, b) EXPECT_DOUBLE_EQ((a).value(), (b).value())

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

@@ -2,11 +2,11 @@
 // 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 <gtest/gtest.h>
-
 #include <cmath>
 #include <random>
 
+#include <gtest/gtest.h>
+
 #include "frc/EigenCore.h"
 #include "frc/controller/LinearPlantInversionFeedforward.h"
 #include "frc/controller/LinearQuadraticRegulator.h"

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

@@ -2,10 +2,10 @@
 // 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 <gtest/gtest.h>
-
 #include <array>
 
+#include <gtest/gtest.h>
+
 #include "frc/EigenCore.h"
 #include "frc/StateSpaceUtil.h"
 #include "frc/system/NumericalIntegration.h"

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

@@ -7,7 +7,8 @@
 #include <string>
 #include <type_traits>
 
-#include "gtest/gtest.h"
+#include <gtest/gtest.h>
+
 #include "units/acceleration.h"
 #include "units/angle.h"
 #include "units/angular_acceleration.h"

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

@@ -2,8 +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 <gtest/gtest.h>
+
 #include "frc/controller/BangBangController.h"
-#include "gtest/gtest.h"
 
 class BangBangInputOutputTest : public testing::Test {
  protected:

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

@@ -2,8 +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 <gtest/gtest.h>
+
 #include "frc/controller/BangBangController.h"
-#include "gtest/gtest.h"
 
 class BangBangToleranceTest : public testing::Test {
  protected:

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

@@ -2,10 +2,10 @@
 // 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 <gtest/gtest.h>
-
 #include <cmath>
 
+#include <gtest/gtest.h>
+
 #include "frc/EigenCore.h"
 #include "frc/controller/ControlAffinePlantInversionFeedforward.h"
 #include "units/time.h"

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

@@ -2,10 +2,10 @@
 // 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 <gtest/gtest.h>
-
 #include <cmath>
 
+#include <gtest/gtest.h>
+
 #include "frc/EigenCore.h"
 #include "frc/controller/DifferentialDriveFeedforward.h"
 #include "frc/controller/LinearPlantInversionFeedforward.h"

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

@@ -4,10 +4,11 @@
 
 #include <numbers>
 
+#include <gtest/gtest.h>
+
 #include "frc/MathUtil.h"
 #include "frc/controller/HolonomicDriveController.h"
 #include "frc/trajectory/TrajectoryGenerator.h"
-#include "gtest/gtest.h"
 #include "units/angular_acceleration.h"
 #include "units/math.h"
 #include "units/time.h"

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

@@ -4,12 +4,13 @@
 
 #include <cmath>
 
+#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 "gtest/gtest.h"
 #include "units/math.h"
 
 #define EXPECT_NEAR_UNITS(val1, val2, eps) \

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

@@ -2,10 +2,11 @@
 // 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 <gtest/gtest.h>
+
 #include "frc/MathUtil.h"
 #include "frc/controller/LTVUnicycleController.h"
 #include "frc/trajectory/TrajectoryGenerator.h"
-#include "gtest/gtest.h"
 #include "units/math.h"
 
 #define EXPECT_NEAR_UNITS(val1, val2, eps) \

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

@@ -2,10 +2,10 @@
 // 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 <gtest/gtest.h>
-
 #include <cmath>
 
+#include <gtest/gtest.h>
+
 #include "frc/EigenCore.h"
 #include "frc/controller/LinearPlantInversionFeedforward.h"
 #include "units/time.h"

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

@@ -2,10 +2,10 @@
 // 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 <gtest/gtest.h>
-
 #include <cmath>
 
+#include <gtest/gtest.h>
+
 #include "frc/EigenCore.h"
 #include "frc/controller/LinearQuadraticRegulator.h"
 #include "frc/system/LinearSystem.h"

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

@@ -2,8 +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 <gtest/gtest.h>
+
 #include "frc/controller/PIDController.h"
-#include "gtest/gtest.h"
 
 class PIDInputOutputTest : public testing::Test {
  protected:

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

@@ -2,8 +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 <gtest/gtest.h>
+
 #include "frc/controller/PIDController.h"
-#include "gtest/gtest.h"
 
 static constexpr double kSetpoint = 50.0;
 static constexpr double kRange = 200;

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

@@ -4,8 +4,9 @@
 
 #include <numbers>
 
+#include <gtest/gtest.h>
+
 #include "frc/controller/ProfiledPIDController.h"
-#include "gtest/gtest.h"
 #include "units/angle.h"
 #include "units/angular_acceleration.h"
 #include "units/angular_velocity.h"

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

@@ -2,10 +2,11 @@
 // 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 <gtest/gtest.h>
+
 #include "frc/MathUtil.h"
 #include "frc/controller/RamseteController.h"
 #include "frc/trajectory/TrajectoryGenerator.h"
-#include "gtest/gtest.h"
 #include "units/math.h"
 
 #define EXPECT_NEAR_UNITS(val1, val2, eps) \

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

@@ -2,10 +2,10 @@
 // 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 <gtest/gtest.h>
-
 #include <cmath>
 
+#include <gtest/gtest.h>
+
 #include "frc/EigenCore.h"
 #include "frc/controller/LinearPlantInversionFeedforward.h"
 #include "frc/controller/SimpleMotorFeedforward.h"

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

@@ -2,10 +2,10 @@
 // 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 <gtest/gtest.h>
-
 #include <numbers>
 
+#include <gtest/gtest.h>
+
 #include "frc/EigenCore.h"
 #include "frc/estimator/AngleStatistics.h"
 

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

@@ -7,13 +7,14 @@
 #include <tuple>
 #include <utility>
 
+#include <gtest/gtest.h>
+
 #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 "gtest/gtest.h"
 #include "units/angle.h"
 #include "units/length.h"
 #include "units/time.h"
@@ -138,6 +139,7 @@ void testFollowTrajectory(
               0.15);
 
   if (checkError) {
+    // NOLINTNEXTLINE(bugprone-integer-division)
     EXPECT_LT(errorSum / (trajectory.TotalTime() / dt), 0.05);
     EXPECT_LT(maxError, 0.2);
   }

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

@@ -2,12 +2,12 @@
 // 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 <gtest/gtest.h>
-
 #include <array>
 #include <cmath>
 
-#include "Eigen/QR"
+#include <Eigen/QR>
+#include <gtest/gtest.h>
+
 #include "frc/EigenCore.h"
 #include "frc/StateSpaceUtil.h"
 #include "frc/estimator/ExtendedKalmanFilter.h"

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

@@ -2,12 +2,12 @@
 // 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 <gtest/gtest.h>
-
 #include <array>
 #include <cmath>
 
-#include "Eigen/Core"
+#include <Eigen/Core>
+#include <gtest/gtest.h>
+
 #include "frc/estimator/KalmanFilter.h"
 #include "frc/system/plant/DCMotor.h"
 #include "frc/system/plant/LinearSystemId.h"

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

@@ -6,11 +6,12 @@
 #include <random>
 #include <tuple>
 
+#include <gtest/gtest.h>
+
 #include "frc/estimator/MecanumDrivePoseEstimator.h"
 #include "frc/geometry/Pose2d.h"
 #include "frc/kinematics/MecanumDriveKinematics.h"
 #include "frc/trajectory/TrajectoryGenerator.h"
-#include "gtest/gtest.h"
 
 void testFollowTrajectory(
     const frc::MecanumDriveKinematics& kinematics,
@@ -129,6 +130,7 @@ void testFollowTrajectory(
               0.15);
 
   if (checkError) {
+    // NOLINTNEXTLINE(bugprone-integer-division)
     EXPECT_LT(errorSum / (trajectory.TotalTime() / dt), 0.051);
     EXPECT_LT(maxError, 0.2);
   }

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

@@ -8,13 +8,13 @@
 #include <tuple>
 
 #include <fmt/format.h>
+#include <gtest/gtest.h>
 #include <wpi/timestamp.h>
 
 #include "frc/estimator/SwerveDrivePoseEstimator.h"
 #include "frc/geometry/Pose2d.h"
 #include "frc/kinematics/SwerveDriveKinematics.h"
 #include "frc/trajectory/TrajectoryGenerator.h"
-#include "gtest/gtest.h"
 
 void testFollowTrajectory(
     const frc::SwerveDriveKinematics<4>& kinematics,
@@ -133,6 +133,7 @@ void testFollowTrajectory(
               0.15);
 
   if (checkError) {
+    // NOLINTNEXTLINE(bugprone-integer-division)
     EXPECT_LT(errorSum / (trajectory.TotalTime() / dt), 0.058);
     EXPECT_LT(maxError, 0.2);
   }

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

@@ -2,12 +2,12 @@
 // 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 <gtest/gtest.h>
-
 #include <array>
 #include <cmath>
 
-#include "Eigen/QR"
+#include <Eigen/QR>
+#include <gtest/gtest.h>
+
 #include "frc/EigenCore.h"
 #include "frc/StateSpaceUtil.h"
 #include "frc/estimator/AngleStatistics.h"

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

@@ -2,10 +2,10 @@
 // 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 <gtest/gtest.h>
 #include <wpi/timestamp.h>
 
 #include "frc/filter/Debouncer.h"
-#include "gtest/gtest.h"
 #include "units/time.h"
 
 static units::second_t now = 0_s;

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

@@ -8,7 +8,8 @@
 #include <numbers>
 #include <random>
 
-#include "gtest/gtest.h"
+#include <gtest/gtest.h>
+
 #include "units/time.h"
 
 // Filter constants

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

@@ -10,9 +10,9 @@
 #include <numbers>
 #include <random>
 
+#include <gtest/gtest.h>
 #include <wpi/array.h>
 
-#include "gtest/gtest.h"
 #include "units/time.h"
 
 // Filter constants

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

@@ -2,8 +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 <gtest/gtest.h>
+
 #include "frc/filter/MedianFilter.h"
-#include "gtest/gtest.h"
 
 TEST(MedianFilterTest, MedianFilterNotFullTestEven) {
   frc::MedianFilter<double> filter{10};

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

@@ -2,10 +2,10 @@
 // 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 <gtest/gtest.h>
 #include <wpi/timestamp.h>
 
 #include "frc/filter/SlewRateLimiter.h"
-#include "gtest/gtest.h"
 #include "units/length.h"
 #include "units/time.h"
 #include "units/velocity.h"

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

@@ -2,10 +2,11 @@
 // 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 <gtest/gtest.h>
+
 #include "frc/geometry/CoordinateSystem.h"
 #include "frc/geometry/Pose3d.h"
 #include "frc/geometry/Transform3d.h"
-#include "gtest/gtest.h"
 
 using namespace frc;
 

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

@@ -5,8 +5,9 @@
 #include <cmath>
 #include <cstdlib>
 
+#include <gtest/gtest.h>
+
 #include "frc/geometry/Pose2d.h"
-#include "gtest/gtest.h"
 
 using namespace frc;
 

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

@@ -4,10 +4,10 @@
 
 #include <cmath>
 
+#include <gtest/gtest.h>
 #include <wpi/array.h>
 
 #include "frc/geometry/Pose3d.h"
-#include "gtest/gtest.h"
 
 using namespace frc;
 

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

@@ -4,8 +4,9 @@
 
 #include <numbers>
 
+#include <gtest/gtest.h>
+
 #include "frc/geometry/Quaternion.h"
-#include "gtest/gtest.h"
 #include "units/angle.h"
 #include "units/math.h"
 

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

@@ -5,8 +5,9 @@
 #include <cmath>
 #include <numbers>
 
+#include <gtest/gtest.h>
+
 #include "frc/geometry/Rotation2d.h"
-#include "gtest/gtest.h"
 
 using namespace frc;
 

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

@@ -5,11 +5,11 @@
 #include <cmath>
 #include <numbers>
 
+#include <gtest/gtest.h>
 #include <wpi/MathExtras.h>
 
 #include "frc/EigenCore.h"
 #include "frc/geometry/Rotation3d.h"
-#include "gtest/gtest.h"
 
 using namespace frc;
 

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

@@ -4,11 +4,12 @@
 
 #include <cmath>
 
+#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 "gtest/gtest.h"
 
 using namespace frc;
 

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

@@ -4,11 +4,12 @@
 
 #include <cmath>
 
+#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 "gtest/gtest.h"
 
 using namespace frc;
 

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

@@ -4,8 +4,9 @@
 
 #include <cmath>
 
+#include <gtest/gtest.h>
+
 #include "frc/geometry/Translation2d.h"
-#include "gtest/gtest.h"
 
 using namespace frc;
 

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

@@ -4,8 +4,9 @@
 
 #include <cmath>
 
+#include <gtest/gtest.h>
+
 #include "frc/geometry/Translation3d.h"
-#include "gtest/gtest.h"
 
 using namespace frc;
 

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

@@ -5,8 +5,9 @@
 #include <cmath>
 #include <numbers>
 
+#include <gtest/gtest.h>
+
 #include "frc/geometry/Pose2d.h"
-#include "gtest/gtest.h"
 
 using namespace frc;
 

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

@@ -5,8 +5,9 @@
 #include <cmath>
 #include <numbers>
 
+#include <gtest/gtest.h>
+
 #include "frc/geometry/Pose3d.h"
-#include "gtest/gtest.h"
 
 using namespace frc;
 

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

@@ -4,10 +4,11 @@
 
 #include <cmath>
 
+#include <gtest/gtest.h>
+
 #include "frc/geometry/Pose2d.h"
 #include "frc/geometry/Rotation2d.h"
 #include "frc/interpolation/TimeInterpolatableBuffer.h"
-#include "gtest/gtest.h"
 #include "units/time.h"
 
 TEST(TimeInterpolatableBufferTest, Interpolation) {

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

@@ -2,8 +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 <gtest/gtest.h>
+
 #include "frc/kinematics/ChassisSpeeds.h"
-#include "gtest/gtest.h"
 
 static constexpr double kEpsilon = 1E-9;
 

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

@@ -4,9 +4,10 @@
 
 #include <numbers>
 
+#include <gtest/gtest.h>
+
 #include "frc/kinematics/ChassisSpeeds.h"
 #include "frc/kinematics/DifferentialDriveKinematics.h"
-#include "gtest/gtest.h"
 #include "units/angular_velocity.h"
 #include "units/length.h"
 #include "units/velocity.h"

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

@@ -4,9 +4,10 @@
 
 #include <numbers>
 
+#include <gtest/gtest.h>
+
 #include "frc/kinematics/DifferentialDriveKinematics.h"
 #include "frc/kinematics/DifferentialDriveOdometry.h"
-#include "gtest/gtest.h"
 
 static constexpr double kEpsilon = 1E-9;
 

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

@@ -4,9 +4,10 @@
 
 #include <numbers>
 
+#include <gtest/gtest.h>
+
 #include "frc/geometry/Translation2d.h"
 #include "frc/kinematics/MecanumDriveKinematics.h"
-#include "gtest/gtest.h"
 #include "units/angular_velocity.h"
 
 using namespace frc;

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

@@ -5,9 +5,10 @@
 #include <limits>
 #include <random>
 
+#include <gtest/gtest.h>
+
 #include "frc/kinematics/MecanumDriveOdometry.h"
 #include "frc/trajectory/TrajectoryGenerator.h"
-#include "gtest/gtest.h"
 
 using namespace frc;
 

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

@@ -4,9 +4,10 @@
 
 #include <numbers>
 
+#include <gtest/gtest.h>
+
 #include "frc/geometry/Translation2d.h"
 #include "frc/kinematics/SwerveDriveKinematics.h"
-#include "gtest/gtest.h"
 #include "units/angular_velocity.h"
 
 using namespace frc;

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

@@ -5,12 +5,13 @@
 #include <limits>
 #include <random>
 
+#include <gtest/gtest.h>
+
 #include "frc/kinematics/SwerveDriveKinematics.h"
 #include "frc/kinematics/SwerveDriveOdometry.h"
 #include "frc/trajectory/Trajectory.h"
 #include "frc/trajectory/TrajectoryConfig.h"
 #include "frc/trajectory/TrajectoryGenerator.h"
-#include "gtest/gtest.h"
 
 using namespace frc;
 

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

@@ -2,9 +2,10 @@
 // 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 <gtest/gtest.h>
+
 #include "frc/geometry/Rotation2d.h"
 #include "frc/kinematics/SwerveModulePosition.h"
-#include "gtest/gtest.h"
 
 TEST(SwerveModulePositionTest, Equality) {
   frc::SwerveModulePosition position1{2_m, 90_deg};

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

@@ -2,9 +2,10 @@
 // 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 <gtest/gtest.h>
+
 #include "frc/geometry/Rotation2d.h"
 #include "frc/kinematics/SwerveModuleState.h"
-#include "gtest/gtest.h"
 
 static constexpr double kEpsilon = 1E-9;
 

wpimath/src/test/native/cpp/main.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 "gtest/gtest.h"
+#include <gtest/gtest.h>
 
 int main(int argc, char** argv) {
   ::testing::InitGoogleTest(&argc, argv);

wpimath/src/test/native/cpp/spline/CubicHermiteSplineTest.cpp

@@ -5,12 +5,13 @@
 #include <chrono>
 #include <vector>
 
+#include <gtest/gtest.h>
+
 #include "frc/geometry/Pose2d.h"
 #include "frc/geometry/Rotation2d.h"
 #include "frc/spline/QuinticHermiteSpline.h"
 #include "frc/spline/SplineHelper.h"
 #include "frc/spline/SplineParameterizer.h"
-#include "gtest/gtest.h"
 #include "units/length.h"
 
 using namespace frc;

wpimath/src/test/native/cpp/spline/QuinticHermiteSplineTest.cpp

@@ -4,12 +4,13 @@
 
 #include <chrono>
 
+#include <gtest/gtest.h>
+
 #include "frc/geometry/Pose2d.h"
 #include "frc/geometry/Rotation2d.h"
 #include "frc/spline/QuinticHermiteSpline.h"
 #include "frc/spline/SplineHelper.h"
 #include "frc/spline/SplineParameterizer.h"
-#include "gtest/gtest.h"
 #include "units/angle.h"
 #include "units/length.h"
 

wpimath/src/test/native/cpp/system/DiscretizationTest.cpp

@@ -2,11 +2,11 @@
 // 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 <gtest/gtest.h>
-
 #include <functional>
 
-#include "Eigen/Eigenvalues"
+#include <Eigen/Eigenvalues>
+#include <gtest/gtest.h>
+
 #include "frc/EigenCore.h"
 #include "frc/system/Discretization.h"
 #include "frc/system/NumericalIntegration.h"

wpimath/src/test/native/cpp/system/LinearSystemIDTest.cpp

@@ -5,6 +5,7 @@
 #include <frc/system/LinearSystem.h>
 #include <frc/system/plant/DCMotor.h>
 #include <frc/system/plant/LinearSystemId.h>
+
 #include <gtest/gtest.h>
 
 #include "frc/system/plant/LinearSystemId.h"

wpimath/src/test/native/cpp/system/NumericalIntegrationTest.cpp

@@ -2,10 +2,10 @@
 // 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 <gtest/gtest.h>
-
 #include <cmath>
 
+#include <gtest/gtest.h>
+
 #include "frc/system/NumericalIntegration.h"
 
 // Tests that integrating dx/dt = e^x works.

wpimath/src/test/native/cpp/system/RungeKuttaTimeVaryingTest.cpp

@@ -2,10 +2,10 @@
 // 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 <gtest/gtest.h>
-
 #include <cmath>
 
+#include <gtest/gtest.h>
+
 #include "frc/system/RungeKuttaTimeVarying.h"
 
 namespace {

wpimath/src/test/native/cpp/trajectory/CentripetalAccelerationConstraintTest.cpp

@@ -5,9 +5,10 @@
 #include <memory>
 #include <vector>
 
+#include <gtest/gtest.h>
+
 #include "frc/trajectory/constraint/CentripetalAccelerationConstraint.h"
 #include "frc/trajectory/constraint/TrajectoryConstraint.h"
-#include "gtest/gtest.h"
 #include "trajectory/TestTrajectory.h"
 #include "units/acceleration.h"
 #include "units/angle.h"

wpimath/src/test/native/cpp/trajectory/DifferentialDriveKinematicsTest.cpp

@@ -5,9 +5,10 @@
 #include <memory>
 #include <vector>
 
+#include <gtest/gtest.h>
+
 #include "frc/kinematics/DifferentialDriveKinematics.h"
 #include "frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h"
-#include "gtest/gtest.h"
 #include "trajectory/TestTrajectory.h"
 #include "units/time.h"
 

wpimath/src/test/native/cpp/trajectory/DifferentialDriveVoltageTest.cpp

@@ -5,11 +5,12 @@
 #include <memory>
 #include <vector>
 
+#include <gtest/gtest.h>
+
 #include "frc/geometry/Pose2d.h"
 #include "frc/kinematics/DifferentialDriveKinematics.h"
 #include "frc/trajectory/TrajectoryGenerator.h"
 #include "frc/trajectory/constraint/DifferentialDriveVoltageConstraint.h"
-#include "gtest/gtest.h"
 #include "trajectory/TestTrajectory.h"
 #include "units/acceleration.h"
 #include "units/length.h"

wpimath/src/test/native/cpp/trajectory/EllipticalRegionConstraintTest.cpp

@@ -4,10 +4,11 @@
 
 #include <vector>
 
+#include <gtest/gtest.h>
+
 #include "frc/kinematics/DifferentialDriveKinematics.h"
 #include "frc/trajectory/constraint/EllipticalRegionConstraint.h"
 #include "frc/trajectory/constraint/MaxVelocityConstraint.h"
-#include "gtest/gtest.h"
 #include "trajectory/TestTrajectory.h"
 #include "units/acceleration.h"
 #include "units/angle.h"

wpimath/src/test/native/cpp/trajectory/RectangularRegionConstraintTest.cpp

@@ -4,10 +4,11 @@
 
 #include <vector>
 
+#include <gtest/gtest.h>
+
 #include "frc/kinematics/DifferentialDriveKinematics.h"
 #include "frc/trajectory/constraint/MaxVelocityConstraint.h"
 #include "frc/trajectory/constraint/RectangularRegionConstraint.h"
-#include "gtest/gtest.h"
 #include "trajectory/TestTrajectory.h"
 #include "units/acceleration.h"
 #include "units/length.h"

wpimath/src/test/native/cpp/trajectory/TrajectoryConcatenateTest.cpp

@@ -2,9 +2,10 @@
 // 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 <gtest/gtest.h>
+
 #include "frc/trajectory/TrajectoryConfig.h"
 #include "frc/trajectory/TrajectoryGenerator.h"
-#include "gtest/gtest.h"
 
 TEST(TrajectoryConcatenateTest, States) {
   auto t1 = frc::TrajectoryGenerator::GenerateTrajectory(

wpimath/src/test/native/cpp/trajectory/TrajectoryGeneratorTest.cpp

@@ -4,11 +4,12 @@
 
 #include <vector>
 
+#include <gtest/gtest.h>
+
 #include "frc/trajectory/Trajectory.h"
 #include "frc/trajectory/TrajectoryGenerator.h"
 #include "frc/trajectory/constraint/CentripetalAccelerationConstraint.h"
 #include "frc/trajectory/constraint/TrajectoryConstraint.h"
-#include "gtest/gtest.h"
 #include "trajectory/TestTrajectory.h"
 #include "units/math.h"
 

wpimath/src/test/native/cpp/trajectory/TrajectoryJsonTest.cpp

@@ -2,9 +2,10 @@
 // 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 <gtest/gtest.h>
+
 #include "frc/trajectory/TrajectoryConfig.h"
 #include "frc/trajectory/TrajectoryUtil.h"
-#include "gtest/gtest.h"
 #include "trajectory/TestTrajectory.h"
 
 using namespace frc;

wpimath/src/test/native/cpp/trajectory/TrajectoryTransformTest.cpp

@@ -4,10 +4,11 @@
 
 #include <vector>
 
+#include <gtest/gtest.h>
+
 #include "frc/trajectory/Trajectory.h"
 #include "frc/trajectory/TrajectoryConfig.h"
 #include "frc/trajectory/TrajectoryGenerator.h"
-#include "gtest/gtest.h"
 
 void TestSameShapedTrajectory(std::vector<frc::Trajectory::State> statesA,
                               std::vector<frc::Trajectory::State> statesB) {

wpimath/src/test/native/cpp/trajectory/TrapezoidProfileTest.cpp

@@ -7,7 +7,8 @@
 #include <chrono>
 #include <cmath>
 
-#include "gtest/gtest.h"
+#include <gtest/gtest.h>
+
 #include "units/acceleration.h"
 #include "units/length.h"
 #include "units/math.h"