SCRIPT namespace replacements

wpimath/src/main/python/semiwrap/MathUtil.yml

@@ -33,8 +33,8 @@ functions:
         - [double]
   SlewRateLimit:
     overloads:
-      const Translation2d&, const Translation2d&, units::second_t, units::meters_per_second_t:
-      const Translation3d&, const Translation3d&, units::second_t, units::meters_per_second_t:
+      const Translation2d&, const Translation2d&, wpi::units::second_t, wpi::units::meters_per_second_t:
+      const Translation3d&, const Translation3d&, wpi::units::second_t, wpi::units::meters_per_second_t:
   CopyDirectionPow:
     overloads:
       T, double, T:

wpimath/src/main/python/semiwrap/controls/ArmFeedforward.yml

@@ -2,26 +2,26 @@ defaults:
   subpackage: controller
 
 classes:
-  frc::ArmFeedforward:
+  wpi::math::ArmFeedforward:
     force_type_casters:
-    - units::radians_per_second_squared
+    - wpi::units::radians_per_second_squared
     typealias:
-    - frc::ArmFeedforward::Acceleration
-    - frc::ArmFeedforward::kv_unit
-    - frc::ArmFeedforward::ka_unit
+    - wpi::math::ArmFeedforward::Acceleration
+    - wpi::math::ArmFeedforward::kv_unit
+    - wpi::math::ArmFeedforward::ka_unit
     methods:
       ArmFeedforward:
         overloads:
           '':
-          units::volt_t, units::volt_t, units::unit_t<kv_unit>, units::unit_t<ka_unit>:
+          wpi::units::volt_t, wpi::units::volt_t, wpi::units::unit_t<kv_unit>, wpi::units::unit_t<ka_unit>:
       Calculate:
         overloads:
-          units::unit_t<Angle>, units::unit_t<Velocity>, units::unit_t<Acceleration> [const]:
+          wpi::units::unit_t<Angle>, wpi::units::unit_t<Velocity>, wpi::units::unit_t<Acceleration> [const]:
             ignore: true
-          units::unit_t<Angle>, units::unit_t<Velocity>, units::unit_t<Velocity>, units::second_t [const]:
+          wpi::units::unit_t<Angle>, wpi::units::unit_t<Velocity>, wpi::units::unit_t<Velocity>, wpi::units::second_t [const]:
             ignore: true
-          units::unit_t<Angle>, units::unit_t<Velocity> [const]:
-          units::unit_t<Angle>, units::unit_t<Velocity>, units::unit_t<Velocity> [const]:
+          wpi::units::unit_t<Angle>, wpi::units::unit_t<Velocity> [const]:
+          wpi::units::unit_t<Angle>, wpi::units::unit_t<Velocity>, wpi::units::unit_t<Velocity> [const]:
       MaxAchievableVelocity:
       MinAchievableVelocity:
       MaxAchievableAcceleration:
@@ -39,4 +39,4 @@ extra_includes:
 - wpystruct.h
 
 inline_code: |
-  SetupWPyStruct<frc::ArmFeedforward>(cls_ArmFeedforward);
+  SetupWPyStruct<wpi::math::ArmFeedforward>(cls_ArmFeedforward);

wpimath/src/main/python/semiwrap/controls/BangBangController.yml

@@ -2,9 +2,9 @@ defaults:
   subpackage: controller
 
 classes:
-  frc::BangBangController:
+  wpi::math::BangBangController:
     ignored_bases:
-    - wpi::SendableHelper<BangBangController>
+    - wpi::util::SendableHelper<BangBangController>
     methods:
       BangBangController:
       SetSetpoint:

wpimath/src/main/python/semiwrap/controls/CentripetalAccelerationConstraint.yml

@@ -2,9 +2,9 @@ defaults:
   subpackage: constraint
 
 classes:
-  frc::CentripetalAccelerationConstraint:
+  wpi::math::CentripetalAccelerationConstraint:
     typealias:
-    - frc::TrajectoryConstraint::MinMax
+    - wpi::math::TrajectoryConstraint::MinMax
     methods:
       CentripetalAccelerationConstraint:
       MaxVelocity:
@@ -12,6 +12,6 @@ classes:
 
 inline_code: |-
   cls_CentripetalAccelerationConstraint
-    .def_static("fromFps", [](units::feet_per_second_squared_t maxCentripetalAcceleration) {
+    .def_static("fromFps", [](wpi::units::feet_per_second_squared_t maxCentripetalAcceleration) {
       return std::make_shared<CentripetalAccelerationConstraint>(maxCentripetalAcceleration);
     }, py::arg("maxCentripetalAcceleration"));

wpimath/src/main/python/semiwrap/controls/ControlAffinePlantInversionFeedforward.yml

@@ -2,15 +2,15 @@ defaults:
   subpackage: controller
 
 classes:
-  frc::ControlAffinePlantInversionFeedforward:
+  wpi::math::ControlAffinePlantInversionFeedforward:
     template_params:
     - int States
     - int Inputs
     methods:
       ControlAffinePlantInversionFeedforward:
         overloads:
-          std::function<StateVector (const StateVector&, const InputVector&)>, units::second_t:
-          std::function<StateVector (const StateVector&)>, const Matrixd<States, Inputs>&, units::second_t:
+          std::function<StateVector (const StateVector&, const InputVector&)>, wpi::units::second_t:
+          std::function<StateVector (const StateVector&)>, const Matrixd<States, Inputs>&, wpi::units::second_t:
       Uff:
         overloads:
           '[const]':
@@ -30,17 +30,17 @@ classes:
 
 templates:
   ControlAffinePlantInversionFeedforward_1_1:
-    qualname: frc::ControlAffinePlantInversionFeedforward
+    qualname: wpi::math::ControlAffinePlantInversionFeedforward
     params:
     - 1
     - 1
   ControlAffinePlantInversionFeedforward_2_1:
-    qualname: frc::ControlAffinePlantInversionFeedforward
+    qualname: wpi::math::ControlAffinePlantInversionFeedforward
     params:
     - 2
     - 1
   ControlAffinePlantInversionFeedforward_2_2:
-    qualname: frc::ControlAffinePlantInversionFeedforward
+    qualname: wpi::math::ControlAffinePlantInversionFeedforward
     params:
     - 2
     - 2

wpimath/src/main/python/semiwrap/controls/DCMotor.yml

@@ -5,7 +5,7 @@ extra_includes:
 - wpystruct.h
 
 classes:
-  frc::DCMotor:
+  wpi::math::DCMotor:
     attributes:
       nominalVoltage:
       stallTorque:
@@ -19,8 +19,8 @@ classes:
       DCMotor:
       Current:
         overloads:
-          units::radians_per_second_t, units::volt_t [const]:
-          units::newton_meter_t [const]:
+          wpi::units::radians_per_second_t, wpi::units::volt_t [const]:
+          wpi::units::newton_meter_t [const]:
       Torque:
       Voltage:
       Speed:
@@ -46,4 +46,4 @@ classes:
       Minion:
 
 inline_code: |
-  SetupWPyStruct<frc::DCMotor>(cls_DCMotor);
+  SetupWPyStruct<wpi::math::DCMotor>(cls_DCMotor);

wpimath/src/main/python/semiwrap/controls/DifferentialDriveAccelerationLimiter.yml

@@ -2,11 +2,11 @@ defaults:
   subpackage: controller
 
 classes:
-  frc::DifferentialDriveAccelerationLimiter:
+  wpi::math::DifferentialDriveAccelerationLimiter:
     methods:
       DifferentialDriveAccelerationLimiter:
         overloads:
-          LinearSystem<2, 2, 2>, units::meter_t, units::meters_per_second_squared_t, units::radians_per_second_squared_t:
-          ? LinearSystem<2, 2, 2>, units::meter_t, units::meters_per_second_squared_t, units::meters_per_second_squared_t, units::radians_per_second_squared_t
+          LinearSystem<2, 2, 2>, wpi::units::meter_t, wpi::units::meters_per_second_squared_t, wpi::units::radians_per_second_squared_t:
+          ? LinearSystem<2, 2, 2>, wpi::units::meter_t, wpi::units::meters_per_second_squared_t, wpi::units::meters_per_second_squared_t, wpi::units::radians_per_second_squared_t
           :
       Calculate:

wpimath/src/main/python/semiwrap/controls/DifferentialDriveFeedforward.yml

@@ -2,13 +2,13 @@ defaults:
   subpackage: controller
 
 classes:
-  frc::DifferentialDriveFeedforward:
+  wpi::math::DifferentialDriveFeedforward:
     force_type_casters:
-    - units::meters_per_second
-    - units::meters_per_second_squared
-    - units::radians_per_second
-    - units::radians_per_second_squared
-    - units::compound_unit
+    - wpi::units::meters_per_second
+    - wpi::units::meters_per_second_squared
+    - wpi::units::radians_per_second
+    - wpi::units::radians_per_second_squared
+    - wpi::units::compound_unit
     attributes:
       m_kVLinear:
       m_kALinear:
@@ -17,10 +17,10 @@ classes:
     methods:
       DifferentialDriveFeedforward:
         overloads:
-          decltype(1_V/1_mps), decltype(1_V/1_mps_sq), decltype(1_V/1_rad_per_s), decltype(1_V/1_rad_per_s_sq), units::meter_t:
+          decltype(1_V/1_mps), decltype(1_V/1_mps_sq), decltype(1_V/1_rad_per_s), decltype(1_V/1_rad_per_s_sq), wpi::units::meter_t:
           decltype(1_V/1_mps), decltype(1_V/1_mps_sq), decltype(1_V/1_mps), decltype(1_V/1_mps_sq):
           # ? decltype ( 1 _V / 1 _mps ), decltype ( 1 _V / 1 _mps_sq ), decltype (
-          #   1 _V / 1 _rad_per_s ), decltype ( 1 _V / 1 _rad_per_s_sq ), units::meter_t
+          #   1 _V / 1 _rad_per_s ), decltype ( 1 _V / 1 _rad_per_s_sq ), wpi::units::meter_t
           # :
           #   param_override:
           #     kVLinear:

wpimath/src/main/python/semiwrap/controls/DifferentialDriveKinematicsConstraint.yml

@@ -2,9 +2,9 @@ defaults:
   subpackage: constraint
 
 classes:
-  frc::DifferentialDriveKinematicsConstraint:
+  wpi::math::DifferentialDriveKinematicsConstraint:
     typealias:
-    - frc::TrajectoryConstraint::MinMax
+    - wpi::math::TrajectoryConstraint::MinMax
     methods:
       DifferentialDriveKinematicsConstraint:
       MaxVelocity:
@@ -13,7 +13,7 @@ classes:
 inline_code: |-
   cls_DifferentialDriveKinematicsConstraint
     .def_static("fromFps", [](const DifferentialDriveKinematics& kinematics,
-                              units::feet_per_second_t maxSpeed) {
+                              wpi::units::feet_per_second_t maxSpeed) {
       return std::make_shared<DifferentialDriveKinematicsConstraint>(kinematics, maxSpeed);
     }, py::arg("kinematics"), py::arg("maxSpeed"))
   ;

wpimath/src/main/python/semiwrap/controls/DifferentialDrivePoseEstimator.yml

@@ -2,7 +2,7 @@ defaults:
   subpackage: estimator
 
 classes:
-  frc::DifferentialDrivePoseEstimator:
+  wpi::math::DifferentialDrivePoseEstimator:
     force_no_trampoline: true
     doc: |
       This class wraps an Unscented Kalman Filter to fuse latency-compensated
@@ -40,8 +40,8 @@ classes:
     methods:
       DifferentialDrivePoseEstimator:
         overloads:
-          DifferentialDriveKinematics&, const Rotation2d&, units::meter_t, units::meter_t, const Pose2d&:
-          ? DifferentialDriveKinematics&, const Rotation2d&, units::meter_t, units::meter_t, const Pose2d&, const wpi::array<double, 3>&, const wpi::array<double, 3>&
+          DifferentialDriveKinematics&, const Rotation2d&, wpi::units::meter_t, wpi::units::meter_t, const Pose2d&:
+          ? DifferentialDriveKinematics&, const Rotation2d&, wpi::units::meter_t, wpi::units::meter_t, const Pose2d&, const wpi::util::array<double, 3>&, const wpi::util::array<double, 3>&
           :
       ResetPosition:
       Update:

wpimath/src/main/python/semiwrap/controls/DifferentialDrivePoseEstimator3d.yml

@@ -2,13 +2,13 @@ defaults:
   subpackage: estimator
 
 classes:
-  frc::DifferentialDrivePoseEstimator3d:
+  wpi::math::DifferentialDrivePoseEstimator3d:
     force_no_trampoline: true
     methods:
       DifferentialDrivePoseEstimator3d:
         overloads:
-          DifferentialDriveKinematics&, const Rotation3d&, units::meter_t, units::meter_t, const Pose3d&:
-          ? DifferentialDriveKinematics&, const Rotation3d&, units::meter_t, units::meter_t, const Pose3d&, const wpi::array<double, 4>&, const wpi::array<double, 4>&
+          DifferentialDriveKinematics&, const Rotation3d&, wpi::units::meter_t, wpi::units::meter_t, const Pose3d&:
+          ? DifferentialDriveKinematics&, const Rotation3d&, wpi::units::meter_t, wpi::units::meter_t, const Pose3d&, const wpi::util::array<double, 4>&, const wpi::util::array<double, 4>&
           :
       ResetPosition:
       Update:

wpimath/src/main/python/semiwrap/controls/DifferentialDriveVoltageConstraint.yml

@@ -2,9 +2,9 @@ defaults:
   subpackage: constraint
 
 classes:
-  frc::DifferentialDriveVoltageConstraint:
+  wpi::math::DifferentialDriveVoltageConstraint:
     typealias:
-    - frc::TrajectoryConstraint::MinMax
+    - wpi::math::TrajectoryConstraint::MinMax
     methods:
       DifferentialDriveVoltageConstraint:
       MaxVelocity:

wpimath/src/main/python/semiwrap/controls/DifferentialDriveWheelVoltages.yml

@@ -3,7 +3,7 @@ defaults:
 
 
 classes:
-  frc::DifferentialDriveWheelVoltages:
+  wpi::math::DifferentialDriveWheelVoltages:
     force_no_default_constructor: true
     attributes:
       left:
@@ -14,7 +14,7 @@ extra_includes:
 
 inline_code: |
   cls_DifferentialDriveWheelVoltages
-    .def(py::init<units::volt_t, units::volt_t>(),
+    .def(py::init<wpi::units::volt_t, wpi::units::volt_t>(),
       py::arg("left") = 0, py::arg("right") = 0)
     .def("__repr__", [](const DifferentialDriveWheelVoltages *self) {
       return "DifferentialDriveWheelVoltages("
@@ -23,4 +23,4 @@ inline_code: |
     })
   ;
 
-  SetupWPyStruct<frc::DifferentialDriveWheelVoltages>(cls_DifferentialDriveWheelVoltages);
+  SetupWPyStruct<wpi::math::DifferentialDriveWheelVoltages>(cls_DifferentialDriveWheelVoltages);

wpimath/src/main/python/semiwrap/controls/ElevatorFeedforward.yml

@@ -2,23 +2,23 @@ defaults:
   subpackage: controller
 
 classes:
-  frc::ElevatorFeedforward:
+  wpi::math::ElevatorFeedforward:
     force_type_casters:
-    - units::meters_per_second
+    - wpi::units::meters_per_second
     - meters_per_second_squared
     methods:
       ElevatorFeedforward:
         overloads:
           '':
-          units::volt_t, units::volt_t, units::unit_t<kv_unit>, units::unit_t<ka_unit>:
+          wpi::units::volt_t, wpi::units::volt_t, wpi::units::unit_t<kv_unit>, wpi::units::unit_t<ka_unit>:
       Calculate:
         overloads:
-          units::unit_t<Velocity>, units::unit_t<Acceleration> [const]:
+          wpi::units::unit_t<Velocity>, wpi::units::unit_t<Acceleration> [const]:
             ignore: true
-          units::unit_t<Velocity>, units::unit_t<Velocity>, units::second_t [const]:
+          wpi::units::unit_t<Velocity>, wpi::units::unit_t<Velocity>, wpi::units::second_t [const]:
             ignore: true
-          units::unit_t<Velocity> [const]:
-          units::unit_t<Velocity>, units::unit_t<Velocity> [const]:
+          wpi::units::unit_t<Velocity> [const]:
+          wpi::units::unit_t<Velocity>, wpi::units::unit_t<Velocity> [const]:
       MaxAchievableVelocity:
       MinAchievableVelocity:
       MaxAchievableAcceleration:
@@ -36,4 +36,4 @@ extra_includes:
 - wpystruct.h
 
 inline_code: |
-  SetupWPyStruct<frc::ElevatorFeedforward>(cls_ElevatorFeedforward);
+  SetupWPyStruct<wpi::math::ElevatorFeedforward>(cls_ElevatorFeedforward);

wpimath/src/main/python/semiwrap/controls/EllipticalRegionConstraint.yml

@@ -5,23 +5,23 @@ extra_includes:
 - PyTrajectoryConstraint.h
 
 classes:
-  frc::EllipticalRegionConstraint:
+  wpi::math::EllipticalRegionConstraint:
     template_params:
     - typename Constraint
     typealias:
-    - frc::TrajectoryConstraint::MinMax
+    - wpi::math::TrajectoryConstraint::MinMax
     methods:
       EllipticalRegionConstraint:
         overloads:
-          const Translation2d&, units::meter_t, units::meter_t, const Rotation2d&, const Constraint&:
+          const Translation2d&, wpi::units::meter_t, wpi::units::meter_t, const Rotation2d&, const Constraint&:
           const Ellipse2d&, const Constraint&:
       MaxVelocity:
       MinMaxAcceleration:
 
     template_inline_code: |
       cls_EllipticalRegionConstraint
-        .def_static("fromFeet", [](const Translation2d& center, units::foot_t xWidth,
-                                   units::foot_t yWidth, const Rotation2d& rotation,
+        .def_static("fromFeet", [](const Translation2d& center, wpi::units::foot_t xWidth,
+                                   wpi::units::foot_t yWidth, const Rotation2d& rotation,
                                    const Constraint& constraint) {
           return std::make_shared<EllipticalRegionConstraint<Constraint>>(center, xWidth, yWidth, rotation, constraint);
         }, py::arg("center"), py::arg("xWidth"), py::arg("yWidth"), py::arg("rotation"), py::arg("constraint"))
@@ -29,6 +29,6 @@ classes:
 
 templates:
   EllipticalRegionConstraint:
-    qualname: frc::EllipticalRegionConstraint
+    qualname: wpi::math::EllipticalRegionConstraint
     params:
-    - frc::PyTrajectoryConstraint
+    - wpi::math::PyTrajectoryConstraint

wpimath/src/main/python/semiwrap/controls/ExponentialProfile.yml

@@ -2,9 +2,9 @@ defaults:
   subpackage: trajectory
 
 classes:
-  frc::ExponentialProfile:
+  wpi::math::ExponentialProfile:
     force_type_casters:
-    - units::meters_per_second_t
+    - wpi::units::meters_per_second_t
     template_params:
     - Distance
     - Input
@@ -18,7 +18,7 @@ classes:
       CalculateProfileTiming:
         overloads:
           const State&, const State& [const]:
-  frc::ExponentialProfile::Constraints:
+  wpi::math::ExponentialProfile::Constraints:
     attributes:
       maxInput:
       A:
@@ -33,13 +33,13 @@ classes:
       MaxVelocity:
     inline_code: |
       .def_static("fromStateSpace", [](Input_t maxInput, A_t a, B_t b) {
-          return typename frc::ExponentialProfile<Distance, Input>::Constraints(maxInput, a, b);
+          return typename wpi::math::ExponentialProfile<Distance, Input>::Constraints(maxInput, a, b);
         }, py::arg("maxInput"), py::arg("a"), py::arg("b"))
       .def_static("fromCharacteristics", [](Input_t maxInput, kV_t kv, kA_t ka) {
-          return typename frc::ExponentialProfile<Distance, Input>::Constraints(maxInput, kv, ka);
+          return typename wpi::math::ExponentialProfile<Distance, Input>::Constraints(maxInput, kv, ka);
         }, py::arg("maxInput"), py::arg("kV"), py::arg("kA"))
 
-  frc::ExponentialProfile::State:
+  wpi::math::ExponentialProfile::State:
     force_no_default_constructor: true
     attributes:
       position:
@@ -48,7 +48,7 @@ classes:
       operator==:
     inline_code: |
       .def(py::init<Distance_t, Velocity_t>())
-  frc::ExponentialProfile::ProfileTiming:
+  wpi::math::ExponentialProfile::ProfileTiming:
     attributes:
       inflectionTime:
       totalTime:
@@ -57,7 +57,7 @@ classes:
 
 templates:
   ExponentialProfileMeterVolts:
-    qualname: frc::ExponentialProfile
+    qualname: wpi::math::ExponentialProfile
     params:
-    - units::meter
-    - units::volt
+    - wpi::units::meter
+    - wpi::units::volt

wpimath/src/main/python/semiwrap/controls/ExtendedKalmanFilter.yml

@@ -2,7 +2,7 @@ defaults:
   subpackage: estimator
 
 classes:
-  frc::ExtendedKalmanFilter:
+  wpi::math::ExtendedKalmanFilter:
     template_params:
     - int States
     - int Inputs
@@ -10,9 +10,9 @@ classes:
     methods:
       ExtendedKalmanFilter:
         overloads:
-          ? std::function<StateVector (const StateVector&, const InputVector&)>, std::function<OutputVector (const StateVector&, const InputVector&)>, const StateArray&, const OutputArray&, units::second_t
+          ? std::function<StateVector (const StateVector&, const InputVector&)>, std::function<OutputVector (const StateVector&, const InputVector&)>, const StateArray&, const OutputArray&, wpi::units::second_t
           :
-          ? std::function<StateVector (const StateVector&, const InputVector&)>, std::function<OutputVector (const StateVector&, const InputVector&)>, const StateArray&, const OutputArray&, std::function<OutputVector (const OutputVector&, const OutputVector&)>, std::function<StateVector (const StateVector&, const StateVector&)>, units::second_t
+          ? std::function<StateVector (const StateVector&, const InputVector&)>, std::function<OutputVector (const StateVector&, const InputVector&)>, const StateArray&, const OutputArray&, std::function<OutputVector (const OutputVector&, const OutputVector&)>, std::function<StateVector (const StateVector&, const StateVector&)>, wpi::units::second_t
           :
       P:
         overloads:
@@ -41,25 +41,25 @@ classes:
 
 templates:
   ExtendedKalmanFilter_1_1_1:
-    qualname: frc::ExtendedKalmanFilter
+    qualname: wpi::math::ExtendedKalmanFilter
     params:
     - 1
     - 1
     - 1
   ExtendedKalmanFilter_2_1_1:
-    qualname: frc::ExtendedKalmanFilter
+    qualname: wpi::math::ExtendedKalmanFilter
     params:
     - 2
     - 1
     - 1
   ExtendedKalmanFilter_2_1_2:
-    qualname: frc::ExtendedKalmanFilter
+    qualname: wpi::math::ExtendedKalmanFilter
     params:
     - 2
     - 1
     - 2
   ExtendedKalmanFilter_2_2_2:
-    qualname: frc::ExtendedKalmanFilter
+    qualname: wpi::math::ExtendedKalmanFilter
     params:
     - 2
     - 2

wpimath/src/main/python/semiwrap/controls/ImplicitModelFollower.yml

@@ -2,7 +2,7 @@ defaults:
   subpackage: controller
 
 classes:
-  frc::ImplicitModelFollower:
+  wpi::math::ImplicitModelFollower:
     template_params:
     - int States
     - int Inputs
@@ -22,27 +22,27 @@ classes:
 
     template_inline_code: |
       cls_ImplicitModelFollower
-        .def(py::init<const frc::LinearSystem<States, Inputs, 1>&, const frc::LinearSystem<States, Inputs, 1>&>(),
+        .def(py::init<const wpi::math::LinearSystem<States, Inputs, 1>&, const wpi::math::LinearSystem<States, Inputs, 1>&>(),
           py::arg("plant"), py::arg("plantRef"))
-        .def(py::init<const frc::LinearSystem<States, Inputs, 2>&, const frc::LinearSystem<States, Inputs, 2>&>(),
+        .def(py::init<const wpi::math::LinearSystem<States, Inputs, 2>&, const wpi::math::LinearSystem<States, Inputs, 2>&>(),
           py::arg("plant"), py::arg("plantRef"))
-        .def(py::init<const frc::LinearSystem<States, Inputs, 3>&, const frc::LinearSystem<States, Inputs, 3>&>(),
+        .def(py::init<const wpi::math::LinearSystem<States, Inputs, 3>&, const wpi::math::LinearSystem<States, Inputs, 3>&>(),
           py::arg("plant"), py::arg("plantRef"))
         ;
 
 templates:
   ImplicitModelFollower_1_1:
-    qualname: frc::ImplicitModelFollower
+    qualname: wpi::math::ImplicitModelFollower
     params:
     - 1
     - 1
   ImplicitModelFollower_2_1:
-    qualname: frc::ImplicitModelFollower
+    qualname: wpi::math::ImplicitModelFollower
     params:
     - 2
     - 1
   ImplicitModelFollower_2_2:
-    qualname: frc::ImplicitModelFollower
+    qualname: wpi::math::ImplicitModelFollower
     params:
     - 2
     - 2

wpimath/src/main/python/semiwrap/controls/KalmanFilter.yml

@@ -2,7 +2,7 @@ defaults:
   subpackage: estimator
 
 classes:
-  frc::KalmanFilter:
+  wpi::math::KalmanFilter:
     template_params:
     - int States
     - int Inputs
@@ -31,31 +31,31 @@ classes:
 
 templates:
   KalmanFilter_1_1_1:
-    qualname: frc::KalmanFilter
+    qualname: wpi::math::KalmanFilter
     params:
     - 1
     - 1
     - 1
   KalmanFilter_2_1_1:
-    qualname: frc::KalmanFilter
+    qualname: wpi::math::KalmanFilter
     params:
     - 2
     - 1
     - 1
   KalmanFilter_2_1_2:
-    qualname: frc::KalmanFilter
+    qualname: wpi::math::KalmanFilter
     params:
     - 2
     - 1
     - 2
   KalmanFilter_2_2_2:
-    qualname: frc::KalmanFilter
+    qualname: wpi::math::KalmanFilter
     params:
     - 2
     - 2
     - 2
   KalmanFilter_3_2_3:
-    qualname: frc::KalmanFilter
+    qualname: wpi::math::KalmanFilter
     params:
     - 3
     - 2

wpimath/src/main/python/semiwrap/controls/LTVDifferentialDriveController.yml

@@ -2,13 +2,13 @@ defaults:
   subpackage: controller
 
 classes:
-  frc::LTVDifferentialDriveController:
+  wpi::math::LTVDifferentialDriveController:
     methods:
       LTVDifferentialDriveController:
       AtReference:
       SetTolerance:
       Calculate:
         overloads:
-          ? const Pose2d&, units::meters_per_second_t, units::meters_per_second_t, const Pose2d&, units::meters_per_second_t, units::meters_per_second_t
+          ? const Pose2d&, wpi::units::meters_per_second_t, wpi::units::meters_per_second_t, const Pose2d&, wpi::units::meters_per_second_t, wpi::units::meters_per_second_t
           :
-          const Pose2d&, units::meters_per_second_t, units::meters_per_second_t, const Trajectory::State&:
+          const Pose2d&, wpi::units::meters_per_second_t, wpi::units::meters_per_second_t, const Trajectory::State&:

wpimath/src/main/python/semiwrap/controls/LTVUnicycleController.yml

@@ -2,12 +2,12 @@ defaults:
   subpackage: controller
 
 classes:
-  frc::LTVUnicycleController:
+  wpi::math::LTVUnicycleController:
     methods:
       LTVUnicycleController:
         overloads:
-          units::second_t:
-          const wpi::array<double, 3>&, const wpi::array<double, 2>&, units::second_t:
+          wpi::units::second_t:
+          const wpi::util::array<double, 3>&, const wpi::util::array<double, 2>&, wpi::units::second_t:
             # param_override:
             #   maxVelocity:
             #     default: 9_mps
@@ -15,6 +15,6 @@ classes:
       SetTolerance:
       Calculate:
         overloads:
-          const Pose2d&, const Pose2d&, units::meters_per_second_t, units::radians_per_second_t:
+          const Pose2d&, const Pose2d&, wpi::units::meters_per_second_t, wpi::units::radians_per_second_t:
           const Pose2d&, const Trajectory::State&:
       SetEnabled:

wpimath/src/main/python/semiwrap/controls/LinearPlantInversionFeedforward.yml

@@ -2,16 +2,16 @@ defaults:
   subpackage: controller
 
 classes:
-  frc::LinearPlantInversionFeedforward:
+  wpi::math::LinearPlantInversionFeedforward:
     template_params:
     - int States
     - int Inputs
     methods:
       LinearPlantInversionFeedforward:
         overloads:
-          const LinearSystem<States, Inputs, Outputs>&, units::second_t:
+          const LinearSystem<States, Inputs, Outputs>&, wpi::units::second_t:
             ignore: true
-          const Matrixd<States, States>&, const Matrixd<States, Inputs>&, units::second_t:
+          const Matrixd<States, States>&, const Matrixd<States, Inputs>&, wpi::units::second_t:
       Uff:
         overloads:
           '[const]':
@@ -31,22 +31,22 @@ classes:
 
 templates:
   LinearPlantInversionFeedforward_1_1:
-    qualname: frc::LinearPlantInversionFeedforward
+    qualname: wpi::math::LinearPlantInversionFeedforward
     params:
     - 1
     - 1
   LinearPlantInversionFeedforward_2_1:
-    qualname: frc::LinearPlantInversionFeedforward
+    qualname: wpi::math::LinearPlantInversionFeedforward
     params:
     - 2
     - 1
   LinearPlantInversionFeedforward_2_2:
-    qualname: frc::LinearPlantInversionFeedforward
+    qualname: wpi::math::LinearPlantInversionFeedforward
     params:
     - 2
     - 2
   LinearPlantInversionFeedforward_3_2:
-    qualname: frc::LinearPlantInversionFeedforward
+    qualname: wpi::math::LinearPlantInversionFeedforward
     params:
     - 3
     - 2

wpimath/src/main/python/semiwrap/controls/LinearQuadraticRegulator.yml

@@ -2,19 +2,19 @@ defaults:
   subpackage: controller
 
 classes:
-  frc::LinearQuadraticRegulator:
+  wpi::math::LinearQuadraticRegulator:
     template_params:
     - int States
     - int Inputs
     methods:
       LinearQuadraticRegulator:
         overloads:
-          const LinearSystem<States, Inputs, Outputs>&, const StateArray&, const InputArray&, units::second_t:
+          const LinearSystem<States, Inputs, Outputs>&, const StateArray&, const InputArray&, wpi::units::second_t:
             ignore: true
-          const Matrixd<States, States>&, const Matrixd<States, Inputs>&, const StateArray&, const InputArray&, units::second_t:
-          ? const Matrixd<States, States>&, const Matrixd<States, Inputs>&, const Matrixd<States, States>&, const Matrixd<Inputs, Inputs>&, units::second_t
+          const Matrixd<States, States>&, const Matrixd<States, Inputs>&, const StateArray&, const InputArray&, wpi::units::second_t:
+          ? const Matrixd<States, States>&, const Matrixd<States, Inputs>&, const Matrixd<States, States>&, const Matrixd<Inputs, Inputs>&, wpi::units::second_t
           :
-          ? const Matrixd<States, States>&, const Matrixd<States, Inputs>&, const Matrixd<States, States>&, const Matrixd<Inputs, Inputs>&, const Matrixd<States, Inputs>&, units::second_t
+          ? const Matrixd<States, States>&, const Matrixd<States, Inputs>&, const Matrixd<States, States>&, const Matrixd<Inputs, Inputs>&, const Matrixd<States, Inputs>&, wpi::units::second_t
           :
       K:
         overloads:
@@ -39,28 +39,28 @@ classes:
         - ['2']
     template_inline_code: |
       cls_LinearQuadraticRegulator
-        .def(py::init<const frc::LinearSystem<States, Inputs, 1>&, const wpi::array<double, States>&, const wpi::array<double, Inputs>&, units::second_t>())
-        .def(py::init<const frc::LinearSystem<States, Inputs, 2>&, const wpi::array<double, States>&, const wpi::array<double, Inputs>&, units::second_t>())
-        .def(py::init<const frc::LinearSystem<States, Inputs, 3>&, const wpi::array<double, States>&, const wpi::array<double, Inputs>&, units::second_t>());
+        .def(py::init<const wpi::math::LinearSystem<States, Inputs, 1>&, const wpi::util::array<double, States>&, const wpi::util::array<double, Inputs>&, wpi::units::second_t>())
+        .def(py::init<const wpi::math::LinearSystem<States, Inputs, 2>&, const wpi::util::array<double, States>&, const wpi::util::array<double, Inputs>&, wpi::units::second_t>())
+        .def(py::init<const wpi::math::LinearSystem<States, Inputs, 3>&, const wpi::util::array<double, States>&, const wpi::util::array<double, Inputs>&, wpi::units::second_t>());
 
 templates:
   LinearQuadraticRegulator_1_1:
-    qualname: frc::LinearQuadraticRegulator
+    qualname: wpi::math::LinearQuadraticRegulator
     params:
     - 1
     - 1
   LinearQuadraticRegulator_2_1:
-    qualname: frc::LinearQuadraticRegulator
+    qualname: wpi::math::LinearQuadraticRegulator
     params:
     - 2
     - 1
   LinearQuadraticRegulator_2_2:
-    qualname: frc::LinearQuadraticRegulator
+    qualname: wpi::math::LinearQuadraticRegulator
     params:
     - 2
     - 2
   LinearQuadraticRegulator_3_2:
-    qualname: frc::LinearQuadraticRegulator
+    qualname: wpi::math::LinearQuadraticRegulator
     params:
     - 3
     - 2

wpimath/src/main/python/semiwrap/controls/LinearSystem.yml

@@ -2,7 +2,7 @@ defaults:
   subpackage: system
 
 classes:
-  frc::LinearSystem:
+  wpi::math::LinearSystem:
     template_params:
     - int States
     - int Inputs
@@ -33,73 +33,73 @@ classes:
 
 templates:
   LinearSystem_1_1_1:
-    qualname: frc::LinearSystem
+    qualname: wpi::math::LinearSystem
     params:
     - 1
     - 1
     - 1
   LinearSystem_1_1_2:
-    qualname: frc::LinearSystem
+    qualname: wpi::math::LinearSystem
     params:
     - 1
     - 1
     - 2
   LinearSystem_1_1_3:
-    qualname: frc::LinearSystem
+    qualname: wpi::math::LinearSystem
     params:
     - 1
     - 1
     - 3
   LinearSystem_2_1_1:
-    qualname: frc::LinearSystem
+    qualname: wpi::math::LinearSystem
     params:
     - 2
     - 1
     - 1
   LinearSystem_2_1_2:
-    qualname: frc::LinearSystem
+    qualname: wpi::math::LinearSystem
     params:
     - 2
     - 1
     - 2
   LinearSystem_2_1_3:
-    qualname: frc::LinearSystem
+    qualname: wpi::math::LinearSystem
     params:
     - 2
     - 1
     - 3
   LinearSystem_2_2_1:
-    qualname: frc::LinearSystem
+    qualname: wpi::math::LinearSystem
     params:
     - 2
     - 2
     - 1
   LinearSystem_2_2_2:
-    qualname: frc::LinearSystem
+    qualname: wpi::math::LinearSystem
     params:
     - 2
     - 2
     - 2
   LinearSystem_2_2_3:
-    qualname: frc::LinearSystem
+    qualname: wpi::math::LinearSystem
     params:
     - 2
     - 2
     - 3
   LinearSystem_3_2_1:
-    qualname: frc::LinearSystem
+    qualname: wpi::math::LinearSystem
     params:
     - 3
     - 2
     - 1
   LinearSystem_3_2_2:
-    qualname: frc::LinearSystem
+    qualname: wpi::math::LinearSystem
     params:
     - 3
     - 2
     - 2
   LinearSystem_3_2_3:
-    qualname: frc::LinearSystem
+    qualname: wpi::math::LinearSystem
     params:
     - 3
     - 2

wpimath/src/main/python/semiwrap/controls/LinearSystemId.yml

@@ -2,12 +2,12 @@ defaults:
   subpackage: plant
 
 classes:
-  frc::LinearSystemId:
+  wpi::math::LinearSystemId:
     typealias:
-    - kv_meters = units::unit_t<units::compound_unit<units::volts, units::inverse<units::meters_per_second>>>
-    - kv_radians = units::unit_t<units::compound_unit<units::volts, units::inverse<units::radians_per_second>>>
-    - ka_meters = units::unit_t<units::compound_unit<units::volts, units::inverse<units::meters_per_second_squared>>>
-    - ka_radians = units::unit_t<units::compound_unit<units::volts, units::inverse<units::radians_per_second_squared>>>
+    - kv_meters = wpi::units::unit_t<wpi::units::compound_unit<wpi::units::volts, wpi::units::inverse<wpi::units::meters_per_second>>>
+    - kv_radians = wpi::units::unit_t<wpi::units::compound_unit<wpi::units::volts, wpi::units::inverse<wpi::units::radians_per_second>>>
+    - ka_meters = wpi::units::unit_t<wpi::units::compound_unit<wpi::units::volts, wpi::units::inverse<wpi::units::meters_per_second_squared>>>
+    - ka_radians = wpi::units::unit_t<wpi::units::compound_unit<wpi::units::volts, wpi::units::inverse<wpi::units::radians_per_second_squared>>>
     methods:
       ElevatorSystem:
       SingleJointedArmSystem:
@@ -15,48 +15,48 @@ classes:
         rename: identifyVelocitySystemMeters
         cpp_code: |
           [](kv_meters kV, ka_meters kA) {
-            return frc::LinearSystemId::IdentifyVelocitySystem<units::meter>(kV, kA);
+            return wpi::math::LinearSystemId::IdentifyVelocitySystem<wpi::units::meter>(kV, kA);
           }
       IdentifyPositionSystem:
         rename: identifyPositionSystemMeters
         cpp_code: |
           [](kv_meters kV, ka_meters kA) {
-            return frc::LinearSystemId::IdentifyPositionSystem<units::meter>(kV, kA);
+            return wpi::math::LinearSystemId::IdentifyPositionSystem<wpi::units::meter>(kV, kA);
           }
       IdentifyDrivetrainSystem:
         overloads:
           decltype(1_V/1_mps), decltype(1_V/1_mps_sq), decltype(1_V/1_mps), decltype(1_V/1_mps_sq):
             cpp_code: |
               [](kv_meters kVlinear, ka_meters kAlinear, kv_meters kVangular, ka_meters kAangular) {
-                return frc::LinearSystemId::IdentifyDrivetrainSystem(kVlinear, kAlinear, kVangular, kAangular);
+                return wpi::math::LinearSystemId::IdentifyDrivetrainSystem(kVlinear, kAlinear, kVangular, kAangular);
               }
-          decltype(1_V/1_mps), decltype(1_V/1_mps_sq), decltype(1_V/1_rad_per_s), decltype(1_V/1_rad_per_s_sq), units::meter_t:
+          decltype(1_V/1_mps), decltype(1_V/1_mps_sq), decltype(1_V/1_rad_per_s), decltype(1_V/1_rad_per_s_sq), wpi::units::meter_t:
             cpp_code: |
-              [](kv_meters kVlinear, ka_meters kAlinear, kv_radians kVangular, ka_radians kAangular, units::meter_t trackWidth) {
-                return frc::LinearSystemId::IdentifyDrivetrainSystem(kVlinear, kAlinear, kVangular, kAangular, trackWidth);
+              [](kv_meters kVlinear, ka_meters kAlinear, kv_radians kVangular, ka_radians kAangular, wpi::units::meter_t trackWidth) {
+                return wpi::math::LinearSystemId::IdentifyDrivetrainSystem(kVlinear, kAlinear, kVangular, kAangular, trackWidth);
               }
       FlywheelSystem:
       DCMotorSystem:
         overloads:
-          DCMotor, units::kilogram_square_meter_t, double:
+          DCMotor, wpi::units::kilogram_square_meter_t, double:
           decltype(1_V/Velocity_t<Distance> (1)), decltype(1_V/Acceleration_t<Distance> (1)):
             cpp_code: |
               [](kv_meters kv, ka_meters ka) {
-                return frc::LinearSystemId::DCMotorSystem<units::meter>(kv, ka);
+                return wpi::math::LinearSystemId::DCMotorSystem<wpi::units::meter>(kv, ka);
               }
       DrivetrainVelocitySystem:
 
     inline_code: |
       .def_static("DCMotorSystemRadians", [](kv_radians kV, ka_radians kA) {
-          return frc::LinearSystemId::DCMotorSystem<units::radian>(kV, kA);
+          return wpi::math::LinearSystemId::DCMotorSystem<wpi::units::radian>(kV, kA);
         }, py::arg("kV"), py::arg("kA"), release_gil()
       )
 
       .def_static("identifyVelocitySystemRadians", [](kv_radians kV, ka_radians kA) {
-          return frc::LinearSystemId::IdentifyVelocitySystem<units::radian>(kV, kA);
+          return wpi::math::LinearSystemId::IdentifyVelocitySystem<wpi::units::radian>(kV, kA);
         }, py::arg("kV"), py::arg("kA"), release_gil()
       )
       .def_static("identifyPositionSystemRadians", [](kv_radians kV, ka_radians kA) {
-          return frc::LinearSystemId::IdentifyPositionSystem<units::radian>(kV, kA);
+          return wpi::math::LinearSystemId::IdentifyPositionSystem<wpi::units::radian>(kV, kA);
         }, py::arg("kV"), py::arg("kA"), release_gil()
       )

wpimath/src/main/python/semiwrap/controls/LinearSystemLoop.yml

@@ -2,7 +2,7 @@ defaults:
   subpackage: system
 
 classes:
-  frc::LinearSystemLoop:
+  wpi::math::LinearSystemLoop:
     template_params:
     - int States
     - int Inputs
@@ -10,11 +10,11 @@ classes:
     methods:
       LinearSystemLoop:
         overloads:
-          ? LinearSystem<States, Inputs, Outputs>&, LinearQuadraticRegulator<States, Inputs>&, KalmanFilter<States, Inputs, Outputs>&, units::volt_t, units::second_t
+          ? LinearSystem<States, Inputs, Outputs>&, LinearQuadraticRegulator<States, Inputs>&, KalmanFilter<States, Inputs, Outputs>&, wpi::units::volt_t, wpi::units::second_t
           :
-          ? LinearSystem<States, Inputs, Outputs>&, LinearQuadraticRegulator<States, Inputs>&, KalmanFilter<States, Inputs, Outputs>&, std::function<InputVector (const InputVector&)>, units::second_t
+          ? LinearSystem<States, Inputs, Outputs>&, LinearQuadraticRegulator<States, Inputs>&, KalmanFilter<States, Inputs, Outputs>&, std::function<InputVector (const InputVector&)>, wpi::units::second_t
           :
-          ? LinearQuadraticRegulator<States, Inputs>&, const LinearPlantInversionFeedforward<States, Inputs>&, KalmanFilter<States, Inputs, Outputs>&, units::volt_t
+          ? LinearQuadraticRegulator<States, Inputs>&, const LinearPlantInversionFeedforward<States, Inputs>&, KalmanFilter<States, Inputs, Outputs>&, wpi::units::volt_t
           :
           ? LinearQuadraticRegulator<States, Inputs>&, const LinearPlantInversionFeedforward<States, Inputs>&, KalmanFilter<States, Inputs, Outputs>&, std::function<InputVector (const InputVector&)>
           :
@@ -48,31 +48,31 @@ classes:
       ClampInput:
 templates:
   LinearSystemLoop_1_1_1:
-    qualname: frc::LinearSystemLoop
+    qualname: wpi::math::LinearSystemLoop
     params:
     - 1
     - 1
     - 1
   LinearSystemLoop_2_1_1:
-    qualname: frc::LinearSystemLoop
+    qualname: wpi::math::LinearSystemLoop
     params:
     - 2
     - 1
     - 1
   LinearSystemLoop_2_1_2:
-    qualname: frc::LinearSystemLoop
+    qualname: wpi::math::LinearSystemLoop
     params:
     - 2
     - 1
     - 2
   LinearSystemLoop_2_2_2:
-    qualname: frc::LinearSystemLoop
+    qualname: wpi::math::LinearSystemLoop
     params:
     - 2
     - 2
     - 2
   LinearSystemLoop_3_2_3:
-    qualname: frc::LinearSystemLoop
+    qualname: wpi::math::LinearSystemLoop
     params:
     - 3
     - 2

wpimath/src/main/python/semiwrap/controls/MaxVelocityConstraint.yml

@@ -2,9 +2,9 @@ defaults:
   subpackage: constraint
 
 classes:
-  frc::MaxVelocityConstraint:
+  wpi::math::MaxVelocityConstraint:
     typealias:
-    - frc::TrajectoryConstraint::MinMax
+    - wpi::math::TrajectoryConstraint::MinMax
     methods:
       MaxVelocityConstraint:
       MaxVelocity:
@@ -12,7 +12,7 @@ classes:
 
 inline_code: |-
   cls_MaxVelocityConstraint
-    .def_static("fromFps", [](units::feet_per_second_t maxVelocity) {
-      return std::make_shared<frc::MaxVelocityConstraint>(maxVelocity);
+    .def_static("fromFps", [](wpi::units::feet_per_second_t maxVelocity) {
+      return std::make_shared<wpi::math::MaxVelocityConstraint>(maxVelocity);
     }, py::arg("maxVelocity"))
   ;

wpimath/src/main/python/semiwrap/controls/MecanumDriveKinematicsConstraint.yml

@@ -2,9 +2,9 @@ defaults:
   subpackage: constraint
 
 classes:
-  frc::MecanumDriveKinematicsConstraint:
+  wpi::math::MecanumDriveKinematicsConstraint:
     typealias:
-    - frc::TrajectoryConstraint::MinMax
+    - wpi::math::TrajectoryConstraint::MinMax
     methods:
       MecanumDriveKinematicsConstraint:
       MaxVelocity:
@@ -12,8 +12,8 @@ classes:
 
 inline_code: |-
   cls_MecanumDriveKinematicsConstraint
-    .def_static("fromFps", [](const frc::MecanumDriveKinematics& kinematics,
-                              units::feet_per_second_t maxSpeed) {
-      return std::make_shared<frc::MecanumDriveKinematicsConstraint>(kinematics, maxSpeed);
+    .def_static("fromFps", [](const wpi::math::MecanumDriveKinematics& kinematics,
+                              wpi::units::feet_per_second_t maxSpeed) {
+      return std::make_shared<wpi::math::MecanumDriveKinematicsConstraint>(kinematics, maxSpeed);
     }, py::arg("kinematics"), py::arg("maxSpeed"))
   ;

wpimath/src/main/python/semiwrap/controls/MecanumDrivePoseEstimator.yml

@@ -2,7 +2,7 @@ defaults:
   subpackage: estimator
 
 classes:
-  frc::MecanumDrivePoseEstimator:
+  wpi::math::MecanumDrivePoseEstimator:
     force_no_trampoline: true
     doc: |
       This class wraps an Unscented Kalman Filter to fuse latency-compensated
@@ -34,5 +34,5 @@ classes:
       MecanumDrivePoseEstimator:
         overloads:
           MecanumDriveKinematics&, const Rotation2d&, const MecanumDriveWheelPositions&, const Pose2d&:
-          ? MecanumDriveKinematics&, const Rotation2d&, const MecanumDriveWheelPositions&, const Pose2d&, const wpi::array<double, 3>&, const wpi::array<double, 3>&
+          ? MecanumDriveKinematics&, const Rotation2d&, const MecanumDriveWheelPositions&, const Pose2d&, const wpi::util::array<double, 3>&, const wpi::util::array<double, 3>&
           :

wpimath/src/main/python/semiwrap/controls/MecanumDrivePoseEstimator3d.yml

@@ -2,11 +2,11 @@ defaults:
   subpackage: estimator
 
 classes:
-  frc::MecanumDrivePoseEstimator3d:
+  wpi::math::MecanumDrivePoseEstimator3d:
     force_no_trampoline: true
     methods:
       MecanumDrivePoseEstimator3d:
         overloads:
           MecanumDriveKinematics&, const Rotation3d&, const MecanumDriveWheelPositions&, const Pose3d&:
-          ? MecanumDriveKinematics&, const Rotation3d&, const MecanumDriveWheelPositions&, const Pose3d&, const wpi::array<double, 4>&, const wpi::array<double, 4>&
+          ? MecanumDriveKinematics&, const Rotation3d&, const MecanumDriveWheelPositions&, const Pose3d&, const wpi::util::array<double, 4>&, const wpi::util::array<double, 4>&
           :

wpimath/src/main/python/semiwrap/controls/PIDController.yml

@@ -2,9 +2,9 @@ defaults:
   subpackage: controller
 
 classes:
-  frc::PIDController:
+  wpi::math::PIDController:
     ignored_bases:
-    - wpi::SendableHelper<PIDController>
+    - wpi::util::SendableHelper<PIDController>
     methods:
       PIDController:
         param_override:

wpimath/src/main/python/semiwrap/controls/PoseEstimator.yml

@@ -10,7 +10,7 @@ extra_includes:
 
 
 classes:
-  frc::PoseEstimator:
+  wpi::math::PoseEstimator:
     template_params:
     - WheelSpeeds
     - WheelPositions
@@ -25,39 +25,39 @@ classes:
       SampleAt:
       AddVisionMeasurement:
         overloads:
-          const Pose2d&, units::second_t:
-          const Pose2d&, units::second_t, const wpi::array<double, 3>&:
+          const Pose2d&, wpi::units::second_t:
+          const Pose2d&, wpi::units::second_t, const wpi::util::array<double, 3>&:
       Update:
       UpdateWithTime:
 
 templates:
   DifferentialDrivePoseEstimatorBase:
-    qualname: frc::PoseEstimator
+    qualname: wpi::math::PoseEstimator
     params:
-    - frc::DifferentialDriveWheelSpeeds
-    - frc::DifferentialDriveWheelPositions
+    - wpi::math::DifferentialDriveWheelSpeeds
+    - wpi::math::DifferentialDriveWheelPositions
   MecanumDrivePoseEstimatorBase:
-    qualname: frc::PoseEstimator
+    qualname: wpi::math::PoseEstimator
     params:
-    - frc::MecanumDriveWheelSpeeds
-    - frc::MecanumDriveWheelPositions
+    - wpi::math::MecanumDriveWheelSpeeds
+    - wpi::math::MecanumDriveWheelPositions
   SwerveDrive2PoseEstimatorBase:
-    qualname: frc::PoseEstimator
+    qualname: wpi::math::PoseEstimator
     params:
-    - wpi::array<frc::SwerveModuleState,2>
-    - wpi::array<frc::SwerveModulePosition,2>
+    - wpi::util::array<wpi::math::SwerveModuleState,2>
+    - wpi::util::array<wpi::math::SwerveModulePosition,2>
   SwerveDrive3PoseEstimatorBase:
-    qualname: frc::PoseEstimator
+    qualname: wpi::math::PoseEstimator
     params:
-    - wpi::array<frc::SwerveModuleState,3>
-    - wpi::array<frc::SwerveModulePosition,3>
+    - wpi::util::array<wpi::math::SwerveModuleState,3>
+    - wpi::util::array<wpi::math::SwerveModulePosition,3>
   SwerveDrive4PoseEstimatorBase:
-    qualname: frc::PoseEstimator
+    qualname: wpi::math::PoseEstimator
     params:
-    - wpi::array<frc::SwerveModuleState,4>
-    - wpi::array<frc::SwerveModulePosition,4>
+    - wpi::util::array<wpi::math::SwerveModuleState,4>
+    - wpi::util::array<wpi::math::SwerveModulePosition,4>
   SwerveDrive6PoseEstimatorBase:
-    qualname: frc::PoseEstimator
+    qualname: wpi::math::PoseEstimator
     params:
-    - wpi::array<frc::SwerveModuleState,6>
-    - wpi::array<frc::SwerveModulePosition,6>
+    - wpi::util::array<wpi::math::SwerveModuleState,6>
+    - wpi::util::array<wpi::math::SwerveModulePosition,6>

wpimath/src/main/python/semiwrap/controls/PoseEstimator3d.yml

@@ -9,7 +9,7 @@ extra_includes:
 - wpi/math/kinematics/SwerveDriveKinematics.hpp
 
 classes:
-  frc::PoseEstimator3d:
+  wpi::math::PoseEstimator3d:
     template_params:
     - WheelSpeeds
     - WheelPositions
@@ -24,40 +24,40 @@ classes:
       SampleAt:
       AddVisionMeasurement:
         overloads:
-          const Pose3d&, units::second_t:
-          const Pose3d&, units::second_t, const wpi::array<double, 4>&:
+          const Pose3d&, wpi::units::second_t:
+          const Pose3d&, wpi::units::second_t, const wpi::util::array<double, 4>&:
       Update:
       UpdateWithTime:
 
 
 templates:
   DifferentialDrivePoseEstimator3dBase:
-    qualname: frc::PoseEstimator3d
+    qualname: wpi::math::PoseEstimator3d
     params:
-    - frc::DifferentialDriveWheelSpeeds
-    - frc::DifferentialDriveWheelPositions
+    - wpi::math::DifferentialDriveWheelSpeeds
+    - wpi::math::DifferentialDriveWheelPositions
   MecanumDrivePoseEstimator3dBase:
-    qualname: frc::PoseEstimator3d
+    qualname: wpi::math::PoseEstimator3d
     params:
-    - frc::MecanumDriveWheelSpeeds
-    - frc::MecanumDriveWheelPositions
+    - wpi::math::MecanumDriveWheelSpeeds
+    - wpi::math::MecanumDriveWheelPositions
   SwerveDrive2PoseEstimator3dBase:
-    qualname: frc::PoseEstimator3d
+    qualname: wpi::math::PoseEstimator3d
     params:
-    - wpi::array<frc::SwerveModuleState,2>
-    - wpi::array<frc::SwerveModulePosition,2>
+    - wpi::util::array<wpi::math::SwerveModuleState,2>
+    - wpi::util::array<wpi::math::SwerveModulePosition,2>
   SwerveDrive3PoseEstimator3dBase:
-    qualname: frc::PoseEstimator3d
+    qualname: wpi::math::PoseEstimator3d
     params:
-    - wpi::array<frc::SwerveModuleState,3>
-    - wpi::array<frc::SwerveModulePosition,3>
+    - wpi::util::array<wpi::math::SwerveModuleState,3>
+    - wpi::util::array<wpi::math::SwerveModulePosition,3>
   SwerveDrive4PoseEstimator3dBase:
-    qualname: frc::PoseEstimator3d
+    qualname: wpi::math::PoseEstimator3d
     params:
-    - wpi::array<frc::SwerveModuleState,4>
-    - wpi::array<frc::SwerveModulePosition,4>
+    - wpi::util::array<wpi::math::SwerveModuleState,4>
+    - wpi::util::array<wpi::math::SwerveModulePosition,4>
   SwerveDrive6PoseEstimator3dBase:
-    qualname: frc::PoseEstimator3d
+    qualname: wpi::math::PoseEstimator3d
     params:
-    - wpi::array<frc::SwerveModuleState,6>
-    - wpi::array<frc::SwerveModulePosition,6>
+    - wpi::util::array<wpi::math::SwerveModuleState,6>
+    - wpi::util::array<wpi::math::SwerveModulePosition,6>

wpimath/src/main/python/semiwrap/controls/ProfiledPIDController.yml

@@ -5,16 +5,16 @@ functions:
   IncrementAndGetProfiledPIDControllerInstances:
     ignore: true
 classes:
-  frc::ProfiledPIDController:
+  wpi::math::ProfiledPIDController:
     force_type_casters:
-    - units::radians_per_second
+    - wpi::units::radians_per_second
     template_params:
     - Distance
     ignored_bases:
-    - wpi::SendableHelper<ProfiledPIDController<Distance>>
+    - wpi::util::SendableHelper<ProfiledPIDController<Distance>>
     typealias:
-    - typename frc::ProfiledPIDController<Distance>::Velocity
-    - typename frc::ProfiledPIDController<Distance>::Velocity_t
+    - typename wpi::math::ProfiledPIDController<Distance>::Velocity
+    - typename wpi::math::ProfiledPIDController<Distance>::Velocity_t
     methods:
       ProfiledPIDController:
         param_override:
@@ -56,7 +56,7 @@ classes:
           Distance_t:
           Distance_t, State:
           Distance_t, Distance_t:
-          Distance_t, Distance_t, typename frc::TrapezoidProfile<Distance>::Constraints:
+          Distance_t, Distance_t, typename wpi::math::TrapezoidProfile<Distance>::Constraints:
             param_override:
               constraints:
                 x_type: typename TrapezoidProfile<Distance>::Constraints
@@ -69,12 +69,12 @@ classes:
 
 templates:
   ProfiledPIDController:
-    qualname: frc::ProfiledPIDController
+    qualname: wpi::math::ProfiledPIDController
     params:
-    - units::dimensionless::scalar
+    - wpi::units::dimensionless::scalar
 
   # needed for HolonomicDriveController
   ProfiledPIDControllerRadians:
-    qualname: frc::ProfiledPIDController
+    qualname: wpi::math::ProfiledPIDController
     params:
-    - units::radian
+    - wpi::units::radian

wpimath/src/main/python/semiwrap/controls/RectangularRegionConstraint.yml

@@ -5,11 +5,11 @@ extra_includes:
 - PyTrajectoryConstraint.h
 
 classes:
-  frc::RectangularRegionConstraint:
+  wpi::math::RectangularRegionConstraint:
     template_params:
     - typename Constraint
     typealias:
-    - frc::TrajectoryConstraint::MinMax
+    - wpi::math::TrajectoryConstraint::MinMax
     methods:
       RectangularRegionConstraint:
         overloads:
@@ -20,6 +20,6 @@ classes:
 
 templates:
   RectangularRegionConstraint:
-    qualname: frc::RectangularRegionConstraint
+    qualname: wpi::math::RectangularRegionConstraint
     params:
-    - frc::PyTrajectoryConstraint
+    - wpi::math::PyTrajectoryConstraint

wpimath/src/main/python/semiwrap/controls/SimpleMotorFeedforward.yml

@@ -5,28 +5,28 @@ extra_includes:
 - wpi/units/dimensionless.hpp
 
 classes:
-  frc::SimpleMotorFeedforward:
+  wpi::math::SimpleMotorFeedforward:
     force_type_casters:
-    - units::meters_per_second
-    - units::meters_per_second_squared
-    - units::radians_per_second
-    - units::radians_per_second_squared
+    - wpi::units::meters_per_second
+    - wpi::units::meters_per_second_squared
+    - wpi::units::radians_per_second
+    - wpi::units::radians_per_second_squared
     typealias:
-    - typename frc::SimpleMotorFeedforward<Distance>::Velocity
-    - typename frc::SimpleMotorFeedforward<Distance>::Acceleration
-    - typename frc::SimpleMotorFeedforward<Distance>::kv_unit
-    - typename frc::SimpleMotorFeedforward<Distance>::ka_unit
+    - typename wpi::math::SimpleMotorFeedforward<Distance>::Velocity
+    - typename wpi::math::SimpleMotorFeedforward<Distance>::Acceleration
+    - typename wpi::math::SimpleMotorFeedforward<Distance>::kv_unit
+    - typename wpi::math::SimpleMotorFeedforward<Distance>::ka_unit
     template_params:
     - Distance
     methods:
       SimpleMotorFeedforward:
         overloads:
           '':
-          units::volt_t, units::unit_t<kv_unit>, units::unit_t<ka_unit>:
+          wpi::units::volt_t, wpi::units::unit_t<kv_unit>, wpi::units::unit_t<ka_unit>:
       Calculate:
         overloads:
-          units::unit_t<Velocity> [const]:
-          units::unit_t<Velocity>, units::unit_t<Velocity> [const]:
+          wpi::units::unit_t<Velocity> [const]:
+          wpi::units::unit_t<Velocity>, wpi::units::unit_t<Velocity> [const]:
       MaxAchievableVelocity:
       MinAchievableVelocity:
       MaxAchievableAcceleration:
@@ -42,16 +42,16 @@ classes:
 templates:
   # Unfortunately this is broken because calculate requires an SI unit
   # SimpleMotorFeedforward:
-  #   qualname: frc::SimpleMotorFeedforward
+  #   qualname: wpi::math::SimpleMotorFeedforward
   #   params:
-  #     - units::dimensionless::scalar
+  #     - wpi::units::dimensionless::scalar
 
   SimpleMotorFeedforwardMeters:
-    qualname: frc::SimpleMotorFeedforward
+    qualname: wpi::math::SimpleMotorFeedforward
     params:
-    - units::meter
+    - wpi::units::meter
 
   SimpleMotorFeedforwardRadians:
-    qualname: frc::SimpleMotorFeedforward
+    qualname: wpi::math::SimpleMotorFeedforward
     params:
-    - units::radian
+    - wpi::units::radian

wpimath/src/main/python/semiwrap/controls/SimulatedAnnealing.yml

@@ -5,7 +5,7 @@ extra_includes:
 - gilsafe_object.h
 
 classes:
-  frc::SimulatedAnnealing:
+  wpi::math::SimulatedAnnealing:
     template_params:
     - State
     methods:
@@ -14,6 +14,6 @@ classes:
 
 templates:
   SimulatedAnnealing:
-    qualname: frc::SimulatedAnnealing
+    qualname: wpi::math::SimulatedAnnealing
     params:
     - semiwrap::gilsafe_object

wpimath/src/main/python/semiwrap/controls/SwerveDriveKinematicsConstraint.yml

@@ -2,37 +2,37 @@ defaults:
   subpackage: constraint
 
 classes:
-  frc::SwerveDriveKinematicsConstraint:
+  wpi::math::SwerveDriveKinematicsConstraint:
     template_params:
     - size_t NumModules
     typealias:
-    - frc::TrajectoryConstraint::MinMax
+    - wpi::math::TrajectoryConstraint::MinMax
     methods:
       SwerveDriveKinematicsConstraint:
       MaxVelocity:
       MinMaxAcceleration:
     template_inline_code: |
       cls_SwerveDriveKinematicsConstraint
-        .def_static("fromFps", [](const frc::SwerveDriveKinematics<NumModules>& kinematics,
-                                  units::feet_per_second_t maxSpeed) {
-          return std::make_shared<frc::SwerveDriveKinematicsConstraint<NumModules>>(kinematics, maxSpeed);
+        .def_static("fromFps", [](const wpi::math::SwerveDriveKinematics<NumModules>& kinematics,
+                                  wpi::units::feet_per_second_t maxSpeed) {
+          return std::make_shared<wpi::math::SwerveDriveKinematicsConstraint<NumModules>>(kinematics, maxSpeed);
         }, py::arg("kinematics"), py::arg("maxSpeed"))
       ;
 
 templates:
   SwerveDrive2KinematicsConstraint:
-    qualname: frc::SwerveDriveKinematicsConstraint
+    qualname: wpi::math::SwerveDriveKinematicsConstraint
     params:
     - 2
   SwerveDrive3KinematicsConstraint:
-    qualname: frc::SwerveDriveKinematicsConstraint
+    qualname: wpi::math::SwerveDriveKinematicsConstraint
     params:
     - 3
   SwerveDrive4KinematicsConstraint:
-    qualname: frc::SwerveDriveKinematicsConstraint
+    qualname: wpi::math::SwerveDriveKinematicsConstraint
     params:
     - 4
   SwerveDrive6KinematicsConstraint:
-    qualname: frc::SwerveDriveKinematicsConstraint
+    qualname: wpi::math::SwerveDriveKinematicsConstraint
     params:
     - 6

wpimath/src/main/python/semiwrap/controls/SwerveDrivePoseEstimator.yml

@@ -5,7 +5,7 @@ extra_includes:
 - wpi/math/kinematics/SwerveModuleState.hpp
 
 classes:
-  frc::SwerveDrivePoseEstimator:
+  wpi::math::SwerveDrivePoseEstimator:
     force_no_trampoline: true
     doc: |
       This class wraps Swerve Drive Odometry to fuse latency-compensated
@@ -30,24 +30,24 @@ classes:
     methods:
       SwerveDrivePoseEstimator:
         overloads:
-          SwerveDriveKinematics<NumModules>&, const Rotation2d&, const wpi::array<SwerveModulePosition, NumModules>&, const Pose2d&:
-          ? SwerveDriveKinematics<NumModules>&, const Rotation2d&, const wpi::array<SwerveModulePosition, NumModules>&, const Pose2d&, const wpi::array<double, 3>&, const wpi::array<double, 3>&
+          SwerveDriveKinematics<NumModules>&, const Rotation2d&, const wpi::util::array<SwerveModulePosition, NumModules>&, const Pose2d&:
+          ? SwerveDriveKinematics<NumModules>&, const Rotation2d&, const wpi::util::array<SwerveModulePosition, NumModules>&, const Pose2d&, const wpi::util::array<double, 3>&, const wpi::util::array<double, 3>&
           :
 
 templates:
   SwerveDrive2PoseEstimator:
-    qualname: frc::SwerveDrivePoseEstimator
+    qualname: wpi::math::SwerveDrivePoseEstimator
     params:
     - 2
   SwerveDrive3PoseEstimator:
-    qualname: frc::SwerveDrivePoseEstimator
+    qualname: wpi::math::SwerveDrivePoseEstimator
     params:
     - 3
   SwerveDrive4PoseEstimator:
-    qualname: frc::SwerveDrivePoseEstimator
+    qualname: wpi::math::SwerveDrivePoseEstimator
     params:
     - 4
   SwerveDrive6PoseEstimator:
-    qualname: frc::SwerveDrivePoseEstimator
+    qualname: wpi::math::SwerveDrivePoseEstimator
     params:
     - 6

wpimath/src/main/python/semiwrap/controls/SwerveDrivePoseEstimator3d.yml

@@ -5,32 +5,32 @@ extra_includes:
 - wpi/math/kinematics/SwerveModuleState.hpp
 
 classes:
-  frc::SwerveDrivePoseEstimator3d:
+  wpi::math::SwerveDrivePoseEstimator3d:
     force_no_trampoline: true
     template_params:
     - size_t NumModules
     methods:
       SwerveDrivePoseEstimator3d:
         overloads:
-          SwerveDriveKinematics<NumModules>&, const Rotation3d&, const wpi::array<SwerveModulePosition, NumModules>&, const Pose3d&:
-          ? SwerveDriveKinematics<NumModules>&, const Rotation3d&, const wpi::array<SwerveModulePosition, NumModules>&, const Pose3d&, const wpi::array<double, 4>&, const wpi::array<double, 4>&
+          SwerveDriveKinematics<NumModules>&, const Rotation3d&, const wpi::util::array<SwerveModulePosition, NumModules>&, const Pose3d&:
+          ? SwerveDriveKinematics<NumModules>&, const Rotation3d&, const wpi::util::array<SwerveModulePosition, NumModules>&, const Pose3d&, const wpi::util::array<double, 4>&, const wpi::util::array<double, 4>&
           :
 
 
 templates:
   SwerveDrive2PoseEstimator3d:
-    qualname: frc::SwerveDrivePoseEstimator3d
+    qualname: wpi::math::SwerveDrivePoseEstimator3d
     params:
     - 2
   SwerveDrive3PoseEstimator3d:
-    qualname: frc::SwerveDrivePoseEstimator3d
+    qualname: wpi::math::SwerveDrivePoseEstimator3d
     params:
     - 3
   SwerveDrive4PoseEstimator3d:
-    qualname: frc::SwerveDrivePoseEstimator3d
+    qualname: wpi::math::SwerveDrivePoseEstimator3d
     params:
     - 4
   SwerveDrive6PoseEstimator3d:
-    qualname: frc::SwerveDrivePoseEstimator3d
+    qualname: wpi::math::SwerveDrivePoseEstimator3d
     params:
     - 6

wpimath/src/main/python/semiwrap/controls/Trajectory.yml

@@ -10,9 +10,9 @@ functions:
   from_json:
     ignore: true
 classes:
-  frc::Trajectory:
+  wpi::math::Trajectory:
     force_type_casters:
-    - units::curvature_t
+    - wpi::units::curvature_t
     methods:
       Trajectory:
         overloads:
@@ -26,7 +26,7 @@ classes:
       InitialPose:
       operator+:
       operator==:
-  frc::Trajectory::State:
+  wpi::math::Trajectory::State:
     force_no_default_constructor: true
     attributes:
       t:
@@ -42,11 +42,11 @@ inline_code: |
   cls_State
     .def(
       py::init<
-        units::second_t,
-        units::meters_per_second_t,
-        units::meters_per_second_squared_t,
+        wpi::units::second_t,
+        wpi::units::meters_per_second_t,
+        wpi::units::meters_per_second_squared_t,
         Pose2d,
-        units::curvature_t
+        wpi::units::curvature_t
       >(),
       py::arg("t") = 0_s,
       py::arg("velocity") = 0_mps,
@@ -54,13 +54,13 @@ inline_code: |
       py::arg("pose") = Pose2d(),
       py::arg("curvature") = 0.0
     )
-    .def_property_readonly("velocity_fps", [](frc::Trajectory::State * self) -> units::feet_per_second_t {
+    .def_property_readonly("velocity_fps", [](wpi::math::Trajectory::State * self) -> wpi::units::feet_per_second_t {
       return self->velocity;
     })
-    .def_property_readonly("acceleration_fps", [](frc::Trajectory::State * self) -> units::feet_per_second_squared_t {
+    .def_property_readonly("acceleration_fps", [](wpi::math::Trajectory::State * self) -> wpi::units::feet_per_second_squared_t {
       return self->acceleration;
     })
-    .def("__repr__", [](frc::Trajectory::State *self) {
+    .def("__repr__", [](wpi::math::Trajectory::State *self) {
       return "Trajectory.State("
         "t=" + std::to_string(self->t()) + ", "
         "velocity=" + std::to_string(self->velocity()) + ", "
@@ -68,4 +68,4 @@ inline_code: |
         "pose=" + rpy::toString(self->pose) + ", "
         "curvature=" + std::to_string(self->curvature()) + ")";
     })
-    .def_readwrite("curvature", &frc::Trajectory::State::curvature);
+    .def_readwrite("curvature", &wpi::math::Trajectory::State::curvature);

wpimath/src/main/python/semiwrap/controls/TrajectoryConfig.yml

@@ -5,7 +5,7 @@ extra_includes:
 - PyTrajectoryConstraint.h
 
 classes:
-  frc::TrajectoryConfig:
+  wpi::math::TrajectoryConfig:
     methods:
       TrajectoryConfig:
       SetStartVelocity:
@@ -30,14 +30,14 @@ classes:
 
 inline_code: |-
   cls_TrajectoryConfig
-    .def_static("fromFps", [](units::feet_per_second_t maxVelocity, units::feet_per_second_squared_t maxAcceleration) {
+    .def_static("fromFps", [](wpi::units::feet_per_second_t maxVelocity, wpi::units::feet_per_second_squared_t maxAcceleration) {
       return std::make_shared<TrajectoryConfig>(maxVelocity, maxAcceleration);
     }, py::arg("maxVelocity"), py::arg("maxAcceleration"))
 
     // TODO: robotpy-build bug
 
-    .def("setKinematics", static_cast<void (frc::TrajectoryConfig::*)(frc::SwerveDriveKinematics<2>&)>(
-  &frc::TrajectoryConfig::SetKinematics<2>),
+    .def("setKinematics", static_cast<void (wpi::math::TrajectoryConfig::*)(wpi::math::SwerveDriveKinematics<2>&)>(
+  &wpi::math::TrajectoryConfig::SetKinematics<2>),
         py::arg("kinematics"), release_gil(), py::doc(
       "Adds a swerve drive kinematics constraint to ensure that\n"
   "no wheel velocity of a swerve drive goes above the max velocity.\n"
@@ -45,8 +45,8 @@ inline_code: |-
   ":param kinematics: The swerve drive kinematics.")
     )
       
-    .def("setKinematics", static_cast<void (frc::TrajectoryConfig::*)(frc::SwerveDriveKinematics<3>&)>(
-  &frc::TrajectoryConfig::SetKinematics<3>),
+    .def("setKinematics", static_cast<void (wpi::math::TrajectoryConfig::*)(wpi::math::SwerveDriveKinematics<3>&)>(
+  &wpi::math::TrajectoryConfig::SetKinematics<3>),
         py::arg("kinematics"), release_gil(), py::doc(
       "Adds a swerve drive kinematics constraint to ensure that\n"
   "no wheel velocity of a swerve drive goes above the max velocity.\n"
@@ -54,8 +54,8 @@ inline_code: |-
   ":param kinematics: The swerve drive kinematics.")
     )
       
-    .def("setKinematics", static_cast<void (frc::TrajectoryConfig::*)(frc::SwerveDriveKinematics<4>&)>(
-  &frc::TrajectoryConfig::SetKinematics<4>),
+    .def("setKinematics", static_cast<void (wpi::math::TrajectoryConfig::*)(wpi::math::SwerveDriveKinematics<4>&)>(
+  &wpi::math::TrajectoryConfig::SetKinematics<4>),
         py::arg("kinematics"), release_gil(), py::doc(
       "Adds a swerve drive kinematics constraint to ensure that\n"
   "no wheel velocity of a swerve drive goes above the max velocity.\n"
@@ -63,8 +63,8 @@ inline_code: |-
   ":param kinematics: The swerve drive kinematics.")
     )
       
-    .def("setKinematics", static_cast<void (frc::TrajectoryConfig::*)(frc::SwerveDriveKinematics<6>&)>(
-  &frc::TrajectoryConfig::SetKinematics<6>),
+    .def("setKinematics", static_cast<void (wpi::math::TrajectoryConfig::*)(wpi::math::SwerveDriveKinematics<6>&)>(
+  &wpi::math::TrajectoryConfig::SetKinematics<6>),
         py::arg("kinematics"), release_gil(), py::doc(
       "Adds a swerve drive kinematics constraint to ensure that\n"
   "no wheel velocity of a swerve drive goes above the max velocity.\n"

wpimath/src/main/python/semiwrap/controls/TrajectoryConstraint.yml

@@ -2,26 +2,26 @@ defaults:
   subpackage: constraint
 
 classes:
-  frc::TrajectoryConstraint:
+  wpi::math::TrajectoryConstraint:
     force_type_casters:
-    - units::meters_per_second_squared
+    - wpi::units::meters_per_second_squared
     methods:
       TrajectoryConstraint:
       MaxVelocity:
       MinMaxAcceleration:
-  frc::TrajectoryConstraint::MinMax:
+  wpi::math::TrajectoryConstraint::MinMax:
     attributes:
       minAcceleration:
       maxAcceleration:
     inline_code: |
       .def(py::init([](
-          units::meters_per_second_squared_t minAcceleration,
-          units::meters_per_second_squared_t maxAcceleration) {
-        return frc::TrajectoryConstraint::MinMax{minAcceleration, maxAcceleration};
+          wpi::units::meters_per_second_squared_t minAcceleration,
+          wpi::units::meters_per_second_squared_t maxAcceleration) {
+        return wpi::math::TrajectoryConstraint::MinMax{minAcceleration, maxAcceleration};
       }), py::arg("minAcceleration"), py::arg("maxAcceleration"))
 
-      .def("__len__", [](const frc::TrajectoryConstraint::MinMax& self) { return 2; })
-      .def("__getitem__", [](const frc::TrajectoryConstraint::MinMax& self, int index) {
+      .def("__len__", [](const wpi::math::TrajectoryConstraint::MinMax& self) { return 2; })
+      .def("__getitem__", [](const wpi::math::TrajectoryConstraint::MinMax& self, int index) {
         switch (index) {
           case 0:
             return self.minAcceleration;
@@ -32,7 +32,7 @@ classes:
         }
       })
 
-      .def("__repr__", [](const frc::TrajectoryConstraint::MinMax &self) {
+      .def("__repr__", [](const wpi::math::TrajectoryConstraint::MinMax &self) {
         return py::str("TrajectoryConstraint.MinMax(minAcceleration={}, maxAcceleration={})").format(
           self.minAcceleration, self.maxAcceleration);
       })

wpimath/src/main/python/semiwrap/controls/TrajectoryGenerator.yml

@@ -6,10 +6,10 @@ extra_includes:
 - wpi/math/spline/QuinticHermiteSpline.hpp
 
 classes:
-  frc::TrajectoryGenerator:
+  wpi::math::TrajectoryGenerator:
     force_type_casters:
-    - units::unit_t
-    - units::curvature_t
+    - wpi::units::unit_t
+    - wpi::units::curvature_t
     methods:
       GenerateTrajectory:
         overloads:

wpimath/src/main/python/semiwrap/controls/TrajectoryParameterizer.yml

@@ -2,9 +2,9 @@ defaults:
   subpackage: trajectory
 
 classes:
-  frc::TrajectoryParameterizer:
+  wpi::math::TrajectoryParameterizer:
     force_type_casters:
-    - units::unit_t
-    - units::curvature_t
+    - wpi::units::unit_t
+    - wpi::units::curvature_t
     methods:
       TimeParameterizeTrajectory:

wpimath/src/main/python/semiwrap/controls/TrapezoidProfile.yml

@@ -2,11 +2,11 @@ defaults:
   subpackage: trajectory
 
 classes:
-  frc::TrapezoidProfile:
+  wpi::math::TrapezoidProfile:
     force_type_casters:
-    - units::second_t
-    - units::radians_per_second
-    - units::radians_per_second_squared
+    - wpi::units::second_t
+    - wpi::units::radians_per_second
+    - wpi::units::radians_per_second_squared
     template_params:
     - Distance
     doc: |
@@ -70,7 +70,7 @@ classes:
             "velocity=" + std::to_string(self.velocity()) + ")";
         });
       }
-  frc::TrapezoidProfile::Constraints:
+  wpi::math::TrapezoidProfile::Constraints:
     attributes:
       maxVelocity:
       maxAcceleration:
@@ -85,7 +85,7 @@ classes:
                 default: '0'
               maxAcceleration:
                 default: '0'
-  frc::TrapezoidProfile::State:
+  wpi::math::TrapezoidProfile::State:
     force_no_default_constructor: true
     attributes:
       position:
@@ -95,12 +95,12 @@ classes:
         cpp_code: py::self == State()
 templates:
   TrapezoidProfile:
-    qualname: frc::TrapezoidProfile
+    qualname: wpi::math::TrapezoidProfile
     params:
-    - units::dimensionless::scalar
+    - wpi::units::dimensionless::scalar
 
   # needed for HolonomicDriveController
   TrapezoidProfileRadians:
-    qualname: frc::TrapezoidProfile
+    qualname: wpi::math::TrapezoidProfile
     params:
-    - units::radian
+    - wpi::units::radian

wpimath/src/main/python/semiwrap/controls/TravelingSalesman.yml

@@ -2,7 +2,7 @@ defaults:
   subpackage: path
 
 classes:
-  frc::TravelingSalesman:
+  wpi::math::TravelingSalesman:
     methods:
       TravelingSalesman:
         overloads:
@@ -10,6 +10,6 @@ classes:
           std::function<double (Pose2d, Pose2d)>:
       Solve:
         overloads:
-          const wpi::array<Pose2d, Poses>&, int:
+          const wpi::util::array<Pose2d, Poses>&, int:
             ignore: true
           std::span<const Pose2d>, int:

wpimath/src/main/python/semiwrap/filter/Debouncer.yml

@@ -1,12 +1,12 @@
 classes:
-  frc::Debouncer:
+  wpi::math::Debouncer:
     enums:
       DebounceType:
     methods:
       Debouncer:
         param_override:
           type:
-            default: frc::Debouncer::DebounceType::kRising
+            default: wpi::math::Debouncer::DebounceType::kRising
       Calculate:
       SetDebounceTime:
       GetDebounceTime:

wpimath/src/main/python/semiwrap/filter/LinearFilter.yml

@@ -1,5 +1,5 @@
 classes:
-  frc::LinearFilter:
+  wpi::math::LinearFilter:
     template_params:
     - T
     methods:
@@ -24,6 +24,6 @@ classes:
 
 templates:
   LinearFilter:
-    qualname: frc::LinearFilter
+    qualname: wpi::math::LinearFilter
     params:
     - double

wpimath/src/main/python/semiwrap/filter/MedianFilter.yml

@@ -1,5 +1,5 @@
 classes:
-  frc::MedianFilter:
+  wpi::math::MedianFilter:
     template_params:
     - T
     methods:
@@ -10,6 +10,6 @@ classes:
 
 templates:
   MedianFilter:
-    qualname: frc::MedianFilter
+    qualname: wpi::math::MedianFilter
     params:
     - double

wpimath/src/main/python/semiwrap/filter/SlewRateLimiter.yml

@@ -1,10 +1,10 @@
 classes:
-  frc::SlewRateLimiter:
+  wpi::math::SlewRateLimiter:
     template_params:
     - Unit
     typealias:
-    - Unit_t = units::unit_t<Unit>
-    - Rate = units::compound_unit<Unit, units::inverse<units::seconds>>
+    - Unit_t = wpi::units::unit_t<Unit>
+    - Rate = wpi::units::compound_unit<Unit, wpi::units::inverse<wpi::units::seconds>>
     methods:
       SlewRateLimiter:
         overloads:
@@ -16,6 +16,6 @@ classes:
 
 templates:
   SlewRateLimiter:
-    qualname: frc::SlewRateLimiter
+    qualname: wpi::math::SlewRateLimiter
     params:
-    - units::dimensionless::scalar
+    - wpi::units::dimensionless::scalar

wpimath/src/main/python/semiwrap/geometry/CoordinateAxis.yml

@@ -1,5 +1,5 @@
 classes:
-  frc::CoordinateAxis:
+  wpi::math::CoordinateAxis:
     methods:
       CoordinateAxis:
       N:

wpimath/src/main/python/semiwrap/geometry/CoordinateSystem.yml

@@ -1,5 +1,5 @@
 classes:
-  frc::CoordinateSystem:
+  wpi::math::CoordinateSystem:
     methods:
       CoordinateSystem:
       NWU:

wpimath/src/main/python/semiwrap/geometry/Ellipse2d.yml

@@ -3,14 +3,14 @@ extra_includes:
 - wpystruct.h
 
 classes:
-  frc::Ellipse2d:
+  wpi::math::Ellipse2d:
     force_type_casters:
-    - units::foot_t
-    - units::meter_t
+    - wpi::units::foot_t
+    - wpi::units::meter_t
     methods:
       Ellipse2d:
         overloads:
-          const Pose2d&, units::meter_t, units::meter_t:
+          const Pose2d&, wpi::units::meter_t, wpi::units::meter_t:
           const Translation2d&, double:
       Center:
       Rotation:
@@ -29,18 +29,18 @@ classes:
 
 inline_code: |-
   cls_Ellipse2d
-    .def_static("fromFeet", [](const Pose2d& center, units::foot_t xSemiAxis, units::foot_t ySemiAxis) {
+    .def_static("fromFeet", [](const Pose2d& center, wpi::units::foot_t xSemiAxis, wpi::units::foot_t ySemiAxis) {
       return std::make_unique<Ellipse2d>(center, xSemiAxis, ySemiAxis);
     }, py::arg("center"), py::arg("xSemiAxis"), py::arg("ySemiAxis"))
     .def_property_readonly("xsemiaxis", &Ellipse2d::XSemiAxis)
     .def_property_readonly("ysemiaxis", &Ellipse2d::YSemiAxis)
-    .def_property_readonly("xsemiaxis_feet", [](Ellipse2d &self) -> units::foot_t {
+    .def_property_readonly("xsemiaxis_feet", [](Ellipse2d &self) -> wpi::units::foot_t {
       return self.XSemiAxis();
     })
-    .def_property_readonly("ysemiaxis_feet", [](Ellipse2d &self) -> units::foot_t {
+    .def_property_readonly("ysemiaxis_feet", [](Ellipse2d &self) -> wpi::units::foot_t {
       return self.YSemiAxis();
     })
     .def("__repr__", py::overload_cast<const Ellipse2d&>(&rpy::toString));
 
 
-  SetupWPyStruct<frc::Ellipse2d>(cls_Ellipse2d);
+  SetupWPyStruct<wpi::math::Ellipse2d>(cls_Ellipse2d);

wpimath/src/main/python/semiwrap/geometry/Pose2d.yml

@@ -8,17 +8,17 @@ functions:
   from_json:
     ignore: true
 classes:
-  frc::Pose2d:
+  wpi::math::Pose2d:
     force_type_casters:
-    - units::foot_t
-    - units::meter_t
-    - units::radian_t
+    - wpi::units::foot_t
+    - wpi::units::meter_t
+    - wpi::units::radian_t
     methods:
       Pose2d:
         overloads:
           '':
           Translation2d, Rotation2d:
-          units::meter_t, units::meter_t, Rotation2d:
+          wpi::units::meter_t, wpi::units::meter_t, Rotation2d:
           const Eigen::Matrix3d&:
             rename: fromMatrix
             keepalive: []
@@ -44,23 +44,23 @@ classes:
 
 inline_code: |
   cls_Pose2d
-    .def_static("fromFeet", [](units::foot_t x, units::foot_t y, Rotation2d r) {
+    .def_static("fromFeet", [](wpi::units::foot_t x, wpi::units::foot_t y, Rotation2d r) {
       return std::make_unique<Pose2d>(x, y, r);
     }, py::arg("x"), py::arg("y"), py::arg("r"))
-    .def_static("fromFeet", [](units::foot_t x, units::foot_t y, units::radian_t angle) {
+    .def_static("fromFeet", [](wpi::units::foot_t x, wpi::units::foot_t y, wpi::units::radian_t angle) {
       return std::make_unique<Pose2d>(x, y, Rotation2d(angle));
     }, py::arg("x"), py::arg("y"), py::arg("angle"))
-    .def(py::init([](units::meter_t x, units::meter_t y, units::radian_t angle) {
+    .def(py::init([](wpi::units::meter_t x, wpi::units::meter_t y, wpi::units::radian_t angle) {
       return std::make_unique<Pose2d>(x, y, angle);
     }), py::arg("x"), py::arg("y"), py::arg("angle"))
     .def_property_readonly("x", &Pose2d::X)
     .def_property_readonly("y", &Pose2d::Y)
-    .def_property_readonly("x_feet", [](Pose2d * self) -> units::foot_t {
+    .def_property_readonly("x_feet", [](Pose2d * self) -> wpi::units::foot_t {
       return self->X();
     })
-    .def_property_readonly("y_feet", [](Pose2d * self) -> units::foot_t {
+    .def_property_readonly("y_feet", [](Pose2d * self) -> wpi::units::foot_t {
       return self->Y();
     })
     .def("__repr__", py::overload_cast<const Pose2d&>(&rpy::toString));
 
-  SetupWPyStruct<frc::Pose2d>(cls_Pose2d);
+  SetupWPyStruct<wpi::math::Pose2d>(cls_Pose2d);

wpimath/src/main/python/semiwrap/geometry/Pose3d.yml

@@ -8,13 +8,13 @@ functions:
   from_json:
     ignore: true
 classes:
-  frc::Pose3d:
+  wpi::math::Pose3d:
     methods:
       Pose3d:
         overloads:
           '':
           Translation3d, Rotation3d:
-          units::meter_t, units::meter_t, units::meter_t, Rotation3d:
+          wpi::units::meter_t, wpi::units::meter_t, wpi::units::meter_t, Rotation3d:
           const Pose2d&:
             keepalive: []
           const Eigen::Matrix4d&:
@@ -44,21 +44,21 @@ classes:
 
 inline_code: |
   cls_Pose3d
-    .def_static("fromFeet", [](units::foot_t x, units::foot_t y, units::foot_t z, Rotation3d r) {
+    .def_static("fromFeet", [](wpi::units::foot_t x, wpi::units::foot_t y, wpi::units::foot_t z, Rotation3d r) {
       return std::make_unique<Pose3d>(x, y, z, r);
     }, py::arg("x"), py::arg("y"), py::arg("z"), py::arg("r"))
     .def_property_readonly("x", &Pose3d::X)
     .def_property_readonly("y", &Pose3d::Y)
     .def_property_readonly("z", &Pose3d::Z)
-    .def_property_readonly("x_feet", [](const Pose3d * self) -> units::foot_t {
+    .def_property_readonly("x_feet", [](const Pose3d * self) -> wpi::units::foot_t {
       return self->X();
     })
-    .def_property_readonly("y_feet", [](const Pose3d * self) -> units::foot_t {
+    .def_property_readonly("y_feet", [](const Pose3d * self) -> wpi::units::foot_t {
       return self->Y();
     })
-    .def_property_readonly("z_feet", [](const Pose3d * self) -> units::foot_t {
+    .def_property_readonly("z_feet", [](const Pose3d * self) -> wpi::units::foot_t {
       return self->Z();
     })
     .def("__repr__", py::overload_cast<const Pose3d&>(&rpy::toString));
 
-  SetupWPyStruct<frc::Pose3d>(cls_Pose3d);
+  SetupWPyStruct<wpi::math::Pose3d>(cls_Pose3d);

wpimath/src/main/python/semiwrap/geometry/Quaternion.yml

@@ -8,7 +8,7 @@ functions:
   from_json:
     ignore: true
 classes:
-  frc::Quaternion:
+  wpi::math::Quaternion:
     methods:
       Quaternion:
         overloads:
@@ -47,4 +47,4 @@ inline_code: |
   cls_Quaternion
     .def("__repr__", py::overload_cast<const Quaternion&>(&rpy::toString));
 
-  SetupWPyStruct<frc::Quaternion>(cls_Quaternion);
+  SetupWPyStruct<wpi::math::Quaternion>(cls_Quaternion);

wpimath/src/main/python/semiwrap/geometry/Rectangle2d.yml

@@ -3,14 +3,14 @@ extra_includes:
 - wpystruct.h
 
 classes:
-  frc::Rectangle2d:
+  wpi::math::Rectangle2d:
     force_type_casters:
-    - units::foot_t
-    - units::meter_t
+    - wpi::units::foot_t
+    - wpi::units::meter_t
     methods:
       Rectangle2d:
         overloads:
-          const Pose2d&, units::meter_t, units::meter_t:
+          const Pose2d&, wpi::units::meter_t, wpi::units::meter_t:
           const Translation2d&, const Translation2d&:
       Center:
       Rotation:
@@ -28,18 +28,18 @@ classes:
 
 inline_code: |-
   cls_Rectangle2d
-    .def_static("fromFeet", [](const Pose2d& center, units::foot_t xWidth, units::foot_t yWidth) {
+    .def_static("fromFeet", [](const Pose2d& center, wpi::units::foot_t xWidth, wpi::units::foot_t yWidth) {
       return std::make_unique<Rectangle2d>(center, xWidth, yWidth);
     }, py::arg("center"), py::arg("xWidth"), py::arg("yWidth"))
     .def_property_readonly("xwidth", &Rectangle2d::XWidth)
     .def_property_readonly("ywidth", &Rectangle2d::YWidth)
-    .def_property_readonly("xwidth_feet", [](Rectangle2d &self) -> units::foot_t {
+    .def_property_readonly("xwidth_feet", [](Rectangle2d &self) -> wpi::units::foot_t {
       return self.XWidth();
     })
-    .def_property_readonly("ywidth_feet", [](Rectangle2d &self) -> units::foot_t {
+    .def_property_readonly("ywidth_feet", [](Rectangle2d &self) -> wpi::units::foot_t {
       return self.YWidth();
     })
     .def("__repr__", py::overload_cast<const Rectangle2d&>(&rpy::toString));
 
 
-  SetupWPyStruct<frc::Rectangle2d>(cls_Rectangle2d);
+  SetupWPyStruct<wpi::math::Rectangle2d>(cls_Rectangle2d);

wpimath/src/main/python/semiwrap/geometry/Rotation2d.yml

@@ -8,7 +8,7 @@ functions:
   from_json:
     ignore: true
 classes:
-  frc::Rotation2d:
+  wpi::math::Rotation2d:
     methods:
       Rotation2d:
         overloads:
@@ -19,9 +19,9 @@ classes:
               :param value: The value of the angle in radians.
             param_override:
               value:
-                x_type: units::radian_t
+                x_type: wpi::units::radian_t
             template_impls:
-            - [units::radian_t]
+            - [wpi::units::radian_t]
           double, double:
           const Eigen::Matrix2d&:
             rename: fromMatrix
@@ -44,12 +44,12 @@ classes:
 
 inline_code: |
   cls_Rotation2d
-    .def_static("fromDegrees", [](units::degree_t value) {
+    .def_static("fromDegrees", [](wpi::units::degree_t value) {
       return std::make_unique<Rotation2d>(value);
     }, py::arg("value"))
-    .def_static("fromRotations", [](units::turn_t value) {
+    .def_static("fromRotations", [](wpi::units::turn_t value) {
       return std::make_unique<Rotation2d>(value);
     })
     .def("__repr__", py::overload_cast<const Rotation2d&>(&rpy::toString));
 
-  SetupWPyStruct<frc::Rotation2d>(cls_Rotation2d);
+  SetupWPyStruct<wpi::math::Rotation2d>(cls_Rotation2d);

wpimath/src/main/python/semiwrap/geometry/Rotation3d.yml

@@ -8,15 +8,15 @@ functions:
   from_json:
     ignore: true
 classes:
-  frc::Rotation3d:
+  wpi::math::Rotation3d:
     methods:
       Rotation3d:
         overloads:
           '':
           const Quaternion&:
             keepalive: []
-          units::radian_t, units::radian_t, units::radian_t:
-          const Eigen::Vector3d&, units::radian_t:
+          wpi::units::radian_t, wpi::units::radian_t, wpi::units::radian_t:
+          const Eigen::Vector3d&, wpi::units::radian_t:
             keepalive: []
           const Eigen::Vector3d&:
             keepalive: []
@@ -47,25 +47,25 @@ classes:
 
 inline_code: |
   cls_Rotation3d
-    .def_static("fromDegrees", [](units::degree_t roll, units::degree_t pitch, units::degree_t yaw) {
+    .def_static("fromDegrees", [](wpi::units::degree_t roll, wpi::units::degree_t pitch, wpi::units::degree_t yaw) {
       return std::make_unique<Rotation3d>(roll, pitch, yaw);
     }, py::arg("roll"), py::arg("pitch"), py::arg("yaw"))
     .def_property_readonly("x", &Rotation3d::X)
     .def_property_readonly("y", &Rotation3d::Y)
     .def_property_readonly("z", &Rotation3d::Z)
     .def_property_readonly("angle", &Rotation3d::Angle)
-    .def_property_readonly("x_degrees", [](const Rotation3d * self) -> units::degree_t {
+    .def_property_readonly("x_degrees", [](const Rotation3d * self) -> wpi::units::degree_t {
       return self->X();
     })
-    .def_property_readonly("y_degrees", [](const Rotation3d * self) -> units::degree_t {
+    .def_property_readonly("y_degrees", [](const Rotation3d * self) -> wpi::units::degree_t {
       return self->Y();
     })
-    .def_property_readonly("z_degrees", [](const Rotation3d * self) -> units::degree_t {
+    .def_property_readonly("z_degrees", [](const Rotation3d * self) -> wpi::units::degree_t {
       return self->Z();
     })
-    .def_property_readonly("angle_degrees", [](const Rotation3d * self) -> units::degree_t {
+    .def_property_readonly("angle_degrees", [](const Rotation3d * self) -> wpi::units::degree_t {
       return self->Angle();
     })
     .def("__repr__", py::overload_cast<const Rotation3d&>(&rpy::toString));
 
-  SetupWPyStruct<frc::Rotation3d>(cls_Rotation3d);
+  SetupWPyStruct<wpi::math::Rotation3d>(cls_Rotation3d);

wpimath/src/main/python/semiwrap/geometry/Transform2d.yml

@@ -4,18 +4,18 @@ extra_includes:
 - wpystruct.h
 
 classes:
-  frc::Transform2d:
+  wpi::math::Transform2d:
     force_type_casters:
-    - units::foot_t
-    - units::meter_t
-    - units::radian_t
+    - wpi::units::foot_t
+    - wpi::units::meter_t
+    - wpi::units::radian_t
     methods:
       Transform2d:
         overloads:
           const Pose2d&, const Pose2d&:
             keepalive: []
           Translation2d, Rotation2d:
-          units::meter_t, units::meter_t, Rotation2d:
+          wpi::units::meter_t, wpi::units::meter_t, Rotation2d:
           const Eigen::Matrix3d&:
             rename: fromMatrix
             keepalive: []
@@ -34,21 +34,21 @@ classes:
 
 inline_code: |
   cls_Transform2d
-    .def_static("fromFeet", [](units::foot_t x, units::foot_t y, units::radian_t angle){
+    .def_static("fromFeet", [](wpi::units::foot_t x, wpi::units::foot_t y, wpi::units::radian_t angle){
       return std::make_unique<Transform2d>(Translation2d(x, y), Rotation2d(angle));
     }, py::arg("x"), py::arg("y"), py::arg("angle"))
-    .def(py::init([](units::meter_t x, units::meter_t y, units::radian_t angle) {
+    .def(py::init([](wpi::units::meter_t x, wpi::units::meter_t y, wpi::units::radian_t angle) {
       return std::make_unique<Transform2d>(Translation2d(x, y), Rotation2d(angle));
     }), py::arg("x"), py::arg("y"), py::arg("angle"))
     .def_property_readonly("x", &Transform2d::X)
     .def_property_readonly("y", &Transform2d::Y)
-    .def_property_readonly("x_feet", [](Transform2d * self) -> units::foot_t {
+    .def_property_readonly("x_feet", [](Transform2d * self) -> wpi::units::foot_t {
       return self->X();
     })
-    .def_property_readonly("y_feet", [](Transform2d * self) -> units::foot_t {
+    .def_property_readonly("y_feet", [](Transform2d * self) -> wpi::units::foot_t {
       return self->Y();
     })
     .def("__repr__", py::overload_cast<const Transform2d&>(&rpy::toString));
   ;
 
-  SetupWPyStruct<frc::Transform2d>(cls_Transform2d);
+  SetupWPyStruct<wpi::math::Transform2d>(cls_Transform2d);

wpimath/src/main/python/semiwrap/geometry/Transform3d.yml

@@ -3,19 +3,19 @@ extra_includes:
 - wpystruct.h
 
 classes:
-  frc::Transform3d:
+  wpi::math::Transform3d:
     methods:
       Transform3d:
         overloads:
           const Pose3d&, const Pose3d&:
             keepalive: []
           Translation3d, Rotation3d:
-          units::meter_t, units::meter_t, units::meter_t, Rotation3d:
+          wpi::units::meter_t, wpi::units::meter_t, wpi::units::meter_t, Rotation3d:
           const Eigen::Matrix4d&:
             rename: fromMatrix
             keepalive: []
           '':
-          const frc::Transform2d&:
+          const wpi::math::Transform2d&:
             keepalive: []
       Translation:
       X:
@@ -36,15 +36,15 @@ inline_code: |
     .def_property_readonly("x", &Transform3d::X)
     .def_property_readonly("y", &Transform3d::Y)
     .def_property_readonly("z", &Transform3d::Z)
-    .def_property_readonly("x_feet", [](const Transform3d * self) -> units::foot_t {
+    .def_property_readonly("x_feet", [](const Transform3d * self) -> wpi::units::foot_t {
       return self->X();
     })
-    .def_property_readonly("y_feet", [](const Transform3d * self) -> units::foot_t {
+    .def_property_readonly("y_feet", [](const Transform3d * self) -> wpi::units::foot_t {
       return self->Y();
     })
-    .def_property_readonly("z_feet", [](const Transform3d * self) -> units::foot_t {
+    .def_property_readonly("z_feet", [](const Transform3d * self) -> wpi::units::foot_t {
       return self->Z();
     })
     .def("__repr__", py::overload_cast<const Transform3d&>(&rpy::toString));
 
-  SetupWPyStruct<frc::Transform3d>(cls_Transform3d);
+  SetupWPyStruct<wpi::math::Transform3d>(cls_Transform3d);

wpimath/src/main/python/semiwrap/geometry/Translation2d.yml

@@ -9,13 +9,13 @@ functions:
   from_json:
     ignore: true
 classes:
-  frc::Translation2d:
+  wpi::math::Translation2d:
     methods:
       Translation2d:
         overloads:
           '':
-          units::meter_t, units::meter_t:
-          units::meter_t, const Rotation2d&:
+          wpi::units::meter_t, wpi::units::meter_t:
+          wpi::units::meter_t, const Rotation2d&:
           const Eigen::Vector2d&:
       Distance:
       X:
@@ -45,24 +45,24 @@ classes:
 
 inline_code: |
   cls_Translation2d
-    .def_static("fromFeet", [](units::foot_t x, units::foot_t y){
+    .def_static("fromFeet", [](wpi::units::foot_t x, wpi::units::foot_t y){
       return std::make_unique<Translation2d>(x, y);
     }, py::arg("x"), py::arg("y"))
-    .def_static("fromFeet", [](units::foot_t distance, const Rotation2d &angle) {
+    .def_static("fromFeet", [](wpi::units::foot_t distance, const Rotation2d &angle) {
       return std::make_unique<Translation2d>(distance, angle);
     }, py::arg("distance"), py::arg("angle"))
     .def_property_readonly("x", &Translation2d::X)
     .def_property_readonly("y", &Translation2d::Y)
-    .def_property_readonly("x_feet", [](Translation2d * self) -> units::foot_t {
+    .def_property_readonly("x_feet", [](Translation2d * self) -> wpi::units::foot_t {
       return self->X();
     })
-    .def_property_readonly("y_feet", [](Translation2d * self) -> units::foot_t {
+    .def_property_readonly("y_feet", [](Translation2d * self) -> wpi::units::foot_t {
       return self->Y();
     })
-    .def("distanceFeet", [](Translation2d * self, const Translation2d &other) -> units::foot_t {
+    .def("distanceFeet", [](Translation2d * self, const Translation2d &other) -> wpi::units::foot_t {
       return self->Distance(other);
     })
-    .def("normFeet", [](Translation2d * self) -> units::foot_t {
+    .def("normFeet", [](Translation2d * self) -> wpi::units::foot_t {
       return self->Norm();
     })
     .def("__abs__", &Translation2d::Norm)
@@ -79,4 +79,4 @@ inline_code: |
     })
     .def("__repr__", py::overload_cast<const Translation2d&>(&rpy::toString));
 
-  SetupWPyStruct<frc::Translation2d>(cls_Translation2d);
+  SetupWPyStruct<wpi::math::Translation2d>(cls_Translation2d);

wpimath/src/main/python/semiwrap/geometry/Translation3d.yml

@@ -9,13 +9,13 @@ functions:
   from_json:
     ignore: true
 classes:
-  frc::Translation3d:
+  wpi::math::Translation3d:
     methods:
       Translation3d:
         overloads:
           '':
-          units::meter_t, units::meter_t, units::meter_t:
-          units::meter_t, const Rotation3d&:
+          wpi::units::meter_t, wpi::units::meter_t, wpi::units::meter_t:
+          wpi::units::meter_t, const Rotation3d&:
           const Eigen::Vector3d&:
           const Translation2d&:
       Distance:
@@ -47,25 +47,25 @@ classes:
       Cross:
 inline_code: |
   cls_Translation3d
-    .def_static("fromFeet", [](units::foot_t x, units::foot_t y, units::foot_t z){
+    .def_static("fromFeet", [](wpi::units::foot_t x, wpi::units::foot_t y, wpi::units::foot_t z){
       return std::make_unique<Translation3d>(x, y, z);
     }, py::arg("x"), py::arg("y"), py::arg("z"))
     .def_property_readonly("x", &Translation3d::X)
     .def_property_readonly("y", &Translation3d::Y)
     .def_property_readonly("z", &Translation3d::Z)
-    .def_property_readonly("x_feet", [](const Translation3d * self) -> units::foot_t {
+    .def_property_readonly("x_feet", [](const Translation3d * self) -> wpi::units::foot_t {
       return self->X();
     })
-    .def_property_readonly("y_feet", [](const Translation3d * self) -> units::foot_t {
+    .def_property_readonly("y_feet", [](const Translation3d * self) -> wpi::units::foot_t {
       return self->Y();
     })
-    .def_property_readonly("z_feet", [](const Translation3d * self) -> units::foot_t {
+    .def_property_readonly("z_feet", [](const Translation3d * self) -> wpi::units::foot_t {
       return self->Z();
     })
-    .def("distanceFeet", [](Translation3d * self, const Translation3d &other) -> units::foot_t {
+    .def("distanceFeet", [](Translation3d * self, const Translation3d &other) -> wpi::units::foot_t {
       return self->Distance(other);
     })
-    .def("normFeet", [](const Translation3d * self) -> units::foot_t {
+    .def("normFeet", [](const Translation3d * self) -> wpi::units::foot_t {
       return self->Norm();
     })
     .def("__abs__", &Translation3d::Norm)
@@ -84,4 +84,4 @@ inline_code: |
     })
     .def("__repr__", py::overload_cast<const Translation3d&>(&rpy::toString));
 
-  SetupWPyStruct<frc::Translation3d>(cls_Translation3d);
+  SetupWPyStruct<wpi::math::Translation3d>(cls_Translation3d);

wpimath/src/main/python/semiwrap/geometry/Twist2d.yml

@@ -2,7 +2,7 @@ extra_includes:
 - wpystruct.h
 
 classes:
-  frc::Twist2d:
+  wpi::math::Twist2d:
     force_no_default_constructor: true
     attributes:
       dx:
@@ -16,33 +16,33 @@ classes:
 inline_code: |
   cls_Twist2d
     .def(
-      py::init<units::meter_t, units::meter_t, units::radian_t>(),
+      py::init<wpi::units::meter_t, wpi::units::meter_t, wpi::units::radian_t>(),
       py::arg("dx") = 0, py::arg("dy") = 0, py::arg("dtheta") = 0
     )
-    .def_static("fromFeet", [](units::foot_t dx, units::foot_t dy, units::radian_t dtheta){
+    .def_static("fromFeet", [](wpi::units::foot_t dx, wpi::units::foot_t dy, wpi::units::radian_t dtheta){
       return Twist2d{dx, dy, dtheta};
     }, py::arg("dx") = 0, py::arg("dy") = 0, py::arg("dtheta") = 0)
     .def_property("dx_feet", 
-      [](Twist2d * self) -> units::foot_t {
+      [](Twist2d * self) -> wpi::units::foot_t {
         return self->dx;
       },
-      [](Twist2d * self, units::foot_t dx) {
+      [](Twist2d * self, wpi::units::foot_t dx) {
         self->dx = dx;
       }
     )
     .def_property("dy_feet", 
-      [](Twist2d * self) -> units::foot_t {
+      [](Twist2d * self) -> wpi::units::foot_t {
         return self->dy;
       },
-      [](Twist2d * self, units::foot_t dy) {
+      [](Twist2d * self, wpi::units::foot_t dy) {
         self->dy = dy;
       }
     )
     .def_property("dtheta_degrees", 
-      [](Twist2d * self) -> units::degree_t {
+      [](Twist2d * self) -> wpi::units::degree_t {
         return self->dtheta;
       },
-      [](Twist2d * self, units::degree_t dtheta) {
+      [](Twist2d * self, wpi::units::degree_t dtheta) {
         self->dtheta = dtheta;
       }
     )
@@ -53,4 +53,4 @@ inline_code: |
     })
   ;
 
-  SetupWPyStruct<frc::Twist2d>(cls_Twist2d);
+  SetupWPyStruct<wpi::math::Twist2d>(cls_Twist2d);

wpimath/src/main/python/semiwrap/geometry/Twist3d.yml

@@ -2,7 +2,7 @@ extra_includes:
 - wpystruct.h
 
 classes:
-  frc::Twist3d:
+  wpi::math::Twist3d:
     force_no_default_constructor: true
     attributes:
       dx:
@@ -19,62 +19,62 @@ classes:
 inline_code: |-
   cls_Twist3d
     .def(
-      py::init<units::meter_t, units::meter_t, units::meter_t,
-               units::radian_t, units::radian_t, units::radian_t>(),
+      py::init<wpi::units::meter_t, wpi::units::meter_t, wpi::units::meter_t,
+               wpi::units::radian_t, wpi::units::radian_t, wpi::units::radian_t>(),
       py::arg("dx") = 0, py::arg("dy") = 0, py::arg("dz") = 0,
       py::arg("rx") = 0, py::arg("ry") = 0, py::arg("rz") = 0)
     .def_static("fromFeet", [](
-      units::foot_t dx, units::foot_t dy, units::foot_t dz,
-      units::radian_t rx, units::radian_t ry, units::radian_t rz){
+      wpi::units::foot_t dx, wpi::units::foot_t dy, wpi::units::foot_t dz,
+      wpi::units::radian_t rx, wpi::units::radian_t ry, wpi::units::radian_t rz){
       return Twist3d{dx, dy, dz, rx, ry, rz};
     },
       py::arg("dx") = 0, py::arg("dy") = 0, py::arg("dz") = 0,
       py::arg("rx") = 0, py::arg("ry") = 0, py::arg("rz") = 0)
     .def_property("dx_feet", 
-      [](Twist3d * self) -> units::foot_t {
+      [](Twist3d * self) -> wpi::units::foot_t {
         return self->dx;
       },
-      [](Twist3d * self, units::foot_t dx) {
+      [](Twist3d * self, wpi::units::foot_t dx) {
         self->dx = dx;
       }
     )
     .def_property("dy_feet", 
-      [](Twist3d * self) -> units::foot_t {
+      [](Twist3d * self) -> wpi::units::foot_t {
         return self->dy;
       },
-      [](Twist3d * self, units::foot_t dy) {
+      [](Twist3d * self, wpi::units::foot_t dy) {
         self->dy = dy;
       }
     )
     .def_property("dz_feet", 
-      [](Twist3d * self) -> units::foot_t {
+      [](Twist3d * self) -> wpi::units::foot_t {
         return self->dz;
       },
-      [](Twist3d * self, units::foot_t dz) {
+      [](Twist3d * self, wpi::units::foot_t dz) {
         self->dz = dz;
       }
     )
     .def_property("rx_degrees", 
-      [](Twist3d * self) -> units::degree_t {
+      [](Twist3d * self) -> wpi::units::degree_t {
         return self->rx;
       },
-      [](Twist3d * self, units::degree_t rx) {
+      [](Twist3d * self, wpi::units::degree_t rx) {
         self->rx = rx;
       }
     )
     .def_property("ry_degrees", 
-      [](Twist3d * self) -> units::degree_t {
+      [](Twist3d * self) -> wpi::units::degree_t {
         return self->ry;
       },
-      [](Twist3d * self, units::degree_t ry) {
+      [](Twist3d * self, wpi::units::degree_t ry) {
         self->ry = ry;
       }
     )
     .def_property("rz_degrees", 
-      [](Twist3d * self) -> units::degree_t {
+      [](Twist3d * self) -> wpi::units::degree_t {
         return self->rz;
       },
-      [](Twist3d * self, units::degree_t rz) {
+      [](Twist3d * self, wpi::units::degree_t rz) {
         self->rz = rz;
       }
     )
@@ -88,4 +88,4 @@ inline_code: |-
     })
   ;
 
-  SetupWPyStruct<frc::Twist3d>(cls_Twist3d);
+  SetupWPyStruct<wpi::math::Twist3d>(cls_Twist3d);

wpimath/src/main/python/semiwrap/interpolation/TimeInterpolatableBuffer.yml

@@ -2,14 +2,14 @@ extra_includes:
 - "wpi/math/geometry/Pose3d.hpp"
 
 classes:
-  frc::TimeInterpolatableBuffer:
+  wpi::math::TimeInterpolatableBuffer:
     template_params:
     - T
     methods:
       TimeInterpolatableBuffer:
         overloads:
-          units::second_t, std::function<T (const T&, const T&, double)>:
-          units::second_t:
+          wpi::units::second_t, std::function<T (const T&, const T&, double)>:
+          wpi::units::second_t:
       AddSample:
       Clear:
       Sample:
@@ -21,30 +21,30 @@ classes:
 
 templates:
   TimeInterpolatablePose2dBuffer:
-    qualname: frc::TimeInterpolatableBuffer
+    qualname: wpi::math::TimeInterpolatableBuffer
     params:
-    - frc::Pose2d
+    - wpi::math::Pose2d
   TimeInterpolatablePose3dBuffer:
-    qualname: frc::TimeInterpolatableBuffer
+    qualname: wpi::math::TimeInterpolatableBuffer
     params:
-    - frc::Pose3d
+    - wpi::math::Pose3d
   TimeInterpolatableRotation2dBuffer:
-    qualname: frc::TimeInterpolatableBuffer
+    qualname: wpi::math::TimeInterpolatableBuffer
     params:
-    - frc::Rotation2d
+    - wpi::math::Rotation2d
   TimeInterpolatableRotation3dBuffer:
-    qualname: frc::TimeInterpolatableBuffer
+    qualname: wpi::math::TimeInterpolatableBuffer
     params:
-    - frc::Rotation3d
+    - wpi::math::Rotation3d
   TimeInterpolatableTranslation2dBuffer:
-    qualname: frc::TimeInterpolatableBuffer
+    qualname: wpi::math::TimeInterpolatableBuffer
     params:
-    - frc::Translation2d
+    - wpi::math::Translation2d
   TimeInterpolatableTranslation3dBuffer:
-    qualname: frc::TimeInterpolatableBuffer
+    qualname: wpi::math::TimeInterpolatableBuffer
     params:
-    - frc::Translation3d
+    - wpi::math::Translation3d
   TimeInterpolatableFloatBuffer:
-    qualname: frc::TimeInterpolatableBuffer
+    qualname: wpi::math::TimeInterpolatableBuffer
     params:
     - double

wpimath/src/main/python/semiwrap/kinematics/ChassisSpeeds.yml

@@ -2,7 +2,7 @@ extra_includes:
 - wpystruct.h
 
 classes:
-  frc::ChassisSpeeds:
+  wpi::math::ChassisSpeeds:
     force_no_default_constructor: true
     attributes:
       vx:
@@ -12,8 +12,8 @@ classes:
       ToTwist2d:
       Discretize:
         overloads:
-          units::meters_per_second_t, units::meters_per_second_t, units::radians_per_second_t, units::second_t:
-          const ChassisSpeeds&, units::second_t:
+          wpi::units::meters_per_second_t, wpi::units::meters_per_second_t, wpi::units::radians_per_second_t, wpi::units::second_t:
+          const ChassisSpeeds&, wpi::units::second_t:
       operator+:
       operator-:
         overloads:
@@ -29,35 +29,35 @@ inline_code: |
   cls_ChassisSpeeds
     .def(
       py::init<
-        units::meters_per_second_t, units::meters_per_second_t,
-        units::radians_per_second_t
+        wpi::units::meters_per_second_t, wpi::units::meters_per_second_t,
+        wpi::units::radians_per_second_t
       >(),
       py::arg("vx") = 0, py::arg("vy") = 0, py::arg("omega") = 0
     )
-    .def_static("fromFeet", [](units::feet_per_second_t vx, units::feet_per_second_t vy, units::radians_per_second_t omega){
+    .def_static("fromFeet", [](wpi::units::feet_per_second_t vx, wpi::units::feet_per_second_t vy, wpi::units::radians_per_second_t omega){
       return ChassisSpeeds{vx, vy, omega};
     }, py::arg("vx") = 0, py::arg("vy") = 0, py::arg("omega") = 0)
     .def_property("vx_fps",
-      [](ChassisSpeeds * self) -> units::feet_per_second_t {
+      [](ChassisSpeeds * self) -> wpi::units::feet_per_second_t {
         return self->vx;
       },
-      [](ChassisSpeeds * self, units::feet_per_second_t vx) {
+      [](ChassisSpeeds * self, wpi::units::feet_per_second_t vx) {
         self->vx = vx;
       }
     )
     .def_property("vy_fps", 
-      [](ChassisSpeeds * self) -> units::feet_per_second_t {
+      [](ChassisSpeeds * self) -> wpi::units::feet_per_second_t {
         return self->vy;
       },
-      [](ChassisSpeeds * self, units::feet_per_second_t vy) {
+      [](ChassisSpeeds * self, wpi::units::feet_per_second_t vy) {
         self->vy = vy;
       }
     )
     .def_property("omega_dps", 
-      [](ChassisSpeeds * self) -> units::degrees_per_second_t {
+      [](ChassisSpeeds * self) -> wpi::units::degrees_per_second_t {
         return self->omega;
       },
-      [](ChassisSpeeds * self, units::degrees_per_second_t omega) {
+      [](ChassisSpeeds * self, wpi::units::degrees_per_second_t omega) {
         self->omega = omega;
       }
     )
@@ -81,4 +81,4 @@ inline_code: |
     })
   ;
 
-  SetupWPyStruct<frc::ChassisSpeeds>(cls_ChassisSpeeds);
+  SetupWPyStruct<wpi::math::ChassisSpeeds>(cls_ChassisSpeeds);

wpimath/src/main/python/semiwrap/kinematics/DifferentialDriveKinematics.yml

@@ -2,7 +2,7 @@ extra_includes:
 - wpystruct.h
 
 classes:
-  frc::DifferentialDriveKinematics:
+  wpi::math::DifferentialDriveKinematics:
     attributes:
       trackwidth:
     methods:
@@ -11,9 +11,9 @@ classes:
       ToWheelSpeeds:
       ToTwist2d:
         overloads:
-          const units::meter_t, const units::meter_t [const]:
+          const wpi::units::meter_t, const wpi::units::meter_t [const]:
           const DifferentialDriveWheelPositions&, const DifferentialDriveWheelPositions& [const]:
       Interpolate:
 
 inline_code: |
-  SetupWPyStruct<frc::DifferentialDriveKinematics>(cls_DifferentialDriveKinematics);
+  SetupWPyStruct<wpi::math::DifferentialDriveKinematics>(cls_DifferentialDriveKinematics);

wpimath/src/main/python/semiwrap/kinematics/DifferentialDriveOdometry.yml

@@ -1,5 +1,5 @@
 classes:
-  frc::DifferentialDriveOdometry:
+  wpi::math::DifferentialDriveOdometry:
     force_no_trampoline: true
     methods:
       DifferentialDriveOdometry:

wpimath/src/main/python/semiwrap/kinematics/DifferentialDriveOdometry3d.yml

@@ -1,5 +1,5 @@
 classes:
-  frc::DifferentialDriveOdometry3d:
+  wpi::math::DifferentialDriveOdometry3d:
     force_no_trampoline: true
     methods:
       DifferentialDriveOdometry3d:

wpimath/src/main/python/semiwrap/kinematics/DifferentialDriveWheelPositions.yml

@@ -1,5 +1,5 @@
 classes:
-  frc::DifferentialDriveWheelPositions:
+  wpi::math::DifferentialDriveWheelPositions:
     attributes:
       left:
       right:

wpimath/src/main/python/semiwrap/kinematics/DifferentialDriveWheelSpeeds.yml

@@ -2,7 +2,7 @@ extra_includes:
 - wpystruct.h
 
 classes:
-  frc::DifferentialDriveWheelSpeeds:
+  wpi::math::DifferentialDriveWheelSpeeds:
     force_no_default_constructor: true
     attributes:
       left:
@@ -21,25 +21,25 @@ classes:
 inline_code: |
   cls_DifferentialDriveWheelSpeeds
     .def(
-      py::init<units::meters_per_second_t, units::meters_per_second_t>(),
+      py::init<wpi::units::meters_per_second_t, wpi::units::meters_per_second_t>(),
       py::arg("left") = 0, py::arg("right") = 0
     )
-    .def_static("fromFeet", [](units::feet_per_second_t left, units::feet_per_second_t right){
+    .def_static("fromFeet", [](wpi::units::feet_per_second_t left, wpi::units::feet_per_second_t right){
       return DifferentialDriveWheelSpeeds{left, right};
     }, py::arg("left"), py::arg("right"))
     .def_property("left_fps",
-      [](DifferentialDriveWheelSpeeds * self) -> units::feet_per_second_t {
+      [](DifferentialDriveWheelSpeeds * self) -> wpi::units::feet_per_second_t {
         return self->left;
       },
-      [](DifferentialDriveWheelSpeeds * self, units::feet_per_second_t left) {
+      [](DifferentialDriveWheelSpeeds * self, wpi::units::feet_per_second_t left) {
         self->left = left;
       }
     )
     .def_property("right_fps", 
-      [](DifferentialDriveWheelSpeeds * self) -> units::feet_per_second_t {
+      [](DifferentialDriveWheelSpeeds * self) -> wpi::units::feet_per_second_t {
         return self->right;
       },
-      [](DifferentialDriveWheelSpeeds * self, units::feet_per_second_t right) {
+      [](DifferentialDriveWheelSpeeds * self, wpi::units::feet_per_second_t right) {
         self->right = right;
       }
     )
@@ -49,5 +49,5 @@ inline_code: |
     })
   ;
 
-  SetupWPyStruct<frc::DifferentialDriveWheelSpeeds>(cls_DifferentialDriveWheelSpeeds);
+  SetupWPyStruct<wpi::math::DifferentialDriveWheelSpeeds>(cls_DifferentialDriveWheelSpeeds);
 

wpimath/src/main/python/semiwrap/kinematics/Kinematics.yml

@@ -7,9 +7,9 @@ extra_includes:
 
 
 classes:
-  frc::Kinematics:
+  wpi::math::Kinematics:
     force_type_casters:
-    - wpi::array
+    - wpi::util::array
     template_params:
     - WheelSpeeds
     - WheelPositions
@@ -22,32 +22,32 @@ classes:
 
 templates:
   DifferentialDriveKinematicsBase:
-    qualname: frc::Kinematics
+    qualname: wpi::math::Kinematics
     params:
-    - frc::DifferentialDriveWheelSpeeds
-    - frc::DifferentialDriveWheelPositions
+    - wpi::math::DifferentialDriveWheelSpeeds
+    - wpi::math::DifferentialDriveWheelPositions
   MecanumDriveKinematicsBase:
-    qualname: frc::Kinematics
+    qualname: wpi::math::Kinematics
     params:
-    - frc::MecanumDriveWheelSpeeds
-    - frc::MecanumDriveWheelPositions
+    - wpi::math::MecanumDriveWheelSpeeds
+    - wpi::math::MecanumDriveWheelPositions
   SwerveDrive2KinematicsBase:
-    qualname: frc::Kinematics
+    qualname: wpi::math::Kinematics
     params:
-    - wpi::array<frc::SwerveModuleState,2>
-    - wpi::array<frc::SwerveModulePosition,2>
+    - wpi::util::array<wpi::math::SwerveModuleState,2>
+    - wpi::util::array<wpi::math::SwerveModulePosition,2>
   SwerveDrive3KinematicsBase:
-    qualname: frc::Kinematics
+    qualname: wpi::math::Kinematics
     params:
-    - wpi::array<frc::SwerveModuleState,3>
-    - wpi::array<frc::SwerveModulePosition,3>
+    - wpi::util::array<wpi::math::SwerveModuleState,3>
+    - wpi::util::array<wpi::math::SwerveModulePosition,3>
   SwerveDrive4KinematicsBase:
-    qualname: frc::Kinematics
+    qualname: wpi::math::Kinematics
     params:
-    - wpi::array<frc::SwerveModuleState,4>
-    - wpi::array<frc::SwerveModulePosition,4>
+    - wpi::util::array<wpi::math::SwerveModuleState,4>
+    - wpi::util::array<wpi::math::SwerveModulePosition,4>
   SwerveDrive6KinematicsBase:
-    qualname: frc::Kinematics
+    qualname: wpi::math::Kinematics
     params:
-    - wpi::array<frc::SwerveModuleState,6>
-    - wpi::array<frc::SwerveModulePosition,6>
+    - wpi::util::array<wpi::math::SwerveModuleState,6>
+    - wpi::util::array<wpi::math::SwerveModulePosition,6>

wpimath/src/main/python/semiwrap/kinematics/MecanumDriveKinematics.yml

@@ -2,7 +2,7 @@ extra_includes:
 - wpystruct.h
 
 classes:
-  frc::MecanumDriveKinematics:
+  wpi::math::MecanumDriveKinematics:
     methods:
       MecanumDriveKinematics:
       ToWheelSpeeds:
@@ -47,4 +47,4 @@ classes:
       Interpolate:
 
 inline_code: |
-  SetupWPyStruct<frc::MecanumDriveKinematics>(cls_MecanumDriveKinematics);
+  SetupWPyStruct<wpi::math::MecanumDriveKinematics>(cls_MecanumDriveKinematics);

wpimath/src/main/python/semiwrap/kinematics/MecanumDriveOdometry.yml

@@ -1,5 +1,5 @@
 classes:
-  frc::MecanumDriveOdometry:
+  wpi::math::MecanumDriveOdometry:
     force_no_trampoline: true
     methods:
       MecanumDriveOdometry:

wpimath/src/main/python/semiwrap/kinematics/MecanumDriveOdometry3d.yml

@@ -1,5 +1,5 @@
 classes:
-  frc::MecanumDriveOdometry3d:
+  wpi::math::MecanumDriveOdometry3d:
     force_no_trampoline: true
     methods:
       MecanumDriveOdometry3d:

wpimath/src/main/python/semiwrap/kinematics/MecanumDriveWheelPositions.yml

@@ -1,5 +1,5 @@
 classes:
-  frc::MecanumDriveWheelPositions:
+  wpi::math::MecanumDriveWheelPositions:
     attributes:
       frontLeft:
       frontRight:

wpimath/src/main/python/semiwrap/kinematics/MecanumDriveWheelSpeeds.yml

@@ -2,7 +2,7 @@ extra_includes:
 - wpystruct.h
 
 classes:
-  frc::MecanumDriveWheelSpeeds:
+  wpi::math::MecanumDriveWheelSpeeds:
     force_no_default_constructor: true
     attributes:
       frontLeft:
@@ -23,50 +23,50 @@ inline_code: |
   cls_MecanumDriveWheelSpeeds
     .def(
       py::init<
-        units::meters_per_second_t, units::meters_per_second_t,
-        units::meters_per_second_t, units::meters_per_second_t
+        wpi::units::meters_per_second_t, wpi::units::meters_per_second_t,
+        wpi::units::meters_per_second_t, wpi::units::meters_per_second_t
       >(),
       py::arg("frontLeft") = 0, py::arg("frontRight") = 0,
       py::arg("rearLeft") = 0, py::arg("rearRight") = 0
     )
     .def_static("fromFeet", [](
-        units::feet_per_second_t frontLeft,
-        units::feet_per_second_t frontRight,
-        units::feet_per_second_t rearLeft,
-        units::feet_per_second_t rearRight
+        wpi::units::feet_per_second_t frontLeft,
+        wpi::units::feet_per_second_t frontRight,
+        wpi::units::feet_per_second_t rearLeft,
+        wpi::units::feet_per_second_t rearRight
     ){
       return MecanumDriveWheelSpeeds{frontLeft, frontRight, rearLeft, rearRight};
     }, py::arg("frontLeft"), py::arg("frontRight"),
        py::arg("rearLeft"), py::arg("rearRight"))
     .def_property("frontLeft_fps",
-      [](MecanumDriveWheelSpeeds * self) -> units::feet_per_second_t {
+      [](MecanumDriveWheelSpeeds * self) -> wpi::units::feet_per_second_t {
         return self->frontLeft;
       },
-      [](MecanumDriveWheelSpeeds * self, units::feet_per_second_t fps) {
+      [](MecanumDriveWheelSpeeds * self, wpi::units::feet_per_second_t fps) {
         self->frontLeft = fps;
       }
     )
     .def_property("frontRight_fps", 
-      [](MecanumDriveWheelSpeeds * self) -> units::feet_per_second_t {
+      [](MecanumDriveWheelSpeeds * self) -> wpi::units::feet_per_second_t {
         return self->frontRight;
       },
-      [](MecanumDriveWheelSpeeds * self, units::feet_per_second_t fps) {
+      [](MecanumDriveWheelSpeeds * self, wpi::units::feet_per_second_t fps) {
         self->frontRight = fps;
       }
     )
     .def_property("rearLeft_fps",
-      [](MecanumDriveWheelSpeeds * self) -> units::feet_per_second_t {
+      [](MecanumDriveWheelSpeeds * self) -> wpi::units::feet_per_second_t {
         return self->rearLeft;
       },
-      [](MecanumDriveWheelSpeeds * self, units::feet_per_second_t fps) {
+      [](MecanumDriveWheelSpeeds * self, wpi::units::feet_per_second_t fps) {
         self->rearLeft = fps;
       }
     )
     .def_property("rearRight_fps", 
-      [](MecanumDriveWheelSpeeds * self) -> units::feet_per_second_t {
+      [](MecanumDriveWheelSpeeds * self) -> wpi::units::feet_per_second_t {
         return self->rearRight;
       },
-      [](MecanumDriveWheelSpeeds * self, units::feet_per_second_t fps) {
+      [](MecanumDriveWheelSpeeds * self, wpi::units::feet_per_second_t fps) {
         self->rearRight = fps;
       }
     )
@@ -78,4 +78,4 @@ inline_code: |
     })
   ;
 
-  SetupWPyStruct<frc::MecanumDriveWheelSpeeds>(cls_MecanumDriveWheelSpeeds);
+  SetupWPyStruct<wpi::math::MecanumDriveWheelSpeeds>(cls_MecanumDriveWheelSpeeds);

wpimath/src/main/python/semiwrap/kinematics/Odometry.yml

@@ -6,7 +6,7 @@ extra_includes:
 - wpi/math/kinematics/SwerveDriveKinematics.hpp
 
 classes:
-  frc::Odometry:
+  wpi::math::Odometry:
     template_params:
     - WheelSpeeds
     - WheelPositions
@@ -21,32 +21,32 @@ classes:
 
 templates:
   DifferentialDriveOdometryBase:
-    qualname: frc::Odometry
+    qualname: wpi::math::Odometry
     params:
-    - frc::DifferentialDriveWheelSpeeds
-    - frc::DifferentialDriveWheelPositions
+    - wpi::math::DifferentialDriveWheelSpeeds
+    - wpi::math::DifferentialDriveWheelPositions
   MecanumDriveOdometryBase:
-    qualname: frc::Odometry
+    qualname: wpi::math::Odometry
     params:
-    - frc::MecanumDriveWheelSpeeds
-    - frc::MecanumDriveWheelPositions
+    - wpi::math::MecanumDriveWheelSpeeds
+    - wpi::math::MecanumDriveWheelPositions
   SwerveDrive2OdometryBase:
-    qualname: frc::Odometry
+    qualname: wpi::math::Odometry
     params:
-    - wpi::array<frc::SwerveModuleState,2>
-    - wpi::array<frc::SwerveModulePosition,2>
+    - wpi::util::array<wpi::math::SwerveModuleState,2>
+    - wpi::util::array<wpi::math::SwerveModulePosition,2>
   SwerveDrive3OdometryBase:
-    qualname: frc::Odometry
+    qualname: wpi::math::Odometry
     params:
-    - wpi::array<frc::SwerveModuleState,3>
-    - wpi::array<frc::SwerveModulePosition,3>
+    - wpi::util::array<wpi::math::SwerveModuleState,3>
+    - wpi::util::array<wpi::math::SwerveModulePosition,3>
   SwerveDrive4OdometryBase:
-    qualname: frc::Odometry
+    qualname: wpi::math::Odometry
     params:
-    - wpi::array<frc::SwerveModuleState,4>
-    - wpi::array<frc::SwerveModulePosition,4>
+    - wpi::util::array<wpi::math::SwerveModuleState,4>
+    - wpi::util::array<wpi::math::SwerveModulePosition,4>
   SwerveDrive6OdometryBase:
-    qualname: frc::Odometry
+    qualname: wpi::math::Odometry
     params:
-    - wpi::array<frc::SwerveModuleState,6>
-    - wpi::array<frc::SwerveModulePosition,6>
+    - wpi::util::array<wpi::math::SwerveModuleState,6>
+    - wpi::util::array<wpi::math::SwerveModulePosition,6>

wpimath/src/main/python/semiwrap/kinematics/Odometry3d.yml

@@ -6,7 +6,7 @@ extra_includes:
 - wpi/math/kinematics/SwerveDriveKinematics.hpp
 
 classes:
-  frc::Odometry3d:
+  wpi::math::Odometry3d:
     template_params:
     - WheelSpeeds
     - WheelPositions
@@ -22,32 +22,32 @@ classes:
 
 templates:
   DifferentialDriveOdometry3dBase:
-    qualname: frc::Odometry3d
+    qualname: wpi::math::Odometry3d
     params:
-    - frc::DifferentialDriveWheelSpeeds
-    - frc::DifferentialDriveWheelPositions
+    - wpi::math::DifferentialDriveWheelSpeeds
+    - wpi::math::DifferentialDriveWheelPositions
   MecanumDriveOdometry3dBase:
-    qualname: frc::Odometry3d
+    qualname: wpi::math::Odometry3d
     params:
-    - frc::MecanumDriveWheelSpeeds
-    - frc::MecanumDriveWheelPositions
+    - wpi::math::MecanumDriveWheelSpeeds
+    - wpi::math::MecanumDriveWheelPositions
   SwerveDrive2Odometry3dBase:
-    qualname: frc::Odometry3d
+    qualname: wpi::math::Odometry3d
     params:
-    - wpi::array<frc::SwerveModuleState,2>
-    - wpi::array<frc::SwerveModulePosition,2>
+    - wpi::util::array<wpi::math::SwerveModuleState,2>
+    - wpi::util::array<wpi::math::SwerveModulePosition,2>
   SwerveDrive3Odometry3dBase:
-    qualname: frc::Odometry3d
+    qualname: wpi::math::Odometry3d
     params:
-    - wpi::array<frc::SwerveModuleState,3>
-    - wpi::array<frc::SwerveModulePosition,3>
+    - wpi::util::array<wpi::math::SwerveModuleState,3>
+    - wpi::util::array<wpi::math::SwerveModulePosition,3>
   SwerveDrive4Odometry3dBase:
-    qualname: frc::Odometry3d
+    qualname: wpi::math::Odometry3d
     params:
-    - wpi::array<frc::SwerveModuleState,4>
-    - wpi::array<frc::SwerveModulePosition,4>
+    - wpi::util::array<wpi::math::SwerveModuleState,4>
+    - wpi::util::array<wpi::math::SwerveModulePosition,4>
   SwerveDrive6Odometry3dBase:
-    qualname: frc::Odometry3d
+    qualname: wpi::math::Odometry3d
     params:
-    - wpi::array<frc::SwerveModuleState,6>
-    - wpi::array<frc::SwerveModulePosition,6>
+    - wpi::util::array<wpi::math::SwerveModuleState,6>
+    - wpi::util::array<wpi::math::SwerveModulePosition,6>

wpimath/src/main/python/semiwrap/kinematics/SwerveDriveKinematics.yml

@@ -1,7 +1,7 @@
 classes:
-  frc::SwerveDriveKinematics:
+  wpi::math::SwerveDriveKinematics:
     force_type_casters:
-    - wpi::array
+    - wpi::util::array
     template_params:
     - size_t NumModules
     methods:
@@ -9,14 +9,14 @@ classes:
         overloads:
           ModuleTranslations&&...:
             ignore: true
-          const wpi::array<Translation2d, NumModules>&:
+          const wpi::util::array<Translation2d, NumModules>&:
             ignore: true
 
       ResetHeadings:
         overloads:
           ModuleHeadings&&...:
             ignore: true
-          wpi::array<Rotation2d, NumModules>:
+          wpi::util::array<Rotation2d, NumModules>:
 
       ToSwerveModuleStates:
         doc: |
@@ -48,29 +48,29 @@ classes:
         overloads:
           ModuleStates&&... [const]:
             ignore: true
-          const wpi::array<SwerveModuleState, NumModules>& [const]:
+          const wpi::util::array<SwerveModuleState, NumModules>& [const]:
       ToTwist2d:
         overloads:
           ModuleDeltas&&... [const]:
             ignore: true
-          wpi::array<SwerveModulePosition, NumModules> [const]:
-          const wpi::array<SwerveModulePosition, NumModules>&, const wpi::array<SwerveModulePosition, NumModules>& [const]:
+          wpi::util::array<SwerveModulePosition, NumModules> [const]:
+          const wpi::util::array<SwerveModulePosition, NumModules>&, const wpi::util::array<SwerveModulePosition, NumModules>& [const]:
       DesaturateWheelSpeeds:
         overloads:
-          wpi::array<SwerveModuleState, NumModules>*, units::meters_per_second_t:
+          wpi::util::array<SwerveModuleState, NumModules>*, wpi::units::meters_per_second_t:
             cpp_code: |
-              [](wpi::array<SwerveModuleState, NumModules> moduleStates, units::meters_per_second_t attainableMaxSpeed) {
-                frc::SwerveDriveKinematics<NumModules>::DesaturateWheelSpeeds(&moduleStates, attainableMaxSpeed);
+              [](wpi::util::array<SwerveModuleState, NumModules> moduleStates, wpi::units::meters_per_second_t attainableMaxSpeed) {
+                wpi::math::SwerveDriveKinematics<NumModules>::DesaturateWheelSpeeds(&moduleStates, attainableMaxSpeed);
                 return moduleStates;
               }
-          ? wpi::array<SwerveModuleState, NumModules>*, ChassisSpeeds, units::meters_per_second_t, units::meters_per_second_t, units::radians_per_second_t
+          ? wpi::util::array<SwerveModuleState, NumModules>*, ChassisSpeeds, wpi::units::meters_per_second_t, wpi::units::meters_per_second_t, wpi::units::radians_per_second_t
           : cpp_code: |
-              [](wpi::array<SwerveModuleState, NumModules> moduleStates,
+              [](wpi::util::array<SwerveModuleState, NumModules> moduleStates,
                   ChassisSpeeds currentChassisSpeed,
-                  units::meters_per_second_t attainableMaxModuleSpeed,
-                  units::meters_per_second_t attainableMaxRobotTranslationSpeed,
-                  units::radians_per_second_t attainableMaxRobotRotationSpeed) {
-                frc::SwerveDriveKinematics<NumModules>::DesaturateWheelSpeeds(&moduleStates, currentChassisSpeed, attainableMaxModuleSpeed, attainableMaxRobotTranslationSpeed, attainableMaxRobotRotationSpeed);
+                  wpi::units::meters_per_second_t attainableMaxModuleSpeed,
+                  wpi::units::meters_per_second_t attainableMaxRobotTranslationSpeed,
+                  wpi::units::radians_per_second_t attainableMaxRobotRotationSpeed) {
+                wpi::math::SwerveDriveKinematics<NumModules>::DesaturateWheelSpeeds(&moduleStates, currentChassisSpeed, attainableMaxModuleSpeed, attainableMaxRobotTranslationSpeed, attainableMaxRobotRotationSpeed);
                 return moduleStates;
               }
 
@@ -91,18 +91,18 @@ classes:
 
 templates:
   SwerveDrive2Kinematics:
-    qualname: frc::SwerveDriveKinematics
+    qualname: wpi::math::SwerveDriveKinematics
     params:
     - 2
   SwerveDrive3Kinematics:
-    qualname: frc::SwerveDriveKinematics
+    qualname: wpi::math::SwerveDriveKinematics
     params:
     - 3
   SwerveDrive4Kinematics:
-    qualname: frc::SwerveDriveKinematics
+    qualname: wpi::math::SwerveDriveKinematics
     params:
     - 4
   SwerveDrive6Kinematics:
-    qualname: frc::SwerveDriveKinematics
+    qualname: wpi::math::SwerveDriveKinematics
     params:
     - 6

wpimath/src/main/python/semiwrap/kinematics/SwerveDriveOdometry.yml

@@ -1,5 +1,5 @@
 classes:
-  frc::SwerveDriveOdometry:
+  wpi::math::SwerveDriveOdometry:
     force_no_trampoline: true
     template_params:
     - size_t NumModules
@@ -7,18 +7,18 @@ classes:
       SwerveDriveOdometry:
 templates:
   SwerveDrive2Odometry:
-    qualname: frc::SwerveDriveOdometry
+    qualname: wpi::math::SwerveDriveOdometry
     params:
     - 2
   SwerveDrive3Odometry:
-    qualname: frc::SwerveDriveOdometry
+    qualname: wpi::math::SwerveDriveOdometry
     params:
     - 3
   SwerveDrive4Odometry:
-    qualname: frc::SwerveDriveOdometry
+    qualname: wpi::math::SwerveDriveOdometry
     params:
     - 4
   SwerveDrive6Odometry:
-    qualname: frc::SwerveDriveOdometry
+    qualname: wpi::math::SwerveDriveOdometry
     params:
     - 6

wpimath/src/main/python/semiwrap/kinematics/SwerveDriveOdometry3d.yml

@@ -1,5 +1,5 @@
 classes:
-  frc::SwerveDriveOdometry3d:
+  wpi::math::SwerveDriveOdometry3d:
     force_no_trampoline: true
     template_params:
     - size_t NumModules
@@ -8,18 +8,18 @@ classes:
 
 templates:
   SwerveDrive2Odometry3d:
-    qualname: frc::SwerveDriveOdometry3d
+    qualname: wpi::math::SwerveDriveOdometry3d
     params:
     - 2
   SwerveDrive3Odometry3d:
-    qualname: frc::SwerveDriveOdometry3d
+    qualname: wpi::math::SwerveDriveOdometry3d
     params:
     - 3
   SwerveDrive4Odometry3d:
-    qualname: frc::SwerveDriveOdometry3d
+    qualname: wpi::math::SwerveDriveOdometry3d
     params:
     - 4
   SwerveDrive6Odometry3d:
-    qualname: frc::SwerveDriveOdometry3d
+    qualname: wpi::math::SwerveDriveOdometry3d
     params:
     - 6

wpimath/src/main/python/semiwrap/kinematics/SwerveModulePosition.yml

@@ -2,7 +2,7 @@ extra_includes:
 - wpystruct.h
 
 classes:
-  frc::SwerveModulePosition:
+  wpi::math::SwerveModulePosition:
     force_no_default_constructor: true
     attributes:
       distance:
@@ -13,15 +13,15 @@ classes:
     inline_code: |
       .def(
         py::init<
-          units::meter_t, frc::Rotation2d
+          wpi::units::meter_t, wpi::math::Rotation2d
         >(),
-        py::arg("distance") = 0, py::arg("angle") = frc::Rotation2d()
+        py::arg("distance") = 0, py::arg("angle") = wpi::math::Rotation2d()
       )
       .def_property("distance_ft",
-        [](SwerveModulePosition * self) -> units::foot_t {
+        [](SwerveModulePosition * self) -> wpi::units::foot_t {
           return self->distance;
         },
-        [](SwerveModulePosition * self, units::foot_t distance) {
+        [](SwerveModulePosition * self, wpi::units::foot_t distance) {
           self->distance = distance;
         }
       )
@@ -31,4 +31,4 @@ classes:
       })
 
 inline_code: |
-  SetupWPyStruct<frc::SwerveModulePosition>(cls_SwerveModulePosition);
+  SetupWPyStruct<wpi::math::SwerveModulePosition>(cls_SwerveModulePosition);

wpimath/src/main/python/semiwrap/kinematics/SwerveModuleState.yml

@@ -2,7 +2,7 @@ extra_includes:
 - wpystruct.h
 
 classes:
-  frc::SwerveModuleState:
+  wpi::math::SwerveModuleState:
     force_no_default_constructor: true
     attributes:
       speed:
@@ -20,15 +20,15 @@ inline_code: |
   cls_SwerveModuleState
     .def(
       py::init<
-        units::meters_per_second_t, frc::Rotation2d
+        wpi::units::meters_per_second_t, wpi::math::Rotation2d
       >(),
-      py::arg("speed") = 0, py::arg("angle") = frc::Rotation2d()
+      py::arg("speed") = 0, py::arg("angle") = wpi::math::Rotation2d()
     )
     .def_property("speed_fps",
-      [](SwerveModuleState * self) -> units::feet_per_second_t {
+      [](SwerveModuleState * self) -> wpi::units::feet_per_second_t {
         return self->speed;
       },
-      [](SwerveModuleState * self, units::feet_per_second_t speed) {
+      [](SwerveModuleState * self, wpi::units::feet_per_second_t speed) {
         self->speed = speed;
       }
     )
@@ -38,4 +38,4 @@ inline_code: |
     })
   ;
 
-  SetupWPyStruct<frc::SwerveModuleState>(cls_SwerveModuleState);
+  SetupWPyStruct<wpi::math::SwerveModuleState>(cls_SwerveModuleState);

wpimath/src/main/python/semiwrap/spline/CubicHermiteSpline.yml

@@ -1,5 +1,5 @@
 classes:
-  frc::CubicHermiteSpline:
+  wpi::math::CubicHermiteSpline:
     force_no_trampoline: true
     methods:
       CubicHermiteSpline:

wpimath/src/main/python/semiwrap/spline/QuinticHermiteSpline.yml

@@ -1,5 +1,5 @@
 classes:
-  frc::QuinticHermiteSpline:
+  wpi::math::QuinticHermiteSpline:
     force_no_trampoline: true
     methods:
       QuinticHermiteSpline:

wpimath/src/main/python/semiwrap/spline/Spline.yml

@@ -2,11 +2,11 @@ extra_includes:
 - pybind11/stl.h
 
 classes:
-  frc::Spline:
+  wpi::math::Spline:
     is_polymorphic: true
     force_type_casters:
-    - units::curvature_t
-    - wpi::array
+    - wpi::units::curvature_t
+    - wpi::util::array
     template_params:
     - int Degree
     methods:
@@ -26,12 +26,12 @@ classes:
       cls_ControlVector
         .def(
           py::init<
-            wpi::array<double, (Degree + 1) / 2>,
-            wpi::array<double, (Degree + 1) / 2>>(),
+            wpi::util::array<double, (Degree + 1) / 2>,
+            wpi::util::array<double, (Degree + 1) / 2>>(),
           py::arg("x"),
           py::arg("y")
         );
-  frc::Spline::ControlVector:
+  wpi::math::Spline::ControlVector:
     force_no_default_constructor: true
     attributes:
       x:
@@ -39,11 +39,11 @@ classes:
 
 templates:
   Spline3:
-    qualname: frc::Spline
+    qualname: wpi::math::Spline
     params:
     - 3
 
   Spline5:
-    qualname: frc::Spline
+    qualname: wpi::math::Spline
     params:
     - 5

wpimath/src/main/python/semiwrap/spline/SplineHelper.yml

@@ -1,5 +1,5 @@
 classes:
-  frc::SplineHelper:
+  wpi::math::SplineHelper:
     methods:
       CubicControlVectorsFromWaypoints:
       QuinticSplinesFromWaypoints:

wpimath/src/main/python/semiwrap/spline/SplineParameterizer.yml

@@ -1,13 +1,13 @@
 classes:
-  frc::SplineParameterizer:
+  wpi::math::SplineParameterizer:
     force_no_default_constructor: true
     force_type_casters:
-    - units::curvature_t
+    - wpi::units::curvature_t
     methods:
       Parameterize:
         template_impls:
         - ['3']
         - ['5']
 
-  frc::SplineParameterizer::MalformedSplineException:
+  wpi::math::SplineParameterizer::MalformedSplineException:
     ignore: true