SCRIPT namespace replacements

2026-06-25 01:41:43 +00:00 · 2025-11-07 20:00:05 -05:00
parent ae6c043632
commit 9aca8e0fd6
2622 changed files with 22275 additions and 22275 deletions
--- a/wpimath/src/main/python/semiwrap/controls/ArmFeedforward.yml
+++ b/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);
--- a/wpimath/src/main/python/semiwrap/controls/BangBangController.yml
+++ b/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:
--- a/wpimath/src/main/python/semiwrap/controls/CentripetalAccelerationConstraint.yml
+++ b/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"));
--- a/wpimath/src/main/python/semiwrap/controls/ControlAffinePlantInversionFeedforward.yml
+++ b/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
--- a/wpimath/src/main/python/semiwrap/controls/DCMotor.yml
+++ b/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);
--- a/wpimath/src/main/python/semiwrap/controls/DifferentialDriveAccelerationLimiter.yml
+++ b/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:
--- a/wpimath/src/main/python/semiwrap/controls/DifferentialDriveFeedforward.yml
+++ b/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:
--- a/wpimath/src/main/python/semiwrap/controls/DifferentialDriveKinematicsConstraint.yml
+++ b/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"))
  ;
--- a/wpimath/src/main/python/semiwrap/controls/DifferentialDrivePoseEstimator.yml
+++ b/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:
--- a/wpimath/src/main/python/semiwrap/controls/DifferentialDrivePoseEstimator3d.yml
+++ b/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:
--- a/wpimath/src/main/python/semiwrap/controls/DifferentialDriveVoltageConstraint.yml
+++ b/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:
--- a/wpimath/src/main/python/semiwrap/controls/DifferentialDriveWheelVoltages.yml
+++ b/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);
--- a/wpimath/src/main/python/semiwrap/controls/ElevatorFeedforward.yml
+++ b/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);
--- a/wpimath/src/main/python/semiwrap/controls/EllipticalRegionConstraint.yml
+++ b/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
--- a/wpimath/src/main/python/semiwrap/controls/ExponentialProfile.yml
+++ b/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
--- a/wpimath/src/main/python/semiwrap/controls/ExtendedKalmanFilter.yml
+++ b/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
--- a/wpimath/src/main/python/semiwrap/controls/ImplicitModelFollower.yml
+++ b/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
--- a/wpimath/src/main/python/semiwrap/controls/KalmanFilter.yml
+++ b/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
--- a/wpimath/src/main/python/semiwrap/controls/LTVDifferentialDriveController.yml
+++ b/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&:
--- a/wpimath/src/main/python/semiwrap/controls/LTVUnicycleController.yml
+++ b/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:
--- a/wpimath/src/main/python/semiwrap/controls/LinearPlantInversionFeedforward.yml
+++ b/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
--- a/wpimath/src/main/python/semiwrap/controls/LinearQuadraticRegulator.yml
+++ b/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
--- a/wpimath/src/main/python/semiwrap/controls/LinearSystem.yml
+++ b/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
--- a/wpimath/src/main/python/semiwrap/controls/LinearSystemId.yml
+++ b/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()
      )
--- a/wpimath/src/main/python/semiwrap/controls/LinearSystemLoop.yml
+++ b/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
--- a/wpimath/src/main/python/semiwrap/controls/MaxVelocityConstraint.yml
+++ b/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"))
  ;
--- a/wpimath/src/main/python/semiwrap/controls/MecanumDriveKinematicsConstraint.yml
+++ b/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"))
  ;
--- a/wpimath/src/main/python/semiwrap/controls/MecanumDrivePoseEstimator.yml
+++ b/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>&
          :
--- a/wpimath/src/main/python/semiwrap/controls/MecanumDrivePoseEstimator3d.yml
+++ b/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>&
          :
--- a/wpimath/src/main/python/semiwrap/controls/PIDController.yml
+++ b/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:
--- a/wpimath/src/main/python/semiwrap/controls/PoseEstimator.yml
+++ b/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>
--- a/wpimath/src/main/python/semiwrap/controls/PoseEstimator3d.yml
+++ b/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>
--- a/wpimath/src/main/python/semiwrap/controls/ProfiledPIDController.yml
+++ b/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
--- a/wpimath/src/main/python/semiwrap/controls/RectangularRegionConstraint.yml
+++ b/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
--- a/wpimath/src/main/python/semiwrap/controls/SimpleMotorFeedforward.yml
+++ b/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
--- a/wpimath/src/main/python/semiwrap/controls/SimulatedAnnealing.yml
+++ b/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
--- a/wpimath/src/main/python/semiwrap/controls/SwerveDriveKinematicsConstraint.yml
+++ b/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
--- a/wpimath/src/main/python/semiwrap/controls/SwerveDrivePoseEstimator.yml
+++ b/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
--- a/wpimath/src/main/python/semiwrap/controls/SwerveDrivePoseEstimator3d.yml
+++ b/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
--- a/wpimath/src/main/python/semiwrap/controls/Trajectory.yml
+++ b/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);
--- a/wpimath/src/main/python/semiwrap/controls/TrajectoryConfig.yml
+++ b/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"
--- a/wpimath/src/main/python/semiwrap/controls/TrajectoryConstraint.yml
+++ b/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);
      })
--- a/wpimath/src/main/python/semiwrap/controls/TrajectoryGenerator.yml
+++ b/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:
--- a/wpimath/src/main/python/semiwrap/controls/TrajectoryParameterizer.yml
+++ b/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:
--- a/wpimath/src/main/python/semiwrap/controls/TrapezoidProfile.yml
+++ b/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
--- a/wpimath/src/main/python/semiwrap/controls/TravelingSalesman.yml
+++ b/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: