diff --git a/ThirdPartyNotices.txt b/ThirdPartyNotices.txt
index 896201c456..a5919bda6d 100644
--- a/ThirdPartyNotices.txt
+++ b/ThirdPartyNotices.txt
@@ -38,8 +38,7 @@ Feather Icons         wpinet/src/main/native/resources/feather-*
 jQuery                wpinet/src/main/native/resources/jquery-*
 popper.js             wpinet/src/main/native/resources/popper-*
 units                 wpimath/src/main/native/include/units/
-Eigen                 wpimath/src/main/native/eigeninclude/
-                      wpimath/src/main/native/include/unsupported/
+Eigen                 wpimath/src/main/native/thirdparty/eigen/include/
 StackWalker           wpiutil/src/main/native/windows/StackWalker.*
 TCB span              wpiutil/src/main/native/include/wpi/span.h
                       wpiutil/src/test/native/cpp/span/
@@ -50,8 +49,9 @@ Team 254 Library      wpilibj/src/main/java/edu/wpi/first/wpilibj/spline/SplineP
                       wpilibc/src/main/native/include/trajectory/TrajectoryParameterizer.h
                       wpilibc/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp
 Portable File Dialogs wpigui/src/main/native/include/portable-file-dialogs.h
-Drake                 wpimath/src/main/native/cpp/drake/common/drake_assert_and_throw.cpp
-                      wpimath/src/main/native/cpp/drake/math/discrete_algebraic_riccati_equation.cpp
+Drake                 wpimath/src/main/native/thirdparty/drake/
+                      wpimath/src/test/native/cpp/drake/
+                      wpimath/src/test/native/include/drake/
 V8 export-template    wpiutil/src/main/native/include/wpi/SymbolExports.h
 
 ==============================================================================
diff --git a/upstream_utils/update_drake.py b/upstream_utils/update_drake.py
index 34ab5bd244..089d09b332 100755
--- a/upstream_utils/update_drake.py
+++ b/upstream_utils/update_drake.py
@@ -21,7 +21,8 @@ def main():
 
     # Delete old install
     for d in [
-            "src/main/native/cpp/drake", "src/main/native/include/drake",
+            "src/main/native/thirdparty/drake/src",
+            "src/main/native/thirdparty/drake/include",
             "src/test/native/cpp/drake", "src/test/native/include/drake"
     ]:
         shutil.rmtree(os.path.join(wpimath, d), ignore_errors=True)
@@ -30,7 +31,7 @@ def main():
     src_files = walk_cwd_and_copy_if(
         lambda dp, f: f in
         ["drake_assert_and_throw.cc", "discrete_algebraic_riccati_equation.cc"],
-        os.path.join(wpimath, "src/main/native/cpp/drake"))
+        os.path.join(wpimath, "src/main/native/thirdparty/drake/src"))
 
     # Copy drake header files into allwpilib
     include_files = walk_cwd_and_copy_if(
@@ -38,7 +39,8 @@ def main():
             "drake_assert.h", "drake_assertion_error.h",
             "is_approx_equal_abstol.h", "never_destroyed.h", "drake_copyable.h",
             "drake_throw.h", "discrete_algebraic_riccati_equation.h"
-        ], os.path.join(wpimath, "src/main/native/include/drake"))
+        ],
+        os.path.join(wpimath, "src/main/native/thirdparty/drake/include/drake"))
 
     # Copy drake test source files into allwpilib
     os.chdir(os.path.join(repo, "math/test"))
@@ -54,18 +56,20 @@ def main():
 
     for f in src_files:
         comment_out_invalid_includes(
-            f, [os.path.join(wpimath, "src/main/native/include")])
+            f,
+            [os.path.join(wpimath, "src/main/native/thirdparty/drake/include")])
     for f in include_files:
         comment_out_invalid_includes(
-            f, [os.path.join(wpimath, "src/main/native/include")])
+            f,
+            [os.path.join(wpimath, "src/main/native/thirdparty/drake/include")])
     for f in test_src_files:
         comment_out_invalid_includes(f, [
-            os.path.join(wpimath, "src/main/native/include"),
+            os.path.join(wpimath, "src/main/native/thirdparty/drake/include"),
             os.path.join(wpimath, "src/test/native/include")
         ])
     for f in test_include_files:
         comment_out_invalid_includes(f, [
-            os.path.join(wpimath, "src/main/native/include"),
+            os.path.join(wpimath, "src/main/native/thirdparty/drake/include"),
             os.path.join(wpimath, "src/test/native/include")
         ])
 
diff --git a/upstream_utils/update_eigen.py b/upstream_utils/update_eigen.py
index 3b94aaeea3..8267dcb2f5 100755
--- a/upstream_utils/update_eigen.py
+++ b/upstream_utils/update_eigen.py
@@ -97,26 +97,29 @@ def main():
 
     # Delete old install
     for d in [
-            "src/main/native/eigeninclude/Eigen",
-            "src/main/native/eigeninclude/unsupported"
+            "src/main/native/thirdparty/eigen/include/Eigen",
+            "src/main/native/thirdparty/eigen/include/unsupported"
     ]:
         shutil.rmtree(os.path.join(wpimath, d), ignore_errors=True)
 
     # Copy Eigen headers into allwpilib
     eigen_files = walk_cwd_and_copy_if(
-        eigen_inclusions, os.path.join(wpimath, "src/main/native/eigeninclude"))
+        eigen_inclusions,
+        os.path.join(wpimath, "src/main/native/thirdparty/eigen/include"))
 
     # Copy unsupported headers into allwpilib
     unsupported_files = walk_cwd_and_copy_if(
         unsupported_inclusions,
-        os.path.join(wpimath, "src/main/native/eigeninclude"))
+        os.path.join(wpimath, "src/main/native/thirdparty/eigen/include"))
 
     for f in eigen_files:
         comment_out_invalid_includes(
-            f, [os.path.join(wpimath, "src/main/native/eigeninclude")])
+            f,
+            [os.path.join(wpimath, "src/main/native/thirdparty/eigen/include")])
     for f in unsupported_files:
         comment_out_invalid_includes(
-            f, [os.path.join(wpimath, "src/main/native/eigeninclude")])
+            f,
+            [os.path.join(wpimath, "src/main/native/thirdparty/eigen/include")])
 
 
 if __name__ == "__main__":
diff --git a/wpimath/.styleguide b/wpimath/.styleguide
index b9044c93ed..8c17f345d7 100644
--- a/wpimath/.styleguide
+++ b/wpimath/.styleguide
@@ -13,12 +13,10 @@ modifiableFileExclude {
 }
 
 generatedFileExclude {
-  src/main/native/cpp/drake/
-  src/main/native/eigeninclude/
-  src/main/native/include/drake/
   src/main/native/include/units/base\.h$
   src/main/native/include/units/units\.h$
   src/main/native/include/unsupported/
+  src/main/native/thirdparty/
   src/test/native/cpp/UnitsTest\.cpp$
   src/test/native/cpp/drake/
   src/test/native/include/drake/
diff --git a/wpimath/CMakeLists.txt b/wpimath/CMakeLists.txt
index 4e1cac3ea4..58fe93134c 100644
--- a/wpimath/CMakeLists.txt
+++ b/wpimath/CMakeLists.txt
@@ -89,7 +89,8 @@ if (WITH_JAVA)
 
 endif()
 
-file(GLOB_RECURSE wpimath_native_src src/main/native/cpp/*.cpp)
+file(GLOB_RECURSE wpimath_native_src src/main/native/cpp/*.cpp
+                                     src/main/native/thirdparty/drake/src/*.cpp)
 list(REMOVE_ITEM wpimath_native_src ${wpimath_jni_src})
 
 set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS FALSE)
@@ -108,9 +109,11 @@ wpilib_target_warnings(wpimath)
 target_link_libraries(wpimath wpiutil)
 
 if (NOT USE_VCPKG_EIGEN)
-    install(DIRECTORY src/main/native/eigeninclude/ DESTINATION "${include_dest}/wpimath")
+    install(DIRECTORY src/main/native/thirdparty/drake/include/ DESTINATION "${include_dest}/wpimath")
+    install(DIRECTORY src/main/native/thirdparty/eigen/include/ DESTINATION "${include_dest}/wpimath")
     target_include_directories(wpimath SYSTEM PUBLIC
-                            $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/eigeninclude>
+                            $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/drake/include>
+                            $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/eigen/include>
                             $<INSTALL_INTERFACE:${include_dest}/wpimath>)
 else()
     find_package(Eigen3 CONFIG REQUIRED)
diff --git a/wpimath/build.gradle b/wpimath/build.gradle
index c31f04c764..0b268dfcf3 100644
--- a/wpimath/build.gradle
+++ b/wpimath/build.gradle
@@ -9,12 +9,30 @@ ext {
 
     nativeName = 'wpimath'
     devMain = 'edu.wpi.first.math.DevMain'
+
+    splitSetup = {
+        it.sources {
+            drakeCpp(CppSourceSet) {
+                source {
+                    srcDirs 'src/main/native/thirdparty/drake/src'
+                    include '**/*.cpp'
+                }
+                exportedHeaders {
+                    srcDirs 'src/main/native/thirdparty/drake/include',
+                            'src/main/native/thirdparty/eigen/include'
+                }
+            }
+        }
+    }
 }
 
 apply from: "${rootDir}/shared/jni/setupBuild.gradle"
 
 cppHeadersZip {
-    from('src/main/native/eigeninclude') {
+    from('src/main/native/thirdparty/drake/include') {
+        into '/'
+    }
+    from('src/main/native/thirdparty/eigen/include') {
         into '/'
     }
 }
@@ -24,7 +42,9 @@ model {
         all {
             it.sources.each {
                 it.exportedHeaders {
-                    srcDirs 'src/main/native/include', 'src/main/native/eigeninclude'
+                    srcDirs 'src/main/native/include',
+                            'src/main/native/thirdparty/drake/include',
+                            'src/main/native/thirdparty/eigen/include'
                 }
             }
         }
diff --git a/wpimath/src/main/native/include/drake/common/drake_assert.h b/wpimath/src/main/native/thirdparty/drake/include/drake/common/drake_assert.h
similarity index 100%
rename from wpimath/src/main/native/include/drake/common/drake_assert.h
rename to wpimath/src/main/native/thirdparty/drake/include/drake/common/drake_assert.h
diff --git a/wpimath/src/main/native/include/drake/common/drake_assertion_error.h b/wpimath/src/main/native/thirdparty/drake/include/drake/common/drake_assertion_error.h
similarity index 100%
rename from wpimath/src/main/native/include/drake/common/drake_assertion_error.h
rename to wpimath/src/main/native/thirdparty/drake/include/drake/common/drake_assertion_error.h
diff --git a/wpimath/src/main/native/include/drake/common/drake_copyable.h b/wpimath/src/main/native/thirdparty/drake/include/drake/common/drake_copyable.h
similarity index 100%
rename from wpimath/src/main/native/include/drake/common/drake_copyable.h
rename to wpimath/src/main/native/thirdparty/drake/include/drake/common/drake_copyable.h
diff --git a/wpimath/src/main/native/include/drake/common/drake_throw.h b/wpimath/src/main/native/thirdparty/drake/include/drake/common/drake_throw.h
similarity index 100%
rename from wpimath/src/main/native/include/drake/common/drake_throw.h
rename to wpimath/src/main/native/thirdparty/drake/include/drake/common/drake_throw.h
diff --git a/wpimath/src/main/native/include/drake/common/is_approx_equal_abstol.h b/wpimath/src/main/native/thirdparty/drake/include/drake/common/is_approx_equal_abstol.h
similarity index 100%
rename from wpimath/src/main/native/include/drake/common/is_approx_equal_abstol.h
rename to wpimath/src/main/native/thirdparty/drake/include/drake/common/is_approx_equal_abstol.h
diff --git a/wpimath/src/main/native/include/drake/common/never_destroyed.h b/wpimath/src/main/native/thirdparty/drake/include/drake/common/never_destroyed.h
similarity index 100%
rename from wpimath/src/main/native/include/drake/common/never_destroyed.h
rename to wpimath/src/main/native/thirdparty/drake/include/drake/common/never_destroyed.h
diff --git a/wpimath/src/main/native/include/drake/math/discrete_algebraic_riccati_equation.h b/wpimath/src/main/native/thirdparty/drake/include/drake/math/discrete_algebraic_riccati_equation.h
similarity index 100%
rename from wpimath/src/main/native/include/drake/math/discrete_algebraic_riccati_equation.h
rename to wpimath/src/main/native/thirdparty/drake/include/drake/math/discrete_algebraic_riccati_equation.h
diff --git a/wpimath/src/main/native/cpp/drake/common/drake_assert_and_throw.cpp b/wpimath/src/main/native/thirdparty/drake/src/common/drake_assert_and_throw.cpp
similarity index 100%
rename from wpimath/src/main/native/cpp/drake/common/drake_assert_and_throw.cpp
rename to wpimath/src/main/native/thirdparty/drake/src/common/drake_assert_and_throw.cpp
diff --git a/wpimath/src/main/native/cpp/drake/math/discrete_algebraic_riccati_equation.cpp b/wpimath/src/main/native/thirdparty/drake/src/math/discrete_algebraic_riccati_equation.cpp
similarity index 100%
rename from wpimath/src/main/native/cpp/drake/math/discrete_algebraic_riccati_equation.cpp
rename to wpimath/src/main/native/thirdparty/drake/src/math/discrete_algebraic_riccati_equation.cpp
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/Cholesky b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/Cholesky
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/Cholesky
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/Cholesky
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/Core b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/Core
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/Core
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/Core
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/Eigenvalues b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/Eigenvalues
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/Eigenvalues
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/Eigenvalues
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/Householder b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/Householder
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/Householder
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/Householder
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/Jacobi b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/Jacobi
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/Jacobi
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/Jacobi
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/LU b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/LU
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/LU
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/LU
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/QR b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/QR
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/QR
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/QR
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/SVD b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/SVD
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/SVD
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/SVD
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/StdDeque b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/StdDeque
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/StdDeque
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/StdDeque
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/StdList b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/StdList
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/StdList
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/StdList
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/StdVector b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/StdVector
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/StdVector
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/StdVector
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Cholesky/LDLT.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Cholesky/LDLT.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Cholesky/LDLT.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Cholesky/LDLT.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Cholesky/LLT.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Cholesky/LLT.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Cholesky/LLT.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Cholesky/LLT.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/ArithmeticSequence.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/ArithmeticSequence.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/ArithmeticSequence.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/ArithmeticSequence.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/Array.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Array.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/Array.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Array.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/ArrayBase.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/ArrayBase.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/ArrayBase.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/ArrayBase.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/ArrayWrapper.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/ArrayWrapper.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/ArrayWrapper.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/ArrayWrapper.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/Assign.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Assign.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/Assign.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Assign.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/AssignEvaluator.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/AssignEvaluator.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/AssignEvaluator.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/AssignEvaluator.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/BandMatrix.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/BandMatrix.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/BandMatrix.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/BandMatrix.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/Block.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Block.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/Block.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Block.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/BooleanRedux.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/BooleanRedux.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/BooleanRedux.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/BooleanRedux.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/CommaInitializer.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/CommaInitializer.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/CommaInitializer.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/CommaInitializer.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/ConditionEstimator.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/ConditionEstimator.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/ConditionEstimator.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/ConditionEstimator.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/CoreEvaluators.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/CoreEvaluators.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/CoreEvaluators.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/CoreEvaluators.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/CoreIterators.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/CoreIterators.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/CoreIterators.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/CoreIterators.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/CwiseBinaryOp.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/CwiseBinaryOp.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/CwiseBinaryOp.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/CwiseBinaryOp.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/CwiseNullaryOp.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/CwiseNullaryOp.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/CwiseNullaryOp.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/CwiseNullaryOp.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/CwiseTernaryOp.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/CwiseTernaryOp.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/CwiseTernaryOp.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/CwiseTernaryOp.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/CwiseUnaryOp.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/CwiseUnaryOp.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/CwiseUnaryOp.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/CwiseUnaryOp.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/CwiseUnaryView.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/CwiseUnaryView.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/CwiseUnaryView.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/CwiseUnaryView.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/DenseBase.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/DenseBase.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/DenseBase.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/DenseBase.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/DenseCoeffsBase.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/DenseCoeffsBase.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/DenseCoeffsBase.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/DenseCoeffsBase.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/DenseStorage.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/DenseStorage.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/DenseStorage.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/DenseStorage.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/Diagonal.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Diagonal.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/Diagonal.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Diagonal.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/DiagonalMatrix.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/DiagonalMatrix.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/DiagonalMatrix.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/DiagonalMatrix.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/DiagonalProduct.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/DiagonalProduct.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/DiagonalProduct.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/DiagonalProduct.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/Dot.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Dot.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/Dot.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Dot.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/EigenBase.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/EigenBase.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/EigenBase.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/EigenBase.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/ForceAlignedAccess.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/ForceAlignedAccess.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/ForceAlignedAccess.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/ForceAlignedAccess.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/Fuzzy.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Fuzzy.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/Fuzzy.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Fuzzy.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/GeneralProduct.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/GeneralProduct.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/GeneralProduct.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/GeneralProduct.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/GenericPacketMath.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/GenericPacketMath.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/GenericPacketMath.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/GenericPacketMath.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/GlobalFunctions.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/GlobalFunctions.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/GlobalFunctions.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/GlobalFunctions.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/IO.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/IO.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/IO.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/IO.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/IndexedView.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/IndexedView.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/IndexedView.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/IndexedView.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/Inverse.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Inverse.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/Inverse.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Inverse.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/Map.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Map.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/Map.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Map.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/MapBase.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/MapBase.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/MapBase.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/MapBase.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/MathFunctions.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/MathFunctions.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/MathFunctions.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/MathFunctions.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/MathFunctionsImpl.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/MathFunctionsImpl.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/MathFunctionsImpl.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/MathFunctionsImpl.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/Matrix.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Matrix.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/Matrix.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Matrix.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/MatrixBase.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/MatrixBase.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/MatrixBase.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/MatrixBase.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/NestByValue.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/NestByValue.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/NestByValue.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/NestByValue.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/NoAlias.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/NoAlias.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/NoAlias.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/NoAlias.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/NumTraits.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/NumTraits.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/NumTraits.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/NumTraits.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/PartialReduxEvaluator.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/PartialReduxEvaluator.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/PartialReduxEvaluator.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/PartialReduxEvaluator.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/PermutationMatrix.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/PermutationMatrix.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/PermutationMatrix.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/PermutationMatrix.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/PlainObjectBase.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/PlainObjectBase.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/PlainObjectBase.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/PlainObjectBase.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/Product.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Product.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/Product.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Product.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/ProductEvaluators.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/ProductEvaluators.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/ProductEvaluators.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/ProductEvaluators.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/Random.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Random.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/Random.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Random.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/Redux.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Redux.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/Redux.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Redux.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/Ref.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Ref.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/Ref.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Ref.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/Replicate.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Replicate.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/Replicate.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/Reshaped.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Reshaped.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/Reshaped.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Reshaped.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/ReturnByValue.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/ReturnByValue.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/ReturnByValue.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/ReturnByValue.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/Reverse.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Reverse.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/Reverse.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Reverse.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/Select.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Select.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/Select.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Select.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/SelfAdjointView.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/SelfAdjointView.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/SelfAdjointView.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/SelfAdjointView.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/SelfCwiseBinaryOp.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/SelfCwiseBinaryOp.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/SelfCwiseBinaryOp.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/SelfCwiseBinaryOp.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/Solve.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Solve.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/Solve.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Solve.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/SolveTriangular.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/SolveTriangular.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/SolveTriangular.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/SolveTriangular.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/SolverBase.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/SolverBase.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/SolverBase.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/SolverBase.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/StableNorm.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/StableNorm.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/StableNorm.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/StableNorm.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/StlIterators.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/StlIterators.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/StlIterators.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/StlIterators.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/Stride.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Stride.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/Stride.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Stride.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/Swap.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Swap.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/Swap.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/Transpose.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Transpose.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/Transpose.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/Transpositions.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Transpositions.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/Transpositions.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/TriangularMatrix.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/TriangularMatrix.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/TriangularMatrix.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/VectorBlock.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/VectorBlock.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/VectorBlock.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/VectorwiseOp.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/VectorwiseOp.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/VectorwiseOp.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/Visitor.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/Visitor.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/Visitor.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/arch/AVX/Complex.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/arch/AVX/Complex.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/arch/AVX/Complex.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/arch/AVX/Complex.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/arch/AVX/MathFunctions.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/arch/AVX/MathFunctions.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/arch/AVX/MathFunctions.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/arch/AVX/MathFunctions.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/arch/AVX/PacketMath.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/arch/AVX/PacketMath.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/arch/AVX/TypeCasting.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/arch/AVX/TypeCasting.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/arch/Default/BFloat16.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/arch/Default/BFloat16.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/arch/Default/ConjHelper.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/arch/Default/ConjHelper.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/arch/Default/GenericPacketMathFunctions.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/arch/Default/GenericPacketMathFunctions.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/arch/Default/GenericPacketMathFunctionsFwd.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/arch/Default/GenericPacketMathFunctionsFwd.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/arch/Default/Half.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/arch/Default/Half.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/arch/Default/Settings.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/arch/Default/Settings.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/arch/Default/TypeCasting.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/arch/Default/TypeCasting.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/arch/NEON/Complex.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/arch/NEON/Complex.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/arch/NEON/GeneralBlockPanelKernel.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/arch/NEON/GeneralBlockPanelKernel.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/arch/NEON/MathFunctions.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/arch/NEON/MathFunctions.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/arch/NEON/PacketMath.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/arch/NEON/PacketMath.h
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rename from wpimath/src/main/native/eigeninclude/Eigen/src/Core/arch/NEON/PacketMath.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/arch/NEON/TypeCasting.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/arch/NEON/TypeCasting.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/arch/SSE/Complex.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/arch/SSE/Complex.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/arch/SSE/MathFunctions.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/arch/SSE/MathFunctions.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/arch/SSE/PacketMath.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/arch/SSE/PacketMath.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/arch/SSE/TypeCasting.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/arch/SSE/TypeCasting.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/functors/AssignmentFunctors.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/functors/AssignmentFunctors.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/functors/BinaryFunctors.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/functors/BinaryFunctors.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/functors/NullaryFunctors.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/functors/NullaryFunctors.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/functors/StlFunctors.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/functors/StlFunctors.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/functors/TernaryFunctors.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/functors/TernaryFunctors.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/functors/UnaryFunctors.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/functors/UnaryFunctors.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/products/GeneralBlockPanelKernel.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/products/GeneralMatrixMatrix.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/products/GeneralMatrixMatrix.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/products/GeneralMatrixVector.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/products/GeneralMatrixVector.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/products/Parallelizer.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/products/Parallelizer.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/products/SelfadjointMatrixMatrix.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/products/SelfadjointMatrixMatrix.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/products/SelfadjointMatrixVector.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/products/SelfadjointMatrixVector.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/products/SelfadjointProduct.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/products/SelfadjointProduct.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/products/SelfadjointRank2Update.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/products/SelfadjointRank2Update.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/products/TriangularMatrixMatrix.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/products/TriangularMatrixVector.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/products/TriangularMatrixVector.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/products/TriangularSolverMatrix.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/products/TriangularSolverMatrix.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/products/TriangularSolverVector.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/products/TriangularSolverVector.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/util/BlasUtil.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/util/BlasUtil.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/util/ConfigureVectorization.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/util/ConfigureVectorization.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/util/Constants.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/util/Constants.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/util/DisableStupidWarnings.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/util/DisableStupidWarnings.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/util/ForwardDeclarations.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/util/ForwardDeclarations.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/util/IndexedViewHelper.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/util/IndexedViewHelper.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/util/IntegralConstant.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/util/IntegralConstant.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/util/Macros.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/util/Macros.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/util/Memory.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/util/Memory.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/util/Meta.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/util/Meta.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/util/ReenableStupidWarnings.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/util/ReenableStupidWarnings.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/util/ReshapedHelper.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/util/ReshapedHelper.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/util/StaticAssert.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/util/StaticAssert.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/util/SymbolicIndex.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/util/SymbolicIndex.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/util/XprHelper.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Core/util/XprHelper.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Eigenvalues/ComplexEigenSolver.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Eigenvalues/ComplexEigenSolver.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Eigenvalues/ComplexSchur.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Eigenvalues/ComplexSchur.h
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rename from wpimath/src/main/native/eigeninclude/Eigen/src/Eigenvalues/ComplexSchur.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Eigenvalues/ComplexSchur.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Eigenvalues/EigenSolver.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Eigenvalues/EigenSolver.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Eigenvalues/EigenSolver.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Eigenvalues/GeneralizedEigenSolver.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Eigenvalues/GeneralizedEigenSolver.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Eigenvalues/GeneralizedEigenSolver.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Eigenvalues/HessenbergDecomposition.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Eigenvalues/HessenbergDecomposition.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Eigenvalues/HessenbergDecomposition.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Eigenvalues/MatrixBaseEigenvalues.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Eigenvalues/MatrixBaseEigenvalues.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Eigenvalues/MatrixBaseEigenvalues.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Eigenvalues/RealQZ.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Eigenvalues/RealQZ.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Eigenvalues/RealQZ.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Eigenvalues/RealQZ.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Eigenvalues/RealSchur.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Eigenvalues/RealSchur.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Eigenvalues/RealSchur.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Eigenvalues/RealSchur.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h
rename to wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h
diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Eigenvalues/Tridiagonalization.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Eigenvalues/Tridiagonalization.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Eigenvalues/Tridiagonalization.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Householder/BlockHouseholder.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Householder/BlockHouseholder.h
similarity index 100%
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Householder/Householder.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Householder/Householder.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Householder/Householder.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Householder/HouseholderSequence.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Householder/HouseholderSequence.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Householder/HouseholderSequence.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Jacobi/Jacobi.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/Jacobi/Jacobi.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/Jacobi/Jacobi.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/LU/Determinant.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/LU/Determinant.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/LU/Determinant.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/LU/FullPivLU.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/LU/FullPivLU.h
similarity index 100%
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/LU/InverseImpl.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/LU/InverseImpl.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/LU/InverseImpl.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/LU/PartialPivLU.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/LU/PartialPivLU.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/LU/PartialPivLU.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/LU/arch/InverseSize4.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/LU/arch/InverseSize4.h
similarity index 100%
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/QR/ColPivHouseholderQR.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/QR/ColPivHouseholderQR.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/QR/ColPivHouseholderQR.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/QR/CompleteOrthogonalDecomposition.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/QR/CompleteOrthogonalDecomposition.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/QR/CompleteOrthogonalDecomposition.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/QR/FullPivHouseholderQR.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/QR/FullPivHouseholderQR.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/QR/FullPivHouseholderQR.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/QR/HouseholderQR.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/QR/HouseholderQR.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/QR/HouseholderQR.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/SVD/BDCSVD.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/SVD/BDCSVD.h
similarity index 100%
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/SVD/JacobiSVD.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/SVD/JacobiSVD.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/SVD/JacobiSVD.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/SVD/SVDBase.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/SVD/SVDBase.h
similarity index 100%
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/SVD/UpperBidiagonalization.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/SVD/UpperBidiagonalization.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/SVD/UpperBidiagonalization.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/StlSupport/StdDeque.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/StlSupport/StdDeque.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/StlSupport/StdDeque.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/StlSupport/StdList.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/StlSupport/StdList.h
similarity index 100%
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/StlSupport/StdVector.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/StlSupport/StdVector.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/StlSupport/details.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/StlSupport/details.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/misc/Image.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/misc/Image.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/misc/Kernel.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/misc/Kernel.h
similarity index 100%
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/misc/RealSvd2x2.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/misc/RealSvd2x2.h
similarity index 100%
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/plugins/ArrayCwiseBinaryOps.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/plugins/ArrayCwiseBinaryOps.h
similarity index 100%
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/plugins/ArrayCwiseUnaryOps.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/plugins/ArrayCwiseUnaryOps.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/plugins/ArrayCwiseUnaryOps.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/plugins/BlockMethods.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/plugins/BlockMethods.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/plugins/BlockMethods.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/plugins/CommonCwiseBinaryOps.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/plugins/CommonCwiseBinaryOps.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/plugins/CommonCwiseBinaryOps.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/plugins/CommonCwiseUnaryOps.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/plugins/CommonCwiseUnaryOps.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/plugins/CommonCwiseUnaryOps.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/plugins/IndexedViewMethods.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/plugins/IndexedViewMethods.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/plugins/IndexedViewMethods.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/plugins/MatrixCwiseBinaryOps.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/plugins/MatrixCwiseBinaryOps.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/plugins/MatrixCwiseBinaryOps.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/plugins/MatrixCwiseUnaryOps.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/plugins/MatrixCwiseUnaryOps.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/plugins/MatrixCwiseUnaryOps.h
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diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/plugins/ReshapedMethods.h b/wpimath/src/main/native/thirdparty/eigen/include/Eigen/src/plugins/ReshapedMethods.h
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/Eigen/src/plugins/ReshapedMethods.h
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diff --git a/wpimath/src/main/native/eigeninclude/unsupported/Eigen/MatrixFunctions b/wpimath/src/main/native/thirdparty/eigen/include/unsupported/Eigen/MatrixFunctions
similarity index 100%
rename from wpimath/src/main/native/eigeninclude/unsupported/Eigen/MatrixFunctions
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diff --git a/wpimath/src/main/native/eigeninclude/unsupported/Eigen/src/MatrixFunctions/MatrixExponential.h b/wpimath/src/main/native/thirdparty/eigen/include/unsupported/Eigen/src/MatrixFunctions/MatrixExponential.h
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rename from wpimath/src/main/native/eigeninclude/unsupported/Eigen/src/MatrixFunctions/MatrixExponential.h
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diff --git a/wpimath/src/main/native/eigeninclude/unsupported/Eigen/src/MatrixFunctions/MatrixFunction.h b/wpimath/src/main/native/thirdparty/eigen/include/unsupported/Eigen/src/MatrixFunctions/MatrixFunction.h
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diff --git a/wpimath/src/main/native/eigeninclude/unsupported/Eigen/src/MatrixFunctions/MatrixLogarithm.h b/wpimath/src/main/native/thirdparty/eigen/include/unsupported/Eigen/src/MatrixFunctions/MatrixLogarithm.h
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diff --git a/wpimath/src/main/native/eigeninclude/unsupported/Eigen/src/MatrixFunctions/MatrixPower.h b/wpimath/src/main/native/thirdparty/eigen/include/unsupported/Eigen/src/MatrixFunctions/MatrixPower.h
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rename from wpimath/src/main/native/eigeninclude/unsupported/Eigen/src/MatrixFunctions/MatrixPower.h
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diff --git a/wpimath/src/main/native/eigeninclude/unsupported/Eigen/src/MatrixFunctions/MatrixSquareRoot.h b/wpimath/src/main/native/thirdparty/eigen/include/unsupported/Eigen/src/MatrixFunctions/MatrixSquareRoot.h
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diff --git a/wpimath/src/main/native/eigeninclude/unsupported/Eigen/src/MatrixFunctions/StemFunction.h b/wpimath/src/main/native/thirdparty/eigen/include/unsupported/Eigen/src/MatrixFunctions/StemFunction.h
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rename from wpimath/src/main/native/eigeninclude/unsupported/Eigen/src/MatrixFunctions/StemFunction.h
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