diff --git a/wpimath/src/main/native/include/frc/fmt/Eigen.h b/wpimath/src/main/native/include/frc/fmt/Eigen.h
index c6b2ee6afe..0c915abb57 100644
--- a/wpimath/src/main/native/include/frc/fmt/Eigen.h
+++ b/wpimath/src/main/native/include/frc/fmt/Eigen.h
@@ -4,120 +4,45 @@
 
 #pragma once
 
+#include <type_traits>
+
 #include <fmt/format.h>
 
 #include "Eigen/Core"
 #include "Eigen/SparseCore"
 
 /**
- * Formatter for Eigen::Matrix<double, Rows, Cols>.
- *
- * @tparam Rows Number of rows.
- * @tparam Cols Number of columns.
- * @tparam Args Defaulted template arguments to Eigen::Matrix<>.
+ * Formatter for classes derived from Eigen::MatrixBase<Derived> or
+ * Eigen::SparseCompressedBase<Derived>.
  */
-template <int Rows, int Cols, int... Args>
-struct fmt::formatter<Eigen::Matrix<double, Rows, Cols, Args...>> {
-  /**
-   * Storage for format specifier.
-   */
-  char presentation = 'f';
-
-  /**
-   * Format string parser.
-   *
-   * @param ctx Format string context.
-   */
+template <typename Derived, typename CharT>
+struct fmt::formatter<
+    Derived, CharT,
+    std::enable_if_t<
+        std::is_base_of_v<Eigen::MatrixBase<Derived>, Derived> ||
+            std::is_base_of_v<Eigen::SparseCompressedBase<Derived>, Derived>,
+        void>> {
   constexpr auto parse(fmt::format_parse_context& ctx) {
-    auto it = ctx.begin(), end = ctx.end();
-    if (it != end && (*it == 'f' || *it == 'e')) {
-      presentation = *it++;
-    }
-
-    if (it != end && *it != '}') {
-      throw fmt::format_error("invalid format");
-    }
-
-    return it;
+    return m_underlying.parse(ctx);
   }
 
-  /**
-   * Writes out a formatted matrix.
-   *
-   * @tparam FormatContext Format string context type.
-   * @param mat Matrix to format.
-   * @param ctx Format string context.
-   */
-  template <typename FormatContext>
-  auto format(const Eigen::Matrix<double, Rows, Cols, Args...>& mat,
-              FormatContext& ctx) {
+  auto format(const Derived& mat, fmt::format_context& ctx) const {
     auto out = ctx.out();
-    for (int i = 0; i < mat.rows(); ++i) {
-      for (int j = 0; j < mat.cols(); ++j) {
-        out = fmt::format_to(out, "  {:f}", mat(i, j));
+
+    for (int row = 0; row < mat.rows(); ++row) {
+      for (int col = 0; col < mat.cols(); ++col) {
+        out = fmt::format_to(out, "  ");
+        out = m_underlying.format(mat.coeff(row, col), ctx);
       }
 
-      if (i < mat.rows() - 1) {
-        out = fmt::format_to(out, "\n");
-      }
-    }
-
-    return out;
-  }
-};
-
-/**
- * Formatter for Eigen::SparseMatrix<double>.
- *
- * @tparam Options Union of bit flags controlling the storage scheme.
- * @tparam StorageIndex The type of the indices.
- */
-template <int Options, typename StorageIndex>
-struct fmt::formatter<Eigen::SparseMatrix<double, Options, StorageIndex>> {
-  /**
-   * Storage for format specifier.
-   */
-  char presentation = 'f';
-
-  /**
-   * Format string parser.
-   *
-   * @param ctx Format string context.
-   */
-  constexpr auto parse(fmt::format_parse_context& ctx) {
-    auto it = ctx.begin(), end = ctx.end();
-    if (it != end && (*it == 'f' || *it == 'e')) {
-      presentation = *it++;
-    }
-
-    if (it != end && *it != '}') {
-      throw fmt::format_error("invalid format");
-    }
-
-    return it;
-  }
-
-  /**
-   * Writes out a formatted matrix.
-   *
-   * @tparam FormatContext Format string context type.
-   * @param mat Matrix to format.
-   * @param ctx Format string context.
-   */
-  template <typename FormatContext>
-  auto format(const Eigen::SparseMatrix<double, Options, StorageIndex>& mat,
-              FormatContext& ctx) {
-    auto out = ctx.out();
-    for (int i = 0; i < mat.rows(); ++i) {
-      for (int j = 0; j < mat.cols(); ++j) {
-        out = fmt::format_to(out, "  {:f}", mat.coeff(i, j));
-      }
-
-      if (i < mat.rows() - 1) {
+      if (row < mat.rows() - 1) {
         out = fmt::format_to(out, "\n");
       }
     }
 
     return out;
   }
+
+ private:
+  fmt::formatter<typename Derived::Scalar, CharT> m_underlying;
 };
diff --git a/wpimath/src/test/native/cpp/FormatterTest.cpp b/wpimath/src/test/native/cpp/FormatterTest.cpp
index 0d8cbeff81..8961811130 100644
--- a/wpimath/src/test/native/cpp/FormatterTest.cpp
+++ b/wpimath/src/test/native/cpp/FormatterTest.cpp
@@ -16,14 +16,14 @@ TEST(FormatterTest, Eigen) {
       "  0.000000  1.000000\n"
       "  2.000000  3.000000\n"
       "  4.000000  5.000000",
-      fmt::format("{}", A));
+      fmt::format("{:f}", A));
 
   Eigen::MatrixXd B{{0.0, 1.0}, {2.0, 3.0}, {4.0, 5.0}};
   EXPECT_EQ(
       "  0.000000  1.000000\n"
       "  2.000000  3.000000\n"
       "  4.000000  5.000000",
-      fmt::format("{}", B));
+      fmt::format("{:f}", B));
 
   Eigen::SparseMatrix<double> C{3, 2};
   std::vector<Eigen::Triplet<double>> triplets;
@@ -37,7 +37,7 @@ TEST(FormatterTest, Eigen) {
       "  0.000000  1.000000\n"
       "  2.000000  3.000000\n"
       "  4.000000  5.000000",
-      fmt::format("{}", C));
+      fmt::format("{:f}", C));
 }
 
 TEST(FormatterTest, Units) {