[wpiutil] Split units.h into separate headers for each unit (#2551)

Closes #2508. Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com>
2026-06-25 01:41:43 +00:00 · 2020-06-29 22:25:09 -07:00
parent c6e6346642
commit d30d1088da
169 changed files with 6851 additions and 5061 deletions
--- a/wpilibc/src/main/native/include/frc/AddressableLED.h
+++ b/wpilibc/src/main/native/include/frc/AddressableLED.h
@@ -11,7 +11,7 @@

 #include <hal/AddressableLEDTypes.h>
 #include <hal/Types.h>
-#include <units/units.h>
+#include <units/time.h>
 #include <wpi/ArrayRef.h>

 #include "frc/ErrorBase.h"
--- a/wpilibc/src/main/native/include/frc/AnalogEncoder.h
+++ b/wpilibc/src/main/native/include/frc/AnalogEncoder.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -11,7 +11,7 @@

 #include <hal/SimDevice.h>
 #include <hal/Types.h>
-#include <units/units.h>
+#include <units/angle.h>

 #include "frc/AnalogTrigger.h"
 #include "frc/Counter.h"
--- a/wpilibc/src/main/native/include/frc/DMASample.h
+++ b/wpilibc/src/main/native/include/frc/DMASample.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -11,7 +11,7 @@

 #include <hal/AnalogInput.h>
 #include <hal/DMA.h>
-#include <units/units.h>
+#include <units/time.h>

 #include "frc/AnalogInput.h"
 #include "frc/Counter.h"
--- a/wpilibc/src/main/native/include/frc/DutyCycleEncoder.h
+++ b/wpilibc/src/main/native/include/frc/DutyCycleEncoder.h
@@ -11,7 +11,7 @@

 #include <hal/SimDevice.h>
 #include <hal/Types.h>
-#include <units/units.h>
+#include <units/angle.h>

 #include "frc/AnalogTrigger.h"
 #include "frc/Counter.h"
--- a/wpilibc/src/main/native/include/frc/IterativeRobotBase.h
+++ b/wpilibc/src/main/native/include/frc/IterativeRobotBase.h
@@ -7,7 +7,7 @@

 #pragma once

-#include <units/units.h>
+#include <units/time.h>
 #include <wpi/deprecated.h>

 #include "frc/RobotBase.h"
--- a/wpilibc/src/main/native/include/frc/LinearFilter.h
+++ b/wpilibc/src/main/native/include/frc/LinearFilter.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2015-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -13,7 +13,7 @@
 #include <vector>

 #include <hal/FRCUsageReporting.h>
-#include <units/units.h>
+#include <units/time.h>
 #include <wpi/ArrayRef.h>
 #include <wpi/circular_buffer.h>

--- a/wpilibc/src/main/native/include/frc/Notifier.h
+++ b/wpilibc/src/main/native/include/frc/Notifier.h
@@ -16,7 +16,7 @@
 #include <utility>

 #include <hal/Types.h>
-#include <units/units.h>
+#include <units/time.h>
 #include <wpi/Twine.h>
 #include <wpi/deprecated.h>
 #include <wpi/mutex.h>
--- a/wpilibc/src/main/native/include/frc/SPI.h
+++ b/wpilibc/src/main/native/include/frc/SPI.h
@@ -12,7 +12,7 @@
 #include <memory>

 #include <hal/SPITypes.h>
-#include <units/units.h>
+#include <units/time.h>
 #include <wpi/ArrayRef.h>
 #include <wpi/deprecated.h>

--- a/wpilibc/src/main/native/include/frc/SlewRateLimiter.h
+++ b/wpilibc/src/main/native/include/frc/SlewRateLimiter.h
@@ -11,7 +11,7 @@

 #include <algorithm>

-#include <units/units.h>
+#include <units/time.h>

 namespace frc {
 /**
--- a/wpilibc/src/main/native/include/frc/SpeedController.h
+++ b/wpilibc/src/main/native/include/frc/SpeedController.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2008-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2008-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -7,7 +7,7 @@

 #pragma once

-#include <units/units.h>
+#include <units/voltage.h>

 #include "frc/PIDOutput.h"

--- a/wpilibc/src/main/native/include/frc/TimedRobot.h
+++ b/wpilibc/src/main/native/include/frc/TimedRobot.h
@@ -8,7 +8,7 @@
 #pragma once

 #include <hal/Types.h>
-#include <units/units.h>
+#include <units/time.h>
 #include <wpi/deprecated.h>

 #include "frc/ErrorBase.h"
--- a/wpilibc/src/main/native/include/frc/Timer.h
+++ b/wpilibc/src/main/native/include/frc/Timer.h
@@ -7,7 +7,7 @@

 #pragma once

-#include <units/units.h>
+#include <units/time.h>
 #include <wpi/deprecated.h>
 #include <wpi/mutex.h>

--- a/wpilibc/src/main/native/include/frc/Tracer.h
+++ b/wpilibc/src/main/native/include/frc/Tracer.h
@@ -10,7 +10,6 @@
 #include <chrono>

 #include <hal/cpp/fpga_clock.h>
-#include <units/units.h>
 #include <wpi/StringMap.h>
 #include <wpi/StringRef.h>

--- a/wpilibc/src/main/native/include/frc/Watchdog.h
+++ b/wpilibc/src/main/native/include/frc/Watchdog.h
@@ -12,7 +12,7 @@
 #include <utility>

 #include <hal/cpp/fpga_clock.h>
-#include <units/units.h>
+#include <units/time.h>
 #include <wpi/SafeThread.h>
 #include <wpi/StringRef.h>
 #include <wpi/deprecated.h>
--- a/wpilibc/src/main/native/include/frc/controller/ArmFeedforward.h
+++ b/wpilibc/src/main/native/include/frc/controller/ArmFeedforward.h
@@ -7,7 +7,10 @@

 #pragma once

-#include <units/units.h>
+#include <units/angle.h>
+#include <units/angular_velocity.h>
+#include <units/math.h>
+#include <units/voltage.h>
 #include <wpi/MathExtras.h>

 namespace frc {
--- a/wpilibc/src/main/native/include/frc/controller/ControllerUtil.h
+++ b/wpilibc/src/main/native/include/frc/controller/ControllerUtil.h
@@ -10,7 +10,7 @@
 #include <cmath>
 #include <type_traits>

-#include <units/units.h>
+#include <units/math.h>

 namespace frc {

--- a/wpilibc/src/main/native/include/frc/controller/ElevatorFeedforward.h
+++ b/wpilibc/src/main/native/include/frc/controller/ElevatorFeedforward.h
@@ -7,7 +7,7 @@

 #pragma once

-#include <units/units.h>
+#include <units/voltage.h>
 #include <wpi/MathExtras.h>

 namespace frc {
--- a/wpilibc/src/main/native/include/frc/controller/PIDController.h
+++ b/wpilibc/src/main/native/include/frc/controller/PIDController.h
@@ -10,7 +10,7 @@
 #include <functional>
 #include <limits>

-#include <units/units.h>
+#include <units/time.h>

 #include "frc/smartdashboard/Sendable.h"
 #include "frc/smartdashboard/SendableHelper.h"
--- a/wpilibc/src/main/native/include/frc/controller/ProfiledPIDController.h
+++ b/wpilibc/src/main/native/include/frc/controller/ProfiledPIDController.h
@@ -12,7 +12,7 @@
 #include <functional>
 #include <limits>

-#include <units/units.h>
+#include <units/time.h>

 #include "frc/controller/ControllerUtil.h"
 #include "frc/controller/PIDController.h"
--- a/wpilibc/src/main/native/include/frc/controller/RamseteController.h
+++ b/wpilibc/src/main/native/include/frc/controller/RamseteController.h
@@ -7,7 +7,8 @@

 #pragma once

-#include <units/units.h>
+#include <units/angular_velocity.h>
+#include <units/velocity.h>

 #include "frc/geometry/Pose2d.h"
 #include "frc/kinematics/ChassisSpeeds.h"
--- a/wpilibc/src/main/native/include/frc/controller/SimpleMotorFeedforward.h
+++ b/wpilibc/src/main/native/include/frc/controller/SimpleMotorFeedforward.h
@@ -7,7 +7,8 @@

 #pragma once

-#include <units/units.h>
+#include <units/time.h>
+#include <units/voltage.h>
 #include <wpi/MathExtras.h>

 namespace frc {
--- a/wpilibc/src/main/native/include/frc/geometry/Rotation2d.h
+++ b/wpilibc/src/main/native/include/frc/geometry/Rotation2d.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -7,7 +7,7 @@

 #pragma once

-#include <units/units.h>
+#include <units/angle.h>

 namespace wpi {
 class json;
--- a/wpilibc/src/main/native/include/frc/geometry/Translation2d.h
+++ b/wpilibc/src/main/native/include/frc/geometry/Translation2d.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -7,7 +7,7 @@

 #pragma once

-#include <units/units.h>
+#include <units/length.h>

 #include "Rotation2d.h"

--- a/wpilibc/src/main/native/include/frc/geometry/Twist2d.h
+++ b/wpilibc/src/main/native/include/frc/geometry/Twist2d.h
@@ -1,12 +1,15 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/

 #pragma once
-#include <units/units.h>
+
+#include <units/angle.h>
+#include <units/length.h>
+#include <units/math.h>

 namespace frc {
 /**
--- a/wpilibc/src/main/native/include/frc/interfaces/Gyro.h
+++ b/wpilibc/src/main/native/include/frc/interfaces/Gyro.h
@@ -7,7 +7,7 @@

 #pragma once

-#include <units/units.h>
+#include <units/angle.h>

 #include "frc/geometry/Rotation2d.h"

--- a/wpilibc/src/main/native/include/frc/kinematics/ChassisSpeeds.h
+++ b/wpilibc/src/main/native/include/frc/kinematics/ChassisSpeeds.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -7,7 +7,8 @@

 #pragma once

-#include <units/units.h>
+#include <units/angular_velocity.h>
+#include <units/velocity.h>

 #include "frc/geometry/Rotation2d.h"

--- a/wpilibc/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h
+++ b/wpilibc/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -8,7 +8,8 @@
 #pragma once

 #include <hal/FRCUsageReporting.h>
-#include <units/units.h>
+#include <units/angle.h>
+#include <units/length.h>

 #include "frc/kinematics/ChassisSpeeds.h"
 #include "frc/kinematics/DifferentialDriveWheelSpeeds.h"
--- a/wpilibc/src/main/native/include/frc/kinematics/DifferentialDriveOdometry.h
+++ b/wpilibc/src/main/native/include/frc/kinematics/DifferentialDriveOdometry.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -7,7 +7,7 @@

 #pragma once

-#include <units/units.h>
+#include <units/length.h>

 #include "DifferentialDriveKinematics.h"
 #include "frc/geometry/Pose2d.h"
--- a/wpilibc/src/main/native/include/frc/kinematics/DifferentialDriveWheelSpeeds.h
+++ b/wpilibc/src/main/native/include/frc/kinematics/DifferentialDriveWheelSpeeds.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -7,7 +7,7 @@

 #pragma once

-#include <units/units.h>
+#include <units/velocity.h>

 namespace frc {
 /**
--- a/wpilibc/src/main/native/include/frc/kinematics/MecanumDriveOdometry.h
+++ b/wpilibc/src/main/native/include/frc/kinematics/MecanumDriveOdometry.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -7,7 +7,7 @@

 #pragma once

-#include <units/units.h>
+#include <units/time.h>

 #include "frc/geometry/Pose2d.h"
 #include "frc/kinematics/MecanumDriveKinematics.h"
--- a/wpilibc/src/main/native/include/frc/kinematics/MecanumDriveWheelSpeeds.h
+++ b/wpilibc/src/main/native/include/frc/kinematics/MecanumDriveWheelSpeeds.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -7,7 +7,7 @@

 #pragma once

-#include <units/units.h>
+#include <units/velocity.h>

 namespace frc {
 /**
--- a/wpilibc/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h
+++ b/wpilibc/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h
@@ -13,7 +13,7 @@
 #include <Eigen/Core>
 #include <Eigen/QR>
 #include <hal/FRCUsageReporting.h>
-#include <units/units.h>
+#include <units/velocity.h>

 #include "frc/geometry/Rotation2d.h"
 #include "frc/geometry/Translation2d.h"
--- a/wpilibc/src/main/native/include/frc/kinematics/SwerveDriveKinematics.inc
+++ b/wpilibc/src/main/native/include/frc/kinematics/SwerveDriveKinematics.inc
@@ -9,6 +9,8 @@

 #include <algorithm>

+#include <units/math.h>
+
 namespace frc {

 template <class... Wheels>
--- a/wpilibc/src/main/native/include/frc/kinematics/SwerveDriveOdometry.h
+++ b/wpilibc/src/main/native/include/frc/kinematics/SwerveDriveOdometry.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -11,7 +11,7 @@
 #include <cstddef>
 #include <ctime>

-#include <units/units.h>
+#include <units/time.h>

 #include "SwerveDriveKinematics.h"
 #include "SwerveModuleState.h"
--- a/wpilibc/src/main/native/include/frc/kinematics/SwerveModuleState.h
+++ b/wpilibc/src/main/native/include/frc/kinematics/SwerveModuleState.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -7,7 +7,7 @@

 #pragma once

-#include <units/units.h>
+#include <units/velocity.h>

 #include "frc/geometry/Rotation2d.h"

--- a/wpilibc/src/main/native/include/frc/simulation/Field2d.h
+++ b/wpilibc/src/main/native/include/frc/simulation/Field2d.h
@@ -8,7 +8,7 @@
 #pragma once

 #include <hal/SimDevice.h>
-#include <units/units.h>
+#include <units/length.h>

 #include "frc/geometry/Pose2d.h"
 #include "frc/geometry/Rotation2d.h"
--- a/wpilibc/src/main/native/include/frc/spline/Spline.h
+++ b/wpilibc/src/main/native/include/frc/spline/Spline.h
@@ -12,7 +12,8 @@
 #include <vector>

 #include <Eigen/Core>
-#include <units/units.h>
+#include <units/curvature.h>
+#include <units/length.h>

 #include "frc/geometry/Pose2d.h"

--- a/wpilibc/src/main/native/include/frc/spline/SplineParameterizer.h
+++ b/wpilibc/src/main/native/include/frc/spline/SplineParameterizer.h
@@ -38,7 +38,10 @@
 #include <utility>
 #include <vector>

-#include <units/units.h>
+#include <units/angle.h>
+#include <units/curvature.h>
+#include <units/length.h>
+#include <units/math.h>
 #include <wpi/Twine.h>

 namespace frc {
--- a/wpilibc/src/main/native/include/frc/trajectory/Trajectory.h
+++ b/wpilibc/src/main/native/include/frc/trajectory/Trajectory.h
@@ -9,7 +9,10 @@

 #include <vector>

-#include <units/units.h>
+#include <units/acceleration.h>
+#include <units/curvature.h>
+#include <units/time.h>
+#include <units/velocity.h>

 #include "frc/geometry/Pose2d.h"
 #include "frc/geometry/Transform2d.h"
--- a/wpilibc/src/main/native/include/frc/trajectory/TrajectoryConfig.h
+++ b/wpilibc/src/main/native/include/frc/trajectory/TrajectoryConfig.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -11,7 +11,8 @@
 #include <utility>
 #include <vector>

-#include <units/units.h>
+#include <units/acceleration.h>
+#include <units/velocity.h>

 #include "frc/kinematics/DifferentialDriveKinematics.h"
 #include "frc/kinematics/MecanumDriveKinematics.h"
--- a/wpilibc/src/main/native/include/frc/trajectory/TrapezoidProfile.h
+++ b/wpilibc/src/main/native/include/frc/trajectory/TrapezoidProfile.h
@@ -8,7 +8,7 @@
 #pragma once

 #include <hal/FRCUsageReporting.h>
-#include <units/units.h>
+#include <units/time.h>

 namespace frc {

--- a/wpilibc/src/main/native/include/frc/trajectory/TrapezoidProfile.inc
+++ b/wpilibc/src/main/native/include/frc/trajectory/TrapezoidProfile.inc
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -9,6 +9,8 @@

 #include <algorithm>

+#include <units/math.h>
+
 namespace frc {
 template <class Distance>
 TrapezoidProfile<Distance>::TrapezoidProfile(Constraints constraints,
--- a/wpilibc/src/main/native/include/frc/trajectory/constraint/CentripetalAccelerationConstraint.h
+++ b/wpilibc/src/main/native/include/frc/trajectory/constraint/CentripetalAccelerationConstraint.h
@@ -7,7 +7,9 @@

 #pragma once

-#include <units/units.h>
+#include <units/acceleration.h>
+#include <units/curvature.h>
+#include <units/velocity.h>

 #include "frc/trajectory/constraint/TrajectoryConstraint.h"

--- a/wpilibc/src/main/native/include/frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h
+++ b/wpilibc/src/main/native/include/frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h
@@ -7,7 +7,7 @@

 #pragma once

-#include <units/units.h>
+#include <units/velocity.h>

 #include "frc/kinematics/DifferentialDriveKinematics.h"
 #include "frc/trajectory/constraint/TrajectoryConstraint.h"
--- a/wpilibc/src/main/native/include/frc/trajectory/constraint/DifferentialDriveVoltageConstraint.h
+++ b/wpilibc/src/main/native/include/frc/trajectory/constraint/DifferentialDriveVoltageConstraint.h
@@ -7,7 +7,8 @@

 #pragma once

-#include <units/units.h>
+#include <units/length.h>
+#include <units/voltage.h>

 #include "frc/controller/SimpleMotorFeedforward.h"
 #include "frc/kinematics/DifferentialDriveKinematics.h"
--- a/wpilibc/src/main/native/include/frc/trajectory/constraint/EllipticalRegionConstraint.h
+++ b/wpilibc/src/main/native/include/frc/trajectory/constraint/EllipticalRegionConstraint.h
@@ -7,7 +7,7 @@

 #pragma once

-#include <units/units.h>
+#include <units/length.h>

 #include "frc/geometry/Rotation2d.h"
 #include "frc/geometry/Translation2d.h"
--- a/wpilibc/src/main/native/include/frc/trajectory/constraint/MaxVelocityConstraint.h
+++ b/wpilibc/src/main/native/include/frc/trajectory/constraint/MaxVelocityConstraint.h
@@ -7,7 +7,8 @@

 #pragma once

-#include <units/units.h>
+#include <units/math.h>
+#include <units/velocity.h>

 #include "frc/trajectory/constraint/TrajectoryConstraint.h"

--- a/wpilibc/src/main/native/include/frc/trajectory/constraint/MecanumDriveKinematicsConstraint.h
+++ b/wpilibc/src/main/native/include/frc/trajectory/constraint/MecanumDriveKinematicsConstraint.h
@@ -9,7 +9,7 @@

 #include <cmath>

-#include <units/units.h>
+#include <units/velocity.h>

 #include "frc/kinematics/MecanumDriveKinematics.h"
 #include "frc/trajectory/constraint/TrajectoryConstraint.h"
--- a/wpilibc/src/main/native/include/frc/trajectory/constraint/RectangularRegionConstraint.h
+++ b/wpilibc/src/main/native/include/frc/trajectory/constraint/RectangularRegionConstraint.h
@@ -7,8 +7,6 @@

 #pragma once

-#include <units/units.h>
-
 #include "frc/geometry/Rotation2d.h"
 #include "frc/geometry/Translation2d.h"
 #include "frc/trajectory/constraint/TrajectoryConstraint.h"
--- a/wpilibc/src/main/native/include/frc/trajectory/constraint/SwerveDriveKinematicsConstraint.h
+++ b/wpilibc/src/main/native/include/frc/trajectory/constraint/SwerveDriveKinematicsConstraint.h
@@ -9,7 +9,7 @@

 #include <cmath>

-#include <units/units.h>
+#include <units/velocity.h>

 #include "frc/kinematics/SwerveDriveKinematics.h"
 #include "frc/trajectory/constraint/TrajectoryConstraint.h"
--- a/wpilibc/src/main/native/include/frc/trajectory/constraint/SwerveDriveKinematicsConstraint.inc
+++ b/wpilibc/src/main/native/include/frc/trajectory/constraint/SwerveDriveKinematicsConstraint.inc
@@ -7,6 +7,8 @@

 #pragma once

+#include <units/math.h>
+
 namespace frc {

 template <size_t NumModules>
--- a/wpilibc/src/main/native/include/frc/trajectory/constraint/TrajectoryConstraint.h
+++ b/wpilibc/src/main/native/include/frc/trajectory/constraint/TrajectoryConstraint.h
@@ -9,7 +9,9 @@

 #include <limits>

-#include <units/units.h>
+#include <units/acceleration.h>
+#include <units/curvature.h>
+#include <units/velocity.h>

 #include "frc/geometry/Pose2d.h"
 #include "frc/spline/Spline.h"