diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/CoordinateAxis.java b/wpimath/src/main/java/org/wpilib/math/geometry/CoordinateAxis.java
index 7bddc949e8..91d61f1812 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/CoordinateAxis.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/CoordinateAxis.java
@@ -9,7 +9,7 @@ import org.wpilib.math.linalg.Vector;
 import org.wpilib.math.numbers.N3;
 
 /** A class representing a coordinate system axis within the NWU coordinate system. */
-public class CoordinateAxis {
+public final class CoordinateAxis {
   private static final CoordinateAxis m_n = new CoordinateAxis(1.0, 0.0, 0.0);
   private static final CoordinateAxis m_s = new CoordinateAxis(-1.0, 0.0, 0.0);
   private static final CoordinateAxis m_e = new CoordinateAxis(0.0, -1.0, 0.0);
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/CoordinateSystem.java b/wpimath/src/main/java/org/wpilib/math/geometry/CoordinateSystem.java
index b5198fe0b5..f18b8854bd 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/CoordinateSystem.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/CoordinateSystem.java
@@ -9,7 +9,7 @@ import org.wpilib.math.util.MathSharedStore;
 import org.wpilib.math.util.Nat;
 
 /** A helper class that converts Pose3d objects between different standard coordinate frames. */
-public class CoordinateSystem {
+public final class CoordinateSystem {
   private static final CoordinateSystem m_nwu =
       new CoordinateSystem(CoordinateAxis.N(), CoordinateAxis.W(), CoordinateAxis.U());
   private static final CoordinateSystem m_edn =
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/Ellipse2d.java b/wpimath/src/main/java/org/wpilib/math/geometry/Ellipse2d.java
index 03b66fee0b..1fed6e4845 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/Ellipse2d.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/Ellipse2d.java
@@ -18,7 +18,7 @@ import org.wpilib.util.protobuf.ProtobufSerializable;
 import org.wpilib.util.struct.StructSerializable;
 
 /** Represents a 2d ellipse space containing translational, rotational, and scaling components. */
-public class Ellipse2d implements ProtobufSerializable, StructSerializable {
+public final class Ellipse2d implements ProtobufSerializable, StructSerializable {
   private final Pose2d m_center;
   private final double m_xSemiAxis;
   private final double m_ySemiAxis;
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/Pose2d.java b/wpimath/src/main/java/org/wpilib/math/geometry/Pose2d.java
index e2b1eebf8f..36cc8cd721 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/Pose2d.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/Pose2d.java
@@ -24,7 +24,8 @@ import org.wpilib.util.struct.StructSerializable;
 
 /** Represents a 2D pose containing translational and rotational elements. */
 @Json
-public class Pose2d implements Interpolatable<Pose2d>, ProtobufSerializable, StructSerializable {
+public final class Pose2d
+    implements Interpolatable<Pose2d>, ProtobufSerializable, StructSerializable {
   /**
    * A preallocated Pose2d representing the origin.
    *
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/Pose3d.java b/wpimath/src/main/java/org/wpilib/math/geometry/Pose3d.java
index 57d5c389fb..f124301eac 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/Pose3d.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/Pose3d.java
@@ -24,7 +24,8 @@ import org.wpilib.util.struct.StructSerializable;
 
 /** Represents a 3D pose containing translational and rotational elements. */
 @Json
-public class Pose3d implements Interpolatable<Pose3d>, ProtobufSerializable, StructSerializable {
+public final class Pose3d
+    implements Interpolatable<Pose3d>, ProtobufSerializable, StructSerializable {
   /**
    * A preallocated Pose3d representing the origin.
    *
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/Quaternion.java b/wpimath/src/main/java/org/wpilib/math/geometry/Quaternion.java
index 076caa49f4..d00cfe1104 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/Quaternion.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/Quaternion.java
@@ -16,7 +16,7 @@ import org.wpilib.util.struct.StructSerializable;
 
 /** Represents a quaternion. */
 @Json
-public class Quaternion implements ProtobufSerializable, StructSerializable {
+public final class Quaternion implements ProtobufSerializable, StructSerializable {
   // Scalar r in versor form
   @Json.Ignore private final double m_w;
 
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/Rectangle2d.java b/wpimath/src/main/java/org/wpilib/math/geometry/Rectangle2d.java
index fd30fb9118..0b1cc54f4e 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/Rectangle2d.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/Rectangle2d.java
@@ -16,7 +16,7 @@ import org.wpilib.util.struct.StructSerializable;
 /**
  * Represents a 2d rectangular space containing translational, rotational, and scaling components.
  */
-public class Rectangle2d implements ProtobufSerializable, StructSerializable {
+public final class Rectangle2d implements ProtobufSerializable, StructSerializable {
   private final Pose2d m_center;
   private final double m_xWidth;
   private final double m_yWidth;
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/Rotation2d.java b/wpimath/src/main/java/org/wpilib/math/geometry/Rotation2d.java
index ec64a2c50a..554dccdf6d 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/Rotation2d.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/Rotation2d.java
@@ -25,7 +25,7 @@ import org.wpilib.util.struct.StructSerializable;
  * A rotation in a 2D coordinate frame represented by a point on the unit circle (cosine and sine).
  */
 @Json
-public class Rotation2d
+public final class Rotation2d
     implements Interpolatable<Rotation2d>, ProtobufSerializable, StructSerializable {
   /**
    * A preallocated Rotation2d representing no rotation.
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/Rotation3d.java b/wpimath/src/main/java/org/wpilib/math/geometry/Rotation3d.java
index 9d3ccbb486..050e66d1ee 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/Rotation3d.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/Rotation3d.java
@@ -66,7 +66,7 @@ import org.wpilib.util.struct.StructSerializable;
  * applying the same series in the opposite order intrinsically.
  */
 @Json
-public class Rotation3d
+public final class Rotation3d
     implements Interpolatable<Rotation3d>, ProtobufSerializable, StructSerializable {
   /**
    * A preallocated Rotation3d representing no rotation.
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/Transform2d.java b/wpimath/src/main/java/org/wpilib/math/geometry/Transform2d.java
index 3eb461e419..25d0fd1d45 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/Transform2d.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/Transform2d.java
@@ -18,7 +18,7 @@ import org.wpilib.util.protobuf.ProtobufSerializable;
 import org.wpilib.util.struct.StructSerializable;
 
 /** Represents a transformation for a Pose2d in the pose's frame. */
-public class Transform2d implements ProtobufSerializable, StructSerializable {
+public final class Transform2d implements ProtobufSerializable, StructSerializable {
   /**
    * A preallocated Transform2d representing no transformation.
    *
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/Transform3d.java b/wpimath/src/main/java/org/wpilib/math/geometry/Transform3d.java
index b1c7c55fab..17cdb342c5 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/Transform3d.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/Transform3d.java
@@ -22,7 +22,7 @@ import org.wpilib.util.struct.StructSerializable;
  * Represents a transformation for a Pose3d in the pose's frame. Translation is applied before
  * rotation. (The translation is applied in the pose's original frame, not the transformed frame.)
  */
-public class Transform3d implements ProtobufSerializable, StructSerializable {
+public final class Transform3d implements ProtobufSerializable, StructSerializable {
   /**
    * A preallocated Transform3d representing no transformation.
    *
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/Translation2d.java b/wpimath/src/main/java/org/wpilib/math/geometry/Translation2d.java
index b2359ca256..9c6ca689e4 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/Translation2d.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/Translation2d.java
@@ -29,7 +29,7 @@ import org.wpilib.util.struct.StructSerializable;
  * origin facing in the positive X direction, forward is positive X and left is positive Y.
  */
 @Json
-public class Translation2d
+public final class Translation2d
     implements Interpolatable<Translation2d>, ProtobufSerializable, StructSerializable {
   /**
    * A preallocated Translation2d representing the origin.
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/Translation3d.java b/wpimath/src/main/java/org/wpilib/math/geometry/Translation3d.java
index 146f749193..6ff6320f1f 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/Translation3d.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/Translation3d.java
@@ -30,7 +30,7 @@ import org.wpilib.util.struct.StructSerializable;
  * positive Z.
  */
 @Json
-public class Translation3d
+public final class Translation3d
     implements Interpolatable<Translation3d>, ProtobufSerializable, StructSerializable {
   /**
    * A preallocated Translation3d representing the origin.
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/Twist2d.java b/wpimath/src/main/java/org/wpilib/math/geometry/Twist2d.java
index 1da5137ca1..cc9be095fb 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/Twist2d.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/Twist2d.java
@@ -16,7 +16,7 @@ import org.wpilib.util.struct.StructSerializable;
  *
  * <p>A Twist can be used to represent a difference between two poses.
  */
-public class Twist2d implements ProtobufSerializable, StructSerializable {
+public final class Twist2d implements ProtobufSerializable, StructSerializable {
   /** Linear "dx" component. */
   public double dx;
 
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/Twist3d.java b/wpimath/src/main/java/org/wpilib/math/geometry/Twist3d.java
index 0a9b2d91fc..0e9cebf352 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/Twist3d.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/Twist3d.java
@@ -17,7 +17,7 @@ import org.wpilib.util.struct.StructSerializable;
  *
  * <p>A Twist can be used to represent a difference between two poses.
  */
-public class Twist3d implements ProtobufSerializable, StructSerializable {
+public final class Twist3d implements ProtobufSerializable, StructSerializable {
   /** Linear "dx" component. */
   public double dx;
 
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/proto/Ellipse2dProto.java b/wpimath/src/main/java/org/wpilib/math/geometry/proto/Ellipse2dProto.java
index c23bca7ca2..5fd7b9c55e 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/proto/Ellipse2dProto.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/proto/Ellipse2dProto.java
@@ -10,7 +10,7 @@ import org.wpilib.math.proto.ProtobufEllipse2d;
 import org.wpilib.util.protobuf.Protobuf;
 import us.hebi.quickbuf.Descriptors.Descriptor;
 
-public class Ellipse2dProto implements Protobuf<Ellipse2d, ProtobufEllipse2d> {
+public final class Ellipse2dProto implements Protobuf<Ellipse2d, ProtobufEllipse2d> {
   @Override
   public Class<Ellipse2d> getTypeClass() {
     return Ellipse2d.class;
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/proto/Pose2dProto.java b/wpimath/src/main/java/org/wpilib/math/geometry/proto/Pose2dProto.java
index 426ce1c698..ecf6d54e18 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/proto/Pose2dProto.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/proto/Pose2dProto.java
@@ -11,7 +11,7 @@ import org.wpilib.math.proto.ProtobufPose2d;
 import org.wpilib.util.protobuf.Protobuf;
 import us.hebi.quickbuf.Descriptors.Descriptor;
 
-public class Pose2dProto implements Protobuf<Pose2d, ProtobufPose2d> {
+public final class Pose2dProto implements Protobuf<Pose2d, ProtobufPose2d> {
   @Override
   public Class<Pose2d> getTypeClass() {
     return Pose2d.class;
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/proto/Pose3dProto.java b/wpimath/src/main/java/org/wpilib/math/geometry/proto/Pose3dProto.java
index 3f8e3d66f2..c5eb180da3 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/proto/Pose3dProto.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/proto/Pose3dProto.java
@@ -11,7 +11,7 @@ import org.wpilib.math.proto.ProtobufPose3d;
 import org.wpilib.util.protobuf.Protobuf;
 import us.hebi.quickbuf.Descriptors.Descriptor;
 
-public class Pose3dProto implements Protobuf<Pose3d, ProtobufPose3d> {
+public final class Pose3dProto implements Protobuf<Pose3d, ProtobufPose3d> {
   @Override
   public Class<Pose3d> getTypeClass() {
     return Pose3d.class;
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/proto/QuaternionProto.java b/wpimath/src/main/java/org/wpilib/math/geometry/proto/QuaternionProto.java
index 3690fa310f..87b63732d0 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/proto/QuaternionProto.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/proto/QuaternionProto.java
@@ -9,7 +9,7 @@ import org.wpilib.math.proto.ProtobufQuaternion;
 import org.wpilib.util.protobuf.Protobuf;
 import us.hebi.quickbuf.Descriptors.Descriptor;
 
-public class QuaternionProto implements Protobuf<Quaternion, ProtobufQuaternion> {
+public final class QuaternionProto implements Protobuf<Quaternion, ProtobufQuaternion> {
   @Override
   public Class<Quaternion> getTypeClass() {
     return Quaternion.class;
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/proto/Rectangle2dProto.java b/wpimath/src/main/java/org/wpilib/math/geometry/proto/Rectangle2dProto.java
index 00d35ab358..081a8baa71 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/proto/Rectangle2dProto.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/proto/Rectangle2dProto.java
@@ -10,7 +10,7 @@ import org.wpilib.math.proto.ProtobufRectangle2d;
 import org.wpilib.util.protobuf.Protobuf;
 import us.hebi.quickbuf.Descriptors.Descriptor;
 
-public class Rectangle2dProto implements Protobuf<Rectangle2d, ProtobufRectangle2d> {
+public final class Rectangle2dProto implements Protobuf<Rectangle2d, ProtobufRectangle2d> {
   @Override
   public Class<Rectangle2d> getTypeClass() {
     return Rectangle2d.class;
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/proto/Rotation2dProto.java b/wpimath/src/main/java/org/wpilib/math/geometry/proto/Rotation2dProto.java
index 77f59d6bca..356c76e198 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/proto/Rotation2dProto.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/proto/Rotation2dProto.java
@@ -9,7 +9,7 @@ import org.wpilib.math.proto.ProtobufRotation2d;
 import org.wpilib.util.protobuf.Protobuf;
 import us.hebi.quickbuf.Descriptors.Descriptor;
 
-public class Rotation2dProto implements Protobuf<Rotation2d, ProtobufRotation2d> {
+public final class Rotation2dProto implements Protobuf<Rotation2d, ProtobufRotation2d> {
   @Override
   public Class<Rotation2d> getTypeClass() {
     return Rotation2d.class;
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/proto/Rotation3dProto.java b/wpimath/src/main/java/org/wpilib/math/geometry/proto/Rotation3dProto.java
index 79bab53193..678e52b570 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/proto/Rotation3dProto.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/proto/Rotation3dProto.java
@@ -10,7 +10,7 @@ import org.wpilib.math.proto.ProtobufRotation3d;
 import org.wpilib.util.protobuf.Protobuf;
 import us.hebi.quickbuf.Descriptors.Descriptor;
 
-public class Rotation3dProto implements Protobuf<Rotation3d, ProtobufRotation3d> {
+public final class Rotation3dProto implements Protobuf<Rotation3d, ProtobufRotation3d> {
   @Override
   public Class<Rotation3d> getTypeClass() {
     return Rotation3d.class;
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/proto/Transform2dProto.java b/wpimath/src/main/java/org/wpilib/math/geometry/proto/Transform2dProto.java
index 0c95440ca5..52416cb3dc 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/proto/Transform2dProto.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/proto/Transform2dProto.java
@@ -11,7 +11,7 @@ import org.wpilib.math.proto.ProtobufTransform2d;
 import org.wpilib.util.protobuf.Protobuf;
 import us.hebi.quickbuf.Descriptors.Descriptor;
 
-public class Transform2dProto implements Protobuf<Transform2d, ProtobufTransform2d> {
+public final class Transform2dProto implements Protobuf<Transform2d, ProtobufTransform2d> {
   @Override
   public Class<Transform2d> getTypeClass() {
     return Transform2d.class;
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/proto/Transform3dProto.java b/wpimath/src/main/java/org/wpilib/math/geometry/proto/Transform3dProto.java
index 4fa09e5b18..2fe97ff959 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/proto/Transform3dProto.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/proto/Transform3dProto.java
@@ -11,7 +11,7 @@ import org.wpilib.math.proto.ProtobufTransform3d;
 import org.wpilib.util.protobuf.Protobuf;
 import us.hebi.quickbuf.Descriptors.Descriptor;
 
-public class Transform3dProto implements Protobuf<Transform3d, ProtobufTransform3d> {
+public final class Transform3dProto implements Protobuf<Transform3d, ProtobufTransform3d> {
   @Override
   public Class<Transform3d> getTypeClass() {
     return Transform3d.class;
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/proto/Translation2dProto.java b/wpimath/src/main/java/org/wpilib/math/geometry/proto/Translation2dProto.java
index 69bb4ee6f6..580cc9901c 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/proto/Translation2dProto.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/proto/Translation2dProto.java
@@ -9,7 +9,7 @@ import org.wpilib.math.proto.ProtobufTranslation2d;
 import org.wpilib.util.protobuf.Protobuf;
 import us.hebi.quickbuf.Descriptors.Descriptor;
 
-public class Translation2dProto implements Protobuf<Translation2d, ProtobufTranslation2d> {
+public final class Translation2dProto implements Protobuf<Translation2d, ProtobufTranslation2d> {
   @Override
   public Class<Translation2d> getTypeClass() {
     return Translation2d.class;
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/proto/Translation3dProto.java b/wpimath/src/main/java/org/wpilib/math/geometry/proto/Translation3dProto.java
index d14e4af340..1bfaaaabab 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/proto/Translation3dProto.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/proto/Translation3dProto.java
@@ -9,7 +9,7 @@ import org.wpilib.math.proto.ProtobufTranslation3d;
 import org.wpilib.util.protobuf.Protobuf;
 import us.hebi.quickbuf.Descriptors.Descriptor;
 
-public class Translation3dProto implements Protobuf<Translation3d, ProtobufTranslation3d> {
+public final class Translation3dProto implements Protobuf<Translation3d, ProtobufTranslation3d> {
   @Override
   public Class<Translation3d> getTypeClass() {
     return Translation3d.class;
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/proto/Twist2dProto.java b/wpimath/src/main/java/org/wpilib/math/geometry/proto/Twist2dProto.java
index 613c34f6cb..e76efb58de 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/proto/Twist2dProto.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/proto/Twist2dProto.java
@@ -9,7 +9,7 @@ import org.wpilib.math.proto.ProtobufTwist2d;
 import org.wpilib.util.protobuf.Protobuf;
 import us.hebi.quickbuf.Descriptors.Descriptor;
 
-public class Twist2dProto implements Protobuf<Twist2d, ProtobufTwist2d> {
+public final class Twist2dProto implements Protobuf<Twist2d, ProtobufTwist2d> {
   @Override
   public Class<Twist2d> getTypeClass() {
     return Twist2d.class;
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/proto/Twist3dProto.java b/wpimath/src/main/java/org/wpilib/math/geometry/proto/Twist3dProto.java
index 7d47af42f8..698d8c2118 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/proto/Twist3dProto.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/proto/Twist3dProto.java
@@ -9,7 +9,7 @@ import org.wpilib.math.proto.ProtobufTwist3d;
 import org.wpilib.util.protobuf.Protobuf;
 import us.hebi.quickbuf.Descriptors.Descriptor;
 
-public class Twist3dProto implements Protobuf<Twist3d, ProtobufTwist3d> {
+public final class Twist3dProto implements Protobuf<Twist3d, ProtobufTwist3d> {
   @Override
   public Class<Twist3d> getTypeClass() {
     return Twist3d.class;
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Ellipse2dStruct.java b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Ellipse2dStruct.java
index 47d02f8e9d..1076277746 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Ellipse2dStruct.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Ellipse2dStruct.java
@@ -9,7 +9,7 @@ import org.wpilib.math.geometry.Ellipse2d;
 import org.wpilib.math.geometry.Pose2d;
 import org.wpilib.util.struct.Struct;
 
-public class Ellipse2dStruct implements Struct<Ellipse2d> {
+public final class Ellipse2dStruct implements Struct<Ellipse2d> {
   @Override
   public Class<Ellipse2d> getTypeClass() {
     return Ellipse2d.class;
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Pose2dStruct.java b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Pose2dStruct.java
index cb2b5d4ca1..cff7534d6a 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Pose2dStruct.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Pose2dStruct.java
@@ -10,7 +10,7 @@ import org.wpilib.math.geometry.Rotation2d;
 import org.wpilib.math.geometry.Translation2d;
 import org.wpilib.util.struct.Struct;
 
-public class Pose2dStruct implements Struct<Pose2d> {
+public final class Pose2dStruct implements Struct<Pose2d> {
   @Override
   public Class<Pose2d> getTypeClass() {
     return Pose2d.class;
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Pose3dStruct.java b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Pose3dStruct.java
index 75c5280c8a..ebfcfb0ed2 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Pose3dStruct.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Pose3dStruct.java
@@ -10,7 +10,7 @@ import org.wpilib.math.geometry.Rotation3d;
 import org.wpilib.math.geometry.Translation3d;
 import org.wpilib.util.struct.Struct;
 
-public class Pose3dStruct implements Struct<Pose3d> {
+public final class Pose3dStruct implements Struct<Pose3d> {
   @Override
   public Class<Pose3d> getTypeClass() {
     return Pose3d.class;
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/struct/QuaternionStruct.java b/wpimath/src/main/java/org/wpilib/math/geometry/struct/QuaternionStruct.java
index 8d2ad132c3..c4fb8938b8 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/struct/QuaternionStruct.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/struct/QuaternionStruct.java
@@ -8,7 +8,7 @@ import java.nio.ByteBuffer;
 import org.wpilib.math.geometry.Quaternion;
 import org.wpilib.util.struct.Struct;
 
-public class QuaternionStruct implements Struct<Quaternion> {
+public final class QuaternionStruct implements Struct<Quaternion> {
   @Override
   public Class<Quaternion> getTypeClass() {
     return Quaternion.class;
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Rectangle2dStruct.java b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Rectangle2dStruct.java
index d1e078652a..93cca5b8b9 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Rectangle2dStruct.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Rectangle2dStruct.java
@@ -9,7 +9,7 @@ import org.wpilib.math.geometry.Pose2d;
 import org.wpilib.math.geometry.Rectangle2d;
 import org.wpilib.util.struct.Struct;
 
-public class Rectangle2dStruct implements Struct<Rectangle2d> {
+public final class Rectangle2dStruct implements Struct<Rectangle2d> {
   @Override
   public Class<Rectangle2d> getTypeClass() {
     return Rectangle2d.class;
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Rotation2dStruct.java b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Rotation2dStruct.java
index cf33e1be04..11cb13104e 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Rotation2dStruct.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Rotation2dStruct.java
@@ -8,7 +8,7 @@ import java.nio.ByteBuffer;
 import org.wpilib.math.geometry.Rotation2d;
 import org.wpilib.util.struct.Struct;
 
-public class Rotation2dStruct implements Struct<Rotation2d> {
+public final class Rotation2dStruct implements Struct<Rotation2d> {
   @Override
   public Class<Rotation2d> getTypeClass() {
     return Rotation2d.class;
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Rotation3dStruct.java b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Rotation3dStruct.java
index 50fde85eff..6f5c6a78e0 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Rotation3dStruct.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Rotation3dStruct.java
@@ -9,7 +9,7 @@ import org.wpilib.math.geometry.Quaternion;
 import org.wpilib.math.geometry.Rotation3d;
 import org.wpilib.util.struct.Struct;
 
-public class Rotation3dStruct implements Struct<Rotation3d> {
+public final class Rotation3dStruct implements Struct<Rotation3d> {
   @Override
   public Class<Rotation3d> getTypeClass() {
     return Rotation3d.class;
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Transform2dStruct.java b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Transform2dStruct.java
index b1dc86aea3..178b8264b0 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Transform2dStruct.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Transform2dStruct.java
@@ -10,7 +10,7 @@ import org.wpilib.math.geometry.Transform2d;
 import org.wpilib.math.geometry.Translation2d;
 import org.wpilib.util.struct.Struct;
 
-public class Transform2dStruct implements Struct<Transform2d> {
+public final class Transform2dStruct implements Struct<Transform2d> {
   @Override
   public Class<Transform2d> getTypeClass() {
     return Transform2d.class;
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Transform3dStruct.java b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Transform3dStruct.java
index e711a420d7..c0ce0c1e51 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Transform3dStruct.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Transform3dStruct.java
@@ -10,7 +10,7 @@ import org.wpilib.math.geometry.Transform3d;
 import org.wpilib.math.geometry.Translation3d;
 import org.wpilib.util.struct.Struct;
 
-public class Transform3dStruct implements Struct<Transform3d> {
+public final class Transform3dStruct implements Struct<Transform3d> {
   @Override
   public Class<Transform3d> getTypeClass() {
     return Transform3d.class;
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Translation2dStruct.java b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Translation2dStruct.java
index da84d1398e..6d21c327b7 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Translation2dStruct.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Translation2dStruct.java
@@ -8,7 +8,7 @@ import java.nio.ByteBuffer;
 import org.wpilib.math.geometry.Translation2d;
 import org.wpilib.util.struct.Struct;
 
-public class Translation2dStruct implements Struct<Translation2d> {
+public final class Translation2dStruct implements Struct<Translation2d> {
   @Override
   public Class<Translation2d> getTypeClass() {
     return Translation2d.class;
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Translation3dStruct.java b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Translation3dStruct.java
index df84d1b00c..e78a98ecdd 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Translation3dStruct.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Translation3dStruct.java
@@ -8,7 +8,7 @@ import java.nio.ByteBuffer;
 import org.wpilib.math.geometry.Translation3d;
 import org.wpilib.util.struct.Struct;
 
-public class Translation3dStruct implements Struct<Translation3d> {
+public final class Translation3dStruct implements Struct<Translation3d> {
   @Override
   public Class<Translation3d> getTypeClass() {
     return Translation3d.class;
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Twist2dStruct.java b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Twist2dStruct.java
index 3623ee031a..a2a359cef0 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Twist2dStruct.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Twist2dStruct.java
@@ -8,7 +8,7 @@ import java.nio.ByteBuffer;
 import org.wpilib.math.geometry.Twist2d;
 import org.wpilib.util.struct.Struct;
 
-public class Twist2dStruct implements Struct<Twist2d> {
+public final class Twist2dStruct implements Struct<Twist2d> {
   @Override
   public Class<Twist2d> getTypeClass() {
     return Twist2d.class;
diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Twist3dStruct.java b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Twist3dStruct.java
index d41e1030b8..b0ea2704c2 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/struct/Twist3dStruct.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/struct/Twist3dStruct.java
@@ -8,7 +8,7 @@ import java.nio.ByteBuffer;
 import org.wpilib.math.geometry.Twist3d;
 import org.wpilib.util.struct.Struct;
 
-public class Twist3dStruct implements Struct<Twist3d> {
+public final class Twist3dStruct implements Struct<Twist3d> {
   @Override
   public Class<Twist3d> getTypeClass() {
     return Twist3d.class;
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/CoordinateAxis.hpp b/wpimath/src/main/native/include/wpi/math/geometry/CoordinateAxis.hpp
index c6c64fec7d..59f9d41232 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/CoordinateAxis.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/CoordinateAxis.hpp
@@ -15,7 +15,7 @@ namespace wpi::math {
  * A class representing a coordinate system axis within the NWU coordinate
  * system.
  */
-class WPILIB_DLLEXPORT CoordinateAxis {
+class WPILIB_DLLEXPORT CoordinateAxis final {
  public:
   /**
    * Constructs a coordinate system axis within the NWU coordinate system and
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/CoordinateSystem.hpp b/wpimath/src/main/native/include/wpi/math/geometry/CoordinateSystem.hpp
index 8108a4df79..4b3c0e1c67 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/CoordinateSystem.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/CoordinateSystem.hpp
@@ -19,7 +19,7 @@ namespace wpi::math {
  * A helper class that converts Pose3d objects between different standard
  * coordinate frames.
  */
-class WPILIB_DLLEXPORT CoordinateSystem {
+class WPILIB_DLLEXPORT CoordinateSystem final {
  public:
   /**
    * Constructs a coordinate system with the given cardinal directions for each
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/Ellipse2d.hpp b/wpimath/src/main/native/include/wpi/math/geometry/Ellipse2d.hpp
index 6f9a5a4653..e35bd8bbbf 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/Ellipse2d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Ellipse2d.hpp
@@ -23,7 +23,7 @@ namespace wpi::math {
  * Represents a 2d ellipse space containing translational, rotational, and
  * scaling components.
  */
-class WPILIB_DLLEXPORT Ellipse2d {
+class WPILIB_DLLEXPORT Ellipse2d final {
  public:
   /**
    * Constructs an ellipse around a center point and two semi-axes, a horizontal
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/Pose2d.hpp b/wpimath/src/main/native/include/wpi/math/geometry/Pose2d.hpp
index b7a0c95919..fc8d39a4c9 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/Pose2d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Pose2d.hpp
@@ -27,7 +27,7 @@ class Transform2d;
 /**
  * Represents a 2D pose containing translational and rotational elements.
  */
-class WPILIB_DLLEXPORT Pose2d {
+class WPILIB_DLLEXPORT Pose2d final {
  public:
   /**
    * Constructs a pose at the origin facing toward the positive X axis.
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/Pose3d.hpp b/wpimath/src/main/native/include/wpi/math/geometry/Pose3d.hpp
index 90b858e175..40ea8513f3 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/Pose3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Pose3d.hpp
@@ -28,7 +28,7 @@ class Transform3d;
 /**
  * Represents a 3D pose containing translational and rotational elements.
  */
-class WPILIB_DLLEXPORT Pose3d {
+class WPILIB_DLLEXPORT Pose3d final {
  public:
   /**
    * Constructs a pose at the origin facing toward the positive X axis.
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/Quaternion.hpp b/wpimath/src/main/native/include/wpi/math/geometry/Quaternion.hpp
index 1e5980d8d8..a5e3890515 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/Quaternion.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Quaternion.hpp
@@ -20,7 +20,7 @@ namespace wpi::math {
 /**
  * Represents a quaternion.
  */
-class WPILIB_DLLEXPORT Quaternion {
+class WPILIB_DLLEXPORT Quaternion final {
  public:
   /**
    * Constructs a quaternion with a default angle of 0 degrees.
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/Rectangle2d.hpp b/wpimath/src/main/native/include/wpi/math/geometry/Rectangle2d.hpp
index 7b45de1a30..aea0dabdc4 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/Rectangle2d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Rectangle2d.hpp
@@ -21,7 +21,7 @@ namespace wpi::math {
  * Represents a 2d rectangular space containing translational, rotational, and
  * scaling components.
  */
-class WPILIB_DLLEXPORT Rectangle2d {
+class WPILIB_DLLEXPORT Rectangle2d final {
  public:
   /**
    * Constructs a rectangle at the specified position with the specified width
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/Rotation2d.hpp b/wpimath/src/main/native/include/wpi/math/geometry/Rotation2d.hpp
index bdb2947e3a..0e09cf3bd2 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/Rotation2d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Rotation2d.hpp
@@ -26,7 +26,7 @@ namespace wpi::math {
  * A rotation in a 2D coordinate frame represented by a point on the unit circle
  * (cosine and sine).
  */
-class WPILIB_DLLEXPORT Rotation2d {
+class WPILIB_DLLEXPORT Rotation2d final {
  public:
   /**
    * Constructs a Rotation2d with a default angle of 0 degrees.
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/Rotation3d.hpp b/wpimath/src/main/native/include/wpi/math/geometry/Rotation3d.hpp
index 82200c8b82..f70fc760ed 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/Rotation3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Rotation3d.hpp
@@ -69,7 +69,7 @@ namespace wpi::math {
  * neat property is that applying a series of rotations extrinsically is the
  * same as applying the same series in the opposite order intrinsically.
  */
-class WPILIB_DLLEXPORT Rotation3d {
+class WPILIB_DLLEXPORT Rotation3d final {
  public:
   /**
    * Constructs a Rotation3d representing no rotation.
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/Transform2d.hpp b/wpimath/src/main/native/include/wpi/math/geometry/Transform2d.hpp
index e828b31108..980b1e7ca3 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/Transform2d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Transform2d.hpp
@@ -18,7 +18,7 @@ struct Twist2d;
 /**
  * Represents a transformation for a Pose2d in the pose's frame.
  */
-class WPILIB_DLLEXPORT Transform2d {
+class WPILIB_DLLEXPORT Transform2d final {
  public:
   /**
    * Constructs the transform that maps the initial pose to the final pose.
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/Transform3d.hpp b/wpimath/src/main/native/include/wpi/math/geometry/Transform3d.hpp
index 6dea7ab99e..5754f7827b 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/Transform3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Transform3d.hpp
@@ -20,7 +20,7 @@ struct Twist3d;
  * applied before rotation. (The translation is applied in the pose's original
  * frame, not the transformed frame.)
  */
-class WPILIB_DLLEXPORT Transform3d {
+class WPILIB_DLLEXPORT Transform3d final {
  public:
   /**
    * Constructs the transform that maps the initial pose to the final pose.
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/Translation2d.hpp b/wpimath/src/main/native/include/wpi/math/geometry/Translation2d.hpp
index 2c8d868c32..d3b9028892 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/Translation2d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Translation2d.hpp
@@ -30,7 +30,7 @@ namespace wpi::math {
  * When the robot is at the origin facing in the positive X direction, forward
  * is positive X and left is positive Y.
  */
-class WPILIB_DLLEXPORT Translation2d {
+class WPILIB_DLLEXPORT Translation2d final {
  public:
   /**
    * Constructs a Translation2d with X and Y components equal to zero.
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/Translation3d.hpp b/wpimath/src/main/native/include/wpi/math/geometry/Translation3d.hpp
index 83b537dff1..778ff282a0 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/Translation3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Translation3d.hpp
@@ -31,7 +31,7 @@ namespace wpi::math {
  * robot is at the origin facing in the positive X direction, forward is
  * positive X, left is positive Y, and up is positive Z.
  */
-class WPILIB_DLLEXPORT Translation3d {
+class WPILIB_DLLEXPORT Translation3d final {
  public:
   /**
    * Constructs a Translation3d with X, Y, and Z components equal to zero.
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/Twist2d.hpp b/wpimath/src/main/native/include/wpi/math/geometry/Twist2d.hpp
index 6280d17e18..a2bd2f4474 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/Twist2d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Twist2d.hpp
@@ -20,7 +20,7 @@ class Transform2d;
  *
  * A Twist can be used to represent a difference between two poses.
  */
-struct WPILIB_DLLEXPORT Twist2d {
+struct WPILIB_DLLEXPORT Twist2d final {
   /**
    * Linear "dx" component
    */
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/Twist3d.hpp b/wpimath/src/main/native/include/wpi/math/geometry/Twist3d.hpp
index 036362307b..0908a86bc8 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/Twist3d.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/Twist3d.hpp
@@ -20,7 +20,7 @@ class Transform3d;
  *
  * A Twist can be used to represent a difference between two poses.
  */
-struct WPILIB_DLLEXPORT Twist3d {
+struct WPILIB_DLLEXPORT Twist3d final {
   /**
    * Linear "dx" component
    */
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/proto/Ellipse2dProto.hpp b/wpimath/src/main/native/include/wpi/math/geometry/proto/Ellipse2dProto.hpp
index 41f9bee1d3..389585ffa3 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Ellipse2dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Ellipse2dProto.hpp
@@ -10,7 +10,7 @@
 #include "wpimath/protobuf/geometry2d.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Ellipse2d> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Ellipse2d> final {
   using MessageStruct = wpi_proto_ProtobufEllipse2d;
   using InputStream = wpi::util::ProtoInputStream<wpi::math::Ellipse2d>;
   using OutputStream = wpi::util::ProtoOutputStream<wpi::math::Ellipse2d>;
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/proto/Pose2dProto.hpp b/wpimath/src/main/native/include/wpi/math/geometry/proto/Pose2dProto.hpp
index e9d31e4a6a..ffb6749185 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Pose2dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Pose2dProto.hpp
@@ -11,7 +11,7 @@
 #include "wpimath/protobuf/geometry2d.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Pose2d> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Pose2d> final {
   using MessageStruct = wpi_proto_ProtobufPose2d;
   using InputStream = wpi::util::ProtoInputStream<wpi::math::Pose2d>;
   using OutputStream = wpi::util::ProtoOutputStream<wpi::math::Pose2d>;
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/proto/Pose3dProto.hpp b/wpimath/src/main/native/include/wpi/math/geometry/proto/Pose3dProto.hpp
index 5714cbc731..d6ff7156d7 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Pose3dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Pose3dProto.hpp
@@ -10,7 +10,7 @@
 #include "wpimath/protobuf/geometry3d.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Pose3d> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Pose3d> final {
   using MessageStruct = wpi_proto_ProtobufPose3d;
   using InputStream = wpi::util::ProtoInputStream<wpi::math::Pose3d>;
   using OutputStream = wpi::util::ProtoOutputStream<wpi::math::Pose3d>;
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/proto/QuaternionProto.hpp b/wpimath/src/main/native/include/wpi/math/geometry/proto/QuaternionProto.hpp
index 1540d03765..c33e68b6fb 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/QuaternionProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/QuaternionProto.hpp
@@ -10,7 +10,7 @@
 #include "wpimath/protobuf/geometry3d.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Quaternion> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Quaternion> final {
   using MessageStruct = wpi_proto_ProtobufQuaternion;
   using InputStream = wpi::util::ProtoInputStream<wpi::math::Quaternion>;
   using OutputStream = wpi::util::ProtoOutputStream<wpi::math::Quaternion>;
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/proto/Rectangle2dProto.hpp b/wpimath/src/main/native/include/wpi/math/geometry/proto/Rectangle2dProto.hpp
index b3b25b1a64..27c9b73d53 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Rectangle2dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Rectangle2dProto.hpp
@@ -10,7 +10,7 @@
 #include "wpimath/protobuf/geometry2d.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Rectangle2d> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Rectangle2d> final {
   using MessageStruct = wpi_proto_ProtobufRectangle2d;
   using InputStream = wpi::util::ProtoInputStream<wpi::math::Rectangle2d>;
   using OutputStream = wpi::util::ProtoOutputStream<wpi::math::Rectangle2d>;
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/proto/Rotation2dProto.hpp b/wpimath/src/main/native/include/wpi/math/geometry/proto/Rotation2dProto.hpp
index 27cb428d3c..57e8a663ee 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Rotation2dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Rotation2dProto.hpp
@@ -11,7 +11,7 @@
 #include "wpimath/protobuf/geometry2d.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Rotation2d> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Rotation2d> final {
   using MessageStruct = wpi_proto_ProtobufRotation2d;
   using InputStream = wpi::util::ProtoInputStream<wpi::math::Rotation2d>;
   using OutputStream = wpi::util::ProtoOutputStream<wpi::math::Rotation2d>;
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/proto/Rotation3dProto.hpp b/wpimath/src/main/native/include/wpi/math/geometry/proto/Rotation3dProto.hpp
index c5f67fb123..4ac9633fd8 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Rotation3dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Rotation3dProto.hpp
@@ -10,7 +10,7 @@
 #include "wpimath/protobuf/geometry3d.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Rotation3d> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Rotation3d> final {
   using MessageStruct = wpi_proto_ProtobufRotation3d;
   using InputStream = wpi::util::ProtoInputStream<wpi::math::Rotation3d>;
   using OutputStream = wpi::util::ProtoOutputStream<wpi::math::Rotation3d>;
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/proto/Transform2dProto.hpp b/wpimath/src/main/native/include/wpi/math/geometry/proto/Transform2dProto.hpp
index 47fc5f3888..7a5b0334c8 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Transform2dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Transform2dProto.hpp
@@ -10,7 +10,7 @@
 #include "wpimath/protobuf/geometry2d.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Transform2d> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Transform2d> final {
   using MessageStruct = wpi_proto_ProtobufTransform2d;
   using InputStream = wpi::util::ProtoInputStream<wpi::math::Transform2d>;
   using OutputStream = wpi::util::ProtoOutputStream<wpi::math::Transform2d>;
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/proto/Transform3dProto.hpp b/wpimath/src/main/native/include/wpi/math/geometry/proto/Transform3dProto.hpp
index 044fe8a5f6..2c248a657b 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Transform3dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Transform3dProto.hpp
@@ -10,7 +10,7 @@
 #include "wpimath/protobuf/geometry3d.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Transform3d> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Transform3d> final {
   using MessageStruct = wpi_proto_ProtobufTransform3d;
   using InputStream = wpi::util::ProtoInputStream<wpi::math::Transform3d>;
   using OutputStream = wpi::util::ProtoOutputStream<wpi::math::Transform3d>;
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/proto/Translation2dProto.hpp b/wpimath/src/main/native/include/wpi/math/geometry/proto/Translation2dProto.hpp
index d75009e16a..f880ec4eea 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Translation2dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Translation2dProto.hpp
@@ -11,7 +11,7 @@
 #include "wpimath/protobuf/geometry2d.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Translation2d> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Translation2d> final {
   using MessageStruct = wpi_proto_ProtobufTranslation2d;
   using InputStream = wpi::util::ProtoInputStream<wpi::math::Translation2d>;
   using OutputStream = wpi::util::ProtoOutputStream<wpi::math::Translation2d>;
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/proto/Translation3dProto.hpp b/wpimath/src/main/native/include/wpi/math/geometry/proto/Translation3dProto.hpp
index ae3b19ba8f..ec4c8c87e3 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Translation3dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Translation3dProto.hpp
@@ -10,7 +10,7 @@
 #include "wpimath/protobuf/geometry3d.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Translation3d> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Translation3d> final {
   using MessageStruct = wpi_proto_ProtobufTranslation3d;
   using InputStream = wpi::util::ProtoInputStream<wpi::math::Translation3d>;
   using OutputStream = wpi::util::ProtoOutputStream<wpi::math::Translation3d>;
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/proto/Twist2dProto.hpp b/wpimath/src/main/native/include/wpi/math/geometry/proto/Twist2dProto.hpp
index 854f38357f..f5710e6570 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Twist2dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Twist2dProto.hpp
@@ -10,7 +10,7 @@
 #include "wpimath/protobuf/geometry2d.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Twist2d> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Twist2d> final {
   using MessageStruct = wpi_proto_ProtobufTwist2d;
   using InputStream = wpi::util::ProtoInputStream<wpi::math::Twist2d>;
   using OutputStream = wpi::util::ProtoOutputStream<wpi::math::Twist2d>;
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/proto/Twist3dProto.hpp b/wpimath/src/main/native/include/wpi/math/geometry/proto/Twist3dProto.hpp
index ffe22f583e..dd9249baab 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/proto/Twist3dProto.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/proto/Twist3dProto.hpp
@@ -10,7 +10,7 @@
 #include "wpimath/protobuf/geometry3d.npb.h"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Twist3d> {
+struct WPILIB_DLLEXPORT wpi::util::Protobuf<wpi::math::Twist3d> final {
   using MessageStruct = wpi_proto_ProtobufTwist3d;
   using InputStream = wpi::util::ProtoInputStream<wpi::math::Twist3d>;
   using OutputStream = wpi::util::ProtoOutputStream<wpi::math::Twist3d>;
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/struct/Ellipse2dStruct.hpp b/wpimath/src/main/native/include/wpi/math/geometry/struct/Ellipse2dStruct.hpp
index f6b0d9401b..cf114e4f90 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Ellipse2dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Ellipse2dStruct.hpp
@@ -9,7 +9,7 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Ellipse2d> {
+struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Ellipse2d> final {
   static constexpr std::string_view GetTypeName() { return "Ellipse2d"; }
   static constexpr size_t GetSize() {
     return wpi::util::GetStructSize<wpi::math::Pose2d>() + 16;
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/struct/Pose2dStruct.hpp b/wpimath/src/main/native/include/wpi/math/geometry/struct/Pose2dStruct.hpp
index 29be60d82b..6a637522ac 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Pose2dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Pose2dStruct.hpp
@@ -9,7 +9,7 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Pose2d> {
+struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Pose2d> final {
   static constexpr std::string_view GetTypeName() { return "Pose2d"; }
   static constexpr size_t GetSize() {
     return wpi::util::GetStructSize<wpi::math::Translation2d>() +
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/struct/Pose3dStruct.hpp b/wpimath/src/main/native/include/wpi/math/geometry/struct/Pose3dStruct.hpp
index 5459a9784a..c949ee1bee 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Pose3dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Pose3dStruct.hpp
@@ -9,7 +9,7 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Pose3d> {
+struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Pose3d> final {
   static constexpr std::string_view GetTypeName() { return "Pose3d"; }
   static constexpr size_t GetSize() {
     return wpi::util::GetStructSize<wpi::math::Translation3d>() +
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/struct/QuaternionStruct.hpp b/wpimath/src/main/native/include/wpi/math/geometry/struct/QuaternionStruct.hpp
index 6432e30db5..1c159ec334 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/QuaternionStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/QuaternionStruct.hpp
@@ -9,7 +9,7 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Quaternion> {
+struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Quaternion> final {
   static constexpr std::string_view GetTypeName() { return "Quaternion"; }
   static constexpr size_t GetSize() { return 32; }
   static constexpr std::string_view GetSchema() {
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/struct/Rectangle2dStruct.hpp b/wpimath/src/main/native/include/wpi/math/geometry/struct/Rectangle2dStruct.hpp
index 762f5f591b..72a782b556 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Rectangle2dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Rectangle2dStruct.hpp
@@ -9,7 +9,7 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Rectangle2d> {
+struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Rectangle2d> final {
   static constexpr std::string_view GetTypeName() { return "Rectangle2d"; }
   static constexpr size_t GetSize() {
     return wpi::util::GetStructSize<wpi::math::Pose2d>() + 16;
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/struct/Rotation2dStruct.hpp b/wpimath/src/main/native/include/wpi/math/geometry/struct/Rotation2dStruct.hpp
index 32e23dd3c7..ecc7872eb3 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Rotation2dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Rotation2dStruct.hpp
@@ -9,7 +9,7 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Rotation2d> {
+struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Rotation2d> final {
   static constexpr std::string_view GetTypeName() { return "Rotation2d"; }
   static constexpr size_t GetSize() { return 8; }
   static constexpr std::string_view GetSchema() { return "double value"; }
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/struct/Rotation3dStruct.hpp b/wpimath/src/main/native/include/wpi/math/geometry/struct/Rotation3dStruct.hpp
index 2f0d94a6fe..57b782bf60 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Rotation3dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Rotation3dStruct.hpp
@@ -9,7 +9,7 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Rotation3d> {
+struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Rotation3d> final {
   static constexpr std::string_view GetTypeName() { return "Rotation3d"; }
   static constexpr size_t GetSize() {
     return wpi::util::GetStructSize<wpi::math::Quaternion>();
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/struct/Transform2dStruct.hpp b/wpimath/src/main/native/include/wpi/math/geometry/struct/Transform2dStruct.hpp
index 47a7366c38..f6eb31d5bc 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Transform2dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Transform2dStruct.hpp
@@ -9,7 +9,7 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Transform2d> {
+struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Transform2d> final {
   static constexpr std::string_view GetTypeName() { return "Transform2d"; }
   static constexpr size_t GetSize() {
     return wpi::util::GetStructSize<wpi::math::Translation2d>() +
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/struct/Transform3dStruct.hpp b/wpimath/src/main/native/include/wpi/math/geometry/struct/Transform3dStruct.hpp
index f631320eb2..51f2fc776b 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Transform3dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Transform3dStruct.hpp
@@ -9,7 +9,7 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Transform3d> {
+struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Transform3d> final {
   static constexpr std::string_view GetTypeName() { return "Transform3d"; }
   static constexpr size_t GetSize() {
     return wpi::util::GetStructSize<wpi::math::Translation3d>() +
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/struct/Translation2dStruct.hpp b/wpimath/src/main/native/include/wpi/math/geometry/struct/Translation2dStruct.hpp
index a75e314a48..b72ea41c4a 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Translation2dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Translation2dStruct.hpp
@@ -9,7 +9,7 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Translation2d> {
+struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Translation2d> final {
   static constexpr std::string_view GetTypeName() { return "Translation2d"; }
   static constexpr size_t GetSize() { return 16; }
   static constexpr std::string_view GetSchema() { return "double x;double y"; }
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/struct/Translation3dStruct.hpp b/wpimath/src/main/native/include/wpi/math/geometry/struct/Translation3dStruct.hpp
index 7a66fad048..92a049cb5f 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Translation3dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Translation3dStruct.hpp
@@ -9,7 +9,7 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Translation3d> {
+struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Translation3d> final {
   static constexpr std::string_view GetTypeName() { return "Translation3d"; }
   static constexpr size_t GetSize() { return 24; }
   static constexpr std::string_view GetSchema() {
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/struct/Twist2dStruct.hpp b/wpimath/src/main/native/include/wpi/math/geometry/struct/Twist2dStruct.hpp
index 2cb5784bc1..b1039c56a7 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Twist2dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Twist2dStruct.hpp
@@ -9,7 +9,7 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Twist2d> {
+struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Twist2d> final {
   static constexpr std::string_view GetTypeName() { return "Twist2d"; }
   static constexpr size_t GetSize() { return 24; }
   static constexpr std::string_view GetSchema() {
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/struct/Twist3dStruct.hpp b/wpimath/src/main/native/include/wpi/math/geometry/struct/Twist3dStruct.hpp
index ce38a60328..b62736bba0 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/struct/Twist3dStruct.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/struct/Twist3dStruct.hpp
@@ -9,7 +9,7 @@
 #include "wpi/util/struct/Struct.hpp"
 
 template <>
-struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Twist3d> {
+struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Twist3d> final {
   static constexpr std::string_view GetTypeName() { return "Twist3d"; }
   static constexpr size_t GetSize() { return 48; }
   static constexpr std::string_view GetSchema() {