diff --git a/wpimath/.styleguide b/wpimath/.styleguide
index 4283e61d28..d69047aff0 100644
--- a/wpimath/.styleguide
+++ b/wpimath/.styleguide
@@ -31,7 +31,12 @@ includeGuardRoots {
 }
 
 includeOtherLibs {
-  ^Eigen/
-  ^unsupported/
   ^wpi/
 }
+
+includeProject {
+  ^drake/
+  ^Eigen/
+  ^units/
+  ^unsupported/
+}
diff --git a/wpimath/src/main/native/cpp/jni/WPIMathJNI.cpp b/wpimath/src/main/native/cpp/jni/WPIMathJNI.cpp
index 0651dce095..33c10f8b2f 100644
--- a/wpimath/src/main/native/cpp/jni/WPIMathJNI.cpp
+++ b/wpimath/src/main/native/cpp/jni/WPIMathJNI.cpp
@@ -7,12 +7,12 @@
 
 #include <jni.h>
 
-#include <Eigen/Core>
-#include <unsupported/Eigen/MatrixFunctions>
 #include <wpi/jni_util.h>
 
+#include "Eigen/Core"
 #include "drake/math/discrete_algebraic_riccati_equation.h"
 #include "edu_wpi_first_math_WPIMathJNI.h"
+#include "unsupported/Eigen/MatrixFunctions"
 
 using namespace wpi::java;
 
diff --git a/wpimath/src/main/native/include/frc/geometry/Rotation2d.h b/wpimath/src/main/native/include/frc/geometry/Rotation2d.h
index 92cf431d03..914eba4f6d 100644
--- a/wpimath/src/main/native/include/frc/geometry/Rotation2d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Rotation2d.h
@@ -7,7 +7,7 @@
 
 #pragma once
 
-#include <units/angle.h>
+#include "units/angle.h"
 
 namespace wpi {
 class json;
diff --git a/wpimath/src/main/native/include/frc/geometry/Translation2d.h b/wpimath/src/main/native/include/frc/geometry/Translation2d.h
index 5623bd704a..aa9fb48ac4 100644
--- a/wpimath/src/main/native/include/frc/geometry/Translation2d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Translation2d.h
@@ -7,9 +7,8 @@
 
 #pragma once
 
-#include <units/length.h>
-
 #include "Rotation2d.h"
+#include "units/length.h"
 
 namespace wpi {
 class json;
diff --git a/wpimath/src/main/native/include/frc/geometry/Twist2d.h b/wpimath/src/main/native/include/frc/geometry/Twist2d.h
index 68b2632153..b71ee5613d 100644
--- a/wpimath/src/main/native/include/frc/geometry/Twist2d.h
+++ b/wpimath/src/main/native/include/frc/geometry/Twist2d.h
@@ -7,9 +7,9 @@
 
 #pragma once
 
-#include <units/angle.h>
-#include <units/length.h>
-#include <units/math.h>
+#include "units/angle.h"
+#include "units/length.h"
+#include "units/math.h"
 
 namespace frc {
 /**
diff --git a/wpimath/src/main/native/include/frc/kinematics/MecanumDriveKinematics.h b/wpimath/src/main/native/include/frc/kinematics/MecanumDriveKinematics.h
index d7d931974f..c306f1a7c5 100644
--- a/wpimath/src/main/native/include/frc/kinematics/MecanumDriveKinematics.h
+++ b/wpimath/src/main/native/include/frc/kinematics/MecanumDriveKinematics.h
@@ -7,9 +7,8 @@
 
 #pragma once
 
-#include <Eigen/Core>
-#include <Eigen/QR>
-
+#include "Eigen/Core"
+#include "Eigen/QR"
 #include "frc/geometry/Translation2d.h"
 #include "frc/kinematics/ChassisSpeeds.h"
 #include "frc/kinematics/MecanumDriveWheelSpeeds.h"
diff --git a/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h b/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h
index 549385752d..a5b1ca48c1 100644
--- a/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h
+++ b/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h
@@ -10,9 +10,8 @@
 #include <array>
 #include <cstddef>
 
-#include <Eigen/Core>
-#include <Eigen/QR>
-
+#include "Eigen/Core"
+#include "Eigen/QR"
 #include "frc/geometry/Rotation2d.h"
 #include "frc/geometry/Translation2d.h"
 #include "frc/kinematics/ChassisSpeeds.h"
diff --git a/wpimath/src/main/native/include/frc/spline/CubicHermiteSpline.h b/wpimath/src/main/native/include/frc/spline/CubicHermiteSpline.h
index 5a153e2bab..c9cf2d058b 100644
--- a/wpimath/src/main/native/include/frc/spline/CubicHermiteSpline.h
+++ b/wpimath/src/main/native/include/frc/spline/CubicHermiteSpline.h
@@ -9,8 +9,7 @@
 
 #include <array>
 
-#include <Eigen/Core>
-
+#include "Eigen/Core"
 #include "frc/spline/Spline.h"
 
 namespace frc {
diff --git a/wpimath/src/main/native/include/frc/spline/QuinticHermiteSpline.h b/wpimath/src/main/native/include/frc/spline/QuinticHermiteSpline.h
index 7fb34dc2b9..201c402913 100644
--- a/wpimath/src/main/native/include/frc/spline/QuinticHermiteSpline.h
+++ b/wpimath/src/main/native/include/frc/spline/QuinticHermiteSpline.h
@@ -9,8 +9,7 @@
 
 #include <array>
 
-#include <Eigen/Core>
-
+#include "Eigen/Core"
 #include "frc/spline/Spline.h"
 
 namespace frc {
diff --git a/wpimath/src/main/native/include/frc/spline/Spline.h b/wpimath/src/main/native/include/frc/spline/Spline.h
index b2b8829d34..29644764b9 100644
--- a/wpimath/src/main/native/include/frc/spline/Spline.h
+++ b/wpimath/src/main/native/include/frc/spline/Spline.h
@@ -11,8 +11,7 @@
 #include <utility>
 #include <vector>
 
-#include <Eigen/Core>
-
+#include "Eigen/Core"
 #include "frc/geometry/Pose2d.h"
 #include "units/curvature.h"
 #include "units/length.h"
diff --git a/wpimath/src/main/native/include/frc/trajectory/constraint/SwerveDriveKinematicsConstraint.inc b/wpimath/src/main/native/include/frc/trajectory/constraint/SwerveDriveKinematicsConstraint.inc
index 84b0ba92b1..a8ef66c4ab 100644
--- a/wpimath/src/main/native/include/frc/trajectory/constraint/SwerveDriveKinematicsConstraint.inc
+++ b/wpimath/src/main/native/include/frc/trajectory/constraint/SwerveDriveKinematicsConstraint.inc
@@ -7,7 +7,7 @@
 
 #pragma once
 
-#include <units/math.h>
+#include "units/math.h"
 
 namespace frc {
 
diff --git a/wpimath/src/test/native/cpp/EigenTest.cpp b/wpimath/src/test/native/cpp/EigenTest.cpp
index 26b5da1199..2065e26e63 100644
--- a/wpimath/src/test/native/cpp/EigenTest.cpp
+++ b/wpimath/src/test/native/cpp/EigenTest.cpp
@@ -5,9 +5,8 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
-#include <Eigen/Core>
-#include <Eigen/LU>
-
+#include "Eigen/Core"
+#include "Eigen/LU"
 #include "gtest/gtest.h"
 
 TEST(EigenTest, MultiplicationTest) {