diff --git a/.styleguide b/.styleguide
index 51597b7082..20c2059833 100644
--- a/.styleguide
+++ b/.styleguide
@@ -26,7 +26,6 @@ includeOtherLibs {
   ^drake/
   ^hal/
   ^imgui
-  ^math/
   ^mockdata/
   ^networktables/
   ^ntcore
@@ -36,4 +35,5 @@ includeOtherLibs {
   ^unsupported/
   ^vision/
   ^wpi/
+  ^wpimath/
 }
diff --git a/wpilibc/src/main/native/cppcs/RobotBase.cpp b/wpilibc/src/main/native/cppcs/RobotBase.cpp
index e87792eddb..fac7cf11d1 100644
--- a/wpilibc/src/main/native/cppcs/RobotBase.cpp
+++ b/wpilibc/src/main/native/cppcs/RobotBase.cpp
@@ -16,8 +16,8 @@
 #include <cameraserver/CameraServerShared.h>
 #include <hal/FRCUsageReporting.h>
 #include <hal/HALBase.h>
-#include <math/MathShared.h>
 #include <networktables/NetworkTableInstance.h>
+#include <wpimath/MathShared.h>
 
 #include "WPILibVersion.h"
 #include "frc/DriverStation.h"
diff --git a/wpimath/src/main/native/cpp/MathShared.cpp b/wpimath/src/main/native/cpp/MathShared.cpp
index 3d394aeeaf..8a64f2e40d 100644
--- a/wpimath/src/main/native/cpp/MathShared.cpp
+++ b/wpimath/src/main/native/cpp/MathShared.cpp
@@ -5,7 +5,7 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
-#include "math/MathShared.h"
+#include "wpimath/MathShared.h"
 
 #include <wpi/mutex.h>
 
diff --git a/wpimath/src/main/native/cpp/kinematics/DifferentialDriveOdometry.cpp b/wpimath/src/main/native/cpp/kinematics/DifferentialDriveOdometry.cpp
index 8df4445e4c..25b6c51fd9 100644
--- a/wpimath/src/main/native/cpp/kinematics/DifferentialDriveOdometry.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/DifferentialDriveOdometry.cpp
@@ -7,7 +7,7 @@
 
 #include "frc/kinematics/DifferentialDriveOdometry.h"
 
-#include "math/MathShared.h"
+#include "wpimath/MathShared.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/main/native/cpp/kinematics/MecanumDriveOdometry.cpp b/wpimath/src/main/native/cpp/kinematics/MecanumDriveOdometry.cpp
index d2adc4773c..7534fc1b9f 100644
--- a/wpimath/src/main/native/cpp/kinematics/MecanumDriveOdometry.cpp
+++ b/wpimath/src/main/native/cpp/kinematics/MecanumDriveOdometry.cpp
@@ -7,7 +7,7 @@
 
 #include "frc/kinematics/MecanumDriveOdometry.h"
 
-#include "math/MathShared.h"
+#include "wpimath/MathShared.h"
 
 using namespace frc;
 
diff --git a/wpimath/src/main/native/include/frc/LinearFilter.h b/wpimath/src/main/native/include/frc/LinearFilter.h
index a8ce8b5ca6..1fe0edc660 100644
--- a/wpimath/src/main/native/include/frc/LinearFilter.h
+++ b/wpimath/src/main/native/include/frc/LinearFilter.h
@@ -15,8 +15,8 @@
 #include <wpi/ArrayRef.h>
 #include <wpi/circular_buffer.h>
 
-#include "math/MathShared.h"
 #include "units/time.h"
+#include "wpimath/MathShared.h"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h b/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h
index 790fdf9267..9e48b5ee64 100644
--- a/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h
+++ b/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h
@@ -9,9 +9,9 @@
 
 #include "frc/kinematics/ChassisSpeeds.h"
 #include "frc/kinematics/DifferentialDriveWheelSpeeds.h"
-#include "math/MathShared.h"
 #include "units/angle.h"
 #include "units/length.h"
+#include "wpimath/MathShared.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 26df9ca00d..d7d931974f 100644
--- a/wpimath/src/main/native/include/frc/kinematics/MecanumDriveKinematics.h
+++ b/wpimath/src/main/native/include/frc/kinematics/MecanumDriveKinematics.h
@@ -13,7 +13,7 @@
 #include "frc/geometry/Translation2d.h"
 #include "frc/kinematics/ChassisSpeeds.h"
 #include "frc/kinematics/MecanumDriveWheelSpeeds.h"
-#include "math/MathShared.h"
+#include "wpimath/MathShared.h"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h b/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h
index 83168d465c..549385752d 100644
--- a/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h
+++ b/wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h
@@ -17,8 +17,8 @@
 #include "frc/geometry/Translation2d.h"
 #include "frc/kinematics/ChassisSpeeds.h"
 #include "frc/kinematics/SwerveModuleState.h"
-#include "math/MathShared.h"
 #include "units/velocity.h"
+#include "wpimath/MathShared.h"
 
 namespace frc {
 /**
diff --git a/wpimath/src/main/native/include/frc/kinematics/SwerveDriveOdometry.inc b/wpimath/src/main/native/include/frc/kinematics/SwerveDriveOdometry.inc
index dd08de5f9d..e7bb093251 100644
--- a/wpimath/src/main/native/include/frc/kinematics/SwerveDriveOdometry.inc
+++ b/wpimath/src/main/native/include/frc/kinematics/SwerveDriveOdometry.inc
@@ -7,7 +7,7 @@
 
 #pragma once
 
-#include "math/MathShared.h"
+#include "wpimath/MathShared.h"
 
 namespace frc {
 template <size_t NumModules>
diff --git a/wpimath/src/main/native/include/frc/trajectory/TrapezoidProfile.h b/wpimath/src/main/native/include/frc/trajectory/TrapezoidProfile.h
index 3246ea269d..5f9f1b8315 100644
--- a/wpimath/src/main/native/include/frc/trajectory/TrapezoidProfile.h
+++ b/wpimath/src/main/native/include/frc/trajectory/TrapezoidProfile.h
@@ -7,8 +7,8 @@
 
 #pragma once
 
-#include "math/MathShared.h"
 #include "units/time.h"
+#include "wpimath/MathShared.h"
 
 namespace frc {
 
diff --git a/wpimath/src/main/native/include/math/MathShared.h b/wpimath/src/main/native/include/wpimath/MathShared.h
similarity index 100%
rename from wpimath/src/main/native/include/math/MathShared.h
rename to wpimath/src/main/native/include/wpimath/MathShared.h