diff --git b/wpimath/src/main/native/include/drake/common/is_approx_equal_abstol.h a/wpimath/src/main/native/include/drake/common/is_approx_equal_abstol.h
index 9af0c4525..b3f369ca0 100644
--- b/wpimath/src/main/native/include/drake/common/is_approx_equal_abstol.h
+++ a/wpimath/src/main/native/include/drake/common/is_approx_equal_abstol.h
@@ -2,7 +2,7 @@
 
 #include <vector>
 
-#include <Eigen/Dense>
+#include <Eigen/Core>
 
 namespace drake {
 
diff --git a/wpimath/src/main/native/cpp/drake/math/discrete_algebraic_riccati_equation.cpp b/wpimath/src/main/native/cpp/drake/math/discrete_algebraic_riccati_equation.cpp
index 9585c4dae..49c2fefe7 100644
--- a/wpimath/src/main/native/cpp/drake/math/discrete_algebraic_riccati_equation.cpp
+++ b/wpimath/src/main/native/cpp/drake/math/discrete_algebraic_riccati_equation.cpp
@@ -1,5 +1,8 @@
 #include "drake/math/discrete_algebraic_riccati_equation.h"
 
+#include <Eigen/Eigenvalues>
+#include <Eigen/QR>
+
 #include "drake/common/drake_assert.h"
 #include "drake/common/drake_throw.h"
 #include "drake/common/is_approx_equal_abstol.h"
diff --git b/wpimath/src/main/native/include/drake/math/discrete_algebraic_riccati_equation.h a/wpimath/src/main/native/include/drake/math/discrete_algebraic_riccati_equation.h
index b64bfe75e..fc5efb313 100644
--- b/wpimath/src/main/native/include/drake/math/discrete_algebraic_riccati_equation.h
+++ a/wpimath/src/main/native/include/drake/math/discrete_algebraic_riccati_equation.h
@@ -3,7 +3,7 @@
 #include <cmath>
 #include <cstdlib>
 
-#include <Eigen/Dense>
+#include <Eigen/Core>
 
 namespace drake {
 namespace math {
 
diff --git b/wpimath/src/test/native/cpp/drake/discrete_algebraic_riccati_equation_test.cpp a/wpimath/src/test/native/cpp/drake/discrete_algebraic_riccati_equation_test.cpp
index 74aa4b23d..2deb039a0 100644
--- b/wpimath/src/test/native/cpp/drake/discrete_algebraic_riccati_equation_test.cpp
+++ a/wpimath/src/test/native/cpp/drake/discrete_algebraic_riccati_equation_test.cpp
@@ -1,5 +1,6 @@
 #include "drake/math/discrete_algebraic_riccati_equation.h"
 
+#include <Eigen/Eigenvalues>
 #include <gtest/gtest.h>
 
 #include "drake/common/test_utilities/eigen_matrix_compare.h"
diff --git b/wpimath/src/test/native/include/drake/common/test_utilities/eigen_matrix_compare.h a/wpimath/src/test/native/include/drake/common/test_utilities/eigen_matrix_compare.h
index e3bd85349..d6bcbb8ec 100644
--- b/wpimath/src/test/native/include/drake/common/test_utilities/eigen_matrix_compare.h
+++ a/wpimath/src/test/native/include/drake/common/test_utilities/eigen_matrix_compare.h
@@ -4,7 +4,7 @@
 #include <cmath>
 #include <limits>
 
-#include <Eigen/Dense>
+#include <Eigen/Core>
 #include <gtest/gtest.h>
 
 // #include "drake/common/text_logging.h"