| 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" |