From d0b60752088893a626f1980e95004cc3c56d6592 Mon Sep 17 00:00:00 2001
From: Joseph Eng <s-engjo@bsd405.org>
Date: Sun, 31 Dec 2023 13:51:23 -0800
Subject: [PATCH] Remove type param from ProtobufSerializable and
 StructSerializable

---
 .../java/edu/wpi/first/math/controller/ArmFeedforward.java    | 3 +--
 .../first/math/controller/DifferentialDriveWheelVoltages.java | 4 +---
 .../edu/wpi/first/math/controller/ElevatorFeedforward.java    | 3 +--
 wpimath/src/main/java/edu/wpi/first/math/geometry/Pose2d.java | 3 +--
 wpimath/src/main/java/edu/wpi/first/math/geometry/Pose3d.java | 3 +--
 .../src/main/java/edu/wpi/first/math/geometry/Quaternion.java | 3 +--
 .../src/main/java/edu/wpi/first/math/geometry/Rotation2d.java | 4 +---
 .../src/main/java/edu/wpi/first/math/geometry/Rotation3d.java | 4 +---
 .../main/java/edu/wpi/first/math/geometry/Transform2d.java    | 3 +--
 .../main/java/edu/wpi/first/math/geometry/Transform3d.java    | 3 +--
 .../main/java/edu/wpi/first/math/geometry/Translation2d.java  | 4 +---
 .../main/java/edu/wpi/first/math/geometry/Translation3d.java  | 4 +---
 .../src/main/java/edu/wpi/first/math/geometry/Twist2d.java    | 2 +-
 .../src/main/java/edu/wpi/first/math/geometry/Twist3d.java    | 2 +-
 .../java/edu/wpi/first/math/kinematics/ChassisSpeeds.java     | 3 +--
 .../first/math/kinematics/DifferentialDriveKinematics.java    | 4 ++--
 .../first/math/kinematics/DifferentialDriveWheelSpeeds.java   | 4 +---
 .../edu/wpi/first/math/kinematics/MecanumDriveKinematics.java | 4 ++--
 .../wpi/first/math/kinematics/MecanumDriveWheelPositions.java | 4 ++--
 .../wpi/first/math/kinematics/MecanumDriveWheelSpeeds.java    | 4 +---
 .../edu/wpi/first/math/kinematics/SwerveModulePosition.java   | 4 ++--
 .../java/edu/wpi/first/math/kinematics/SwerveModuleState.java | 4 +---
 .../main/java/edu/wpi/first/math/system/plant/DCMotor.java    | 2 +-
 .../main/java/edu/wpi/first/math/trajectory/Trajectory.java   | 4 ++--
 wpiutil/src/main/java/edu/wpi/first/util/WPISerializable.java | 2 +-
 .../edu/wpi/first/util/protobuf/ProtobufSerializable.java     | 2 +-
 .../java/edu/wpi/first/util/struct/StructSerializable.java    | 2 +-
 27 files changed, 32 insertions(+), 56 deletions(-)

diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java b/wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java
index 5e2be2ad6ac..a69653305b7 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java
@@ -13,8 +13,7 @@
  * A helper class that computes feedforward outputs for a simple arm (modeled as a motor acting
  * against the force of gravity on a beam suspended at an angle).
  */
-public class ArmFeedforward
-    implements ProtobufSerializable<ArmFeedforward>, StructSerializable<ArmFeedforward> {
+public class ArmFeedforward implements ProtobufSerializable, StructSerializable {
   public final double ks;
   public final double kg;
   public final double kv;
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/DifferentialDriveWheelVoltages.java b/wpimath/src/main/java/edu/wpi/first/math/controller/DifferentialDriveWheelVoltages.java
index 526d68ac084..e45195655e6 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/DifferentialDriveWheelVoltages.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/DifferentialDriveWheelVoltages.java
@@ -10,9 +10,7 @@
 import edu.wpi.first.util.struct.StructSerializable;
 
 /** Motor voltages for a differential drive. */
-public class DifferentialDriveWheelVoltages
-    implements ProtobufSerializable<DifferentialDriveWheelVoltages>,
-        StructSerializable<DifferentialDriveWheelVoltages> {
+public class DifferentialDriveWheelVoltages implements ProtobufSerializable, StructSerializable {
   public double left;
   public double right;
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java b/wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java
index 9a6b1ef8e97..a83a457f923 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java
@@ -16,8 +16,7 @@
  * A helper class that computes feedforward outputs for a simple elevator (modeled as a motor acting
  * against the force of gravity).
  */
-public class ElevatorFeedforward
-    implements ProtobufSerializable<ElevatorFeedforward>, StructSerializable<ElevatorFeedforward> {
+public class ElevatorFeedforward implements ProtobufSerializable, StructSerializable {
   public final double ks;
   public final double kg;
   public final double kv;
diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose2d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose2d.java
index e824cc38c96..42740c5ffbe 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose2d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose2d.java
@@ -25,8 +25,7 @@
 /** Represents a 2D pose containing translational and rotational elements. */
 @JsonIgnoreProperties(ignoreUnknown = true)
 @JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
-public class Pose2d
-    implements Interpolatable<Pose2d>, ProtobufSerializable<Pose2d>, StructSerializable<Pose2d> {
+public class Pose2d implements Interpolatable<Pose2d>, ProtobufSerializable, StructSerializable {
   private final Translation2d m_translation;
   private final Rotation2d m_rotation;
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose3d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose3d.java
index ef3597d2f02..4ed67c519fe 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose3d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose3d.java
@@ -19,8 +19,7 @@
 /** Represents a 3D pose containing translational and rotational elements. */
 @JsonIgnoreProperties(ignoreUnknown = true)
 @JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
-public class Pose3d
-    implements Interpolatable<Pose3d>, ProtobufSerializable<Pose3d>, StructSerializable<Pose3d> {
+public class Pose3d implements Interpolatable<Pose3d>, ProtobufSerializable, StructSerializable {
   private final Translation3d m_translation;
   private final Rotation3d m_rotation;
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Quaternion.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Quaternion.java
index 41ac6b1f756..9ef0a740b07 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Quaternion.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Quaternion.java
@@ -19,8 +19,7 @@
 
 @JsonIgnoreProperties(ignoreUnknown = true)
 @JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
-public class Quaternion
-    implements ProtobufSerializable<Quaternion>, StructSerializable<Quaternion> {
+public class Quaternion implements ProtobufSerializable, StructSerializable {
   // Scalar r in versor form
   private final double m_w;
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java
index 71c1e494ceb..afca0e84c51 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java
@@ -31,9 +31,7 @@
 @JsonIgnoreProperties(ignoreUnknown = true)
 @JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
 public class Rotation2d
-    implements Interpolatable<Rotation2d>,
-        ProtobufSerializable<Rotation2d>,
-        StructSerializable<Rotation2d> {
+    implements Interpolatable<Rotation2d>, ProtobufSerializable, StructSerializable {
   private final double m_value;
   private final double m_cos;
   private final double m_sin;
diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation3d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation3d.java
index 3cfcac6adf5..ac784ebfa2f 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation3d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation3d.java
@@ -27,9 +27,7 @@
 @JsonIgnoreProperties(ignoreUnknown = true)
 @JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
 public class Rotation3d
-    implements Interpolatable<Rotation3d>,
-        ProtobufSerializable<Rotation3d>,
-        StructSerializable<Rotation3d> {
+    implements Interpolatable<Rotation3d>, ProtobufSerializable, StructSerializable {
   private final Quaternion m_q;
 
   /** Constructs a Rotation3d with a default angle of 0 degrees. */
diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Transform2d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Transform2d.java
index f67b06cbeff..b3078129147 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Transform2d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Transform2d.java
@@ -15,8 +15,7 @@
 import java.util.Objects;
 
 /** Represents a transformation for a Pose2d in the pose's frame. */
-public class Transform2d
-    implements ProtobufSerializable<Transform2d>, StructSerializable<Transform2d> {
+public class Transform2d implements ProtobufSerializable, StructSerializable {
   private final Translation2d m_translation;
   private final Rotation2d m_rotation;
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Transform3d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Transform3d.java
index fcdeef25b8b..d211f7ef21b 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Transform3d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Transform3d.java
@@ -11,8 +11,7 @@
 import java.util.Objects;
 
 /** Represents a transformation for a Pose3d in the pose's frame. */
-public class Transform3d
-    implements ProtobufSerializable<Transform3d>, StructSerializable<Transform3d> {
+public class Transform3d implements ProtobufSerializable, StructSerializable {
   private final Translation3d m_translation;
   private final Rotation3d m_rotation;
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Translation2d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Translation2d.java
index 8af696124d9..228582311e2 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Translation2d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Translation2d.java
@@ -32,9 +32,7 @@
 @JsonIgnoreProperties(ignoreUnknown = true)
 @JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
 public class Translation2d
-    implements Interpolatable<Translation2d>,
-        ProtobufSerializable<Translation2d>,
-        StructSerializable<Translation2d> {
+    implements Interpolatable<Translation2d>, ProtobufSerializable, StructSerializable {
   private final double m_x;
   private final double m_y;
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Translation3d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Translation3d.java
index 1b88d18fe17..af76f155c13 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Translation3d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Translation3d.java
@@ -30,9 +30,7 @@
 @JsonIgnoreProperties(ignoreUnknown = true)
 @JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
 public class Translation3d
-    implements Interpolatable<Translation3d>,
-        ProtobufSerializable<Translation3d>,
-        StructSerializable<Translation3d> {
+    implements Interpolatable<Translation3d>, ProtobufSerializable, StructSerializable {
   private final double m_x;
   private final double m_y;
   private final double m_z;
diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Twist2d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Twist2d.java
index a656baa0169..9d353a4b1d4 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Twist2d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Twist2d.java
@@ -16,7 +16,7 @@
  *
  * <p>A Twist can be used to represent a difference between two poses.
  */
-public class Twist2d implements ProtobufSerializable<Twist2d>, StructSerializable<Twist2d> {
+public class Twist2d implements ProtobufSerializable, StructSerializable {
   /** Linear "dx" component. */
   public double dx;
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Twist3d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Twist3d.java
index e5f79e4bebd..0045f29f7a6 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Twist3d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Twist3d.java
@@ -16,7 +16,7 @@
  *
  * <p>A Twist can be used to represent a difference between two poses.
  */
-public class Twist3d implements ProtobufSerializable<Twist3d>, StructSerializable<Twist3d> {
+public class Twist3d implements ProtobufSerializable, StructSerializable {
   /** Linear "dx" component. */
   public double dx;
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java
index 8304b137ede..a6662b95990 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java
@@ -30,8 +30,7 @@
  * component because it can never move sideways. Holonomic drivetrains such as swerve and mecanum
  * will often have all three components.
  */
-public class ChassisSpeeds
-    implements ProtobufSerializable<ChassisSpeeds>, StructSerializable<ChassisSpeeds> {
+public class ChassisSpeeds implements ProtobufSerializable, StructSerializable {
   /** Velocity along the x-axis. (Fwd is +) */
   public double vxMetersPerSecond;
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveKinematics.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveKinematics.java
index 7f39c8788f8..7711721e7f4 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveKinematics.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveKinematics.java
@@ -26,8 +26,8 @@
  */
 public class DifferentialDriveKinematics
     implements Kinematics<DifferentialDriveWheelSpeeds, DifferentialDriveWheelPositions>,
-        ProtobufSerializable<DifferentialDriveKinematics>,
-        StructSerializable<DifferentialDriveKinematics> {
+        ProtobufSerializable,
+        StructSerializable {
   public final double trackWidthMeters;
 
   public static final DifferentialDriveKinematicsProto proto =
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelSpeeds.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelSpeeds.java
index 5b4bb501e54..d5e317bfb88 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelSpeeds.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelSpeeds.java
@@ -15,9 +15,7 @@
 import edu.wpi.first.util.struct.StructSerializable;
 
 /** Represents the wheel speeds for a differential drive drivetrain. */
-public class DifferentialDriveWheelSpeeds
-    implements ProtobufSerializable<DifferentialDriveWheelSpeeds>,
-        StructSerializable<DifferentialDriveWheelSpeeds> {
+public class DifferentialDriveWheelSpeeds implements ProtobufSerializable, StructSerializable {
   /** Speed of the left side of the robot. */
   public double leftMetersPerSecond;
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveKinematics.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveKinematics.java
index 14829afa365..f73f8d48d4e 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveKinematics.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveKinematics.java
@@ -36,8 +36,8 @@
  */
 public class MecanumDriveKinematics
     implements Kinematics<MecanumDriveWheelSpeeds, MecanumDriveWheelPositions>,
-        ProtobufSerializable<MecanumDriveKinematics>,
-        StructSerializable<MecanumDriveKinematics> {
+        ProtobufSerializable,
+        StructSerializable {
   private final SimpleMatrix m_inverseKinematics;
   private final SimpleMatrix m_forwardKinematics;
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelPositions.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelPositions.java
index c22de3a8c32..5b5a02ee4e2 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelPositions.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelPositions.java
@@ -17,8 +17,8 @@
 
 public class MecanumDriveWheelPositions
     implements WheelPositions<MecanumDriveWheelPositions>,
-        ProtobufSerializable<MecanumDriveWheelPositions>,
-        StructSerializable<MecanumDriveWheelPositions> {
+        ProtobufSerializable,
+        StructSerializable {
   /** Distance measured by the front left wheel. */
   public double frontLeftMeters;
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelSpeeds.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelSpeeds.java
index 73ccf295fb8..b1e6bf44234 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelSpeeds.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelSpeeds.java
@@ -14,9 +14,7 @@
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
 
-public class MecanumDriveWheelSpeeds
-    implements ProtobufSerializable<MecanumDriveWheelSpeeds>,
-        StructSerializable<MecanumDriveWheelSpeeds> {
+public class MecanumDriveWheelSpeeds implements ProtobufSerializable, StructSerializable {
   /** Speed of the front left wheel. */
   public double frontLeftMetersPerSecond;
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModulePosition.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModulePosition.java
index 02803900000..cccf1466fab 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModulePosition.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModulePosition.java
@@ -21,8 +21,8 @@
 public class SwerveModulePosition
     implements Comparable<SwerveModulePosition>,
         Interpolatable<SwerveModulePosition>,
-        ProtobufSerializable<SwerveModulePosition>,
-        StructSerializable<SwerveModulePosition> {
+        ProtobufSerializable,
+        StructSerializable {
   /** Distance measured by the wheel of the module. */
   public double distanceMeters;
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModuleState.java b/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModuleState.java
index 329e6b1116b..9c6b180ca49 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModuleState.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModuleState.java
@@ -18,9 +18,7 @@
 
 /** Represents the state of one swerve module. */
 public class SwerveModuleState
-    implements Comparable<SwerveModuleState>,
-        ProtobufSerializable<SwerveModuleState>,
-        StructSerializable<SwerveModuleState> {
+    implements Comparable<SwerveModuleState>, ProtobufSerializable, StructSerializable {
   /** Speed of the wheel of the module. */
   public double speedMetersPerSecond;
 
diff --git a/wpimath/src/main/java/edu/wpi/first/math/system/plant/DCMotor.java b/wpimath/src/main/java/edu/wpi/first/math/system/plant/DCMotor.java
index 9f5d67dbf0e..25da66ceabe 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/system/plant/DCMotor.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/system/plant/DCMotor.java
@@ -11,7 +11,7 @@
 import edu.wpi.first.util.struct.StructSerializable;
 
 /** Holds the constants for a DC motor. */
-public class DCMotor implements ProtobufSerializable<DCMotor>, StructSerializable<DCMotor> {
+public class DCMotor implements ProtobufSerializable, StructSerializable {
   public final double nominalVoltageVolts;
   public final double stallTorqueNewtonMeters;
   public final double stallCurrentAmps;
diff --git a/wpimath/src/main/java/edu/wpi/first/math/trajectory/Trajectory.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/Trajectory.java
index ff54157bdb2..6d9ec0c6829 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/trajectory/Trajectory.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/Trajectory.java
@@ -19,7 +19,7 @@
  * Represents a time-parameterized trajectory. The trajectory contains of various States that
  * represent the pose, curvature, time elapsed, velocity, and acceleration at that point.
  */
-public class Trajectory implements ProtobufSerializable<Trajectory> {
+public class Trajectory implements ProtobufSerializable {
   public static final TrajectoryProto proto = new TrajectoryProto();
 
   private final double m_totalTimeSeconds;
@@ -268,7 +268,7 @@ public Trajectory concatenate(Trajectory other) {
    * Represents a time-parameterized trajectory. The trajectory contains of various States that
    * represent the pose, curvature, time elapsed, velocity, and acceleration at that point.
    */
-  public static class State implements ProtobufSerializable<State> {
+  public static class State implements ProtobufSerializable {
     public static final TrajectoryStateProto proto = new TrajectoryStateProto();
 
     // The time elapsed since the beginning of the trajectory.
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/WPISerializable.java b/wpiutil/src/main/java/edu/wpi/first/util/WPISerializable.java
index 753f40d2078..200deb54960 100644
--- a/wpiutil/src/main/java/edu/wpi/first/util/WPISerializable.java
+++ b/wpiutil/src/main/java/edu/wpi/first/util/WPISerializable.java
@@ -5,4 +5,4 @@
 package edu.wpi.first.util;
 
 /** Marker interface to indicate a class is serializable using WPI serialization methods. */
-public interface WPISerializable<T> {}
+public interface WPISerializable {}
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/protobuf/ProtobufSerializable.java b/wpiutil/src/main/java/edu/wpi/first/util/protobuf/ProtobufSerializable.java
index 78fdf8fbff0..ac75065659c 100644
--- a/wpiutil/src/main/java/edu/wpi/first/util/protobuf/ProtobufSerializable.java
+++ b/wpiutil/src/main/java/edu/wpi/first/util/protobuf/ProtobufSerializable.java
@@ -12,4 +12,4 @@
  * <p>While this cannot be enforced by the interface, any class implementing this interface should
  * provide a public final static `proto` member variable.
  */
-public interface ProtobufSerializable<T> extends WPISerializable<T> {}
+public interface ProtobufSerializable extends WPISerializable {}
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/struct/StructSerializable.java b/wpiutil/src/main/java/edu/wpi/first/util/struct/StructSerializable.java
index 93cf6f262b0..a8d1fdd8078 100644
--- a/wpiutil/src/main/java/edu/wpi/first/util/struct/StructSerializable.java
+++ b/wpiutil/src/main/java/edu/wpi/first/util/struct/StructSerializable.java
@@ -12,4 +12,4 @@
  * <p>While this cannot be enforced by the interface, any class implementing this interface should
  * provide a public final static `struct` member variable.
  */
-public interface StructSerializable<T> extends WPISerializable<T> {}
+public interface StructSerializable extends WPISerializable {}