diff --git a/wpimath/src/main/native/cpp/ComputerVisionUtil.cpp b/wpimath/src/main/native/cpp/ComputerVisionUtil.cpp
deleted file mode 100644
index 97968dce908..00000000000
--- a/wpimath/src/main/native/cpp/ComputerVisionUtil.cpp
+++ /dev/null
@@ -1,19 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include "frc/ComputerVisionUtil.h"
-
-#include "units/math.h"
-
-namespace frc {
-
-frc::Pose3d ObjectToRobotPose(const frc::Pose3d& objectInField,
-                              const frc::Transform3d& cameraToObject,
-                              const frc::Transform3d& robotToCamera) {
-  const auto objectToCamera = cameraToObject.Inverse();
-  const auto cameraToRobot = robotToCamera.Inverse();
-  return objectInField + objectToCamera + cameraToRobot;
-}
-
-}  // namespace frc
diff --git a/wpimath/src/main/native/cpp/StateSpaceUtil.cpp b/wpimath/src/main/native/cpp/StateSpaceUtil.cpp
index 5dcf1a1798a..f0f6786e1a1 100644
--- a/wpimath/src/main/native/cpp/StateSpaceUtil.cpp
+++ b/wpimath/src/main/native/cpp/StateSpaceUtil.cpp
@@ -6,18 +6,6 @@
 
 namespace frc {
 
-Eigen::Vector3d PoseTo3dVector(const Pose2d& pose) {
-  return Eigen::Vector3d{pose.Translation().X().value(),
-                         pose.Translation().Y().value(),
-                         pose.Rotation().Radians().value()};
-}
-
-Eigen::Vector4d PoseTo4dVector(const Pose2d& pose) {
-  return Eigen::Vector4d{pose.Translation().X().value(),
-                         pose.Translation().Y().value(), pose.Rotation().Cos(),
-                         pose.Rotation().Sin()};
-}
-
 template bool IsStabilizable<1, 1>(const Matrixd<1, 1>& A,
                                    const Matrixd<1, 1>& B);
 template bool IsStabilizable<2, 1>(const Matrixd<2, 2>& A,
@@ -25,9 +13,4 @@ template bool IsStabilizable<2, 1>(const Matrixd<2, 2>& A,
 template bool IsStabilizable<Eigen::Dynamic, Eigen::Dynamic>(
     const Eigen::MatrixXd& A, const Eigen::MatrixXd& B);
 
-Eigen::Vector3d PoseToVector(const Pose2d& pose) {
-  return Eigen::Vector3d{pose.X().value(), pose.Y().value(),
-                         pose.Rotation().Radians().value()};
-}
-
 }  // namespace frc
diff --git a/wpimath/src/main/native/cpp/kinematics/DifferentialDriveWheelSpeeds.cpp b/wpimath/src/main/native/cpp/kinematics/DifferentialDriveWheelSpeeds.cpp
deleted file mode 100644
index 33c390d072d..00000000000
--- a/wpimath/src/main/native/cpp/kinematics/DifferentialDriveWheelSpeeds.cpp
+++ /dev/null
@@ -1,20 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include "frc/kinematics/DifferentialDriveWheelSpeeds.h"
-
-#include "units/math.h"
-
-using namespace frc;
-
-void DifferentialDriveWheelSpeeds::Desaturate(
-    units::meters_per_second_t attainableMaxSpeed) {
-  auto realMaxSpeed =
-      units::math::max(units::math::abs(left), units::math::abs(right));
-
-  if (realMaxSpeed > attainableMaxSpeed) {
-    left = left / realMaxSpeed * attainableMaxSpeed;
-    right = right / realMaxSpeed * attainableMaxSpeed;
-  }
-}
diff --git a/wpimath/src/main/native/cpp/kinematics/MecanumDriveWheelSpeeds.cpp b/wpimath/src/main/native/cpp/kinematics/MecanumDriveWheelSpeeds.cpp
deleted file mode 100644
index 0f5de422e26..00000000000
--- a/wpimath/src/main/native/cpp/kinematics/MecanumDriveWheelSpeeds.cpp
+++ /dev/null
@@ -1,33 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include "frc/kinematics/MecanumDriveWheelSpeeds.h"
-
-#include <algorithm>
-#include <array>
-#include <cmath>
-
-#include "units/math.h"
-
-using namespace frc;
-
-void MecanumDriveWheelSpeeds::Desaturate(
-    units::meters_per_second_t attainableMaxSpeed) {
-  std::array<units::meters_per_second_t, 4> wheelSpeeds{frontLeft, frontRight,
-                                                        rearLeft, rearRight};
-  units::meters_per_second_t realMaxSpeed = units::math::abs(*std::max_element(
-      wheelSpeeds.begin(), wheelSpeeds.end(), [](const auto& a, const auto& b) {
-        return units::math::abs(a) < units::math::abs(b);
-      }));
-
-  if (realMaxSpeed > attainableMaxSpeed) {
-    for (int i = 0; i < 4; ++i) {
-      wheelSpeeds[i] = wheelSpeeds[i] / realMaxSpeed * attainableMaxSpeed;
-    }
-    frontLeft = wheelSpeeds[0];
-    frontRight = wheelSpeeds[1];
-    rearLeft = wheelSpeeds[2];
-    rearRight = wheelSpeeds[3];
-  }
-}
diff --git a/wpimath/src/main/native/cpp/kinematics/SwerveModulePosition.cpp b/wpimath/src/main/native/cpp/kinematics/SwerveModulePosition.cpp
deleted file mode 100644
index 5343de91260..00000000000
--- a/wpimath/src/main/native/cpp/kinematics/SwerveModulePosition.cpp
+++ /dev/null
@@ -1,15 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include "frc/kinematics/SwerveModulePosition.h"
-
-#include "frc/kinematics/SwerveModuleState.h"
-#include "units/math.h"
-
-using namespace frc;
-
-bool SwerveModulePosition::operator==(const SwerveModulePosition& other) const {
-  return units::math::abs(distance - other.distance) < 1E-9_m &&
-         angle == other.angle;
-}
diff --git a/wpimath/src/main/native/cpp/kinematics/SwerveModuleState.cpp b/wpimath/src/main/native/cpp/kinematics/SwerveModuleState.cpp
deleted file mode 100644
index 071d53a35ed..00000000000
--- a/wpimath/src/main/native/cpp/kinematics/SwerveModuleState.cpp
+++ /dev/null
@@ -1,24 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include "frc/kinematics/SwerveModuleState.h"
-
-#include "units/math.h"
-
-using namespace frc;
-
-bool SwerveModuleState::operator==(const SwerveModuleState& other) const {
-  return units::math::abs(speed - other.speed) < 1E-9_mps &&
-         angle == other.angle;
-}
-
-SwerveModuleState SwerveModuleState::Optimize(
-    const SwerveModuleState& desiredState, const Rotation2d& currentAngle) {
-  auto delta = desiredState.angle - currentAngle;
-  if (units::math::abs(delta.Degrees()) > 90_deg) {
-    return {-desiredState.speed, desiredState.angle + Rotation2d{180_deg}};
-  } else {
-    return {desiredState.speed, desiredState.angle};
-  }
-}
diff --git a/wpimath/src/main/native/include/frc/ComputerVisionUtil.h b/wpimath/src/main/native/include/frc/ComputerVisionUtil.h
index 54f9752a96d..072df05003c 100644
--- a/wpimath/src/main/native/include/frc/ComputerVisionUtil.h
+++ b/wpimath/src/main/native/include/frc/ComputerVisionUtil.h
@@ -30,8 +30,12 @@ namespace frc {
  * @return The robot's field-relative pose.
  */
 WPILIB_DLLEXPORT
-frc::Pose3d ObjectToRobotPose(const frc::Pose3d& objectInField,
-                              const frc::Transform3d& cameraToObject,
-                              const frc::Transform3d& robotToCamera);
+constexpr frc::Pose3d ObjectToRobotPose(const frc::Pose3d& objectInField,
+                                        const frc::Transform3d& cameraToObject,
+                                        const frc::Transform3d& robotToCamera) {
+  const auto objectToCamera = cameraToObject.Inverse();
+  const auto cameraToRobot = robotToCamera.Inverse();
+  return objectInField + objectToCamera + cameraToRobot;
+}
 
 }  // namespace frc
diff --git a/wpimath/src/main/native/include/frc/MathUtil.h b/wpimath/src/main/native/include/frc/MathUtil.h
index 76e11ce64b0..9bb70a0a5f8 100644
--- a/wpimath/src/main/native/include/frc/MathUtil.h
+++ b/wpimath/src/main/native/include/frc/MathUtil.h
@@ -7,6 +7,7 @@
 #include <numbers>
 #include <type_traits>
 
+#include <gcem.hpp>
 #include <wpi/SymbolExports.h>
 
 #include "units/angle.h"
@@ -28,10 +29,10 @@ namespace frc {
  */
 template <typename T>
   requires std::is_arithmetic_v<T> || units::traits::is_unit_t_v<T>
-T ApplyDeadband(T value, T deadband, T maxMagnitude = T{1.0}) {
+constexpr T ApplyDeadband(T value, T deadband, T maxMagnitude = T{1.0}) {
   T magnitude;
   if constexpr (std::is_arithmetic_v<T>) {
-    magnitude = std::abs(value);
+    magnitude = gcem::abs(value);
   } else {
     magnitude = units::math::abs(value);
   }
diff --git a/wpimath/src/main/native/include/frc/StateSpaceUtil.h b/wpimath/src/main/native/include/frc/StateSpaceUtil.h
index f851c03e393..7a3b67b89ae 100644
--- a/wpimath/src/main/native/include/frc/StateSpaceUtil.h
+++ b/wpimath/src/main/native/include/frc/StateSpaceUtil.h
@@ -209,7 +209,11 @@ Vectord<N> MakeWhiteNoiseVector(const std::array<double, N>& stdDevs) {
  * @return The vector.
  */
 WPILIB_DLLEXPORT
-Eigen::Vector3d PoseTo3dVector(const Pose2d& pose);
+constexpr Eigen::Vector3d PoseTo3dVector(const Pose2d& pose) {
+  return Eigen::Vector3d{{pose.Translation().X().value(),
+                          pose.Translation().Y().value(),
+                          pose.Rotation().Radians().value()}};
+}
 
 /**
  * Converts a Pose2d into a vector of [x, y, std::cos(theta), std::sin(theta)].
@@ -219,7 +223,11 @@ Eigen::Vector3d PoseTo3dVector(const Pose2d& pose);
  * @return The vector.
  */
 WPILIB_DLLEXPORT
-Eigen::Vector4d PoseTo4dVector(const Pose2d& pose);
+constexpr Eigen::Vector4d PoseTo4dVector(const Pose2d& pose) {
+  return Eigen::Vector4d{{pose.Translation().X().value(),
+                          pose.Translation().Y().value(), pose.Rotation().Cos(),
+                          pose.Rotation().Sin()}};
+}
 
 /**
  * Returns true if (A, B) is a stabilizable pair.
@@ -306,7 +314,10 @@ bool IsDetectable(const Matrixd<States, States>& A,
  * @return The vector.
  */
 WPILIB_DLLEXPORT
-Eigen::Vector3d PoseToVector(const Pose2d& pose);
+constexpr Eigen::Vector3d PoseToVector(const Pose2d& pose) {
+  return Eigen::Vector3d{
+      {pose.X().value(), pose.Y().value(), pose.Rotation().Radians().value()}};
+}
 
 /**
  * Clamps input vector between system's minimum and maximum allowable input.
@@ -318,12 +329,12 @@ Eigen::Vector3d PoseToVector(const Pose2d& pose);
  * @return Clamped input vector.
  */
 template <int Inputs>
-Vectord<Inputs> ClampInputMaxMagnitude(const Vectord<Inputs>& u,
-                                       const Vectord<Inputs>& umin,
-                                       const Vectord<Inputs>& umax) {
+constexpr Vectord<Inputs> ClampInputMaxMagnitude(const Vectord<Inputs>& u,
+                                                 const Vectord<Inputs>& umin,
+                                                 const Vectord<Inputs>& umax) {
   Vectord<Inputs> result;
   for (int i = 0; i < Inputs; ++i) {
-    result(i) = std::clamp(u(i), umin(i), umax(i));
+    result.coeffRef(i) = std::clamp(u.coeff(i), umin.coeff(i), umax.coeff(i));
   }
   return result;
 }
diff --git a/wpimath/src/main/native/include/frc/filter/LinearFilter.h b/wpimath/src/main/native/include/frc/filter/LinearFilter.h
index 24a7283cc3f..0d21b7a9f6b 100644
--- a/wpimath/src/main/native/include/frc/filter/LinearFilter.h
+++ b/wpimath/src/main/native/include/frc/filter/LinearFilter.h
@@ -5,13 +5,14 @@
 #pragma once
 
 #include <algorithm>
-#include <cmath>
 #include <initializer_list>
 #include <span>
 #include <stdexcept>
+#include <type_traits>
 #include <vector>
 
 #include <Eigen/QR>
+#include <gcem.hpp>
 #include <wpi/array.h>
 #include <wpi/circular_buffer.h>
 
@@ -80,7 +81,8 @@ class LinearFilter {
    * @param ffGains The "feedforward" or FIR gains.
    * @param fbGains The "feedback" or IIR gains.
    */
-  LinearFilter(std::span<const double> ffGains, std::span<const double> fbGains)
+  constexpr LinearFilter(std::span<const double> ffGains,
+                         std::span<const double> fbGains)
       : m_inputs(ffGains.size()),
         m_outputs(fbGains.size()),
         m_inputGains(ffGains.begin(), ffGains.end()),
@@ -92,10 +94,11 @@ class LinearFilter {
       m_outputs.emplace_front(0.0);
     }
 
-    static int instances = 0;
-    instances++;
-    wpi::math::MathSharedStore::ReportUsage(
-        wpi::math::MathUsageId::kFilter_Linear, instances);
+    if (!std::is_constant_evaluated()) {
+      ++instances;
+      wpi::math::MathSharedStore::ReportUsage(
+          wpi::math::MathUsageId::kFilter_Linear, instances);
+    }
   }
 
   /**
@@ -104,8 +107,8 @@ class LinearFilter {
    * @param ffGains The "feedforward" or FIR gains.
    * @param fbGains The "feedback" or IIR gains.
    */
-  LinearFilter(std::initializer_list<double> ffGains,
-               std::initializer_list<double> fbGains)
+  constexpr LinearFilter(std::initializer_list<double> ffGains,
+                         std::initializer_list<double> fbGains)
       : LinearFilter({ffGains.begin(), ffGains.end()},
                      {fbGains.begin(), fbGains.end()}) {}
 
@@ -124,9 +127,9 @@ class LinearFilter {
    * @param period       The period in seconds between samples taken by the
    *                     user.
    */
-  static LinearFilter<T> SinglePoleIIR(double timeConstant,
-                                       units::second_t period) {
-    double gain = std::exp(-period.value() / timeConstant);
+  static constexpr LinearFilter<T> SinglePoleIIR(double timeConstant,
+                                                 units::second_t period) {
+    double gain = gcem::exp(-period.value() / timeConstant);
     return LinearFilter({1.0 - gain}, {-gain});
   }
 
@@ -144,8 +147,9 @@ class LinearFilter {
    * @param period       The period in seconds between samples taken by the
    *                     user.
    */
-  static LinearFilter<T> HighPass(double timeConstant, units::second_t period) {
-    double gain = std::exp(-period.value() / timeConstant);
+  static constexpr LinearFilter<T> HighPass(double timeConstant,
+                                            units::second_t period) {
+    double gain = gcem::exp(-period.value() / timeConstant);
     return LinearFilter({gain, -gain}, {-gain});
   }
 
@@ -213,7 +217,7 @@ class LinearFilter {
     Matrixd<Samples, Samples> S;
     for (int row = 0; row < Samples; ++row) {
       for (int col = 0; col < Samples; ++col) {
-        S(row, col) = std::pow(stencil[col], row);
+        S(row, col) = gcem::pow(stencil[col], row);
       }
     }
 
@@ -224,7 +228,7 @@ class LinearFilter {
     }
 
     Vectord<Samples> a =
-        S.householderQr().solve(d) / std::pow(period.value(), Derivative);
+        S.householderQr().solve(d) / gcem::pow(period.value(), Derivative);
 
     // Reverse gains list
     std::vector<double> ffGains;
@@ -266,7 +270,7 @@ class LinearFilter {
   /**
    * Reset the filter state.
    */
-  void Reset() {
+  constexpr void Reset() {
     std::fill(m_inputs.begin(), m_inputs.end(), T{0.0});
     std::fill(m_outputs.begin(), m_outputs.end(), T{0.0});
   }
@@ -321,7 +325,8 @@ class LinearFilter {
    * @throws std::runtime_error if size of inputBuffer or outputBuffer does not
    *   match the size of ffGains and fbGains provided in the constructor.
    */
-  void Reset(std::span<const T> inputBuffer, std::span<const T> outputBuffer) {
+  constexpr void Reset(std::span<const T> inputBuffer,
+                       std::span<const T> outputBuffer) {
     // Clear buffers
     Reset();
 
@@ -346,7 +351,7 @@ class LinearFilter {
    *
    * @return The filtered value at this step
    */
-  T Calculate(T input) {
+  constexpr T Calculate(T input) {
     T retVal{0.0};
 
     // Rotate the inputs
@@ -376,7 +381,7 @@ class LinearFilter {
    *
    * @return The last value.
    */
-  T LastValue() const { return m_lastOutput; }
+  constexpr T LastValue() const { return m_lastOutput; }
 
  private:
   wpi::circular_buffer<T> m_inputs;
@@ -385,6 +390,9 @@ class LinearFilter {
   std::vector<double> m_outputGains;
   T m_lastOutput{0.0};
 
+  // Usage reporting instances
+  inline static int instances = 0;
+
   /**
    * Factorial of n.
    *
diff --git a/wpimath/src/main/native/include/frc/filter/MedianFilter.h b/wpimath/src/main/native/include/frc/filter/MedianFilter.h
index 4c714fb547e..9969122839c 100644
--- a/wpimath/src/main/native/include/frc/filter/MedianFilter.h
+++ b/wpimath/src/main/native/include/frc/filter/MedianFilter.h
@@ -25,7 +25,8 @@ class MedianFilter {
    *
    * @param size The number of samples in the moving window.
    */
-  explicit MedianFilter(size_t size) : m_valueBuffer(size), m_size{size} {}
+  constexpr explicit MedianFilter(size_t size)
+      : m_valueBuffer(size), m_size{size} {}
 
   /**
    * Calculates the moving-window median for the next value of the input stream.
@@ -33,7 +34,7 @@ class MedianFilter {
    * @param next The next input value.
    * @return The median of the moving window, updated to include the next value.
    */
-  T Calculate(T next) {
+  constexpr T Calculate(T next) {
     // Insert next value at proper point in sorted array
     wpi::insert_sorted(m_orderedValues, next);
 
@@ -66,12 +67,12 @@ class MedianFilter {
    *
    * @return The last value.
    */
-  T LastValue() const { return m_valueBuffer.front(); }
+  constexpr T LastValue() const { return m_valueBuffer.front(); }
 
   /**
    * Resets the filter, clearing the window of all elements.
    */
-  void Reset() {
+  constexpr void Reset() {
     m_orderedValues.clear();
     m_valueBuffer.reset();
   }
diff --git a/wpimath/src/main/native/include/frc/interpolation/TimeInterpolatableBuffer.h b/wpimath/src/main/native/include/frc/interpolation/TimeInterpolatableBuffer.h
index 675fac20fcf..724845d8c96 100644
--- a/wpimath/src/main/native/include/frc/interpolation/TimeInterpolatableBuffer.h
+++ b/wpimath/src/main/native/include/frc/interpolation/TimeInterpolatableBuffer.h
@@ -5,9 +5,7 @@
 #pragma once
 
 #include <algorithm>
-#include <array>
 #include <functional>
-#include <map>
 #include <optional>
 #include <utility>
 #include <vector>
diff --git a/wpimath/src/main/native/include/frc/kinematics/ChassisSpeeds.h b/wpimath/src/main/native/include/frc/kinematics/ChassisSpeeds.h
index 4e8302b154a..2c673418a7f 100644
--- a/wpimath/src/main/native/include/frc/kinematics/ChassisSpeeds.h
+++ b/wpimath/src/main/native/include/frc/kinematics/ChassisSpeeds.h
@@ -45,7 +45,7 @@ struct WPILIB_DLLEXPORT ChassisSpeeds {
    *
    * @return Twist2d.
    */
-  Twist2d ToTwist2d(units::second_t dt) const {
+  constexpr Twist2d ToTwist2d(units::second_t dt) const {
     return Twist2d{vx * dt, vy * dt, omega * dt};
   }
 
@@ -68,10 +68,10 @@ struct WPILIB_DLLEXPORT ChassisSpeeds {
    *
    * @return Discretized ChassisSpeeds.
    */
-  static ChassisSpeeds Discretize(units::meters_per_second_t vx,
-                                  units::meters_per_second_t vy,
-                                  units::radians_per_second_t omega,
-                                  units::second_t dt) {
+  static constexpr ChassisSpeeds Discretize(units::meters_per_second_t vx,
+                                            units::meters_per_second_t vy,
+                                            units::radians_per_second_t omega,
+                                            units::second_t dt) {
     // Construct the desired pose after a timestep, relative to the current
     // pose. The desired pose has decoupled translation and rotation.
     Pose2d desiredDeltaPose{vx * dt, vy * dt, omega * dt};
@@ -101,8 +101,8 @@ struct WPILIB_DLLEXPORT ChassisSpeeds {
    *
    * @return Discretized ChassisSpeeds.
    */
-  static ChassisSpeeds Discretize(const ChassisSpeeds& continuousSpeeds,
-                                  units::second_t dt) {
+  static constexpr ChassisSpeeds Discretize(
+      const ChassisSpeeds& continuousSpeeds, units::second_t dt) {
     return Discretize(continuousSpeeds.vx, continuousSpeeds.vy,
                       continuousSpeeds.omega, dt);
   }
@@ -123,7 +123,7 @@ struct WPILIB_DLLEXPORT ChassisSpeeds {
    * @return ChassisSpeeds object representing the speeds in the robot's frame
    * of reference.
    */
-  static ChassisSpeeds FromFieldRelativeSpeeds(
+  static constexpr ChassisSpeeds FromFieldRelativeSpeeds(
       units::meters_per_second_t vx, units::meters_per_second_t vy,
       units::radians_per_second_t omega, const Rotation2d& robotAngle) {
     // CW rotation into chassis frame
@@ -148,7 +148,7 @@ struct WPILIB_DLLEXPORT ChassisSpeeds {
    * @return ChassisSpeeds object representing the speeds in the robot's frame
    *    of reference.
    */
-  static ChassisSpeeds FromFieldRelativeSpeeds(
+  static constexpr ChassisSpeeds FromFieldRelativeSpeeds(
       const ChassisSpeeds& fieldRelativeSpeeds, const Rotation2d& robotAngle) {
     return FromFieldRelativeSpeeds(fieldRelativeSpeeds.vx,
                                    fieldRelativeSpeeds.vy,
@@ -171,7 +171,7 @@ struct WPILIB_DLLEXPORT ChassisSpeeds {
    * @return ChassisSpeeds object representing the speeds in the field's frame
    * of reference.
    */
-  static ChassisSpeeds FromRobotRelativeSpeeds(
+  static constexpr ChassisSpeeds FromRobotRelativeSpeeds(
       units::meters_per_second_t vx, units::meters_per_second_t vy,
       units::radians_per_second_t omega, const Rotation2d& robotAngle) {
     // CCW rotation out of chassis frame
@@ -196,7 +196,7 @@ struct WPILIB_DLLEXPORT ChassisSpeeds {
    * @return ChassisSpeeds object representing the speeds in the field's frame
    *    of reference.
    */
-  static ChassisSpeeds FromRobotRelativeSpeeds(
+  static constexpr ChassisSpeeds FromRobotRelativeSpeeds(
       const ChassisSpeeds& robotRelativeSpeeds, const Rotation2d& robotAngle) {
     return FromRobotRelativeSpeeds(robotRelativeSpeeds.vx,
                                    robotRelativeSpeeds.vy,
diff --git a/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h b/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h
index 11c04be7a49..e2a45f10115 100644
--- a/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h
+++ b/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h
@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <type_traits>
+
 #include <wpi/SymbolExports.h>
 
 #include "frc/geometry/Twist2d.h"
@@ -36,10 +38,12 @@ class WPILIB_DLLEXPORT DifferentialDriveKinematics
    * empirical value may be larger than the physical measured value due to
    * scrubbing effects.
    */
-  explicit DifferentialDriveKinematics(units::meter_t trackWidth)
+  constexpr explicit DifferentialDriveKinematics(units::meter_t trackWidth)
       : trackWidth(trackWidth) {
-    wpi::math::MathSharedStore::ReportUsage(
-        wpi::math::MathUsageId::kKinematics_DifferentialDrive, 1);
+    if (!std::is_constant_evaluated()) {
+      wpi::math::MathSharedStore::ReportUsage(
+          wpi::math::MathUsageId::kKinematics_DifferentialDrive, 1);
+    }
   }
 
   /**
@@ -83,12 +87,13 @@ class WPILIB_DLLEXPORT DifferentialDriveKinematics
             (rightDistance - leftDistance) / trackWidth * 1_rad};
   }
 
-  Twist2d ToTwist2d(const DifferentialDriveWheelPositions& start,
-                    const DifferentialDriveWheelPositions& end) const override {
+  constexpr Twist2d ToTwist2d(
+      const DifferentialDriveWheelPositions& start,
+      const DifferentialDriveWheelPositions& end) const override {
     return ToTwist2d(end.left - start.left, end.right - start.right);
   }
 
-  DifferentialDriveWheelPositions Interpolate(
+  constexpr DifferentialDriveWheelPositions Interpolate(
       const DifferentialDriveWheelPositions& start,
       const DifferentialDriveWheelPositions& end, double t) const override {
     return start.Interpolate(end, t);
diff --git a/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelPositions.h b/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelPositions.h
index 60575cf8c73..2bc32ae5c42 100644
--- a/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelPositions.h
+++ b/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelPositions.h
@@ -31,18 +31,10 @@ struct WPILIB_DLLEXPORT DifferentialDriveWheelPositions {
    * @param other The other object.
    * @return Whether the two objects are equal.
    */
-  bool operator==(const DifferentialDriveWheelPositions& other) const = default;
+  constexpr bool operator==(
+      const DifferentialDriveWheelPositions& other) const = default;
 
-  /**
-   * Checks inequality between this DifferentialDriveWheelPositions and another
-   * object.
-   *
-   * @param other The other object.
-   * @return Whether the two objects are not equal.
-   */
-  bool operator!=(const DifferentialDriveWheelPositions& other) const = default;
-
-  DifferentialDriveWheelPositions Interpolate(
+  constexpr DifferentialDriveWheelPositions Interpolate(
       const DifferentialDriveWheelPositions& endValue, double t) const {
     return {wpi::Lerp(left, endValue.left, t),
             wpi::Lerp(right, endValue.right, t)};
diff --git a/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelSpeeds.h b/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelSpeeds.h
index 98db2b861aa..3f30d2f7be2 100644
--- a/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelSpeeds.h
+++ b/wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelSpeeds.h
@@ -6,6 +6,7 @@
 
 #include <wpi/SymbolExports.h>
 
+#include "units/math.h"
 #include "units/velocity.h"
 
 namespace frc {
@@ -35,7 +36,15 @@ struct WPILIB_DLLEXPORT DifferentialDriveWheelSpeeds {
    *
    * @param attainableMaxSpeed The absolute max speed that a wheel can reach.
    */
-  void Desaturate(units::meters_per_second_t attainableMaxSpeed);
+  constexpr void Desaturate(units::meters_per_second_t attainableMaxSpeed) {
+    auto realMaxSpeed =
+        units::math::max(units::math::abs(left), units::math::abs(right));
+
+    if (realMaxSpeed > attainableMaxSpeed) {
+      left = left / realMaxSpeed * attainableMaxSpeed;
+      right = right / realMaxSpeed * attainableMaxSpeed;
+    }
+  }
 
   /**
    * Adds two DifferentialDriveWheelSpeeds and returns the sum.
diff --git a/wpimath/src/main/native/include/frc/kinematics/MecanumDriveWheelPositions.h b/wpimath/src/main/native/include/frc/kinematics/MecanumDriveWheelPositions.h
index 8a9943bcc80..da71d484dbe 100644
--- a/wpimath/src/main/native/include/frc/kinematics/MecanumDriveWheelPositions.h
+++ b/wpimath/src/main/native/include/frc/kinematics/MecanumDriveWheelPositions.h
@@ -40,18 +40,10 @@ struct WPILIB_DLLEXPORT MecanumDriveWheelPositions {
    * @param other The other object.
    * @return Whether the two objects are equal.
    */
-  bool operator==(const MecanumDriveWheelPositions& other) const = default;
+  constexpr bool operator==(const MecanumDriveWheelPositions& other) const =
+      default;
 
-  /**
-   * Checks inequality between this MecanumDriveWheelPositions and another
-   * object.
-   *
-   * @param other The other object.
-   * @return Whether the two objects are not equal.
-   */
-  bool operator!=(const MecanumDriveWheelPositions& other) const = default;
-
-  MecanumDriveWheelPositions Interpolate(
+  constexpr MecanumDriveWheelPositions Interpolate(
       const MecanumDriveWheelPositions& endValue, double t) const {
     return {wpi::Lerp(frontLeft, endValue.frontLeft, t),
             wpi::Lerp(frontRight, endValue.frontRight, t),
diff --git a/wpimath/src/main/native/include/frc/kinematics/MecanumDriveWheelSpeeds.h b/wpimath/src/main/native/include/frc/kinematics/MecanumDriveWheelSpeeds.h
index 10f971e988a..348ead8763d 100644
--- a/wpimath/src/main/native/include/frc/kinematics/MecanumDriveWheelSpeeds.h
+++ b/wpimath/src/main/native/include/frc/kinematics/MecanumDriveWheelSpeeds.h
@@ -4,8 +4,13 @@
 
 #pragma once
 
+#include <algorithm>
+#include <array>
+#include <cmath>
+
 #include <wpi/SymbolExports.h>
 
+#include "units/math.h"
 #include "units/velocity.h"
 
 namespace frc {
@@ -45,7 +50,25 @@ struct WPILIB_DLLEXPORT MecanumDriveWheelSpeeds {
    *
    * @param attainableMaxSpeed The absolute max speed that a wheel can reach.
    */
-  void Desaturate(units::meters_per_second_t attainableMaxSpeed);
+  constexpr void Desaturate(units::meters_per_second_t attainableMaxSpeed) {
+    std::array<units::meters_per_second_t, 4> wheelSpeeds{frontLeft, frontRight,
+                                                          rearLeft, rearRight};
+    units::meters_per_second_t realMaxSpeed = units::math::abs(
+        *std::max_element(wheelSpeeds.begin(), wheelSpeeds.end(),
+                          [](const auto& a, const auto& b) {
+                            return units::math::abs(a) < units::math::abs(b);
+                          }));
+
+    if (realMaxSpeed > attainableMaxSpeed) {
+      for (int i = 0; i < 4; ++i) {
+        wheelSpeeds[i] = wheelSpeeds[i] / realMaxSpeed * attainableMaxSpeed;
+      }
+      frontLeft = wheelSpeeds[0];
+      frontRight = wheelSpeeds[1];
+      rearLeft = wheelSpeeds[2];
+      rearRight = wheelSpeeds[3];
+    }
+  }
 
   /**
    * Adds two MecanumDriveWheelSpeeds and returns the sum.
diff --git a/wpimath/src/main/native/include/frc/kinematics/SwerveModulePosition.h b/wpimath/src/main/native/include/frc/kinematics/SwerveModulePosition.h
index 4cbe97fcb57..9c1cd83d5bd 100644
--- a/wpimath/src/main/native/include/frc/kinematics/SwerveModulePosition.h
+++ b/wpimath/src/main/native/include/frc/kinematics/SwerveModulePosition.h
@@ -8,7 +8,6 @@
 #include <wpi/SymbolExports.h>
 
 #include "frc/geometry/Rotation2d.h"
-#include "units/angle.h"
 #include "units/length.h"
 #include "units/math.h"
 
@@ -33,10 +32,13 @@ struct WPILIB_DLLEXPORT SwerveModulePosition {
    * @param other The other object.
    * @return Whether the two objects are equal.
    */
-  bool operator==(const SwerveModulePosition& other) const;
+  constexpr bool operator==(const SwerveModulePosition& other) const {
+    return units::math::abs(distance - other.distance) < 1E-9_m &&
+           angle == other.angle;
+  }
 
-  SwerveModulePosition Interpolate(const SwerveModulePosition& endValue,
-                                   double t) const {
+  constexpr SwerveModulePosition Interpolate(
+      const SwerveModulePosition& endValue, double t) const {
     return {wpi::Lerp(distance, endValue.distance, t),
             wpi::Lerp(angle, endValue.angle, t)};
   }
diff --git a/wpimath/src/main/native/include/frc/kinematics/SwerveModuleState.h b/wpimath/src/main/native/include/frc/kinematics/SwerveModuleState.h
index ccba5db12a8..93c08fc3f04 100644
--- a/wpimath/src/main/native/include/frc/kinematics/SwerveModuleState.h
+++ b/wpimath/src/main/native/include/frc/kinematics/SwerveModuleState.h
@@ -32,7 +32,10 @@ struct WPILIB_DLLEXPORT SwerveModuleState {
    * @param other The other object.
    * @return Whether the two objects are equal.
    */
-  bool operator==(const SwerveModuleState& other) const;
+  constexpr bool operator==(const SwerveModuleState& other) const {
+    return units::math::abs(speed - other.speed) < 1E-9_mps &&
+           angle == other.angle;
+  }
 
   /**
    * Minimize the change in the heading this swerve module state would
@@ -42,7 +45,7 @@ struct WPILIB_DLLEXPORT SwerveModuleState {
    *
    * @param currentAngle The current module angle.
    */
-  void Optimize(const Rotation2d& currentAngle) {
+  constexpr void Optimize(const Rotation2d& currentAngle) {
     auto delta = angle - currentAngle;
     if (units::math::abs(delta.Degrees()) > 90_deg) {
       speed *= -1;
@@ -60,8 +63,15 @@ struct WPILIB_DLLEXPORT SwerveModuleState {
    * @param currentAngle The current module angle.
    */
   [[deprecated("Use instance method instead.")]]
-  static SwerveModuleState Optimize(const SwerveModuleState& desiredState,
-                                    const Rotation2d& currentAngle);
+  constexpr static SwerveModuleState Optimize(
+      const SwerveModuleState& desiredState, const Rotation2d& currentAngle) {
+    auto delta = desiredState.angle - currentAngle;
+    if (units::math::abs(delta.Degrees()) > 90_deg) {
+      return {-desiredState.speed, desiredState.angle + Rotation2d{180_deg}};
+    } else {
+      return {desiredState.speed, desiredState.angle};
+    }
+  }
 
   /**
    * Scales speed by cosine of angle error. This scales down movement
@@ -70,7 +80,7 @@ struct WPILIB_DLLEXPORT SwerveModuleState {
    *
    * @param currentAngle The current module angle.
    */
-  void CosineScale(const Rotation2d& currentAngle) {
+  constexpr void CosineScale(const Rotation2d& currentAngle) {
     speed *= (angle - currentAngle).Cos();
   }
 };
diff --git a/wpimath/src/main/native/include/units/base.h b/wpimath/src/main/native/include/units/base.h
index 006c52c09e2..5d375944484 100644
--- a/wpimath/src/main/native/include/units/base.h
+++ b/wpimath/src/main/native/include/units/base.h
@@ -109,8 +109,8 @@ namespace units
 
 namespace units
 {
-	template<typename T> inline constexpr const char* name(const T&);
-	template<typename T> inline constexpr const char* abbreviation(const T&);
+	template<typename T> constexpr const char* name(const T&);
+	template<typename T> constexpr const char* abbreviation(const T&);
 }
 
 //------------------------------
@@ -231,11 +231,11 @@ namespace units
   * @param		abbreviation - abbreviated unit name, e.g. 'm'
   */
 #define UNIT_ADD_NAME(namespaceName, nameSingular, abbrev)\
-template<> inline constexpr const char* name(const namespaceName::nameSingular ## _t&)\
+template<> constexpr const char* name(const namespaceName::nameSingular ## _t&)\
 {\
 	return #nameSingular;\
 }\
-template<> inline constexpr const char* abbreviation(const namespaceName::nameSingular ## _t&)\
+template<> constexpr const char* abbreviation(const namespaceName::nameSingular ## _t&)\
 {\
 	return #abbrev;\
 }
@@ -255,11 +255,11 @@ template<> inline constexpr const char* abbreviation(const namespaceName::nameSi
 	#define UNIT_ADD_LITERALS(namespaceName, nameSingular, abbreviation)\
 	namespace literals\
 	{\
-		inline constexpr namespaceName::nameSingular ## _t operator""_ ## abbreviation(long double d)\
+		constexpr namespaceName::nameSingular ## _t operator""_ ## abbreviation(long double d)\
 		{\
 			return namespaceName::nameSingular ## _t(static_cast<namespaceName::nameSingular ## _t::underlying_type>(d));\
 		}\
-		inline constexpr namespaceName::nameSingular ## _t operator""_ ## abbreviation (unsigned long long d)\
+		constexpr namespaceName::nameSingular ## _t operator""_ ## abbreviation (unsigned long long d)\
 		{\
 			return namespaceName::nameSingular ## _t(static_cast<namespaceName::nameSingular ## _t::underlying_type>(d));\
 		}\
@@ -365,7 +365,7 @@ template<> inline constexpr const char* abbreviation(const namespaceName::nameSi
 	namespace traits\
 	{\
 		template<typename... T> struct is_ ## unitCategory ## _unit : std::integral_constant<bool, units::all_true<units::traits::detail::is_ ## unitCategory ## _unit_impl<std::decay_t<T>>::value...>::value> {};\
-		template<typename... T> inline constexpr bool is_ ## unitCategory ## _unit_v = is_ ## unitCategory ## _unit<T...>::value;\
+		template<typename... T> constexpr bool is_ ## unitCategory ## _unit_v = is_ ## unitCategory ## _unit<T...>::value;\
 	}\
 	template <typename T>\
 	concept unitCategory ## _unit = traits::is_ ## unitCategory ## _unit_v<T>;
@@ -593,7 +593,7 @@ namespace units
 			has_den<T>::value>
 		{};
 		template<class T>
-		inline constexpr bool is_ratio_v = is_ratio<T>::value;
+		constexpr bool is_ratio_v = is_ratio<T>::value;
 	}
 
 	//------------------------------
@@ -619,7 +619,7 @@ namespace units
 	template<bool... Args>
 	struct all_true : std::is_same<units::bool_pack<true, Args...>, units::bool_pack<Args..., true>> {};
 	template<bool... Args>
-	inline constexpr bool all_true_t_v = all_true<Args...>::type::value;
+	constexpr bool all_true_t_v = all_true<Args...>::type::value;
 	/** @endcond */	// DOXYGEN IGNORE
 
 	/**
@@ -721,7 +721,7 @@ namespace units
 		template<class T>
 		struct is_unit : std::is_base_of<units::detail::_unit, T>::type {};
 		template<class T>
-		inline constexpr bool is_unit_v = is_unit<T>::value;
+		constexpr bool is_unit_v = is_unit<T>::value;
 	}
 
 	/** @} */ // end of TypeTraits
@@ -1532,7 +1532,7 @@ namespace units
 		struct is_convertible_unit : std::is_same <traits::base_unit_of<typename units::traits::unit_traits<U1>::base_unit_type>,
 			base_unit_of<typename units::traits::unit_traits<U2>::base_unit_type >> {};
 		template<class U1, class U2>
-		inline constexpr bool is_convertible_unit_v = is_convertible_unit<U1, U2>::value;
+		constexpr bool is_convertible_unit_v = is_convertible_unit<U1, U2>::value;
 	}
 
 	//------------------------------
@@ -1554,35 +1554,35 @@ namespace units
 
 		/// convert dispatch for units which are both the same
 		template<class UnitFrom, class UnitTo, class Ratio, class PiRatio, class Translation, typename T>
-		static inline constexpr T convert(const T& value, std::true_type, std::false_type, std::false_type) noexcept
+		static constexpr T convert(const T& value, std::true_type, std::false_type, std::false_type) noexcept
 		{
 			return value;
 		}
 
 		/// convert dispatch for units which are both the same
 		template<class UnitFrom, class UnitTo, class Ratio, class PiRatio, class Translation, typename T>
-		static inline constexpr T convert(const T& value, std::true_type, std::false_type, std::true_type) noexcept
+		static constexpr T convert(const T& value, std::true_type, std::false_type, std::true_type) noexcept
 		{
 			return value;
 		}
 
 		/// convert dispatch for units which are both the same
 		template<class UnitFrom, class UnitTo, class Ratio, class PiRatio, class Translation, typename T>
-		static inline constexpr T convert(const T& value, std::true_type, std::true_type, std::false_type) noexcept
+		static constexpr T convert(const T& value, std::true_type, std::true_type, std::false_type) noexcept
 		{
 			return value;
 		}
 
 		/// convert dispatch for units which are both the same
 		template<class UnitFrom, class UnitTo, class Ratio, class PiRatio, class Translation, typename T>
-		static inline constexpr T convert(const T& value, std::true_type, std::true_type, std::true_type) noexcept
+		static constexpr T convert(const T& value, std::true_type, std::true_type, std::true_type) noexcept
 		{
 			return value;
 		}
 
 		/// convert dispatch for units of different types w/ no translation and no PI
 		template<class UnitFrom, class UnitTo, class Ratio, class PiRatio, class Translation, typename T>
-		static inline constexpr T convert(const T& value, std::false_type, std::false_type, std::false_type) noexcept
+		static constexpr T convert(const T& value, std::false_type, std::false_type, std::false_type) noexcept
 		{
 			return ((value * Ratio::num) / Ratio::den);
 		}
@@ -1590,7 +1590,7 @@ namespace units
 		/// convert dispatch for units of different types w/ no translation, but has PI in numerator
 		// constepxr with PI in numerator
 		template<class UnitFrom, class UnitTo, class Ratio, class PiRatio, class Translation, typename T>
-		static inline constexpr
+		static constexpr
 		std::enable_if_t<(PiRatio::num / PiRatio::den >= 1 && PiRatio::num % PiRatio::den == 0), T>
 		convert(const T& value, std::false_type, std::true_type, std::false_type) noexcept
 		{
@@ -1600,7 +1600,7 @@ namespace units
 		/// convert dispatch for units of different types w/ no translation, but has PI in denominator
 		// constexpr with PI in denominator
 		template<class UnitFrom, class UnitTo, class Ratio, class PiRatio, class Translation, typename T>
-		static inline constexpr
+		static constexpr
 		std::enable_if_t<(PiRatio::num / PiRatio::den <= -1 && PiRatio::num % PiRatio::den == 0), T>
  		convert(const T& value, std::false_type, std::true_type, std::false_type) noexcept
  		{
@@ -1619,14 +1619,14 @@ namespace units
 
 		/// convert dispatch for units of different types with a translation, but no PI
 		template<class UnitFrom, class UnitTo, class Ratio, class PiRatio, class Translation, typename T>
-		static inline constexpr T convert(const T& value, std::false_type, std::false_type, std::true_type) noexcept
+		static constexpr T convert(const T& value, std::false_type, std::false_type, std::true_type) noexcept
 		{
 			return ((value * Ratio::num) / Ratio::den) + (static_cast<UNIT_LIB_DEFAULT_TYPE>(Translation::num) / Translation::den);
 		}
 
 		/// convert dispatch for units of different types with a translation AND PI
 		template<class UnitFrom, class UnitTo, class Ratio, class PiRatio, class Translation, typename T>
-		static inline constexpr T convert(const T& value, const std::false_type, const std::true_type, const std::true_type) noexcept
+		static constexpr T convert(const T& value, const std::false_type, const std::true_type, const std::true_type) noexcept
 		{
 			return ((value * std::pow(constants::detail::PI_VAL, PiRatio::num / PiRatio::den) * Ratio::num) / Ratio::den) + (static_cast<UNIT_LIB_DEFAULT_TYPE>(Translation::num) / Translation::den);
 		}
@@ -1649,7 +1649,7 @@ namespace units
 	 * @returns		value, converted from units of `UnitFrom` to `UnitTo`.
 	 */
 	template<class UnitFrom, class UnitTo, typename T = UNIT_LIB_DEFAULT_TYPE>
-	static inline constexpr T convert(const T& value) noexcept
+	static constexpr T convert(const T& value) noexcept
 	{
 		static_assert(traits::is_unit<UnitFrom>::value, "Template parameter `UnitFrom` must be a `unit` type.");
 		static_assert(traits::is_unit<UnitTo>::value, "Template parameter `UnitTo` must be a `unit` type.");
@@ -1727,7 +1727,7 @@ namespace units
 		template<class T, class Ret>
 		struct has_value_member : traits::detail::has_value_member_impl<T, Ret>::type {};
 		template<class T, class Ret>
-		inline constexpr bool has_value_member_v = has_value_member<T, Ret>::value;
+		constexpr bool has_value_member_v = has_value_member<T, Ret>::value;
 	}
 	/** @endcond */	// END DOXYGEN IGNORE
 
@@ -1867,7 +1867,7 @@ namespace units
 		template<class T>
 		struct is_unit_t : std::is_base_of<units::detail::_unit_t, T>::type {};
 		template<class T>
-		inline constexpr bool is_unit_t_v = is_unit_t<T>::value;
+		constexpr bool is_unit_t_v = is_unit_t<T>::value;
 	}
 
 	/**
@@ -1969,7 +1969,7 @@ namespace units
 		 * @param[in]	value value of the unit_t
 		 */
 		template<class Ty, class = typename std::enable_if<traits::is_dimensionless_unit<Units>::value && std::is_arithmetic<Ty>::value>::type>
-		inline constexpr unit_t(const Ty value) noexcept : nls(value)
+		constexpr unit_t(const Ty value) noexcept : nls(value)
 		{
 
 		}
@@ -1980,7 +1980,7 @@ namespace units
 		 * @param[in]	value value of the unit_t
 		 */
 		template<class Rep, class Period, class = std::enable_if_t<std::is_arithmetic<Rep>::value && traits::is_ratio<Period>::value>>
-		inline constexpr unit_t(const std::chrono::duration<Rep, Period>& value) noexcept :
+		constexpr unit_t(const std::chrono::duration<Rep, Period>& value) noexcept :
 		nls(units::convert<unit<std::ratio<1,1000000000>, category::time_unit>, Units>(static_cast<T>(std::chrono::duration_cast<std::chrono::nanoseconds>(value).count())))
 		{
 
@@ -1992,7 +1992,7 @@ namespace units
 		 * @param[in]	rhs unit to copy.
 		 */
 		template<class UnitsRhs, typename Ty, template<typename> class NlsRhs>
-		inline constexpr unit_t(const unit_t<UnitsRhs, Ty, NlsRhs>& rhs) noexcept :
+		constexpr unit_t(const unit_t<UnitsRhs, Ty, NlsRhs>& rhs) noexcept :
 		nls(units::convert<UnitsRhs, Units, T>(rhs.m_value), std::true_type() /*store linear value*/)
 		{
 
@@ -2029,7 +2029,7 @@ namespace units
 		 * @returns		true IFF the value of `this` is less than the value of `rhs`
 		 */
 		template<class UnitsRhs, typename Ty, template<typename> class NlsRhs>
-		inline constexpr bool operator<(const unit_t<UnitsRhs, Ty, NlsRhs>& rhs) const noexcept
+		constexpr bool operator<(const unit_t<UnitsRhs, Ty, NlsRhs>& rhs) const noexcept
 		{
 			return (nls::m_value < units::convert<UnitsRhs, Units>(rhs.m_value));
 		}
@@ -2041,7 +2041,7 @@ namespace units
 		 * @returns		true IFF the value of `this` is less than or equal to the value of `rhs`
 		 */
 		template<class UnitsRhs, typename Ty, template<typename> class NlsRhs>
-		inline constexpr bool operator<=(const unit_t<UnitsRhs, Ty, NlsRhs>& rhs) const noexcept
+		constexpr bool operator<=(const unit_t<UnitsRhs, Ty, NlsRhs>& rhs) const noexcept
 		{
 			return (nls::m_value <= units::convert<UnitsRhs, Units>(rhs.m_value));
 		}
@@ -2053,7 +2053,7 @@ namespace units
 		 * @returns		true IFF the value of `this` is greater than the value of `rhs`
 		 */
 		template<class UnitsRhs, typename Ty, template<typename> class NlsRhs>
-		inline constexpr bool operator>(const unit_t<UnitsRhs, Ty, NlsRhs>& rhs) const noexcept
+		constexpr bool operator>(const unit_t<UnitsRhs, Ty, NlsRhs>& rhs) const noexcept
 		{
 			return (nls::m_value > units::convert<UnitsRhs, Units>(rhs.m_value));
 		}
@@ -2065,7 +2065,7 @@ namespace units
 		 * @returns		true IFF the value of `this` is greater than or equal to the value of `rhs`
 		 */
 		template<class UnitsRhs, typename Ty, template<typename> class NlsRhs>
-		inline constexpr bool operator>=(const unit_t<UnitsRhs, Ty, NlsRhs>& rhs) const noexcept
+		constexpr bool operator>=(const unit_t<UnitsRhs, Ty, NlsRhs>& rhs) const noexcept
 		{
 			return (nls::m_value >= units::convert<UnitsRhs, Units>(rhs.m_value));
 		}
@@ -2078,7 +2078,7 @@ namespace units
 		 * @note		This may not be suitable for all applications when the underlying_type of unit_t is a double.
 		 */
 		template<class UnitsRhs, typename Ty, template<typename> class NlsRhs, std::enable_if_t<std::is_floating_point<T>::value || std::is_floating_point<Ty>::value, int> = 0>
-		inline constexpr bool operator==(const unit_t<UnitsRhs, Ty, NlsRhs>& rhs) const noexcept
+		constexpr bool operator==(const unit_t<UnitsRhs, Ty, NlsRhs>& rhs) const noexcept
 		{
 			return detail::abs(nls::m_value - units::convert<UnitsRhs, Units>(rhs.m_value)) < std::numeric_limits<T>::epsilon() *
 				detail::abs(nls::m_value + units::convert<UnitsRhs, Units>(rhs.m_value)) ||
@@ -2086,7 +2086,7 @@ namespace units
 		}
 
 		template<class UnitsRhs, typename Ty, template<typename> class NlsRhs, std::enable_if_t<std::is_integral<T>::value && std::is_integral<Ty>::value, int> = 0>
-		inline constexpr bool operator==(const unit_t<UnitsRhs, Ty, NlsRhs>& rhs) const noexcept
+		constexpr bool operator==(const unit_t<UnitsRhs, Ty, NlsRhs>& rhs) const noexcept
 		{
 			return nls::m_value == units::convert<UnitsRhs, Units>(rhs.m_value);
 		}
@@ -2099,7 +2099,7 @@ namespace units
 		 * @note		This may not be suitable for all applications when the underlying_type of unit_t is a double.
 		 */
 		template<class UnitsRhs, typename Ty, template<typename> class NlsRhs>
-		inline constexpr bool operator!=(const unit_t<UnitsRhs, Ty, NlsRhs>& rhs) const noexcept
+		constexpr bool operator!=(const unit_t<UnitsRhs, Ty, NlsRhs>& rhs) const noexcept
 		{
 			return !(*this == rhs);
 		}
@@ -2108,7 +2108,7 @@ namespace units
 		 * @brief		unit value
 		 * @returns		value of the unit in it's underlying, non-safe type.
 		 */
-		inline constexpr underlying_type value() const noexcept
+		constexpr underlying_type value() const noexcept
 		{
 			return static_cast<underlying_type>(*this);
 		}
@@ -2118,7 +2118,7 @@ namespace units
 		 * @returns		value of the unit converted to an arithmetic, non-safe type.
 		 */
 		template<typename Ty, class = std::enable_if_t<std::is_arithmetic<Ty>::value>>
-		inline constexpr Ty to() const noexcept
+		constexpr Ty to() const noexcept
 		{
 			return static_cast<Ty>(*this);
 		}
@@ -2129,7 +2129,7 @@ namespace units
 		 *				linear scales, this is equivalent to `value`.
 		 */
 		template<typename Ty, class = std::enable_if_t<std::is_arithmetic<Ty>::value>>
-		inline constexpr Ty toLinearized() const noexcept
+		constexpr Ty toLinearized() const noexcept
 		{
 			return static_cast<Ty>(m_value);
 		}
@@ -2144,7 +2144,7 @@ namespace units
 		 *				*this.
 		 */
 		template<class U>
-		inline constexpr unit_t<U> convert() const noexcept
+		constexpr unit_t<U> convert() const noexcept
 		{
 			static_assert(traits::is_unit<U>::value, "Template parameter `U` must be a unit type.");
 			return unit_t<U>(*this);
@@ -2155,7 +2155,7 @@ namespace units
 		 * @details		only enabled for scalar unit types.
 		 */
 		template<class Ty, std::enable_if_t<traits::is_dimensionless_unit<Units>::value && std::is_arithmetic<Ty>::value, int> = 0>
-		inline constexpr operator Ty() const noexcept
+		constexpr operator Ty() const noexcept
 		{
 			// this conversion also resolves any PI exponents, by converting from a non-zero PI ratio to a zero-pi ratio.
 			return static_cast<Ty>(units::convert<Units, unit<std::ratio<1>, units::category::scalar_unit>>((*this)()));
@@ -2166,7 +2166,7 @@ namespace units
 		 * @details		only enabled for non-dimensionless unit types.
 		 */
 		template<class Ty, std::enable_if_t<!traits::is_dimensionless_unit<Units>::value && std::is_arithmetic<Ty>::value, int> = 0>
-		inline constexpr explicit operator Ty() const noexcept
+		constexpr explicit operator Ty() const noexcept
 		{
 			return static_cast<Ty>((*this)());
 		}
@@ -2176,7 +2176,7 @@ namespace units
 		 * @details		only enabled for time unit types.
 		 */
 		template<typename U = Units, std::enable_if_t<units::traits::is_convertible_unit<U, unit<std::ratio<1>, category::time_unit>>::value, int> = 0>
-		inline constexpr operator std::chrono::nanoseconds() const noexcept
+		constexpr operator std::chrono::nanoseconds() const noexcept
 		{
 			return std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::duration<double, std::nano>(units::convert<Units, unit<std::ratio<1,1000000000>, category::time_unit>>((*this)())));
 		}
@@ -2184,7 +2184,7 @@ namespace units
 		/**
 		 * @brief		returns the unit name
 		 */
-		inline constexpr const char* name() const noexcept
+		constexpr const char* name() const noexcept
 		{
 			return units::name(*this);
 		}
@@ -2192,7 +2192,7 @@ namespace units
 		/**
 		 * @brief		returns the unit abbreviation
 		 */
-		inline constexpr const char* abbreviation() const noexcept
+		constexpr const char* abbreviation() const noexcept
 		{
 			return units::abbreviation(*this);
 		}
@@ -2218,7 +2218,7 @@ namespace units
 	 * @param[in]	value	Arithmetic value that represents a quantity in units of `UnitType`.
 	 */
 	template<class UnitType, typename T, class = std::enable_if_t<std::is_arithmetic<T>::value>>
-	inline constexpr UnitType make_unit(const T value) noexcept
+	constexpr UnitType make_unit(const T value) noexcept
 	{
 		static_assert(traits::is_unit_t<UnitType>::value, "Template parameter `UnitType` must be a unit type (_t).");
 
@@ -2282,7 +2282,7 @@ namespace units
 #endif
 
 	template<class Units, typename T, template<typename> class NonLinearScale, typename RhsType>
-	inline unit_t<Units, T, NonLinearScale>& operator+=(unit_t<Units, T, NonLinearScale>& lhs, const RhsType& rhs) noexcept
+	constexpr unit_t<Units, T, NonLinearScale>& operator+=(unit_t<Units, T, NonLinearScale>& lhs, const RhsType& rhs) noexcept
 	{
 		static_assert(traits::is_convertible_unit_t<unit_t<Units, T, NonLinearScale>, RhsType>::value ||
 			(traits::is_dimensionless_unit<decltype(lhs)>::value && std::is_arithmetic<RhsType>::value),
@@ -2293,7 +2293,7 @@ namespace units
 	}
 
 	template<class Units, typename T, template<typename> class NonLinearScale, typename RhsType>
-	inline unit_t<Units, T, NonLinearScale>& operator-=(unit_t<Units, T, NonLinearScale>& lhs, const RhsType& rhs) noexcept
+	constexpr unit_t<Units, T, NonLinearScale>& operator-=(unit_t<Units, T, NonLinearScale>& lhs, const RhsType& rhs) noexcept
 	{
 		static_assert(traits::is_convertible_unit_t<unit_t<Units, T, NonLinearScale>, RhsType>::value ||
 			(traits::is_dimensionless_unit<decltype(lhs)>::value && std::is_arithmetic<RhsType>::value),
@@ -2304,7 +2304,7 @@ namespace units
 	}
 
 	template<class Units, typename T, template<typename> class NonLinearScale, typename RhsType>
-	inline unit_t<Units, T, NonLinearScale>& operator*=(unit_t<Units, T, NonLinearScale>& lhs, const RhsType& rhs) noexcept
+	constexpr unit_t<Units, T, NonLinearScale>& operator*=(unit_t<Units, T, NonLinearScale>& lhs, const RhsType& rhs) noexcept
 	{
 		static_assert((traits::is_dimensionless_unit<RhsType>::value || std::is_arithmetic<RhsType>::value),
 			"right-hand side parameter must be dimensionless.");
@@ -2314,7 +2314,7 @@ namespace units
 	}
 
 	template<class Units, typename T, template<typename> class NonLinearScale, typename RhsType>
-	inline unit_t<Units, T, NonLinearScale>& operator/=(unit_t<Units, T, NonLinearScale>& lhs, const RhsType& rhs) noexcept
+	constexpr unit_t<Units, T, NonLinearScale>& operator/=(unit_t<Units, T, NonLinearScale>& lhs, const RhsType& rhs) noexcept
 	{
 		static_assert((traits::is_dimensionless_unit<RhsType>::value || std::is_arithmetic<RhsType>::value),
 			"right-hand side parameter must be dimensionless.");
@@ -2329,14 +2329,14 @@ namespace units
 
 	// unary addition: +T
 	template<class Units, typename T, template<typename> class NonLinearScale>
-	constexpr inline unit_t<Units, T, NonLinearScale> operator+(const unit_t<Units, T, NonLinearScale>& u) noexcept
+	constexpr unit_t<Units, T, NonLinearScale> operator+(const unit_t<Units, T, NonLinearScale>& u) noexcept
 	{
 		return u;
 	}
 
 	// prefix increment: ++T
 	template<class Units, typename T, template<typename> class NonLinearScale>
-	inline unit_t<Units, T, NonLinearScale>& operator++(unit_t<Units, T, NonLinearScale>& u) noexcept
+	constexpr unit_t<Units, T, NonLinearScale>& operator++(unit_t<Units, T, NonLinearScale>& u) noexcept
 	{
 		u = unit_t<Units, T, NonLinearScale>(u() + 1);
 		return u;
@@ -2344,7 +2344,7 @@ namespace units
 
 	// postfix increment: T++
 	template<class Units, typename T, template<typename> class NonLinearScale>
-	inline unit_t<Units, T, NonLinearScale> operator++(unit_t<Units, T, NonLinearScale>& u, int) noexcept
+	constexpr unit_t<Units, T, NonLinearScale> operator++(unit_t<Units, T, NonLinearScale>& u, int) noexcept
 	{
 		auto ret = u;
 		u = unit_t<Units, T, NonLinearScale>(u() + 1);
@@ -2353,14 +2353,14 @@ namespace units
 
 	// unary addition: -T
 	template<class Units, typename T, template<typename> class NonLinearScale>
-	constexpr inline unit_t<Units, T, NonLinearScale> operator-(const unit_t<Units, T, NonLinearScale>& u) noexcept
+	constexpr unit_t<Units, T, NonLinearScale> operator-(const unit_t<Units, T, NonLinearScale>& u) noexcept
 	{
 		return unit_t<Units, T, NonLinearScale>(-u());
 	}
 
 	// prefix increment: --T
 	template<class Units, typename T, template<typename> class NonLinearScale>
-	inline unit_t<Units, T, NonLinearScale>& operator--(unit_t<Units, T, NonLinearScale>& u) noexcept
+	constexpr unit_t<Units, T, NonLinearScale>& operator--(unit_t<Units, T, NonLinearScale>& u) noexcept
 	{
 		u = unit_t<Units, T, NonLinearScale>(u() - 1);
 		return u;
@@ -2368,7 +2368,7 @@ namespace units
 
 	// postfix increment: T--
 	template<class Units, typename T, template<typename> class NonLinearScale>
-	inline unit_t<Units, T, NonLinearScale> operator--(unit_t<Units, T, NonLinearScale>& u, int) noexcept
+	constexpr unit_t<Units, T, NonLinearScale> operator--(unit_t<Units, T, NonLinearScale>& u, int) noexcept
 	{
 		auto ret = u;
 		u = unit_t<Units, T, NonLinearScale>(u() - 1);
@@ -2393,7 +2393,7 @@ namespace units
 	 * @sa			unit_t::to
 	 */
 	template<typename T, typename Units, class = std::enable_if_t<std::is_arithmetic<T>::value && traits::is_unit_t<Units>::value>>
-	inline constexpr T unit_cast(const Units& value) noexcept
+	constexpr T unit_cast(const Units& value) noexcept
 	{
 		return static_cast<T>(value);
 	}
@@ -2418,7 +2418,7 @@ namespace units
 		template<typename... T>
 		struct has_linear_scale : std::integral_constant<bool, units::all_true<std::is_base_of<units::linear_scale<typename units::traits::unit_t_traits<T>::underlying_type>, T>::value...>::value > {};
 		template<typename... T>
-		inline constexpr bool has_linear_scale_v = has_linear_scale<T...>::value;
+		constexpr bool has_linear_scale_v = has_linear_scale<T...>::value;
 #else
 		template<typename T1, typename T2 = T1, typename T3 = T1>
 		struct has_linear_scale : std::integral_constant<bool,
@@ -2426,7 +2426,7 @@ namespace units
 			std::is_base_of<units::linear_scale<typename units::traits::unit_t_traits<T2>::underlying_type>, T2>::value &&
 			std::is_base_of<units::linear_scale<typename units::traits::unit_t_traits<T3>::underlying_type>, T3>::value> {};
 		template<typename T1, typename T2 = T1, typename T3 = T1>
-		inline constexpr bool has_linear_scale_v = has_linear_scale<T1, T2, T3>::value;
+		constexpr bool has_linear_scale_v = has_linear_scale<T1, T2, T3>::value;
 #endif
 
 		/**
@@ -2440,7 +2440,7 @@ namespace units
 		template<typename... T>
 		struct has_decibel_scale : std::integral_constant<bool,	units::all_true<std::is_base_of<units::decibel_scale<typename units::traits::unit_t_traits<T>::underlying_type>, T>::value...>::value> {};
 		template<typename... T>
-		inline constexpr bool has_decibel_scale_v = has_decibel_scale<T...>::value;
+		constexpr bool has_decibel_scale_v = has_decibel_scale<T...>::value;
 #else
 		template<typename T1, typename T2 = T1, typename T3 = T1>
 		struct has_decibel_scale : std::integral_constant<bool,
@@ -2448,7 +2448,7 @@ namespace units
 			std::is_base_of<units::decibel_scale<typename units::traits::unit_t_traits<T2>::underlying_type>, T2>::value &&
 			std::is_base_of<units::decibel_scale<typename units::traits::unit_t_traits<T2>::underlying_type>, T3>::value> {};
 		template<typename T1, typename T2 = T1, typename T3 = T1>
-		inline constexpr bool has_decibel_scale_v = has_decibel_scale<T1, T2, T3>::value;
+		constexpr bool has_decibel_scale_v = has_decibel_scale<T1, T2, T3>::value;
 #endif
 
 		/**
@@ -2464,7 +2464,7 @@ namespace units
 			std::is_same<typename units::traits::unit_t_traits<T1>::non_linear_scale_type, typename units::traits::unit_t_traits<T2>::non_linear_scale_type>::value>
 		{};
 		template<typename T1, typename T2>
-		inline constexpr bool is_same_scale_v = is_same_scale<T1, T2>::value;
+		constexpr bool is_same_scale_v = is_same_scale<T1, T2>::value;
 	}
 
 	//----------------------------------
@@ -2489,17 +2489,17 @@ namespace units
 	template<typename T>
 	struct linear_scale
 	{
-		inline constexpr linear_scale() = default;													///< default constructor.
-		inline constexpr linear_scale(const linear_scale&) = default;
+		constexpr linear_scale() = default;													///< default constructor.
+		constexpr linear_scale(const linear_scale&) = default;
 		inline ~linear_scale() = default;
 		inline linear_scale& operator=(const linear_scale&) = default;
 #if defined(_MSC_VER) && (_MSC_VER > 1800)
-		inline constexpr linear_scale(linear_scale&&) = default;
+		constexpr linear_scale(linear_scale&&) = default;
 		inline linear_scale& operator=(linear_scale&&) = default;
 #endif
 		template<class... Args>
-		inline constexpr linear_scale(const T& value, Args&&...) noexcept : m_value(value) {}	///< constructor.
-		inline constexpr T operator()() const noexcept { return m_value; }							///< returns value.
+		constexpr linear_scale(const T& value, Args&&...) noexcept : m_value(value) {}	///< constructor.
+		constexpr T operator()() const noexcept { return m_value; }							///< returns value.
 
 		T m_value;																					///< linearized value.
 	};
@@ -2542,7 +2542,7 @@ namespace units
 
 	/// Addition operator for unit_t types with a linear_scale.
 	template<class UnitTypeLhs, class UnitTypeRhs, std::enable_if_t<traits::has_linear_scale<UnitTypeLhs, UnitTypeRhs>::value, int> = 0>
-	inline constexpr UnitTypeLhs operator+(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept
+	constexpr UnitTypeLhs operator+(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept
 	{
 		using UnitsLhs = typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type;
 		using UnitsRhs = typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
@@ -2551,21 +2551,21 @@ namespace units
 
 	/// Addition operator for scalar unit_t types with a linear_scale. Scalar types can be implicitly converted to built-in types.
 	template<typename T, std::enable_if_t<std::is_arithmetic<T>::value, int> = 0>
-	inline constexpr dimensionless::scalar_t operator+(const dimensionless::scalar_t& lhs, T rhs) noexcept
+	constexpr dimensionless::scalar_t operator+(const dimensionless::scalar_t& lhs, T rhs) noexcept
 	{
 		return dimensionless::scalar_t(lhs() + rhs);
 	}
 
 	/// Addition operator for scalar unit_t types with a linear_scale. Scalar types can be implicitly converted to built-in types.
 	template<typename T, std::enable_if_t<std::is_arithmetic<T>::value, int> = 0>
-	inline constexpr dimensionless::scalar_t operator+(T lhs, const dimensionless::scalar_t& rhs) noexcept
+	constexpr dimensionless::scalar_t operator+(T lhs, const dimensionless::scalar_t& rhs) noexcept
 	{
 		return dimensionless::scalar_t(lhs + rhs());
 	}
 
 	/// Subtraction operator for unit_t types with a linear_scale.
 	template<class UnitTypeLhs, class UnitTypeRhs, std::enable_if_t<traits::has_linear_scale<UnitTypeLhs, UnitTypeRhs>::value, int> = 0>
-	inline constexpr UnitTypeLhs operator-(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept
+	constexpr UnitTypeLhs operator-(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept
 	{
 		using UnitsLhs = typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type;
 		using UnitsRhs = typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
@@ -2574,14 +2574,14 @@ namespace units
 
 	/// Subtraction operator for scalar unit_t types with a linear_scale. Scalar types can be implicitly converted to built-in types.
 	template<typename T, std::enable_if_t<std::is_arithmetic<T>::value, int> = 0>
-	inline constexpr dimensionless::scalar_t operator-(const dimensionless::scalar_t& lhs, T rhs) noexcept
+	constexpr dimensionless::scalar_t operator-(const dimensionless::scalar_t& lhs, T rhs) noexcept
 	{
 		return dimensionless::scalar_t(lhs() - rhs);
 	}
 
 	/// Subtraction operator for scalar unit_t types with a linear_scale. Scalar types can be implicitly converted to built-in types.
 	template<typename T, std::enable_if_t<std::is_arithmetic<T>::value, int> = 0>
-	inline constexpr dimensionless::scalar_t operator-(T lhs, const dimensionless::scalar_t& rhs) noexcept
+	constexpr dimensionless::scalar_t operator-(T lhs, const dimensionless::scalar_t& rhs) noexcept
 	{
 		return dimensionless::scalar_t(lhs - rhs());
 	}
@@ -2589,7 +2589,7 @@ namespace units
 	/// Multiplication type for convertible unit_t types with a linear scale. @returns the multiplied value, with the same type as left-hand side unit.
 	template<class UnitTypeLhs, class UnitTypeRhs,
 		std::enable_if_t<traits::is_convertible_unit_t<UnitTypeLhs, UnitTypeRhs>::value && traits::has_linear_scale<UnitTypeLhs, UnitTypeRhs>::value, int> = 0>
-		inline constexpr auto operator*(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept -> unit_t<compound_unit<squared<typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type>>>
+		constexpr auto operator*(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept -> unit_t<compound_unit<squared<typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type>>>
 	{
 		using UnitsLhs = typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type;
 		using UnitsRhs = typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
@@ -2600,7 +2600,7 @@ namespace units
 	/// Multiplication type for non-convertible unit_t types with a linear scale. @returns the multiplied value, whose type is a compound unit of the left and right hand side values.
 	template<class UnitTypeLhs, class UnitTypeRhs,
 		std::enable_if_t<!traits::is_convertible_unit_t<UnitTypeLhs, UnitTypeRhs>::value && traits::has_linear_scale<UnitTypeLhs, UnitTypeRhs>::value && !traits::is_dimensionless_unit<UnitTypeLhs>::value && !traits::is_dimensionless_unit<UnitTypeRhs>::value, int> = 0>
-		inline constexpr auto operator*(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept -> unit_t<compound_unit<typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type, typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type>>
+		constexpr auto operator*(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept -> unit_t<compound_unit<typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type, typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type>>
 	{
 		using UnitsLhs = typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type;
 		using UnitsRhs = typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
@@ -2611,7 +2611,7 @@ namespace units
 	/// Multiplication by a dimensionless unit for unit_t types with a linear scale.
 	template<class UnitTypeLhs, typename UnitTypeRhs,
 		std::enable_if_t<traits::has_linear_scale<UnitTypeLhs, UnitTypeRhs>::value && !traits::is_dimensionless_unit<UnitTypeLhs>::value && traits::is_dimensionless_unit<UnitTypeRhs>::value, int> = 0>
-		inline constexpr UnitTypeLhs operator*(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept
+		constexpr UnitTypeLhs operator*(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept
 	{
 		// the cast makes sure factors of PI are handled as expected
 		return UnitTypeLhs(lhs() * static_cast<UNIT_LIB_DEFAULT_TYPE>(rhs));
@@ -2620,7 +2620,7 @@ namespace units
 	/// Multiplication by a dimensionless unit for unit_t types with a linear scale.
 	template<class UnitTypeLhs, typename UnitTypeRhs,
 		std::enable_if_t<traits::has_linear_scale<UnitTypeLhs, UnitTypeRhs>::value && traits::is_dimensionless_unit<UnitTypeLhs>::value && !traits::is_dimensionless_unit<UnitTypeRhs>::value, int> = 0>
-		inline constexpr UnitTypeRhs operator*(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept
+		constexpr UnitTypeRhs operator*(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept
 	{
 		// the cast makes sure factors of PI are handled as expected
 		return UnitTypeRhs(static_cast<UNIT_LIB_DEFAULT_TYPE>(lhs) * rhs());
@@ -2629,7 +2629,7 @@ namespace units
 	/// Multiplication by a scalar for unit_t types with a linear scale.
 	template<class UnitTypeLhs, typename T,
 		std::enable_if_t<std::is_arithmetic<T>::value && traits::has_linear_scale<UnitTypeLhs>::value, int> = 0>
-		inline constexpr UnitTypeLhs operator*(const UnitTypeLhs& lhs, T rhs) noexcept
+		constexpr UnitTypeLhs operator*(const UnitTypeLhs& lhs, T rhs) noexcept
 	{
 		return UnitTypeLhs(lhs() * rhs);
 	}
@@ -2637,7 +2637,7 @@ namespace units
 	/// Multiplication by a scalar for unit_t types with a linear scale.
 	template<class UnitTypeRhs, typename T,
 		std::enable_if_t<std::is_arithmetic<T>::value && traits::has_linear_scale<UnitTypeRhs>::value, int> = 0>
-		inline constexpr UnitTypeRhs operator*(T lhs, const UnitTypeRhs& rhs) noexcept
+		constexpr UnitTypeRhs operator*(T lhs, const UnitTypeRhs& rhs) noexcept
 	{
 		return UnitTypeRhs(lhs * rhs());
 	}
@@ -2645,7 +2645,7 @@ namespace units
 	/// Division for convertible unit_t types with a linear scale. @returns the lhs divided by rhs value, whose type is a scalar
 	template<class UnitTypeLhs, class UnitTypeRhs,
 		std::enable_if_t<traits::is_convertible_unit_t<UnitTypeLhs, UnitTypeRhs>::value && traits::has_linear_scale<UnitTypeLhs, UnitTypeRhs>::value, int> = 0>
-		inline constexpr dimensionless::scalar_t operator/(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept
+		constexpr dimensionless::scalar_t operator/(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept
 	{
 		using UnitsLhs = typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type;
 		using UnitsRhs = typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
@@ -2655,7 +2655,7 @@ namespace units
 	/// Division for non-convertible unit_t types with a linear scale. @returns the lhs divided by the rhs, with a compound unit type of lhs/rhs
 	template<class UnitTypeLhs, class UnitTypeRhs,
 		std::enable_if_t<!traits::is_convertible_unit_t<UnitTypeLhs, UnitTypeRhs>::value && traits::has_linear_scale<UnitTypeLhs, UnitTypeRhs>::value && !traits::is_dimensionless_unit<UnitTypeLhs>::value && !traits::is_dimensionless_unit<UnitTypeRhs>::value, int> = 0>
-		inline constexpr auto operator/(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept ->  unit_t<compound_unit<typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type, inverse<typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type>>>
+		constexpr auto operator/(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept ->  unit_t<compound_unit<typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type, inverse<typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type>>>
 	{
 		using UnitsLhs = typename units::traits::unit_t_traits<UnitTypeLhs>::unit_type;
 		using UnitsRhs = typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
@@ -2666,7 +2666,7 @@ namespace units
 	/// Division by a dimensionless unit for unit_t types with a linear scale
 	template<class UnitTypeLhs, class UnitTypeRhs,
 		std::enable_if_t<traits::has_linear_scale<UnitTypeLhs, UnitTypeRhs>::value && !traits::is_dimensionless_unit<UnitTypeLhs>::value && traits::is_dimensionless_unit<UnitTypeRhs>::value, int> = 0>
-		inline constexpr UnitTypeLhs operator/(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept
+		constexpr UnitTypeLhs operator/(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept
 	{
 		return UnitTypeLhs(lhs() / static_cast<UNIT_LIB_DEFAULT_TYPE>(rhs));
 	}
@@ -2674,7 +2674,7 @@ namespace units
 	/// Division of a dimensionless unit  by a unit_t type with a linear scale
 	template<class UnitTypeLhs, class UnitTypeRhs,
 		std::enable_if_t<traits::has_linear_scale<UnitTypeLhs, UnitTypeRhs>::value && traits::is_dimensionless_unit<UnitTypeLhs>::value && !traits::is_dimensionless_unit<UnitTypeRhs>::value, int> = 0>
-		inline constexpr auto operator/(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept -> unit_t<inverse<typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type>>
+		constexpr auto operator/(const UnitTypeLhs& lhs, const UnitTypeRhs& rhs) noexcept -> unit_t<inverse<typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type>>
 	{
 		return unit_t<inverse<typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type>>
 			(static_cast<UNIT_LIB_DEFAULT_TYPE>(lhs) / rhs());
@@ -2683,7 +2683,7 @@ namespace units
 	/// Division by a scalar for unit_t types with a linear scale
 	template<class UnitTypeLhs, typename T,
 		std::enable_if_t<std::is_arithmetic<T>::value && traits::has_linear_scale<UnitTypeLhs>::value, int> = 0>
-		inline constexpr UnitTypeLhs operator/(const UnitTypeLhs& lhs, T rhs) noexcept
+		constexpr UnitTypeLhs operator/(const UnitTypeLhs& lhs, T rhs) noexcept
 	{
 		return UnitTypeLhs(lhs() / rhs);
 	}
@@ -2691,7 +2691,7 @@ namespace units
 	/// Division of a scalar  by a unit_t type with a linear scale
 	template<class UnitTypeRhs, typename T,
 		std::enable_if_t<std::is_arithmetic<T>::value && traits::has_linear_scale<UnitTypeRhs>::value, int> = 0>
-		inline constexpr auto operator/(T lhs, const UnitTypeRhs& rhs) noexcept -> unit_t<inverse<typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type>>
+		constexpr auto operator/(T lhs, const UnitTypeRhs& rhs) noexcept -> unit_t<inverse<typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type>>
 	{
 		using UnitsRhs = typename units::traits::unit_t_traits<UnitTypeRhs>::unit_type;
 		return unit_t<inverse<UnitsRhs>>
@@ -2807,7 +2807,7 @@ namespace units
 		 * @returns		new unit_t, raised to the given exponent
 		 */
 		template<int power, class UnitType, class = typename std::enable_if<traits::has_linear_scale<UnitType>::value, int>>
-		inline constexpr auto pow(const UnitType& value) noexcept -> unit_t<typename units::detail::power_of_unit<power, typename units::traits::unit_t_traits<UnitType>::unit_type>::type, typename units::traits::unit_t_traits<UnitType>::underlying_type, linear_scale>
+		constexpr auto pow(const UnitType& value) noexcept -> unit_t<typename units::detail::power_of_unit<power, typename units::traits::unit_t_traits<UnitType>::unit_type>::type, typename units::traits::unit_t_traits<UnitType>::underlying_type, linear_scale>
 		{
 			return unit_t<typename units::detail::power_of_unit<power, typename units::traits::unit_t_traits<UnitType>::unit_type>::type, typename units::traits::unit_t_traits<UnitType>::underlying_type, linear_scale>
 				(gcem::pow(value(), power));
@@ -2822,7 +2822,7 @@ namespace units
 		 * @returns		new unit_t, raised to the given exponent
 		 */
 		template<int power, class UnitType, class = typename std::enable_if<traits::has_linear_scale<UnitType>::value, int>>
-		inline constexpr auto cpow(const UnitType& value) noexcept -> unit_t<typename units::detail::power_of_unit<power, typename units::traits::unit_t_traits<UnitType>::unit_type>::type, typename units::traits::unit_t_traits<UnitType>::underlying_type, linear_scale>
+		constexpr auto cpow(const UnitType& value) noexcept -> unit_t<typename units::detail::power_of_unit<power, typename units::traits::unit_t_traits<UnitType>::unit_type>::type, typename units::traits::unit_t_traits<UnitType>::underlying_type, linear_scale>
 		{
 			static_assert(power >= 0, "cpow cannot accept negative numbers. Try units::math::pow instead.");
 			return unit_t<typename units::detail::power_of_unit<power, typename units::traits::unit_t_traits<UnitType>::unit_type>::type, typename units::traits::unit_t_traits<UnitType>::underlying_type, linear_scale>
@@ -2843,18 +2843,18 @@ namespace units
 	template<typename T>
 	struct decibel_scale
 	{
-		inline constexpr decibel_scale() = default;
-		inline constexpr decibel_scale(const decibel_scale&) = default;
+		constexpr decibel_scale() = default;
+		constexpr decibel_scale(const decibel_scale&) = default;
 		inline ~decibel_scale() = default;
 		inline decibel_scale& operator=(const decibel_scale&) = default;
 #if defined(_MSC_VER) && (_MSC_VER > 1800)
-		inline constexpr decibel_scale(decibel_scale&&) = default;
+		constexpr decibel_scale(decibel_scale&&) = default;
 		inline decibel_scale& operator=(decibel_scale&&) = default;
 #endif
-		inline constexpr decibel_scale(const T value) noexcept : m_value(std::pow(10, value / 10)) {}
+		constexpr decibel_scale(const T value) noexcept : m_value(std::pow(10, value / 10)) {}
 		template<class... Args>
-		inline constexpr decibel_scale(const T value, std::true_type, Args&&...) noexcept : m_value(value) {}
-		inline constexpr T operator()() const noexcept { return 10 * std::log10(m_value); }
+		constexpr decibel_scale(const T value, std::true_type, Args&&...) noexcept : m_value(value) {}
+		constexpr T operator()() const noexcept { return 10 * std::log10(m_value); }
 
 		T m_value;	///< linearized value
 	};
@@ -3060,7 +3060,7 @@ namespace units {
 			std::is_base_of<units::detail::_unit_value_t<Units>, T>::value>
 		{};
 		template<typename T, typename Units = typename traits::unit_value_t_traits<T>::unit_type>
-		inline constexpr bool is_unit_value_t_v = is_unit_value_t<T, Units>::value;
+		constexpr bool is_unit_value_t_v = is_unit_value_t<T, Units>::value;
 
 		/**
 		 * @ingroup		TypeTraits
@@ -3074,7 +3074,7 @@ namespace units {
 			static_assert(is_base_unit<Category>::value, "Template parameter `Category` must be a `base_unit` type.");
 		};
 		template<typename Category, typename T>
-		inline constexpr bool is_unit_value_t_category_v = is_unit_value_t_category<Category, T>::value;
+		constexpr bool is_unit_value_t_category_v = is_unit_value_t_category<Category, T>::value;
 	}
 
 	/** @cond */	// DOXYGEN IGNORE