sphinxify java docs for python code (#1575)

photon-lib/py/photonlibpy/estimation/rotTrlTransform3d.py

@@ -4,24 +4,38 @@ from wpimath.geometry import Pose3d, Rotation3d, Transform3d, Translation3d
 
 
 class RotTrlTransform3d:
+    """Represents a transformation that first rotates a pose around the origin, and then translates it."""
+
     def __init__(
         self, rot: Rotation3d = Rotation3d(), trl: Translation3d = Translation3d()
     ):
+        """A rotation-translation transformation.
+
+        Applying this RotTrlTransform3d to poses will preserve their current origin-to-pose
+        transform as if the origin was transformed by these components instead.
+
+        :param rot: The rotation component
+        :param trl: The translation component
+        """
         self.rot = rot
         self.trl = trl
 
     def inverse(self) -> Self:
+        """The inverse of this transformation. Applying the inverse will "undo" this transformation."""
         invRot = -self.rot
         invTrl = -(self.trl.rotateBy(invRot))
         return type(self)(invRot, invTrl)
 
     def getTransform(self) -> Transform3d:
+        """This transformation as a Transform3d (as if of the origin)"""
         return Transform3d(self.trl, self.rot)
 
     def getTranslation(self) -> Translation3d:
+        """The translation component of this transformation"""
         return self.trl
 
     def getRotation(self) -> Rotation3d:
+        """The rotation component of this transformation"""
         return self.rot
 
     def applyTranslation(self, trlToApply: Translation3d) -> Translation3d:
@@ -44,6 +58,11 @@ class RotTrlTransform3d:
 
     @classmethod
     def makeRelativeTo(cls, pose: Pose3d) -> Self:
+        """The rotation-translation transformation that makes poses in the world consider this pose as the
+        new origin, or change the basis to this pose.
+
+        :param pose: The new origin
+        """
         return cls(pose.rotation(), pose.translation()).inverse()
 
     @classmethod