RobotPoseEstimator Enhancements (#677)

* Use List for RobotPoseEstimator constructor

* Update `RobotPoseEstimator` constructor to accept wpilib `AprilTagFieldLayout` java

* Initial cpp changes

* Java return optional from update

* Fix java test

* Clean up strategy switch

* small lint

* Actually link to vision_shared

* Fix auto optimized imports

* format

* report error

* small method changes

* format and clean up

Co-authored-by: Matt <matthew.morley.ca@gmail.com>

photon-lib/src/main/java/org/photonvision/SimVisionSystem.java

@@ -27,7 +27,6 @@ package org.photonvision;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.geometry.Rotation3d;
 import edu.wpi.first.math.geometry.Transform3d;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.geometry.Translation3d;
@@ -139,13 +138,7 @@ public class SimVisionSystem {
      *     PhotonVision parameters.
      */
     public void processFrame(Pose2d robotPoseMeters) {
-        var robotPose3d =
-                new Pose3d(
-                        robotPoseMeters.getX(),
-                        robotPoseMeters.getY(),
-                        0.0,
-                        new Rotation3d(0, 0, robotPoseMeters.getRotation().getRadians()));
-        processFrame(robotPose3d);
+        processFrame(new Pose3d(robotPoseMeters));
     }
 
     /**