Sim Updates for 2023 (#512)

* WIP updating sim stuff for 2023 and pose3d's

* vision system build fixups, but test not yet passing.

* WIP Sim fixups and working on testcases

* Still doesn't work, but closer

* tests pass

* removed C++ sim support

* formatting update

* adjusted target height above ground per review

* Turns out its unused

* missed example removal

photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/Constants.java

@@ -87,7 +87,6 @@ public class Constants {
     // page 197
     public static final double targetHeight =
             Units.inchesToMeters(98.19) - Units.inchesToMeters(81.19); // meters
-    public static final double targetHeightAboveGround = Units.inchesToMeters(81.19); // meters
 
     // See https://firstfrc.blob.core.windows.net/frc2020/PlayingField/LayoutandMarkingDiagram.pdf
     // pages 4 and 5
@@ -103,6 +102,5 @@ public class Constants {
                     new Rotation3d(0.0, 0.0, Units.degreesToRadians(180)));
 
     public static final SimVisionTarget kFarTarget =
-            new SimVisionTarget(
-                    kFarTargetPose.toPose2d(), targetHeightAboveGround, targetWidth, targetHeight);
+            new SimVisionTarget(kFarTargetPose, targetWidth, targetHeight, 42);
 }

photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/sim/DrivetrainSim.java

@@ -89,11 +89,7 @@ public class DrivetrainSim {
             new SimVisionSystem(
                     Constants.kCamName,
                     camDiagFOV,
-                    camPitch,
-                    new Transform2d(
-                            Constants.kCameraToRobot.getTranslation().toTranslation2d(),
-                            Constants.kCameraToRobot.getRotation().toRotation2d()),
-                    camHeightOffGround,
+                    Constants.kCameraToRobot,
                     maxLEDRange,
                     camResolutionWidth,
                     camResolutionHeight,