Upgrade to wpilib alpha-6 (#2434)

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
Co-authored-by: Ryanforce08 <rradtke1208@gmail.com>
Co-authored-by: PJ Reiniger <pj.reiniger@gmail.com>
Co-authored-by: Jade Turner <spacey-sooty@proton.me>
Co-authored-by: Matt Morley <matthew.morley.ca@gmail.com>

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

@@ -1,6 +1,6 @@
 from typing import Self
 
-from wpimath.geometry import Pose3d, Rotation3d, Transform3d, Translation3d
+from wpimath import Pose3d, Rotation3d, Transform3d, Translation3d
 
 
 class RotTrlTransform3d:
@@ -22,7 +22,7 @@ class RotTrlTransform3d:
 
     def inverse(self) -> Self:
         """The inverse of this transformation. Applying the inverse will "undo" this transformation."""
-        invRot = -self.rot
+        invRot = self.rot.inverse()
         invTrl = -(self.trl.rotateBy(invRot))
         return type(self)(invRot, invTrl)
 
@@ -42,7 +42,7 @@ class RotTrlTransform3d:
         return trlToApply.rotateBy(self.rot) + self.trl
 
     def applyRotation(self, rotToApply: Rotation3d) -> Rotation3d:
-        return rotToApply + self.rot
+        return rotToApply.rotateBy(self.rot)
 
     def applyPose(self, poseToApply: Pose3d) -> Pose3d:
         return Pose3d(
@@ -68,7 +68,9 @@ class RotTrlTransform3d:
     @classmethod
     def makeBetweenPoses(cls, initial: Pose3d, last: Pose3d) -> Self:
         return cls(
-            last.rotation() - initial.rotation(),
+            last.rotation().relativeTo(initial.rotation()),
             last.translation()
-            - initial.translation().rotateBy(last.rotation() - initial.rotation()),
+            - initial.translation().rotateBy(
+                last.rotation().relativeTo(initial.rotation())
+            ),
         )