[wpimath] Reorganize LinearSystem factories (#8468)

wpimath/src/main/python/semiwrap/ElevatorFeedforward.yml

@@ -10,10 +10,6 @@ classes:
           wpi::units::volt_t, wpi::units::volt_t, wpi::units::unit_t<kv_unit>, wpi::units::unit_t<ka_unit>:
       Calculate:
         overloads:
-          wpi::units::unit_t<Velocity>, wpi::units::unit_t<Acceleration> [const]:
-            ignore: true
-          wpi::units::unit_t<Velocity>, wpi::units::unit_t<Velocity>, wpi::units::second_t [const]:
-            ignore: true
           wpi::units::unit_t<Velocity> [const]:
           wpi::units::unit_t<Velocity>, wpi::units::unit_t<Velocity> [const]:
       MaxAchievableVelocity:

wpimath/src/main/python/semiwrap/LinearSystemId.yml

@@ -1,59 +0,0 @@
-classes:
-  wpi::math::LinearSystemId:
-    typealias:
-    - kv_meters = wpi::units::unit_t<wpi::units::compound_unit<wpi::units::volts, wpi::units::inverse<wpi::units::meters_per_second>>>
-    - kv_radians = wpi::units::unit_t<wpi::units::compound_unit<wpi::units::volts, wpi::units::inverse<wpi::units::radians_per_second>>>
-    - ka_meters = wpi::units::unit_t<wpi::units::compound_unit<wpi::units::volts, wpi::units::inverse<wpi::units::meters_per_second_squared>>>
-    - ka_radians = wpi::units::unit_t<wpi::units::compound_unit<wpi::units::volts, wpi::units::inverse<wpi::units::radians_per_second_squared>>>
-    methods:
-      ElevatorSystem:
-      SingleJointedArmSystem:
-      IdentifyVelocitySystem:
-        rename: identifyVelocitySystemMeters
-        cpp_code: |
-          [](kv_meters kV, ka_meters kA) {
-            return wpi::math::LinearSystemId::IdentifyVelocitySystem<wpi::units::meter>(kV, kA);
-          }
-      IdentifyPositionSystem:
-        rename: identifyPositionSystemMeters
-        cpp_code: |
-          [](kv_meters kV, ka_meters kA) {
-            return wpi::math::LinearSystemId::IdentifyPositionSystem<wpi::units::meter>(kV, kA);
-          }
-      IdentifyDrivetrainSystem:
-        overloads:
-          decltype(1_V/1_mps), decltype(1_V/1_mps_sq), decltype(1_V/1_mps), decltype(1_V/1_mps_sq):
-            cpp_code: |
-              [](kv_meters kVlinear, ka_meters kAlinear, kv_meters kVangular, ka_meters kAangular) {
-                return wpi::math::LinearSystemId::IdentifyDrivetrainSystem(kVlinear, kAlinear, kVangular, kAangular);
-              }
-          decltype(1_V/1_mps), decltype(1_V/1_mps_sq), decltype(1_V/1_rad_per_s), decltype(1_V/1_rad_per_s_sq), wpi::units::meter_t:
-            cpp_code: |
-              [](kv_meters kVlinear, ka_meters kAlinear, kv_radians kVangular, ka_radians kAangular, wpi::units::meter_t trackWidth) {
-                return wpi::math::LinearSystemId::IdentifyDrivetrainSystem(kVlinear, kAlinear, kVangular, kAangular, trackWidth);
-              }
-      FlywheelSystem:
-      DCMotorSystem:
-        overloads:
-          DCMotor, wpi::units::kilogram_square_meter_t, double:
-          decltype(1_V/Velocity_t<Distance> (1)), decltype(1_V/Acceleration_t<Distance> (1)):
-            cpp_code: |
-              [](kv_meters kv, ka_meters ka) {
-                return wpi::math::LinearSystemId::DCMotorSystem<wpi::units::meter>(kv, ka);
-              }
-      DrivetrainVelocitySystem:
-
-    inline_code: |
-      .def_static("DCMotorSystemRadians", [](kv_radians kV, ka_radians kA) {
-          return wpi::math::LinearSystemId::DCMotorSystem<wpi::units::radian>(kV, kA);
-        }, py::arg("kV"), py::arg("kA"), release_gil()
-      )
-
-      .def_static("identifyVelocitySystemRadians", [](kv_radians kV, ka_radians kA) {
-          return wpi::math::LinearSystemId::IdentifyVelocitySystem<wpi::units::radian>(kV, kA);
-        }, py::arg("kV"), py::arg("kA"), release_gil()
-      )
-      .def_static("identifyPositionSystemRadians", [](kv_radians kV, ka_radians kA) {
-          return wpi::math::LinearSystemId::IdentifyPositionSystem<wpi::units::radian>(kV, kA);
-        }, py::arg("kV"), py::arg("kA"), release_gil()
-      )

wpimath/src/main/python/semiwrap/Models.yml

@@ -0,0 +1,14 @@
+classes:
+  wpi::math::Models:
+    methods:
+      FlywheelFromPhysicalConstants:
+      FlywheelFromSysId:
+      ElevatorFromPhysicalConstants:
+      ElevatorFromSysId:
+      SingleJointedArmFromPhysicalConstants:
+      SingleJointedArmFromSysId:
+      DifferentialDriveFromPhysicalConstants:
+      DifferentialDriveFromSysId:
+        overloads:
+          decltype(1_V/1_mps), decltype(1_V/1_mps_sq), decltype(1_V/1_mps), decltype(1_V/1_mps_sq):
+          decltype(1_V/1_mps), decltype(1_V/1_mps_sq), decltype(1_V/1_rad_per_s), decltype(1_V/1_rad_per_s_sq), wpi::units::meter_t: