[wpimath] Add remaining struct and protobuf implementations (#5953)

wpimath/src/main/native/include/frc/kinematics/struct/SwerveDriveKinematicsStruct.inc

@@ -0,0 +1,25 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include "frc/kinematics/struct/SwerveDriveKinematicsStruct.h"
+
+template <size_t NumModules>
+frc::SwerveDriveKinematics<NumModules>
+wpi::Struct<frc::SwerveDriveKinematics<NumModules>>::Unpack(
+    std::span<const uint8_t> data) {
+  constexpr size_t kModulesOff = 0;
+  return frc::SwerveDriveKinematics<NumModules>{
+      wpi::UnpackStructArray<frc::Translation2d, kModulesOff, NumModules>(
+          data)};
+}
+
+template <size_t NumModules>
+void wpi::Struct<frc::SwerveDriveKinematics<NumModules>>::Pack(
+    std::span<uint8_t> data,
+    const frc::SwerveDriveKinematics<NumModules>& value) {
+  constexpr size_t kModulesOff = 0;
+  wpi::PackStructArray<kModulesOff, NumModules>(data, value.GetModules());
+}