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

wpimath/src/test/native/cpp/kinematics/proto/SwerveDriveKinematicsProtoTest.cpp

@@ -0,0 +1,26 @@
+// 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.
+
+#include <gtest/gtest.h>
+
+#include "../../ProtoTestBase.h"
+#include "frc/kinematics/SwerveDriveKinematics.h"
+#include "frc/kinematics/proto/SwerveDriveKinematicsProto.h"
+
+using namespace frc;
+
+struct SwerveDriveKinematicsProtoTestData {
+  using Type = SwerveDriveKinematics<4>;
+
+  inline static const Type kTestData{
+      frc::Translation2d{1.0_m, 0.9_m}, frc::Translation2d{1.1_m, -0.8_m},
+      frc::Translation2d{-1.2_m, 0.7_m}, frc::Translation2d{-1.3_m, -0.6_m}};
+
+  static void CheckEq(const Type& testData, const Type& data) {
+    EXPECT_EQ(testData.GetModules(), data.GetModules());
+  }
+};
+
+INSTANTIATE_TYPED_TEST_SUITE_P(SwerveDriveKinematics, ProtoTest,
+                               SwerveDriveKinematicsProtoTestData);