[wpiutil] Struct: Change from GetTypeString() to GetTypeName() (#6872)

This makes it easier to define schemas when the type name is non-trivial (e.g., templated structs).

This is breaking for a) custom struct implementations and b) anything calling `wpi::Struct<T>::GetTypeString(info...)` in C++ directly. In both cases, it's a simple translation: For A, rename `GetTypeString()` to `GetTypeName()` and remove the struct: at the beginning, and for B, use `wpi::GetStructTypeString<T>(info...)` instead.

wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/ChassisSpeedsStruct.java

@@ -15,8 +15,8 @@ public class ChassisSpeedsStruct implements Struct<ChassisSpeeds> {
   }
 
   @Override
-  public String getTypeString() {
-    return "struct:ChassisSpeeds";
+  public String getTypeName() {
+    return "ChassisSpeeds";
   }
 
   @Override

wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/DifferentialDriveKinematicsStruct.java

@@ -15,8 +15,8 @@ public class DifferentialDriveKinematicsStruct implements Struct<DifferentialDri
   }
 
   @Override
-  public String getTypeString() {
-    return "struct:DifferentialDriveKinematics";
+  public String getTypeName() {
+    return "DifferentialDriveKinematics";
   }
 
   @Override

wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/DifferentialDriveWheelPositionsStruct.java

@@ -16,8 +16,8 @@ public class DifferentialDriveWheelPositionsStruct
   }
 
   @Override
-  public String getTypeString() {
-    return "struct:DifferentialDriveWheelPositions";
+  public String getTypeName() {
+    return "DifferentialDriveWheelPositions";
   }
 
   @Override

wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/DifferentialDriveWheelSpeedsStruct.java

@@ -15,8 +15,8 @@ public class DifferentialDriveWheelSpeedsStruct implements Struct<DifferentialDr
   }
 
   @Override
-  public String getTypeString() {
-    return "struct:DifferentialDriveWheelSpeeds";
+  public String getTypeName() {
+    return "DifferentialDriveWheelSpeeds";
   }
 
   @Override

wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/MecanumDriveKinematicsStruct.java

@@ -16,8 +16,8 @@ public class MecanumDriveKinematicsStruct implements Struct<MecanumDriveKinemati
   }
 
   @Override
-  public String getTypeString() {
-    return "struct:MecanumDriveKinematics";
+  public String getTypeName() {
+    return "MecanumDriveKinematics";
   }
 
   @Override

wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/MecanumDriveWheelPositionsStruct.java

@@ -15,8 +15,8 @@ public class MecanumDriveWheelPositionsStruct implements Struct<MecanumDriveWhee
   }
 
   @Override
-  public String getTypeString() {
-    return "struct:MecanumDriveWheelPositions";
+  public String getTypeName() {
+    return "MecanumDriveWheelPositions";
   }
 
   @Override

wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/MecanumDriveWheelSpeedsStruct.java

@@ -15,8 +15,8 @@ public class MecanumDriveWheelSpeedsStruct implements Struct<MecanumDriveWheelSp
   }
 
   @Override
-  public String getTypeString() {
-    return "struct:MecanumDriveWheelSpeeds";
+  public String getTypeName() {
+    return "MecanumDriveWheelSpeeds";
   }
 
   @Override

wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/SwerveModulePositionStruct.java

@@ -16,8 +16,8 @@ public class SwerveModulePositionStruct implements Struct<SwerveModulePosition>
   }
 
   @Override
-  public String getTypeString() {
-    return "struct:SwerveModulePosition";
+  public String getTypeName() {
+    return "SwerveModulePosition";
   }
 
   @Override

wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/SwerveModuleStateStruct.java

@@ -16,8 +16,8 @@ public class SwerveModuleStateStruct implements Struct<SwerveModuleState> {
   }
 
   @Override
-  public String getTypeString() {
-    return "struct:SwerveModuleState";
+  public String getTypeName() {
+    return "SwerveModuleState";
   }
 
   @Override