Fix JDK 21 warnings (#6028)

wpimath/src/main/java/edu/wpi/first/math/controller/BangBangController.java

@@ -37,6 +37,7 @@ public class BangBangController implements Sendable {
    *
    * @param tolerance Tolerance for {@link #atSetpoint() atSetpoint}.
    */
+  @SuppressWarnings("this-escape")
   public BangBangController(double tolerance) {
     instances++;
 
@@ -89,7 +90,7 @@ public class BangBangController implements Sendable {
    *
    * @param tolerance Position error which is tolerable.
    */
-  public void setTolerance(double tolerance) {
+  public final void setTolerance(double tolerance) {
     m_tolerance = tolerance;
   }
 

wpimath/src/main/java/edu/wpi/first/math/controller/ControlAffinePlantInversionFeedforward.java

@@ -144,13 +144,13 @@ public class ControlAffinePlantInversionFeedforward<States extends Num, Inputs e
    *
    * @param initialState The initial state vector.
    */
-  public void reset(Matrix<States, N1> initialState) {
+  public final void reset(Matrix<States, N1> initialState) {
     m_r = initialState;
     m_uff.fill(0.0);
   }
 
   /** Resets the feedforward with a zero initial state vector. */
-  public void reset() {
+  public final void reset() {
     m_r.fill(0.0);
     m_uff.fill(0.0);
   }

wpimath/src/main/java/edu/wpi/first/math/controller/ImplicitModelFollower.java

@@ -99,7 +99,7 @@ public class ImplicitModelFollower<States extends Num, Inputs extends Num, Outpu
   }
 
   /** Resets the controller. */
-  public void reset() {
+  public final void reset() {
     m_u.fill(0.0);
   }
 

wpimath/src/main/java/edu/wpi/first/math/controller/LinearPlantInversionFeedforward.java

@@ -105,13 +105,13 @@ public class LinearPlantInversionFeedforward<
    *
    * @param initialState The initial state vector.
    */
-  public void reset(Matrix<States, N1> initialState) {
+  public final void reset(Matrix<States, N1> initialState) {
     m_r = initialState;
     m_uff.fill(0.0);
   }
 
   /** Resets the feedforward with a zero initial state vector. */
-  public void reset() {
+  public final void reset() {
     m_r.fill(0.0);
     m_uff.fill(0.0);
   }

wpimath/src/main/java/edu/wpi/first/math/controller/LinearQuadraticRegulator.java

@@ -221,7 +221,7 @@ public class LinearQuadraticRegulator<States extends Num, Inputs extends Num, Ou
   }
 
   /** Resets the controller. */
-  public void reset() {
+  public final void reset() {
     m_r.fill(0.0);
     m_u.fill(0.0);
   }

wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java

@@ -81,6 +81,7 @@ public class PIDController implements Sendable, AutoCloseable {
    * @param kd The derivative coefficient.
    * @param period The period between controller updates in seconds. Must be non-zero and positive.
    */
+  @SuppressWarnings("this-escape")
   public PIDController(double kp, double ki, double kd, double period) {
     m_kp = kp;
     m_ki = ki;

wpimath/src/main/java/edu/wpi/first/math/controller/ProfiledPIDController.java

@@ -50,6 +50,7 @@ public class ProfiledPIDController implements Sendable {
    * @param constraints Velocity and acceleration constraints for goal.
    * @param period The period between controller updates in seconds. The default is 0.02 seconds.
    */
+  @SuppressWarnings("this-escape")
   public ProfiledPIDController(
       double Kp, double Ki, double Kd, TrapezoidProfile.Constraints constraints, double period) {
     m_controller = new PIDController(Kp, Ki, Kd, period);

wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java

@@ -236,7 +236,7 @@ public class ExtendedKalmanFilter<States extends Num, Inputs extends Num, Output
   }
 
   @Override
-  public void reset() {
+  public final void reset() {
     m_xHat = new Matrix<>(m_states, Nat.N1());
     m_P = m_initP;
   }

wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilter.java

@@ -172,7 +172,7 @@ public class KalmanFilter<States extends Num, Inputs extends Num, Outputs extend
   }
 
   @Override
-  public void reset() {
+  public final void reset() {
     m_xHat = new Matrix<>(m_states, Nat.N1());
     m_P = m_initP;
   }

wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator.java

@@ -80,7 +80,7 @@ public class PoseEstimator<T extends WheelPositions<T>> {
    *     numbers to trust global measurements from vision less. This matrix is in the form [x, y,
    *     theta]ᵀ, with units in meters and radians.
    */
-  public void setVisionMeasurementStdDevs(Matrix<N3, N1> visionMeasurementStdDevs) {
+  public final void setVisionMeasurementStdDevs(Matrix<N3, N1> visionMeasurementStdDevs) {
     var r = new double[3];
     for (int i = 0; i < 3; ++i) {
       r[i] = visionMeasurementStdDevs.get(i, 0) * visionMeasurementStdDevs.get(i, 0);

wpimath/src/main/java/edu/wpi/first/math/estimator/SteadyStateKalmanFilter.java

@@ -115,7 +115,7 @@ public class SteadyStateKalmanFilter<States extends Num, Inputs extends Num, Out
     reset();
   }
 
-  public void reset() {
+  public final void reset() {
     m_xHat = new Matrix<>(m_states, Nat.N1());
   }
 

wpimath/src/main/java/edu/wpi/first/math/estimator/UnscentedKalmanFilter.java

@@ -323,7 +323,7 @@ public class UnscentedKalmanFilter<States extends Num, Inputs extends Num, Outpu
 
   /** Resets the observer. */
   @Override
-  public void reset() {
+  public final void reset() {
     m_xHat = new Matrix<>(m_states, Nat.N1());
     m_S = new Matrix<>(m_states, m_states);
     m_sigmasF = new Matrix<>(new SimpleMatrix(m_states.getNum(), 2 * m_states.getNum() + 1));

wpimath/src/main/java/edu/wpi/first/math/system/LinearSystemLoop.java

@@ -265,7 +265,7 @@ public class LinearSystemLoop<States extends Num, Inputs extends Num, Outputs ex
    *
    * @param initialState The initial state.
    */
-  public void reset(Matrix<States, N1> initialState) {
+  public final void reset(Matrix<States, N1> initialState) {
     m_nextR.fill(0.0);
     m_controller.reset();
     m_feedforward.reset(initialState);