[wpimath] Refactor kinematics, odometry, and pose estimator (#5355)

wpimath/src/main/native/include/frc/kinematics/WheelPositions.h

@@ -0,0 +1,16 @@
+// 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 <concepts>
+
+namespace frc {
+template <typename T>
+concept WheelPositions =
+    std::copy_constructible<T> && requires(T a, T b, double t) {
+      { a - b } -> std::convertible_to<T>;
+      { a.Interpolate(b, t) } -> std::convertible_to<T>;
+    };
+}  // namespace frc