[wpimath] Use jinja for codegen (#3574)

While not really needed for wpimath, it will make more complex codegen
in the future significantly easier.

.github/workflows/cmake.yml

@@ -10,7 +10,7 @@ jobs:
         include:
           - os: ubuntu-latest
             name: Linux
-            container: wpilib/roborio-cross-ubuntu:2021-18.04
+            container: wpilib/roborio-cross-ubuntu:2021-20.04
             flags: ""
           - os: macos-latest
             name: macOS
@@ -26,6 +26,12 @@ jobs:
           if [ "$RUNNER_OS" == "macOS" ]; then
             brew install opencv
           fi
+      - name: Set up Python 3.8
+        uses: actions/setup-python@v2
+        with:
+          python-version: 3.8
+      - name: Install jinja
+        run: python -m pip install jinja2
       - name: configure
         run: mkdir build && cd build && cmake ${{ matrix.flags }} ..
       - name: build

.github/workflows/lint-format.yml

@@ -63,6 +63,8 @@ jobs:
           sudo apt-get install -y clang-tidy-12 clang-format-12
       - name: Install wpiformat
         run: pip3 install wpiformat
+      - name: Install jinja
+        run: python -m pip install jinja2
       - name: Create compile_commands.json
         run: mkdir build-cmake && cd build-cmake && cmake -DWITH_OLD_COMMANDS=ON -DWITH_EXAMPLES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=YES ..
       - name: List changed files

.github/workflows/sanitizers.yml

@@ -16,7 +16,7 @@ jobs:
             flags: "-DCMAKE_BUILD_TYPE=Ubsan"
     name: "${{ matrix.name }}"
     runs-on: ubuntu-latest
-    container: wpilib/roborio-cross-ubuntu:2021-18.04
+    container: wpilib/roborio-cross-ubuntu:2021-20.04
     steps:
       - uses: actions/checkout@v2
       - name: Install Dependencies
@@ -27,6 +27,12 @@ jobs:
             --install /usr/bin/gcc gcc /usr/bin/gcc-11 11 \
             --slave /usr/bin/g++ g++ /usr/bin/g++-11
           sudo update-alternatives --set gcc /usr/bin/gcc-11
+      - name: Set up Python 3.8
+        uses: actions/setup-python@v2
+        with:
+          python-version: 3.8
+      - name: Install jinja
+        run: python -m pip install jinja2
       - name: configure
         run: mkdir build && cd build && cmake ${{ matrix.flags }} ..
       - name: build