[wpimath] Add 3D odometry and pose estimation (#7119)

wpimath/src/main/native/cpp/kinematics/SwerveDriveOdometry3d.cpp

@@ -0,0 +1,12 @@
+// 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 "frc/kinematics/SwerveDriveOdometry3d.h"
+
+namespace frc {
+
+template class EXPORT_TEMPLATE_DEFINE(WPILIB_DLLEXPORT)
+    SwerveDriveOdometry3d<4>;
+
+}  // namespace frc