[wpimath] Add RotateBy() function to pose classes (#5491)

Fixes #5472.

wpimath/src/main/native/include/frc/geometry/Pose3d.h

@@ -130,6 +130,15 @@ class WPILIB_DLLEXPORT Pose3d {
    */
   Pose3d operator/(double scalar) const;
 
+  /**
+   * Rotates the pose around the origin and returns the new pose.
+   *
+   * @param other The rotation to transform the pose by.
+   *
+   * @return The rotated pose.
+   */
+  Pose3d RotateBy(const Rotation3d& other) const;
+
   /**
    * Transforms the pose by the given transformation and returns the new pose.
    *