[wpimath] Add scalar multiply and divide operators to all geometry classes (#4438)

Closes #4435.

wpimath/src/main/java/edu/wpi/first/math/geometry/Pose2d.java

@@ -115,6 +115,26 @@ public class Pose2d implements Interpolatable<Pose2d> {
     return m_rotation;
   }
 
+  /**
+   * Multiplies the current pose by a scalar.
+   *
+   * @param scalar The scalar.
+   * @return The new scaled Pose2d.
+   */
+  public Pose2d times(double scalar) {
+    return new Pose2d(m_translation.times(scalar), m_rotation.times(scalar));
+  }
+
+  /**
+   * Divides the current pose by a scalar.
+   *
+   * @param scalar The scalar.
+   * @return The new scaled Pose2d.
+   */
+  public Pose2d div(double scalar) {
+    return times(1.0 / scalar);
+  }
+
   /**
    * Transforms the pose by the given transformation and returns the new pose. See + operator for
    * the matrix multiplication performed.

wpimath/src/main/java/edu/wpi/first/math/geometry/Pose3d.java

@@ -114,6 +114,26 @@ public class Pose3d implements Interpolatable<Pose3d> {
     return m_rotation;
   }
 
+  /**
+   * Multiplies the current pose by a scalar.
+   *
+   * @param scalar The scalar.
+   * @return The new scaled Pose3d.
+   */
+  public Pose3d times(double scalar) {
+    return new Pose3d(m_translation.times(scalar), m_rotation.times(scalar));
+  }
+
+  /**
+   * Divides the current pose by a scalar.
+   *
+   * @param scalar The scalar.
+   * @return The new scaled Pose3d.
+   */
+  public Pose3d div(double scalar) {
+    return times(1.0 / scalar);
+  }
+
   /**
    * Transforms the pose by the given transformation and returns the new pose. See + operator for
    * the matrix multiplication performed.

wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java

@@ -136,6 +136,16 @@ public class Rotation2d implements Interpolatable<Rotation2d> {
     return new Rotation2d(m_value * scalar);
   }
 
+  /**
+   * Divides the current rotation by a scalar.
+   *
+   * @param scalar The scalar.
+   * @return The new scaled Rotation2d.
+   */
+  public Rotation2d div(double scalar) {
+    return times(1.0 / scalar);
+  }
+
   /**
    * Adds the new rotation to the current rotation using a rotation matrix.
    *

wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation3d.java

@@ -245,6 +245,16 @@ public class Rotation3d implements Interpolatable<Rotation3d> {
     }
   }
 
+  /**
+   * Divides the current rotation by a scalar.
+   *
+   * @param scalar The scalar.
+   * @return The new scaled Rotation3d.
+   */
+  public Rotation3d div(double scalar) {
+    return times(1.0 / scalar);
+  }
+
   /**
    * Adds the new rotation to the current rotation.
    *

wpimath/src/main/java/edu/wpi/first/math/geometry/Transform2d.java

@@ -47,7 +47,7 @@ public class Transform2d {
   }
 
   /**
-   * Scales the transform by the scalar.
+   * Multiplies the transform by the scalar.
    *
    * @param scalar The scalar.
    * @return The scaled Transform2d.
@@ -56,6 +56,16 @@ public class Transform2d {
     return new Transform2d(m_translation.times(scalar), m_rotation.times(scalar));
   }
 
+  /**
+   * Divides the transform by the scalar.
+   *
+   * @param scalar The scalar.
+   * @return The scaled Transform2d.
+   */
+  public Transform2d div(double scalar) {
+    return times(1.0 / scalar);
+  }
+
   /**
    * Composes two transformations.
    *

wpimath/src/main/java/edu/wpi/first/math/geometry/Transform3d.java

@@ -47,7 +47,7 @@ public class Transform3d {
   }
 
   /**
-   * Scales the transform by the scalar.
+   * Multiplies the transform by the scalar.
    *
    * @param scalar The scalar.
    * @return The scaled Transform3d.
@@ -56,6 +56,16 @@ public class Transform3d {
     return new Transform3d(m_translation.times(scalar), m_rotation.times(scalar));
   }
 
+  /**
+   * Divides the transform by the scalar.
+   *
+   * @param scalar The scalar.
+   * @return The scaled Transform3d.
+   */
+  public Transform3d div(double scalar) {
+    return times(1.0 / scalar);
+  }
+
   /**
    * Composes two transformations.
    *