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

Closes #4435.

wpimath/src/main/native/cpp/geometry/Pose2d.cpp

@@ -33,6 +33,14 @@ bool Pose2d::operator!=(const Pose2d& other) const {
   return !operator==(other);
 }
 
+Pose2d Pose2d::operator*(double scalar) const {
+  return Pose2d{m_translation * scalar, m_rotation * scalar};
+}
+
+Pose2d Pose2d::operator/(double scalar) const {
+  return *this * (1.0 / scalar);
+}
+
 Pose2d Pose2d::TransformBy(const Transform2d& other) const {
   return {m_translation + (other.Translation().RotateBy(m_rotation)),
           m_rotation + other.Rotation()};

wpimath/src/main/native/cpp/geometry/Pose3d.cpp

@@ -54,6 +54,14 @@ bool Pose3d::operator!=(const Pose3d& other) const {
   return !operator==(other);
 }
 
+Pose3d Pose3d::operator*(double scalar) const {
+  return Pose3d{m_translation * scalar, m_rotation * scalar};
+}
+
+Pose3d Pose3d::operator/(double scalar) const {
+  return *this * (1.0 / scalar);
+}
+
 Pose3d Pose3d::TransformBy(const Transform3d& other) const {
   return {m_translation + (other.Translation().RotateBy(m_rotation)),
           m_rotation + other.Rotation()};

wpimath/src/main/native/cpp/geometry/Rotation2d.cpp

@@ -50,6 +50,10 @@ Rotation2d Rotation2d::operator*(double scalar) const {
   return Rotation2d{m_value * scalar};
 }
 
+Rotation2d Rotation2d::operator/(double scalar) const {
+  return *this * (1.0 / scalar);
+}
+
 bool Rotation2d::operator==(const Rotation2d& other) const {
   return std::hypot(m_cos - other.m_cos, m_sin - other.m_sin) < 1E-9;
 }

wpimath/src/main/native/cpp/geometry/Rotation3d.cpp

@@ -165,6 +165,10 @@ Rotation3d Rotation3d::operator*(double scalar) const {
   }
 }
 
+Rotation3d Rotation3d::operator/(double scalar) const {
+  return *this * (1.0 / scalar);
+}
+
 bool Rotation3d::operator==(const Rotation3d& other) const {
   return m_q == other.m_q;
 }

wpimath/src/main/native/include/frc/geometry/Pose2d.h

@@ -112,6 +112,24 @@ class WPILIB_DLLEXPORT Pose2d {
    */
   const Rotation2d& Rotation() const { return m_rotation; }
 
+  /**
+   * Multiplies the current pose by a scalar.
+   *
+   * @param scalar The scalar.
+   *
+   * @return The new scaled Pose2d.
+   */
+  Pose2d operator*(double scalar) const;
+
+  /**
+   * Divides the current pose by a scalar.
+   *
+   * @param scalar The scalar.
+   *
+   * @return The new scaled Pose2d.
+   */
+  Pose2d operator/(double scalar) const;
+
   /**
    * Transforms the pose by the given transformation and returns the new pose.
    * See + operator for the matrix multiplication performed.

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

@@ -112,6 +112,24 @@ class WPILIB_DLLEXPORT Pose3d {
    */
   const Rotation3d& Rotation() const { return m_rotation; }
 
+  /**
+   * Multiplies the current pose by a scalar.
+   *
+   * @param scalar The scalar.
+   *
+   * @return The new scaled Pose2d.
+   */
+  Pose3d operator*(double scalar) const;
+
+  /**
+   * Divides the current pose by a scalar.
+   *
+   * @param scalar The scalar.
+   *
+   * @return The new scaled Pose2d.
+   */
+  Pose3d operator/(double scalar) const;
+
   /**
    * Transforms the pose by the given transformation and returns the new pose.
    * See + operator for the matrix multiplication performed.

wpimath/src/main/native/include/frc/geometry/Rotation2d.h

@@ -84,12 +84,22 @@ class WPILIB_DLLEXPORT Rotation2d {
 
   /**
    * Multiplies the current rotation by a scalar.
+   *
    * @param scalar The scalar.
    *
    * @return The new scaled Rotation2d.
    */
   Rotation2d operator*(double scalar) const;
 
+  /**
+   * Divides the current rotation by a scalar.
+   *
+   * @param scalar The scalar.
+   *
+   * @return The new scaled Rotation2d.
+   */
+  Rotation2d operator/(double scalar) const;
+
   /**
    * Checks equality between this Rotation2d and another object.
    *

wpimath/src/main/native/include/frc/geometry/Rotation3d.h

@@ -99,12 +99,22 @@ class WPILIB_DLLEXPORT Rotation3d {
 
   /**
    * Multiplies the current rotation by a scalar.
+   *
    * @param scalar The scalar.
    *
    * @return The new scaled Rotation3d.
    */
   Rotation3d operator*(double scalar) const;
 
+  /**
+   * Divides the current rotation by a scalar.
+   *
+   * @param scalar The scalar.
+   *
+   * @return The new scaled Rotation3d.
+   */
+  Rotation3d operator/(double scalar) const;
+
   /**
    * Checks equality between this Rotation3d and another object.
    *

wpimath/src/main/native/include/frc/geometry/Transform2d.h

@@ -74,7 +74,7 @@ class WPILIB_DLLEXPORT Transform2d {
   Transform2d Inverse() const;
 
   /**
-   * Scales the transform by the scalar.
+   * Multiplies the transform by the scalar.
    *
    * @param scalar The scalar.
    * @return The scaled Transform2d.
@@ -83,6 +83,14 @@ class WPILIB_DLLEXPORT Transform2d {
     return Transform2d(m_translation * scalar, m_rotation * scalar);
   }
 
+  /**
+   * Divides the transform by the scalar.
+   *
+   * @param scalar The scalar.
+   * @return The scaled Transform2d.
+   */
+  Transform2d operator/(double scalar) const { return *this * (1.0 / scalar); }
+
   /**
    * Composes two transformations.
    *

wpimath/src/main/native/include/frc/geometry/Transform3d.h

@@ -81,7 +81,7 @@ class WPILIB_DLLEXPORT Transform3d {
   Transform3d Inverse() const;
 
   /**
-   * Scales the transform by the scalar.
+   * Multiplies the transform by the scalar.
    *
    * @param scalar The scalar.
    * @return The scaled Transform3d.
@@ -90,6 +90,14 @@ class WPILIB_DLLEXPORT Transform3d {
     return Transform3d(m_translation * scalar, m_rotation * scalar);
   }
 
+  /**
+   * Divides the transform by the scalar.
+   *
+   * @param scalar The scalar.
+   * @return The scaled Transform3d.
+   */
+  Transform3d operator/(double scalar) const { return *this * (1.0 / scalar); }
+
   /**
    * Composes two transformations.
    *