[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;
 }