[wpimath] Increase constexpr support in geometry data types (#4231)

This uses std::is_constant_evaluated() to conditionally use the gcem library for constexpr calculations.

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

@@ -0,0 +1,26 @@
+// 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.
+
+#pragma once
+
+#include <utility>
+
+#include "frc/geometry/Rotation2d.h"
+#include "frc/geometry/Transform2d.h"
+#include "frc/geometry/Translation2d.h"
+
+namespace frc {
+
+constexpr Transform2d::Transform2d(Translation2d translation,
+                                   Rotation2d rotation)
+    : m_translation(std::move(translation)), m_rotation(std::move(rotation)) {}
+
+constexpr Transform2d Transform2d::Inverse() const {
+  // We are rotating the difference between the translations
+  // using a clockwise rotation matrix. This transforms the global
+  // delta into a local delta (relative to the initial pose).
+  return Transform2d{(-Translation()).RotateBy(-Rotation()), -Rotation()};
+}
+
+}  // namespace frc