[wpimath] Position Delta Odometry for Swerve (#4493)

wpimath/src/main/native/include/frc/kinematics/SwerveModulePosition.h

@@ -0,0 +1,29 @@
+// 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 <wpi/SymbolExports.h>
+
+#include "frc/geometry/Rotation2d.h"
+#include "units/angle.h"
+#include "units/length.h"
+#include "units/math.h"
+
+namespace frc {
+/**
+ * Represents the position of one swerve module.
+ */
+struct WPILIB_DLLEXPORT SwerveModulePosition {
+  /**
+   * Distance the wheel of a module has traveled
+   */
+  units::meter_t distance = 0_m;
+
+  /**
+   * Angle of the module.
+   */
+  Rotation2d angle;
+};
+}  // namespace frc