[wpimath] Move math functionality into new wpimath library (#2629)

The wpimath library is a new library designed to separate the reusable math functionality
from the common utility library (wpiutil) and the hardware-dependent library (wpilibc/j).

Package names / include file names were NOT changed to minimize breakage.  In a future year
it would be good to revamp these for a more uniform user experience and to reduce the risk
of accidental naming conflicts.

While theoretically all of this functionality could be placed into wpiutil, several pieces
of this library (e.g. DARE) are very time-consuming to compile, so it's nice to avoid this
expense for users who only want cscore or ntcore.  It also allows for easy future separation
of build tasks vs number of workers on memory-constrained machines.

This moves the following functionality from wpiutil into wpimath:
- Eigen
- ejml
- Drake
- DARE
- wpiutil.math package (Matrix etc)
- units

And the following functionality from wpilibc/j into wpimath:
- Geometry
- Kinematics
- Spline
- Trajectory
- LinearFilter
- MedianFilter
- Feed-forward controllers

wpilibc/src/main/native/cppcs/RobotBase.cpp

@@ -16,6 +16,7 @@
 #include <cameraserver/CameraServerShared.h>
 #include <hal/FRCUsageReporting.h>
 #include <hal/HALBase.h>
+#include <math/MathShared.h>
 #include <networktables/NetworkTableInstance.h>
 
 #include "WPILibVersion.h"
@@ -25,7 +26,6 @@
 #include "frc/WPIErrors.h"
 #include "frc/livewindow/LiveWindow.h"
 #include "frc/smartdashboard/SmartDashboard.h"
-#include "frc/trajectory/TrajectoryGenerator.h"
 
 typedef void (*SetCameraServerSharedFP)(frc::CameraServerShared* shared);
 
@@ -69,6 +69,47 @@ class WPILibCameraServerShared : public frc::CameraServerShared {
     return std::make_pair(RobotBase::GetThreadId(), true);
   }
 };
+class WPILibMathShared : public wpi::math::MathShared {
+ public:
+  void ReportError(const wpi::Twine& error) override {
+    DriverStation::ReportError(error);
+  }
+
+  void ReportUsage(wpi::math::MathUsageId id, int count) override {
+    switch (id) {
+      case wpi::math::MathUsageId::kKinematics_DifferentialDrive:
+        HAL_Report(HALUsageReporting::kResourceType_Kinematics,
+                   HALUsageReporting::kKinematics_DifferentialDrive);
+        break;
+      case wpi::math::MathUsageId::kKinematics_MecanumDrive:
+        HAL_Report(HALUsageReporting::kResourceType_Kinematics,
+                   HALUsageReporting::kKinematics_MecanumDrive);
+        break;
+      case wpi::math::MathUsageId::kKinematics_SwerveDrive:
+        HAL_Report(HALUsageReporting::kResourceType_Kinematics,
+                   HALUsageReporting::kKinematics_SwerveDrive);
+        break;
+      case wpi::math::MathUsageId::kTrajectory_TrapezoidProfile:
+        HAL_Report(HALUsageReporting::kResourceType_TrapezoidProfile, count);
+        break;
+      case wpi::math::MathUsageId::kFilter_Linear:
+        HAL_Report(HALUsageReporting::kResourceType_LinearFilter, count);
+        break;
+      case wpi::math::MathUsageId::kOdometry_DifferentialDrive:
+        HAL_Report(HALUsageReporting::kResourceType_Odometry,
+                   HALUsageReporting::kOdometry_DifferentialDrive);
+        break;
+      case wpi::math::MathUsageId::kOdometry_SwerveDrive:
+        HAL_Report(HALUsageReporting::kResourceType_Odometry,
+                   HALUsageReporting::kOdometry_SwerveDrive);
+        break;
+      case wpi::math::MathUsageId::kOdometry_MecanumDrive:
+        HAL_Report(HALUsageReporting::kResourceType_Odometry,
+                   HALUsageReporting::kOdometry_MecanumDrive);
+        break;
+    }
+  }
+};
 }  // namespace
 
 static void SetupCameraServerShared() {
@@ -102,6 +143,11 @@ static void SetupCameraServerShared() {
 #endif
 }
 
+static void SetupMathShared() {
+  wpi::math::MathSharedStore::SetMathShared(
+      std::make_unique<WPILibMathShared>());
+}
+
 bool RobotBase::IsEnabled() const { return m_ds.IsEnabled(); }
 
 bool RobotBase::IsDisabled() const { return m_ds.IsDisabled(); }
@@ -120,8 +166,7 @@ RobotBase::RobotBase() : m_ds(DriverStation::GetInstance()) {
   m_threadId = std::this_thread::get_id();
 
   SetupCameraServerShared();
-  TrajectoryGenerator::SetErrorHandler(
-      [](const char* error) { DriverStation::ReportError(error); });
+  SetupMathShared();
 
   auto inst = nt::NetworkTableInstance::GetDefault();
   inst.SetNetworkIdentity("Robot");