[robotpy] Mirror most other subprojects (#8208)

GitOrigin-RevId: ac60fd3cf4a24023184376687da28373d14b781a

This mirrors the robotpy files for the following projects:
- apriltag
- datalog
- hal
- ntcore
- romiVendordep
- wpilibc
- wpimath
- xrpVendordep

This excludes cscore and the halsim wrappers for at this time.

NOTE: This does not hook these projects up to the build system, just simply mirrors the files. The building will take place in a follow up PR to make it easier to review the changes necessary to build.

wpimath/src/test/python/geometry/test_rotation2d.py

@@ -0,0 +1,82 @@
+import importlib.util
+import math
+
+import pytest
+
+from wpimath.geometry import Rotation2d
+
+
+@pytest.mark.parametrize(
+    "radians,degrees",
+    [
+        (math.pi / 3, 60.0),
+        (math.pi / 4, 45.0),
+    ],
+)
+def test_radians_to_degrees(radians: float, degrees: float):
+    rot = Rotation2d(radians)
+    assert math.isclose(degrees, rot.degrees())
+
+
+@pytest.mark.parametrize(
+    "degrees,radians",
+    [
+        (45.0, math.pi / 4),
+        (30.0, math.pi / 6),
+    ],
+)
+def test_degrees_to_radians(degrees: float, radians: float):
+    rot = Rotation2d.fromDegrees(degrees)
+    assert math.isclose(radians, rot.radians())
+
+
+def test_rotate_by_from_zero() -> None:
+    zero = Rotation2d()
+    rotated = zero + Rotation2d.fromDegrees(90)
+
+    assert math.isclose(math.pi / 2, rotated.radians())
+    assert math.isclose(90.0, rotated.degrees())
+
+
+def test_rotate_by_non_zero() -> None:
+    rot = Rotation2d.fromDegrees(90.0)
+    rot += Rotation2d.fromDegrees(30.0)
+
+    assert math.isclose(120.0, rot.degrees())
+
+
+def test_minus() -> None:
+    rot1 = Rotation2d.fromDegrees(70)
+    rot2 = Rotation2d.fromDegrees(30)
+
+    assert math.isclose(40.0, (rot1 - rot2).degrees())
+
+
+def test_unary_minus() -> None:
+    rot = Rotation2d.fromDegrees(20)
+    assert math.isclose(-20.0, (-rot).degrees())
+
+
+def test_equality() -> None:
+    rot1 = Rotation2d.fromDegrees(43.0)
+    rot2 = Rotation2d.fromDegrees(43.0)
+    assert rot1 == rot2
+
+    rot1 = Rotation2d.fromDegrees(-180.0)
+    rot2 = Rotation2d.fromDegrees(180.0)
+    assert rot1 == rot2
+
+
+def test_inequality() -> None:
+    rot1 = Rotation2d.fromDegrees(43.0)
+    rot2 = Rotation2d.fromDegrees(43.5)
+    assert rot1 != rot2
+
+
+@pytest.mark.skipif(
+    importlib.util.find_spec("numpy") is None, reason="numpy is not available"
+)
+def test_to_matrix() -> None:
+    before = Rotation2d.fromDegrees(20.0)
+    after = Rotation2d.fromMatrix(before.toMatrix())
+    assert before == after