[wpimath] Remove WheelPositions interface/concept (#6771)

wpimath/src/main/native/include/frc/estimator/PoseEstimator.h

@@ -19,7 +19,6 @@
 #include "frc/interpolation/TimeInterpolatableBuffer.h"
 #include "frc/kinematics/Kinematics.h"
 #include "frc/kinematics/Odometry.h"
-#include "frc/kinematics/WheelPositions.h"
 #include "units/time.h"
 #include "wpimath/MathShared.h"
 

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

@@ -91,8 +91,7 @@ class WPILIB_DLLEXPORT DifferentialDriveKinematics
   DifferentialDriveWheelPositions Interpolate(
       const DifferentialDriveWheelPositions& start,
       const DifferentialDriveWheelPositions& end, double t) const override {
-    return {wpi::Lerp(start.left, end.left, t),
-            wpi::Lerp(start.right, end.right, t)};
+    return start.Interpolate(end, t);
   }
 
   /// Differential drive trackwidth.

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

@@ -169,10 +169,7 @@ class WPILIB_DLLEXPORT MecanumDriveKinematics
   MecanumDriveWheelPositions Interpolate(
       const MecanumDriveWheelPositions& start,
       const MecanumDriveWheelPositions& end, double t) const override {
-    return {wpi::Lerp(start.frontLeft, end.frontLeft, t),
-            wpi::Lerp(start.frontRight, end.frontRight, t),
-            wpi::Lerp(start.rearLeft, end.rearLeft, t),
-            wpi::Lerp(start.rearRight, end.rearRight, t)};
+    return start.Interpolate(end, t);
   }
 
  private:

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

@@ -10,7 +10,6 @@
 #include "frc/geometry/Rotation2d.h"
 #include "frc/geometry/Translation2d.h"
 #include "frc/kinematics/Kinematics.h"
-#include "frc/kinematics/WheelPositions.h"
 
 namespace frc {
 /**

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

@@ -1,15 +0,0 @@
-// 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 <concepts>
-
-namespace frc {
-template <typename T>
-concept WheelPositions =
-    std::copy_constructible<T> && requires(T a, T b, double t) {
-      { a.Interpolate(b, t) } -> std::convertible_to<T>;
-    };
-}  // namespace frc