[wpiutil] Add Struct and Protobuf clone and immutable checks (#6686)

wpimath/src/main/java/edu/wpi/first/math/geometry/proto/Pose2dProto.java

@@ -44,4 +44,9 @@ public class Pose2dProto implements Protobuf<Pose2d, ProtobufPose2d> {
     Translation2d.proto.pack(msg.getMutableTranslation(), value.getTranslation());
     Rotation2d.proto.pack(msg.getMutableRotation(), value.getRotation());
   }
+
+  @Override
+  public boolean isImmutable() {
+    return true;
+  }
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/proto/Pose3dProto.java

@@ -44,4 +44,9 @@ public class Pose3dProto implements Protobuf<Pose3d, ProtobufPose3d> {
     Translation3d.proto.pack(msg.getMutableTranslation(), value.getTranslation());
     Rotation3d.proto.pack(msg.getMutableRotation(), value.getRotation());
   }
+
+  @Override
+  public boolean isImmutable() {
+    return true;
+  }
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/proto/QuaternionProto.java

@@ -37,4 +37,9 @@ public class QuaternionProto implements Protobuf<Quaternion, ProtobufQuaternion>
     msg.setY(value.getY());
     msg.setZ(value.getZ());
   }
+
+  @Override
+  public boolean isImmutable() {
+    return true;
+  }
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/proto/Rotation2dProto.java

@@ -34,4 +34,9 @@ public class Rotation2dProto implements Protobuf<Rotation2d, ProtobufRotation2d>
   public void pack(ProtobufRotation2d msg, Rotation2d value) {
     msg.setValue(value.getRadians());
   }
+
+  @Override
+  public boolean isImmutable() {
+    return true;
+  }
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/proto/Rotation3dProto.java

@@ -40,4 +40,9 @@ public class Rotation3dProto implements Protobuf<Rotation3d, ProtobufRotation3d>
   public void pack(ProtobufRotation3d msg, Rotation3d value) {
     Quaternion.proto.pack(msg.getMutableQ(), value.getQuaternion());
   }
+
+  @Override
+  public boolean isImmutable() {
+    return true;
+  }
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/proto/Transform2dProto.java

@@ -44,4 +44,9 @@ public class Transform2dProto implements Protobuf<Transform2d, ProtobufTransform
     Translation2d.proto.pack(msg.getMutableTranslation(), value.getTranslation());
     Rotation2d.proto.pack(msg.getMutableRotation(), value.getRotation());
   }
+
+  @Override
+  public boolean isImmutable() {
+    return true;
+  }
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/proto/Transform3dProto.java

@@ -44,4 +44,9 @@ public class Transform3dProto implements Protobuf<Transform3d, ProtobufTransform
     Translation3d.proto.pack(msg.getMutableTranslation(), value.getTranslation());
     Rotation3d.proto.pack(msg.getMutableRotation(), value.getRotation());
   }
+
+  @Override
+  public boolean isImmutable() {
+    return true;
+  }
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/proto/Translation2dProto.java

@@ -35,4 +35,9 @@ public class Translation2dProto implements Protobuf<Translation2d, ProtobufTrans
     msg.setX(value.getX());
     msg.setY(value.getY());
   }
+
+  @Override
+  public boolean isImmutable() {
+    return true;
+  }
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/proto/Translation3dProto.java

@@ -36,4 +36,9 @@ public class Translation3dProto implements Protobuf<Translation3d, ProtobufTrans
     msg.setY(value.getY());
     msg.setZ(value.getZ());
   }
+
+  @Override
+  public boolean isImmutable() {
+    return true;
+  }
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/struct/Pose2dStruct.java

@@ -48,4 +48,9 @@ public class Pose2dStruct implements Struct<Pose2d> {
     Translation2d.struct.pack(bb, value.getTranslation());
     Rotation2d.struct.pack(bb, value.getRotation());
   }
+
+  @Override
+  public boolean isImmutable() {
+    return true;
+  }
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/struct/Pose3dStruct.java

@@ -48,4 +48,9 @@ public class Pose3dStruct implements Struct<Pose3d> {
     Translation3d.struct.pack(bb, value.getTranslation());
     Rotation3d.struct.pack(bb, value.getRotation());
   }
+
+  @Override
+  public boolean isImmutable() {
+    return true;
+  }
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/struct/QuaternionStruct.java

@@ -45,4 +45,9 @@ public class QuaternionStruct implements Struct<Quaternion> {
     bb.putDouble(value.getY());
     bb.putDouble(value.getZ());
   }
+
+  @Override
+  public boolean isImmutable() {
+    return true;
+  }
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/struct/Rotation2dStruct.java

@@ -39,4 +39,9 @@ public class Rotation2dStruct implements Struct<Rotation2d> {
   public void pack(ByteBuffer bb, Rotation2d value) {
     bb.putDouble(value.getRadians());
   }
+
+  @Override
+  public boolean isImmutable() {
+    return true;
+  }
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/struct/Rotation3dStruct.java

@@ -45,4 +45,9 @@ public class Rotation3dStruct implements Struct<Rotation3d> {
   public void pack(ByteBuffer bb, Rotation3d value) {
     Quaternion.struct.pack(bb, value.getQuaternion());
   }
+
+  @Override
+  public boolean isImmutable() {
+    return true;
+  }
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/struct/Transform2dStruct.java

@@ -48,4 +48,9 @@ public class Transform2dStruct implements Struct<Transform2d> {
     Translation2d.struct.pack(bb, value.getTranslation());
     Rotation2d.struct.pack(bb, value.getRotation());
   }
+
+  @Override
+  public boolean isImmutable() {
+    return true;
+  }
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/struct/Transform3dStruct.java

@@ -48,4 +48,9 @@ public class Transform3dStruct implements Struct<Transform3d> {
     Translation3d.struct.pack(bb, value.getTranslation());
     Rotation3d.struct.pack(bb, value.getRotation());
   }
+
+  @Override
+  public boolean isImmutable() {
+    return true;
+  }
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/struct/Translation2dStruct.java

@@ -41,4 +41,9 @@ public class Translation2dStruct implements Struct<Translation2d> {
     bb.putDouble(value.getX());
     bb.putDouble(value.getY());
   }
+
+  @Override
+  public boolean isImmutable() {
+    return true;
+  }
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/struct/Translation3dStruct.java

@@ -43,4 +43,9 @@ public class Translation3dStruct implements Struct<Translation3d> {
     bb.putDouble(value.getY());
     bb.putDouble(value.getZ());
   }
+
+  @Override
+  public boolean isImmutable() {
+    return true;
+  }
 }