[wpimath] Add ChassisAccelerations and drivetrain accelerations classes and add forward and inverse kinematics for accelerations to the interface (#8185)

ChassisAccelerations and the drivetrain acceleration types are added in
both Java and C++. `ChassisAccelerations` is basically just
`ChassisSpeeds` but for accelerations!
`DifferentialDriveWheelAccelerations`, `MecanumDriveWheelAccelerations`,
and `SwerveModuleAccelerations` are the acceleration equivalent of the
drivetrain speeds types.

In Java, the `Kinematics` interface now has an additional generic
parameter `A` which represents the accelerations, and
`toChassisAccelerations` and `toWheelAccelerations` methods, which are
implemented the same way as `toChassisSpeeds` and `toWheelSpeeds`.

Protobuf and struct classes were also added for all four classes in Java
and C++.

---------

Signed-off-by: Zach Harel <zach@zharel.me>
Co-authored-by: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com>
Co-authored-by: Tyler Veness <calcmogul@gmail.com>

wpimath/src/main/python/semiwrap/kinematics/DifferentialDriveKinematics.yml

@@ -14,6 +14,8 @@ classes:
           const wpi::units::meter_t, const wpi::units::meter_t [const]:
           const DifferentialDriveWheelPositions&, const DifferentialDriveWheelPositions& [const]:
       Interpolate:
+      ToChassisAccelerations:
+      ToWheelAccelerations:
 
 inline_code: |
   SetupWPyStruct<wpi::math::DifferentialDriveKinematics>(cls_DifferentialDriveKinematics);