[wpimath] Replace Pose2/3d.exp(Twist2/3d) with Pose2/3d.plus(Twist2/3d.exp()) (#8188)

This better matches math notation.

wpimath/src/main/native/cpp/jni/Transform3dJNI.cpp

@@ -0,0 +1,42 @@
+// 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.
+
+#include <jni.h>
+
+#include <wpi/jni_util.h>
+
+#include "edu_wpi_first_math_jni_Transform3dJNI.h"
+#include "frc/geometry/Quaternion.h"
+#include "frc/geometry/Rotation3d.h"
+#include "frc/geometry/Transform3d.h"
+#include "frc/geometry/Twist3d.h"
+#include "units/angle.h"
+#include "units/length.h"
+
+using namespace wpi::java;
+
+extern "C" {
+
+/*
+ * Class:     edu_wpi_first_math_jni_Transform3dJNI
+ * Method:    log
+ * Signature: (DDDDDDD)[D
+ */
+JNIEXPORT jdoubleArray JNICALL
+Java_edu_wpi_first_math_jni_Transform3dJNI_log
+  (JNIEnv* env, jclass, jdouble relX, jdouble relY, jdouble relZ, jdouble relQw,
+   jdouble relQx, jdouble relQy, jdouble relQz)
+{
+  frc::Transform3d transform3d{
+      units::meter_t{relX}, units::meter_t{relY}, units::meter_t{relZ},
+      frc::Rotation3d{frc::Quaternion{relQw, relQx, relQy, relQz}}};
+
+  frc::Twist3d result = transform3d.Log();
+
+  return MakeJDoubleArray(
+      env, {{result.dx.value(), result.dy.value(), result.dz.value(),
+             result.rx.value(), result.ry.value(), result.rz.value()}});
+}
+
+}  // extern "C"