[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/Twist3dJNI.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_Twist3dJNI.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_Twist3dJNI
+ * Method:    exp
+ * Signature: (DDDDDD)[D
+ */
+JNIEXPORT jdoubleArray JNICALL
+Java_edu_wpi_first_math_jni_Twist3dJNI_exp
+  (JNIEnv* env, jclass, jdouble twistDx, jdouble twistDy, jdouble twistDz,
+   jdouble twistRx, jdouble twistRy, jdouble twistRz)
+{
+  frc::Twist3d twist{units::meter_t{twistDx},  units::meter_t{twistDy},
+                     units::meter_t{twistDz},  units::radian_t{twistRx},
+                     units::radian_t{twistRy}, units::radian_t{twistRz}};
+
+  frc::Transform3d result = twist.Exp();
+
+  const auto& resultQuaternion = result.Rotation().GetQuaternion();
+  return MakeJDoubleArray(
+      env, {{result.X().value(), result.Y().value(), result.Z().value(),
+             resultQuaternion.W(), resultQuaternion.X(), resultQuaternion.Y(),
+             resultQuaternion.Z()}});
+}
+
+}  // extern "C"