[wpimath] Fix Rotation3d interpolation and document extrinsic vs intrinsic (#8544)

Documents the extrinsic vs intrinsic semantics of `plus()` and
`minus()`. (`rotateBy()` was documented in [a previous
PR](https://github.com/wpilibsuite/allwpilib/pull/5508))
Fixes usage of `plus()` and `minus()` in `Rotation3d.interpolate()`.
(Fixes #8523)
Fixes incorrect usages of `plus()`, `minus()`, and `rotateBy()`
throughout `Odometry3d`.
Adds explanatory comments for some `plus()`, `minus()`, and `rotateBy()`
operations.
Fixes `TimeInterpolatableBuffer` not using twists for `Pose3d` (this was
just because I happened to notice it, it isn't really related to the PR)

To check all of our usages of `plus()`, `minus()`, and `rotateBy()`, I
marked them as deprecated, checked compile errors from `./gradlew
compileJava`, and then undeprecated them. You can see all of the spots
that showed up (at least on the Java side) by viewing the diff for
241109c.

I wanted to present this alternative to #8526 because the change has its
own quirks, there's little time before kickoff, and there would be no
code-side warning to teams (and mentors) already used to the current
behavior.

wpimath/src/main/native/include/frc/interpolation/TimeInterpolatableBuffer.h

@@ -14,6 +14,8 @@
 #include <wpi/SymbolExports.h>
 
 #include "frc/geometry/Pose2d.h"
+#include "frc/geometry/Pose3d.h"
+#include "frc/geometry/Rotation3d.h"
 #include "units/time.h"
 
 namespace frc {
@@ -155,7 +157,8 @@ class TimeInterpolatableBuffer {
   std::function<T(const T&, const T&, double)> m_interpolatingFunc;
 };
 
-// Template specialization to ensure that Pose2d uses pose exponential
+// Template specializations to ensure that Pose2d and Pose3d use pose
+// exponential
 template <>
 inline TimeInterpolatableBuffer<Pose2d>::TimeInterpolatableBuffer(
     units::second_t historySize)
@@ -172,4 +175,20 @@ inline TimeInterpolatableBuffer<Pose2d>::TimeInterpolatableBuffer(
         }
       }) {}
 
+template <>
+inline TimeInterpolatableBuffer<Pose3d>::TimeInterpolatableBuffer(
+    units::second_t historySize)
+    : m_historySize(historySize),
+      m_interpolatingFunc([](const Pose3d& start, const Pose3d& end, double t) {
+        if (t < 0) {
+          return start;
+        } else if (t >= 1) {
+          return end;
+        } else {
+          Twist3d twist = start.Log(end);
+          Twist3d scaledTwist = twist * t;
+          return start.Exp(scaledTwist);
+        }
+      }) {}
+
 }  // namespace frc