[wpimath] Add Translation2d.getAngle() (#4217)

Co-authored-by: Max Gordon <tonald.drump2.0@gamil.com>
Co-authored-by: Tyler Veness <calcmogul@gmail.com>

wpimath/src/main/native/cpp/geometry/Translation2d.cpp

@@ -24,6 +24,10 @@ units::meter_t Translation2d::Norm() const {
   return units::math::hypot(m_x, m_y);
 }
 
+Rotation2d Translation2d::Angle() const {
+  return Rotation2d{m_x.value(), m_y.value()};
+}
+
 Translation2d Translation2d::RotateBy(const Rotation2d& other) const {
   return {m_x * other.Cos() - m_y * other.Sin(),
           m_x * other.Sin() + m_y * other.Cos()};

wpimath/src/main/native/include/frc/geometry/Translation2d.h

@@ -80,6 +80,13 @@ class WPILIB_DLLEXPORT Translation2d {
    */
   units::meter_t Norm() const;
 
+  /**
+   * Returns the angle this translation forms with the positive X axis.
+   *
+   * @return The angle of the translation
+   */
+  Rotation2d Angle() const;
+
   /**
    * Applies a rotation to the translation in 2D space.
    *