[wpimath] Refactor StateSpaceUtil into separate files (#8421)

* Moved makeWhiteNoiseVector() to random.Normal.normal()
* Moved isControllable() and isDetectable() to system.LinearSystemUtil
* Renamed makeCostMatrix() to costMatrix() (Java)
* Renamed makeCovarianceMatrix() to covarianceMatrix() (Java)
* Renamed MakeCostMatrix() to CostMatrix() (C++)
* Renamed MakeCovMatrix() to CovarianceMatrix() (C++)
* Removed deprecated poseTo3dVector(), poseTo4dVector(), poseToVector()
* Removed clampInputMaxMagnitude()
* We don't use it, and Eigen has this functionality built in via `u =
u.array().min(u_max.array()).max(u_min.array());`
* Simplified implementation of desaturateInputVector()

wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp

@@ -6,6 +6,7 @@
 
 #include <utility>
 
+#include "wpi/math/random/Normal.hpp"
 #include "wpi/math/system/NumericalIntegration.hpp"
 #include "wpi/math/system/plant/LinearSystemId.hpp"
 #include "wpi/math/util/StateSpaceUtil.hpp"
@@ -61,7 +62,7 @@ void DifferentialDrivetrainSim::SetGearing(double newGearing) {
 void DifferentialDrivetrainSim::Update(wpi::units::second_t dt) {
   m_x = wpi::math::RKDP([this](auto& x, auto& u) { return Dynamics(x, u); },
                         m_x, m_u, dt);
-  m_y = m_x + wpi::math::MakeWhiteNoiseVector<7>(m_measurementStdDevs);
+  m_y = m_x + wpi::math::Normal<7>(m_measurementStdDevs);
 }
 
 double DifferentialDrivetrainSim::GetGearing() const {