[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/include/wpi/simulation/LinearSystemSim.hpp

@@ -7,9 +7,9 @@
 #include <array>
 
 #include "wpi/math/linalg/EigenCore.hpp"
+#include "wpi/math/random/Normal.hpp"
 #include "wpi/math/system/LinearSystem.hpp"
 #include "wpi/math/util/StateSpaceUtil.hpp"
-#include "wpi/units/current.hpp"
 #include "wpi/units/time.hpp"
 
 namespace wpi::sim {
@@ -61,7 +61,7 @@ class LinearSystemSim {
     // Add noise. If the user did not pass a noise vector to the
     // constructor, then this method will not do anything because
     // the standard deviations default to zero.
-    m_y += wpi::math::MakeWhiteNoiseVector<Outputs>(m_measurementStdDevs);
+    m_y += wpi::math::Normal<Outputs>(m_measurementStdDevs);
   }
 
   /**