[wpiunits] Java units API rewrite (#6958)

Java generics are too limited to do what we need. This refactors generic code previously in Unit and Measure into unit-specific classes that can have unit-safe math operations (notably, times and divide) that can return values in known units instead of a wildcarded Measure<?>.

Unit-specific measure implementations are automatically generated by ./wpiunits/generate_units.py, which generates generic interfaces and mutable and immutable implementations of those interfaces. These make up the bulk of the diff of this PR (approximately 9300 LOC).

This also adds units for angular and linear velocities, accelerations, and momenta; moment of inertia; and torque.

wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java

@@ -0,0 +1,114 @@
+// 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.
+
+package edu.wpi.first.units;
+
+import edu.wpi.first.units.measure.AngularMomentum;
+import edu.wpi.first.units.measure.ImmutableAngularMomentum;
+import edu.wpi.first.units.measure.MutAngularMomentum;
+
+/**
+ * A unit of angular momentum, modeled as linear momentum of an object rotating some distance away
+ * from the axis of rotation.
+ */
+public final class AngularMomentumUnit extends MultUnit<LinearMomentumUnit, DistanceUnit> {
+  private static final CombinatoryUnitCache<LinearMomentumUnit, DistanceUnit, AngularMomentumUnit>
+      cache = new CombinatoryUnitCache<>(AngularMomentumUnit::new);
+
+  AngularMomentumUnit(LinearMomentumUnit momentumUnit, DistanceUnit distanceUnit) {
+    super(
+        momentumUnit.isBaseUnit() && distanceUnit.isBaseUnit()
+            ? null
+            : combine(momentumUnit.getBaseUnit(), distanceUnit.getBaseUnit()),
+        momentumUnit,
+        distanceUnit);
+  }
+
+  AngularMomentumUnit(
+      AngularMomentumUnit baseUnit,
+      UnaryFunction toBaseConverter,
+      UnaryFunction fromBaseConverter,
+      String name,
+      String symbol) {
+    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
+  }
+
+  /**
+   * Combines a linear momentum and distance to create a unit of angular momentum.
+   *
+   * @param linear the linear momentum unit
+   * @param distance the unit of distance from the axis of rotation
+   * @return the combined angular momentum unit
+   */
+  public static AngularMomentumUnit combine(LinearMomentumUnit linear, DistanceUnit distance) {
+    return cache.combine(linear, distance);
+  }
+
+  @Override
+  public AngularMomentumUnit getBaseUnit() {
+    return (AngularMomentumUnit) super.getBaseUnit();
+  }
+
+  @Override
+  public AngularMomentum of(double magnitude) {
+    return new ImmutableAngularMomentum(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public AngularMomentum ofBaseUnits(double baseUnitMagnitude) {
+    return new ImmutableAngularMomentum(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
+  public AngularMomentum zero() {
+    return (AngularMomentum) super.zero();
+  }
+
+  @Override
+  public AngularMomentum one() {
+    return (AngularMomentum) super.one();
+  }
+
+  @Override
+  public MutAngularMomentum mutable(double magnitude) {
+    return new MutAngularMomentum(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public VelocityUnit<AngularMomentumUnit> per(TimeUnit time) {
+    return VelocityUnit.combine(this, time);
+  }
+
+  /**
+   * Creates a ratio unit between this unit and an arbitrary other unit.
+   *
+   * @param other the other unit
+   * @param <U> the type of the other unit
+   * @return the ratio unit
+   */
+  public <U extends Unit> PerUnit<AngularMomentumUnit, U> per(U other) {
+    return PerUnit.combine(this, other);
+  }
+
+  /**
+   * Converts a measurement value in terms of another unit to this unit.
+   *
+   * @param magnitude the magnitude of the measurement in terms of the other unit
+   * @param otherUnit the other unit
+   * @return the value of the measurement in terms of this unit
+   */
+  public double convertFrom(double magnitude, AngularMomentumUnit otherUnit) {
+    return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
+  }
+
+  /**
+   * Multiplies this angular momentum by an angular velocity to yield a unit of moment of inertia.
+   *
+   * @param omega the unit of angular velocity
+   * @return the moment of inertia unit
+   */
+  public MomentOfInertiaUnit mult(AngularVelocityUnit omega) {
+    return MomentOfInertiaUnit.combine(this, omega);
+  }
+}