[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/AngularVelocityUnit.java

@@ -0,0 +1,101 @@
+// 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.AngularVelocity;
+import edu.wpi.first.units.measure.ImmutableAngularVelocity;
+import edu.wpi.first.units.measure.MutAngularVelocity;
+
+/** A unit of angular velocity like {@link Units#RadiansPerSecond}. */
+public final class AngularVelocityUnit extends PerUnit<AngleUnit, TimeUnit> {
+  private static final CombinatoryUnitCache<AngleUnit, TimeUnit, AngularVelocityUnit> cache =
+      new CombinatoryUnitCache<>(AngularVelocityUnit::new);
+
+  AngularVelocityUnit(AngleUnit numerator, TimeUnit denominator) {
+    super(
+        numerator.isBaseUnit() && denominator.isBaseUnit()
+            ? null
+            : combine(numerator.getBaseUnit(), denominator.getBaseUnit()),
+        numerator,
+        denominator);
+  }
+
+  AngularVelocityUnit(
+      AngularVelocityUnit baseUnit,
+      UnaryFunction toBaseConverter,
+      UnaryFunction fromBaseConverter,
+      String name,
+      String symbol) {
+    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
+  }
+
+  /**
+   * Combines an angle unit and a period of time into a unit of angular velocity.
+   *
+   * @param angle the unit of the changing angle
+   * @param time the period of the changing angle
+   * @return the combined angular velocity unit
+   */
+  public static AngularVelocityUnit combine(AngleUnit angle, TimeUnit time) {
+    return cache.combine(angle, time);
+  }
+
+  @Override
+  public AngularVelocityUnit getBaseUnit() {
+    return (AngularVelocityUnit) super.getBaseUnit();
+  }
+
+  @Override
+  public AngularVelocity of(double magnitude) {
+    return new ImmutableAngularVelocity(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public AngularVelocity ofBaseUnits(double baseUnitMagnitude) {
+    return new ImmutableAngularVelocity(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
+  public AngularVelocity zero() {
+    return (AngularVelocity) super.zero();
+  }
+
+  @Override
+  public AngularVelocity one() {
+    return (AngularVelocity) super.one();
+  }
+
+  @Override
+  public MutAngularVelocity mutable(double initialMagnitude) {
+    return new MutAngularVelocity(initialMagnitude, toBaseUnits(initialMagnitude), this);
+  }
+
+  @Override
+  public AngularAccelerationUnit per(TimeUnit period) {
+    return AngularAccelerationUnit.combine(this, period);
+  }
+
+  /**
+   * 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<AngularVelocityUnit, 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, AngularVelocityUnit otherUnit) {
+    return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
+  }
+}