[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/MomentOfInertiaUnit.java

@@ -0,0 +1,107 @@
+// 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.ImmutableMomentOfInertia;
+import edu.wpi.first.units.measure.MomentOfInertia;
+import edu.wpi.first.units.measure.MutMomentOfInertia;
+
+/**
+ * A unit of moment of inertia, like {@link edu.wpi.first.units.Units#KilogramSquareMeters}. Moments
+ * of inertia describe how much an object resists being rotated, analogous to mass's resistance to
+ * being accelerated along a line.
+ */
+public final class MomentOfInertiaUnit extends PerUnit<AngularMomentumUnit, AngularVelocityUnit> {
+  private static final CombinatoryUnitCache<
+          AngularMomentumUnit, AngularVelocityUnit, MomentOfInertiaUnit>
+      cache = new CombinatoryUnitCache<>(MomentOfInertiaUnit::new);
+
+  MomentOfInertiaUnit(AngularMomentumUnit numerator, AngularVelocityUnit denominator) {
+    super(
+        numerator.isBaseUnit() && denominator.isBaseUnit()
+            ? null
+            : combine(numerator.getBaseUnit(), denominator.getBaseUnit()),
+        numerator,
+        denominator);
+  }
+
+  MomentOfInertiaUnit(
+      PerUnit<AngularMomentumUnit, AngularVelocityUnit> baseUnit,
+      UnaryFunction toBaseConverter,
+      UnaryFunction fromBaseConverter,
+      String name,
+      String symbol) {
+    super(baseUnit, toBaseConverter, fromBaseConverter, name, symbol);
+  }
+
+  /**
+   * Combines an angular momentum and angular velocity unit to form a moment of inertia unit.
+   *
+   * @param momentumUnit the unit of angular momentum
+   * @param velocityUnit the unit of angular velocity
+   * @return the combined moment of inertia unit
+   */
+  public static MomentOfInertiaUnit combine(
+      AngularMomentumUnit momentumUnit, AngularVelocityUnit velocityUnit) {
+    return cache.combine(momentumUnit, velocityUnit);
+  }
+
+  @Override
+  public MomentOfInertiaUnit getBaseUnit() {
+    return (MomentOfInertiaUnit) super.getBaseUnit();
+  }
+
+  @Override
+  public MomentOfInertia of(double magnitude) {
+    return new ImmutableMomentOfInertia(magnitude, toBaseUnits(magnitude), this);
+  }
+
+  @Override
+  public MomentOfInertia ofBaseUnits(double baseUnitMagnitude) {
+    return new ImmutableMomentOfInertia(fromBaseUnits(baseUnitMagnitude), baseUnitMagnitude, this);
+  }
+
+  @Override
+  public MomentOfInertia zero() {
+    return (MomentOfInertia) super.zero();
+  }
+
+  @Override
+  public MomentOfInertia one() {
+    return (MomentOfInertia) super.one();
+  }
+
+  @Override
+  public MutMomentOfInertia mutable(double initialMagnitude) {
+    return new MutMomentOfInertia(initialMagnitude, toBaseUnits(initialMagnitude), this);
+  }
+
+  @Override
+  public VelocityUnit<MomentOfInertiaUnit> 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<MomentOfInertiaUnit, 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, MomentOfInertiaUnit otherUnit) {
+    return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
+  }
+}