[docs] Add missing JavaDocs (#6125)

wpimath/src/main/java/edu/wpi/first/math/InterpolatingMatrixTreeMap.java

@@ -9,6 +9,10 @@ import java.util.TreeMap;
 /**
  * Interpolating Tree Maps are used to get values at points that are not defined by making a guess
  * from points that are defined. This uses linear interpolation.
+ *
+ * @param <K> Key type.
+ * @param <R> Number of matrix rows.
+ * @param <C> Number of matrix columns.
  */
 public class InterpolatingMatrixTreeMap<K extends Number, R extends Num, C extends Num> {
   private final TreeMap<K, Matrix<R, C>> m_map = new TreeMap<>();

wpimath/src/main/java/edu/wpi/first/math/StateSpaceUtil.java

@@ -139,7 +139,7 @@ public final class StateSpaceUtil {
    * @param u The input to clamp.
    * @param umin The minimum input magnitude.
    * @param umax The maximum input magnitude.
-   * @param <I> The number of inputs.
+   * @param <I> Number of inputs.
    * @return The clamped input.
    */
   public static <I extends Num> Matrix<I, N1> clampInputMaxMagnitude(
@@ -157,7 +157,7 @@ public final class StateSpaceUtil {
    *
    * @param u The input vector.
    * @param maxMagnitude The maximum magnitude any input can have.
-   * @param <I> The number of inputs.
+   * @param <I> Number of inputs.
    * @return The normalizedInput
    */
   public static <I extends Num> Matrix<I, N1> desaturateInputVector(

wpimath/src/main/java/edu/wpi/first/math/WPIMathJNI.java

@@ -8,6 +8,7 @@ import edu.wpi.first.util.RuntimeLoader;
 import java.io.IOException;
 import java.util.concurrent.atomic.AtomicBoolean;
 
+/** WPIMath JNI. */
 public final class WPIMathJNI {
   static boolean libraryLoaded = false;
   static RuntimeLoader<WPIMathJNI> loader = null;
@@ -385,15 +386,32 @@ public final class WPIMathJNI {
    */
   public static native String serializeTrajectory(double[] elements);
 
+  /** Sets whether JNI should be loaded in the static block. */
   public static class Helper {
     private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
 
+    /**
+     * Returns true if the JNI should be loaded in the static block.
+     *
+     * @return True if the JNI should be loaded in the static block.
+     */
     public static boolean getExtractOnStaticLoad() {
       return extractOnStaticLoad.get();
     }
 
+    /**
+     * Sets whether the JNI should be loaded in the static block.
+     *
+     * @param load Whether the JNI should be loaded in the static block.
+     */
     public static void setExtractOnStaticLoad(boolean load) {
       extractOnStaticLoad.set(load);
     }
+
+    /** Utility class. */
+    private Helper() {}
   }
+
+  /** Utility class. */
+  private WPIMathJNI() {}
 }

wpimath/src/main/java/edu/wpi/first/math/controller/ControlAffinePlantInversionFeedforward.java

@@ -27,6 +27,9 @@ import java.util.function.Function;
  *
  * <p>For more on the underlying math, read <a
  * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">https://file.tavsys.net/control/controls-engineering-in-frc.pdf</a>.
+ *
+ * @param <States> Number of states.
+ * @param <Inputs> Number of inputs.
  */
 public class ControlAffinePlantInversionFeedforward<States extends Num, Inputs extends Num> {
   /** The current reference state. */

wpimath/src/main/java/edu/wpi/first/math/controller/ImplicitModelFollower.java

@@ -19,6 +19,10 @@ import org.ejml.simple.SimpleMatrix;
  *
  * <p>For more on the underlying math, read appendix B.3 in <a
  * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">https://file.tavsys.net/control/controls-engineering-in-frc.pdf</a>.
+ *
+ * @param <States> Number of states.
+ * @param <Inputs> Number of inputs.
+ * @param <Outputs> Number of outputs.
  */
 public class ImplicitModelFollower<States extends Num, Inputs extends Num, Outputs extends Num> {
   // Computed controller output

wpimath/src/main/java/edu/wpi/first/math/controller/LinearPlantInversionFeedforward.java

@@ -19,6 +19,10 @@ import org.ejml.simple.SimpleMatrix;
  *
  * <p>For more on the underlying math, read <a
  * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">https://file.tavsys.net/control/controls-engineering-in-frc.pdf</a>.
+ *
+ * @param <States> Number of states.
+ * @param <Inputs> Number of inputs.
+ * @param <Outputs> Number of outputs.
  */
 public class LinearPlantInversionFeedforward<
     States extends Num, Inputs extends Num, Outputs extends Num> {

wpimath/src/main/java/edu/wpi/first/math/controller/LinearQuadraticRegulator.java

@@ -21,6 +21,10 @@ import org.ejml.simple.SimpleMatrix;
  *
  * <p>For more on the underlying math, read <a
  * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">https://file.tavsys.net/control/controls-engineering-in-frc.pdf</a>.
+ *
+ * @param <States> Number of states.
+ * @param <Inputs> Number of inputs.
+ * @param <Outputs> Number of outputs.
  */
 public class LinearQuadraticRegulator<States extends Num, Inputs extends Num, Outputs extends Num> {
   /** The current reference state. */

wpimath/src/main/java/edu/wpi/first/math/estimator/AngleStatistics.java

@@ -11,10 +11,10 @@ import edu.wpi.first.math.numbers.N1;
 import java.util.function.BiFunction;
 import org.ejml.simple.SimpleMatrix;
 
+/** Angle statistics functions. */
 public final class AngleStatistics {
-  private AngleStatistics() {
-    // Utility class
-  }
+  /** Utility class. */
+  private AngleStatistics() {}
 
   /**
    * Subtracts a and b while normalizing the resulting value in the selected row as if it were an

wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java

@@ -33,6 +33,10 @@ import java.util.function.BiFunction;
  * <p>For more on the underlying math, read <a
  * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">https://file.tavsys.net/control/controls-engineering-in-frc.pdf</a>
  * chapter 9 "Stochastic control theory".
+ *
+ * @param <States> Number of states.
+ * @param <Inputs> Number of inputs.
+ * @param <Outputs> Number of outputs.
  */
 public class ExtendedKalmanFilter<States extends Num, Inputs extends Num, Outputs extends Num>
     implements KalmanTypeFilter<States, Inputs, Outputs> {

wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilter.java

@@ -28,6 +28,10 @@ import edu.wpi.first.math.system.LinearSystem;
  * <p>For more on the underlying math, read <a
  * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">https://file.tavsys.net/control/controls-engineering-in-frc.pdf</a>
  * chapter 9 "Stochastic control theory".
+ *
+ * @param <States> Number of states.
+ * @param <Inputs> Number of inputs.
+ * @param <Outputs> Number of outputs.
  */
 public class KalmanFilter<States extends Num, Inputs extends Num, Outputs extends Num>
     implements KalmanTypeFilter<States, Inputs, Outputs> {

wpimath/src/main/java/edu/wpi/first/math/estimator/MerweScaledSigmaPoints.java

@@ -21,6 +21,8 @@ import org.ejml.simple.SimpleMatrix;
  *
  * <p>[1] R. Van der Merwe "Sigma-Point Kalman Filters for Probabilitic Inference in Dynamic
  * State-Space Models" (Doctoral dissertation)
+ *
+ * @param <S> The dimensionality of the state. 2 * States + 1 weights will be generated.
  */
 public class MerweScaledSigmaPoints<S extends Num> {
   private final double m_alpha;

wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator.java

@@ -34,6 +34,8 @@ import java.util.Objects;
  *
  * <p>{@link PoseEstimator#addVisionMeasurement} can be called as infrequently as you want; if you
  * never call it then this class will behave exactly like regular encoder odometry.
+ *
+ * @param <T> Wheel positions type.
  */
 public class PoseEstimator<T extends WheelPositions<T>> {
   private final Kinematics<?, T> m_kinematics;

wpimath/src/main/java/edu/wpi/first/math/estimator/SteadyStateKalmanFilter.java

@@ -31,6 +31,10 @@ import edu.wpi.first.math.system.LinearSystem;
  * <p>For more on the underlying math, read <a
  * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">https://file.tavsys.net/control/controls-engineering-in-frc.pdf</a>
  * chapter 9 "Stochastic control theory".
+ *
+ * @param <States> Number of states.
+ * @param <Inputs> Number of inputs.
+ * @param <Outputs> Number of outputs.
  */
 public class SteadyStateKalmanFilter<States extends Num, Inputs extends Num, Outputs extends Num> {
   private final Nat<States> m_states;

wpimath/src/main/java/edu/wpi/first/math/estimator/UnscentedKalmanFilter.java

@@ -38,6 +38,10 @@ import org.ejml.simple.SimpleMatrix;
  * <p>This class implements a square-root-form unscented Kalman filter (SR-UKF). For more
  * information about the SR-UKF, see <a
  * href="https://www.researchgate.net/publication/3908304">https://www.researchgate.net/publication/3908304</a>.
+ *
+ * @param <States> Number of states.
+ * @param <Inputs> Number of inputs.
+ * @param <Outputs> Number of outputs.
  */
 public class UnscentedKalmanFilter<States extends Num, Inputs extends Num, Outputs extends Num>
     implements KalmanTypeFilter<States, Inputs, Outputs> {

wpimath/src/main/java/edu/wpi/first/math/kinematics/Odometry.java

@@ -15,6 +15,8 @@ import edu.wpi.first.math.geometry.Rotation2d;
  *
  * <p>Teams can use odometry during the autonomous period for complex tasks like path following.
  * Furthermore, odometry can be used for latency compensation when using computer-vision systems.
+ *
+ * @param <T> Wheel positions type.
  */
 public class Odometry<T extends WheelPositions<T>> {
   private final Kinematics<?, T> m_kinematics;

wpimath/src/main/java/edu/wpi/first/math/system/LinearSystemLoop.java

@@ -27,6 +27,10 @@ import org.ejml.simple.SimpleMatrix;
  *
  * <p>For more on the underlying math, read <a
  * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">https://file.tavsys.net/control/controls-engineering-in-frc.pdf</a>.
+ *
+ * @param <States> Number of states.
+ * @param <Inputs> Number of inputs.
+ * @param <Outputs> Number of outputs.
  */
 public class LinearSystemLoop<States extends Num, Inputs extends Num, Outputs extends Num> {
   private final LinearQuadraticRegulator<States, Inputs, Outputs> m_controller;