[docs] Add missing JavaDocs (#6125)

wpimath/src/main/native/include/frc/StateSpaceUtil.h

@@ -194,8 +194,8 @@ Eigen::Vector4d PoseTo4dVector(const Pose2d& pose);
  * any, have absolute values less than one, where an eigenvalue is
  * uncontrollable if rank([λI - A, B]) < n where n is the number of states.
  *
- * @tparam States The number of states.
- * @tparam Inputs The number of inputs.
+ * @tparam States Number of states.
+ * @tparam Inputs Number of inputs.
  * @param A System matrix.
  * @param B Input matrix.
  */
@@ -253,8 +253,8 @@ IsStabilizable<Eigen::Dynamic, Eigen::Dynamic>(const Eigen::MatrixXd& A,
  * any, have absolute values less than one, where an eigenvalue is unobservable
  * if rank([λI - A; C]) < n where n is the number of states.
  *
- * @tparam States The number of states.
- * @tparam Outputs The number of outputs.
+ * @tparam States Number of states.
+ * @tparam Outputs Number of outputs.
  * @param A System matrix.
  * @param C Output matrix.
  */
@@ -277,7 +277,7 @@ Eigen::Vector3d PoseToVector(const Pose2d& pose);
 /**
  * Clamps input vector between system's minimum and maximum allowable input.
  *
- * @tparam Inputs The number of inputs.
+ * @tparam Inputs Number of inputs.
  * @param u Input vector to clamp.
  * @param umin The minimum input magnitude.
  * @param umax The maximum input magnitude.
@@ -298,7 +298,7 @@ Vectord<Inputs> ClampInputMaxMagnitude(const Vectord<Inputs>& u,
  * Renormalize all inputs if any exceeds the maximum magnitude. Useful for
  * systems such as differential drivetrains.
  *
- * @tparam Inputs      The number of inputs.
+ * @tparam Inputs      Number of inputs.
  * @param u            The input vector.
  * @param maxMagnitude The maximum magnitude any input can have.
  * @return The normalizedInput

wpimath/src/main/native/include/frc/controller/ControlAffinePlantInversionFeedforward.h

@@ -34,8 +34,8 @@ namespace frc {
  * For more on the underlying math, read
  * https://file.tavsys.net/control/controls-engineering-in-frc.pdf.
  *
- * @tparam States The number of states.
- * @tparam Inputs the number of inputs.
+ * @tparam States Number of states.
+ * @tparam Inputs Number of inputs.
  */
 template <int States, int Inputs>
 class ControlAffinePlantInversionFeedforward {

wpimath/src/main/native/include/frc/controller/ImplicitModelFollower.h

@@ -24,6 +24,9 @@ namespace frc {
  *
  * For more on the underlying math, read appendix B.3 in
  * https://file.tavsys.net/control/controls-engineering-in-frc.pdf.
+ *
+ * @tparam States Number of states.
+ * @tparam Inputs Number of inputs.
  */
 template <int States, int Inputs>
 class ImplicitModelFollower {

wpimath/src/main/native/include/frc/controller/LinearPlantInversionFeedforward.h

@@ -26,8 +26,8 @@ namespace frc {
  * For more on the underlying math, read
  * https://file.tavsys.net/control/controls-engineering-in-frc.pdf.
  *
- * @tparam States The number of states.
- * @tparam Inputs The number of inputs.
+ * @tparam States Number of states.
+ * @tparam Inputs Number of inputs.
  */
 template <int States, int Inputs>
 class LinearPlantInversionFeedforward {
@@ -38,7 +38,7 @@ class LinearPlantInversionFeedforward {
   /**
    * Constructs a feedforward with the given plant.
    *
-   * @tparam Outputs The number of outputs.
+   * @tparam Outputs Number of outputs.
    * @param plant The plant being controlled.
    * @param dt    Discretization timestep.
    */

wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h

@@ -40,6 +40,7 @@ class LinearQuadraticRegulator {
    * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning
    * for how to select the tolerances.
    *
+   * @tparam Outputs Number of outputs.
    * @param plant  The plant being controlled.
    * @param Qelems The maximum desired error tolerance for each state.
    * @param Relems The maximum desired control effort for each input.

wpimath/src/main/native/include/frc/estimator/AngleStatistics.h

@@ -16,7 +16,7 @@ namespace frc {
  * Subtracts a and b while normalizing the resulting value in the selected row
  * as if it were an angle.
  *
- * @tparam States The number of states.
+ * @tparam States Number of states.
  * @param a A vector to subtract from.
  * @param b A vector to subtract with.
  * @param angleStateIdx The row containing angles to be normalized.
@@ -34,7 +34,7 @@ Vectord<States> AngleResidual(const Vectord<States>& a,
  * Returns a function that subtracts two vectors while normalizing the resulting
  * value in the selected row as if it were an angle.
  *
- * @tparam States The number of states.
+ * @tparam States Number of states.
  * @param angleStateIdx The row containing angles to be normalized.
  */
 template <int States>
@@ -49,7 +49,7 @@ AngleResidual(int angleStateIdx) {
  * Adds a and b while normalizing the resulting value in the selected row as an
  * angle.
  *
- * @tparam States The number of states.
+ * @tparam States Number of states.
  * @param a A vector to add with.
  * @param b A vector to add with.
  * @param angleStateIdx The row containing angles to be normalized.
@@ -67,7 +67,7 @@ Vectord<States> AngleAdd(const Vectord<States>& a, const Vectord<States>& b,
  * Returns a function that adds two vectors while normalizing the resulting
  * value in the selected row as an angle.
  *
- * @tparam States The number of states.
+ * @tparam States Number of states.
  * @param angleStateIdx The row containing angles to be normalized.
  */
 template <int States>
@@ -82,7 +82,7 @@ AngleAdd(int angleStateIdx) {
  *
  * @tparam CovDim Dimension of covariance of sigma points after passing through
  *                the transform.
- * @tparam States The number of states.
+ * @tparam States Number of states.
  * @param sigmas Sigma points.
  * @param Wm Weights for the mean.
  * @param angleStatesIdx The row containing the angles.
@@ -113,7 +113,7 @@ Vectord<CovDim> AngleMean(const Matrixd<CovDim, 2 * States + 1>& sigmas,
  *
  * @tparam CovDim Dimension of covariance of sigma points after passing through
  *                the transform.
- * @tparam States The number of states.
+ * @tparam States Number of states.
  * @param angleStateIdx The row containing the angles.
  */
 template <int CovDim, int States>

wpimath/src/main/native/include/frc/estimator/ExtendedKalmanFilter.h

@@ -33,9 +33,9 @@ namespace frc {
  * https://file.tavsys.net/control/controls-engineering-in-frc.pdf chapter 9
  * "Stochastic control theory".
  *
- * @tparam States The number of states.
- * @tparam Inputs The number of inputs.
- * @tparam Outputs The number of outputs.
+ * @tparam States Number of states.
+ * @tparam Inputs Number of inputs.
+ * @tparam Outputs Number of outputs.
  */
 template <int States, int Inputs, int Outputs>
 class ExtendedKalmanFilter {

wpimath/src/main/native/include/frc/estimator/KalmanFilter.h

@@ -28,9 +28,9 @@ namespace frc {
  * https://file.tavsys.net/control/controls-engineering-in-frc.pdf chapter 9
  * "Stochastic control theory".
  *
- * @tparam States The number of states.
- * @tparam Inputs The number of inputs.
- * @tparam Outputs The number of outputs.
+ * @tparam States Number of states.
+ * @tparam Inputs Number of inputs.
+ * @tparam Outputs Number of outputs.
  */
 template <int States, int Inputs, int Outputs>
 class KalmanFilter {

wpimath/src/main/native/include/frc/estimator/MerweScaledSigmaPoints.h

@@ -21,8 +21,8 @@ namespace frc {
  * [1] R. Van der Merwe "Sigma-Point Kalman Filters for Probabilitic
  *     Inference in Dynamic State-Space Models" (Doctoral dissertation)
  *
- * @tparam States The dimensionality of the state. 2*States+1 weights will be
- *                generated.
+ * @tparam States The dimensionality of the state. 2 * States + 1 weights will
+ *                be generated.
  */
 template <int States>
 class MerweScaledSigmaPoints {

wpimath/src/main/native/include/frc/estimator/PoseEstimator.h

@@ -30,6 +30,9 @@ namespace frc {
  *
  * AddVisionMeasurement() can be called as infrequently as you want; if you
  * never call it, then this class will behave like regular encoder odometry.
+ *
+ * @tparam WheelSpeeds Wheel speeds type.
+ * @tparam WheelPositions Wheel positions type.
  */
 template <typename WheelSpeeds, WheelPositions WheelPositions>
 class WPILIB_DLLEXPORT PoseEstimator {

wpimath/src/main/native/include/frc/estimator/SteadyStateKalmanFilter.h

@@ -33,9 +33,9 @@ namespace frc {
  * https://file.tavsys.net/control/controls-engineering-in-frc.pdf chapter 9
  * "Stochastic control theory".
  *
- * @tparam States The number of states.
- * @tparam Inputs The number of inputs.
- * @tparam Outputs The number of outputs.
+ * @tparam States Number of states.
+ * @tparam Inputs Number of inputs.
+ * @tparam Outputs Number of outputs.
  */
 template <int States, int Inputs, int Outputs>
 class SteadyStateKalmanFilter {

wpimath/src/main/native/include/frc/estimator/UnscentedKalmanFilter.h

@@ -39,9 +39,9 @@ namespace frc {
  * (SR-UKF). For more information about the SR-UKF, see
  * https://www.researchgate.net/publication/3908304.
  *
- * @tparam States The number of states.
- * @tparam Inputs The number of inputs.
- * @tparam Outputs The number of outputs.
+ * @tparam States Number of states.
+ * @tparam Inputs Number of inputs.
+ * @tparam Outputs Number of outputs.
  */
 template <int States, int Inputs, int Outputs>
 class UnscentedKalmanFilter {

wpimath/src/main/native/include/frc/kinematics/Odometry.h

@@ -20,6 +20,9 @@ namespace frc {
  * 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.
+ *
+ * @tparam WheelSpeeds Wheel speeds type.
+ * @tparam WheelPositions Wheel positions type.
  */
 template <typename WheelSpeeds, WheelPositions WheelPositions>
 class WPILIB_DLLEXPORT Odometry {