[wpimath] Update Drake DARE solver to v0.29.0 (#3336)

This version incorporated the patch we were manually applying, so we're
synced back up with upstream now except for some minor #include changes
to reduce header bloat.

wpimath/src/main/native/cpp/drake/math/discrete_algebraic_riccati_equation.cpp

@@ -7,9 +7,6 @@
 #include <Eigen/Eigenvalues>
 #include <Eigen/QR>
 
-// This code has https://github.com/RobotLocomotion/drake/pull/11118 applied to
-// fix an infinite loop in reorder_eigen().
-
 namespace drake {
 namespace math {
 namespace {

wpimath/src/main/native/include/drake/math/discrete_algebraic_riccati_equation.h

@@ -11,9 +11,9 @@ namespace math {
 /// Computes the unique stabilizing solution X to the discrete-time algebraic
 /// Riccati equation:
 ///
-/// \f[
+/// @f[
 /// A'XA - X - A'XB(B'XB+R)^{-1}B'XA + Q = 0
-/// \f]
+/// @f]
 ///
 /// @throws std::runtime_error if Q is not positive semi-definite.
 /// @throws std::runtime_error if R is not positive definite.