[wpimath] Rename FindNearestPoint() to Nearest() (#7513)

This is easier to type and follows the naming of Pose2d::Nearest().

Since Ellipse2d and Rectangle2d were added for the 2025 season, we don't
need to add deprecation notices.

wpimath/src/main/java/edu/wpi/first/math/geometry/Ellipse2d.java

@@ -199,7 +199,7 @@ public class Ellipse2d implements ProtobufSerializable, StructSerializable {
    * @return The distance (0, if the point is contained by the ellipse)
    */
   public double getDistance(Translation2d point) {
-    return findNearestPoint(point).getDistance(point);
+    return nearest(point).getDistance(point);
   }
 
   /**
@@ -218,7 +218,7 @@ public class Ellipse2d implements ProtobufSerializable, StructSerializable {
    * @param point The point that this will find the nearest point to.
    * @return A new point that is nearest to {@code point} and contained in the ellipse.
    */
-  public Translation2d findNearestPoint(Translation2d point) {
+  public Translation2d nearest(Translation2d point) {
     // Check if already in ellipse
     if (contains(point)) {
       return point;
@@ -226,7 +226,7 @@ public class Ellipse2d implements ProtobufSerializable, StructSerializable {
 
     // Find nearest point
     var nearestPoint = new double[2];
-    Ellipse2dJNI.findNearestPoint(
+    Ellipse2dJNI.nearest(
         m_center.getX(),
         m_center.getY(),
         m_center.getRotation().getRadians(),

wpimath/src/main/java/edu/wpi/first/math/geometry/Rectangle2d.java

@@ -186,7 +186,7 @@ public class Rectangle2d implements ProtobufSerializable, StructSerializable {
    * @return The distance (0, if the point is contained by the rectangle)
    */
   public double getDistance(Translation2d point) {
-    return findNearestPoint(point).getDistance(point);
+    return nearest(point).getDistance(point);
   }
 
   /**
@@ -205,7 +205,7 @@ public class Rectangle2d implements ProtobufSerializable, StructSerializable {
    * @param point The point that this will find the nearest point to.
    * @return A new point that is nearest to {@code point} and contained in the rectangle.
    */
-  public Translation2d findNearestPoint(Translation2d point) {
+  public Translation2d nearest(Translation2d point) {
     // Check if already in rectangle
     if (contains(point)) {
       return point;

wpimath/src/main/java/edu/wpi/first/math/jni/Ellipse2dJNI.java

@@ -9,7 +9,7 @@ public final class Ellipse2dJNI extends WPIMathJNI {
   /**
    * Returns the nearest point that is contained within the ellipse.
    *
-   * <p>Constructs an Ellipse2d object and runs its FindNearestPoint() method.
+   * <p>Constructs an Ellipse2d object and runs its nearest() method.
    *
    * @param centerX The x coordinate of the center of the ellipse in meters.
    * @param centerY The y coordinate of the center of the ellipse in meters.
@@ -20,7 +20,7 @@ public final class Ellipse2dJNI extends WPIMathJNI {
    * @param pointY The y coordinate of the point that this will find the nearest point to.
    * @param nearestPoint Array to store nearest point into.
    */
-  public static native void findNearestPoint(
+  public static native void nearest(
       double centerX,
       double centerY,
       double centerHeading,

wpimath/src/main/native/cpp/geometry/Ellipse2d.cpp

@@ -8,7 +8,7 @@
 
 using namespace frc;
 
-Translation2d Ellipse2d::FindNearestPoint(const Translation2d& point) const {
+Translation2d Ellipse2d::Nearest(const Translation2d& point) const {
   // Check if already in ellipse
   if (Contains(point)) {
     return point;

wpimath/src/main/native/cpp/jni/Ellipse2dJNI.cpp

@@ -16,11 +16,11 @@ extern "C" {
 
 /*
  * Class:     edu_wpi_first_math_jni_Ellipse2dJNI
- * Method:    findNearestPoint
+ * Method:    nearest
  * Signature: (DDDDDDD[D)V
  */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_math_jni_Ellipse2dJNI_findNearestPoint
+Java_edu_wpi_first_math_jni_Ellipse2dJNI_nearest
   (JNIEnv* env, jclass, jdouble centerX, jdouble centerY, jdouble centerHeading,
    jdouble xSemiAxis, jdouble ySemiAxis, jdouble pointX, jdouble pointY,
    jdoubleArray nearestPoint)
@@ -30,7 +30,7 @@ Java_edu_wpi_first_math_jni_Ellipse2dJNI_findNearestPoint
           frc::Pose2d{units::meter_t{centerX}, units::meter_t{centerY},
                       units::radian_t{centerHeading}},
           units::meter_t{xSemiAxis}, units::meter_t{ySemiAxis}}
-          .FindNearestPoint({units::meter_t{pointX}, units::meter_t{pointY}});
+          .Nearest({units::meter_t{pointX}, units::meter_t{pointY}});
 
   wpi::array buf{point.X().value(), point.Y().value()};
   env->SetDoubleArrayRegion(nearestPoint, 0, 2, buf.data());

wpimath/src/main/native/include/frc/geometry/Ellipse2d.h

@@ -154,7 +154,7 @@ class WPILIB_DLLEXPORT Ellipse2d {
    * @return The distance (0, if the point is contained by the ellipse)
    */
   units::meter_t Distance(const Translation2d& point) const {
-    return FindNearestPoint(point).Distance(point);
+    return Nearest(point).Distance(point);
   }
 
   /**
@@ -164,7 +164,7 @@ class WPILIB_DLLEXPORT Ellipse2d {
    * @return A new point that is nearest to {@code point} and contained in the
    *   ellipse.
    */
-  Translation2d FindNearestPoint(const Translation2d& point) const;
+  Translation2d Nearest(const Translation2d& point) const;
 
   /**
    * Checks equality between this Ellipse2d and another object.

wpimath/src/main/native/include/frc/geometry/Rectangle2d.h

@@ -155,7 +155,7 @@ class WPILIB_DLLEXPORT Rectangle2d {
    * @return The distance (0, if the point is contained by the rectangle)
    */
   constexpr units::meter_t Distance(const Translation2d& point) const {
-    return FindNearestPoint(point).Distance(point);
+    return Nearest(point).Distance(point);
   }
 
   /**
@@ -165,7 +165,7 @@ class WPILIB_DLLEXPORT Rectangle2d {
    * @return A new point that is nearest to {@code point} and contained in the
    * rectangle.
    */
-  constexpr Translation2d FindNearestPoint(const Translation2d& point) const {
+  constexpr Translation2d Nearest(const Translation2d& point) const {
     // Check if already in rectangle
     if (Contains(point)) {
       return point;