[wpimath] Java: add static instantiations of common rotations (#6563)

C++ doesn't need this because it supports value types, which are much
cheaper to construct. constexpr is also available to make construction
zero-cost.

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

@@ -109,7 +109,7 @@ public class ChassisSpeeds implements ProtobufSerializable, StructSerializable {
 
     // Find the chassis translation/rotation deltas in the robot frame that move the robot from its
     // current pose to the desired pose
-    var twist = new Pose2d().log(desiredDeltaPose);
+    var twist = Pose2d.kZero.log(desiredDeltaPose);
 
     // Turn the chassis translation/rotation deltas into average velocities
     return new ChassisSpeeds(twist.dx / dtSeconds, twist.dy / dtSeconds, twist.dtheta / dtSeconds);

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

@@ -70,7 +70,7 @@ public class DifferentialDriveOdometry extends Odometry<DifferentialDriveWheelPo
    */
   public DifferentialDriveOdometry(
       Rotation2d gyroAngle, double leftDistanceMeters, double rightDistanceMeters) {
-    this(gyroAngle, leftDistanceMeters, rightDistanceMeters, new Pose2d());
+    this(gyroAngle, leftDistanceMeters, rightDistanceMeters, Pose2d.kZero);
   }
 
   /**
@@ -82,7 +82,7 @@ public class DifferentialDriveOdometry extends Odometry<DifferentialDriveWheelPo
    */
   public DifferentialDriveOdometry(
       Rotation2d gyroAngle, Measure<Distance> leftDistance, Measure<Distance> rightDistance) {
-    this(gyroAngle, leftDistance, rightDistance, new Pose2d());
+    this(gyroAngle, leftDistance, rightDistance, Pose2d.kZero);
   }
 
   /**

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

@@ -46,7 +46,7 @@ public class MecanumDriveKinematics
   private final Translation2d m_rearLeftWheelMeters;
   private final Translation2d m_rearRightWheelMeters;
 
-  private Translation2d m_prevCoR = new Translation2d();
+  private Translation2d m_prevCoR = Translation2d.kZero;
 
   /** MecanumDriveKinematics protobuf for serialization. */
   public static final MecanumDriveKinematicsProto proto = new MecanumDriveKinematicsProto();
@@ -140,7 +140,7 @@ public class MecanumDriveKinematics
    */
   @Override
   public MecanumDriveWheelSpeeds toWheelSpeeds(ChassisSpeeds chassisSpeeds) {
-    return toWheelSpeeds(chassisSpeeds, new Translation2d());
+    return toWheelSpeeds(chassisSpeeds, Translation2d.kZero);
   }
 
   /**

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

@@ -45,6 +45,6 @@ public class MecanumDriveOdometry extends Odometry<MecanumDriveWheelPositions> {
       MecanumDriveKinematics kinematics,
       Rotation2d gyroAngle,
       MecanumDriveWheelPositions wheelPositions) {
-    this(kinematics, gyroAngle, wheelPositions, new Pose2d());
+    this(kinematics, gyroAngle, wheelPositions, Pose2d.kZero);
   }
 }

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

@@ -65,7 +65,7 @@ public class SwerveDriveKinematics
   private final int m_numModules;
   private final Translation2d[] m_modules;
   private Rotation2d[] m_moduleHeadings;
-  private Translation2d m_prevCoR = new Translation2d();
+  private Translation2d m_prevCoR = Translation2d.kZero;
 
   /**
    * Constructs a swerve drive kinematics object. This takes in a variable number of module
@@ -84,7 +84,7 @@ public class SwerveDriveKinematics
     m_numModules = moduleTranslationsMeters.length;
     m_modules = Arrays.copyOf(moduleTranslationsMeters, m_numModules);
     m_moduleHeadings = new Rotation2d[m_numModules];
-    Arrays.fill(m_moduleHeadings, new Rotation2d());
+    Arrays.fill(m_moduleHeadings, Rotation2d.kZero);
     m_inverseKinematics = new SimpleMatrix(m_numModules * 2, 3);
 
     for (int i = 0; i < m_numModules; i++) {
@@ -196,7 +196,7 @@ public class SwerveDriveKinematics
    * @return An array containing the module states.
    */
   public SwerveModuleState[] toSwerveModuleStates(ChassisSpeeds chassisSpeeds) {
-    return toSwerveModuleStates(chassisSpeeds, new Translation2d());
+    return toSwerveModuleStates(chassisSpeeds, Translation2d.kZero);
   }
 
   @Override

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

@@ -51,7 +51,7 @@ public class SwerveDriveOdometry extends Odometry<SwerveDriveWheelPositions> {
       SwerveDriveKinematics kinematics,
       Rotation2d gyroAngle,
       SwerveModulePosition[] modulePositions) {
-    this(kinematics, gyroAngle, modulePositions, new Pose2d());
+    this(kinematics, gyroAngle, modulePositions, Pose2d.kZero);
   }
 
   /**

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

@@ -27,7 +27,7 @@ public class SwerveModulePosition
   public double distanceMeters;
 
   /** Angle of the module. */
-  public Rotation2d angle = Rotation2d.fromDegrees(0);
+  public Rotation2d angle = Rotation2d.kZero;
 
   /** SwerveModulePosition protobuf for serialization. */
   public static final SwerveModulePositionProto proto = new SwerveModulePositionProto();

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

@@ -23,7 +23,7 @@ public class SwerveModuleState
   public double speedMetersPerSecond;
 
   /** Angle of the module. */
-  public Rotation2d angle = Rotation2d.fromDegrees(0);
+  public Rotation2d angle = Rotation2d.kZero;
 
   /** SwerveModuleState protobuf for serialization. */
   public static final SwerveModuleStateProto proto = new SwerveModuleStateProto();
@@ -102,8 +102,7 @@ public class SwerveModuleState
     var delta = desiredState.angle.minus(currentAngle);
     if (Math.abs(delta.getDegrees()) > 90.0) {
       return new SwerveModuleState(
-          -desiredState.speedMetersPerSecond,
-          desiredState.angle.rotateBy(Rotation2d.fromDegrees(180.0)));
+          -desiredState.speedMetersPerSecond, desiredState.angle.rotateBy(Rotation2d.kPi));
     } else {
       return new SwerveModuleState(desiredState.speedMetersPerSecond, desiredState.angle);
     }