[docs] Add missing JavaDocs (#6146)

wpimath/src/generate/main/java/Nat.java.jinja

@@ -26,6 +26,11 @@ public interface Nat<T extends Num> {
    */
   int getNum();
 {% for num in nums %}
+  /**
+   * Returns the Nat instance for {{ num }}.
+   *
+   * @return The Nat instance for {{ num }}.
+   */
   static Nat<N{{ num }}> N{{ num }}() {
     return N{{ num }}.instance;
   }

wpimath/src/generated/main/java/edu/wpi/first/math/Nat.java

@@ -45,86 +45,191 @@ public interface Nat<T extends Num> {
    */
   int getNum();
 
+  /**
+   * Returns the Nat instance for 0.
+   *
+   * @return The Nat instance for 0.
+   */
   static Nat<N0> N0() {
     return N0.instance;
   }
 
+  /**
+   * Returns the Nat instance for 1.
+   *
+   * @return The Nat instance for 1.
+   */
   static Nat<N1> N1() {
     return N1.instance;
   }
 
+  /**
+   * Returns the Nat instance for 2.
+   *
+   * @return The Nat instance for 2.
+   */
   static Nat<N2> N2() {
     return N2.instance;
   }
 
+  /**
+   * Returns the Nat instance for 3.
+   *
+   * @return The Nat instance for 3.
+   */
   static Nat<N3> N3() {
     return N3.instance;
   }
 
+  /**
+   * Returns the Nat instance for 4.
+   *
+   * @return The Nat instance for 4.
+   */
   static Nat<N4> N4() {
     return N4.instance;
   }
 
+  /**
+   * Returns the Nat instance for 5.
+   *
+   * @return The Nat instance for 5.
+   */
   static Nat<N5> N5() {
     return N5.instance;
   }
 
+  /**
+   * Returns the Nat instance for 6.
+   *
+   * @return The Nat instance for 6.
+   */
   static Nat<N6> N6() {
     return N6.instance;
   }
 
+  /**
+   * Returns the Nat instance for 7.
+   *
+   * @return The Nat instance for 7.
+   */
   static Nat<N7> N7() {
     return N7.instance;
   }
 
+  /**
+   * Returns the Nat instance for 8.
+   *
+   * @return The Nat instance for 8.
+   */
   static Nat<N8> N8() {
     return N8.instance;
   }
 
+  /**
+   * Returns the Nat instance for 9.
+   *
+   * @return The Nat instance for 9.
+   */
   static Nat<N9> N9() {
     return N9.instance;
   }
 
+  /**
+   * Returns the Nat instance for 10.
+   *
+   * @return The Nat instance for 10.
+   */
   static Nat<N10> N10() {
     return N10.instance;
   }
 
+  /**
+   * Returns the Nat instance for 11.
+   *
+   * @return The Nat instance for 11.
+   */
   static Nat<N11> N11() {
     return N11.instance;
   }
 
+  /**
+   * Returns the Nat instance for 12.
+   *
+   * @return The Nat instance for 12.
+   */
   static Nat<N12> N12() {
     return N12.instance;
   }
 
+  /**
+   * Returns the Nat instance for 13.
+   *
+   * @return The Nat instance for 13.
+   */
   static Nat<N13> N13() {
     return N13.instance;
   }
 
+  /**
+   * Returns the Nat instance for 14.
+   *
+   * @return The Nat instance for 14.
+   */
   static Nat<N14> N14() {
     return N14.instance;
   }
 
+  /**
+   * Returns the Nat instance for 15.
+   *
+   * @return The Nat instance for 15.
+   */
   static Nat<N15> N15() {
     return N15.instance;
   }
 
+  /**
+   * Returns the Nat instance for 16.
+   *
+   * @return The Nat instance for 16.
+   */
   static Nat<N16> N16() {
     return N16.instance;
   }
 
+  /**
+   * Returns the Nat instance for 17.
+   *
+   * @return The Nat instance for 17.
+   */
   static Nat<N17> N17() {
     return N17.instance;
   }
 
+  /**
+   * Returns the Nat instance for 18.
+   *
+   * @return The Nat instance for 18.
+   */
   static Nat<N18> N18() {
     return N18.instance;
   }
 
+  /**
+   * Returns the Nat instance for 19.
+   *
+   * @return The Nat instance for 19.
+   */
   static Nat<N19> N19() {
     return N19.instance;
   }
 
+  /**
+   * Returns the Nat instance for 20.
+   *
+   * @return The Nat instance for 20.
+   */
   static Nat<N20> N20() {
     return N20.instance;
   }

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

@@ -7,6 +7,7 @@ package edu.wpi.first.math;
 import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.math.geometry.Transform3d;
 
+/** Computer vision utility functions. */
 public final class ComputerVisionUtil {
   private ComputerVisionUtil() {
     throw new AssertionError("utility class");

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

@@ -6,6 +6,7 @@ package edu.wpi.first.math;
 
 import org.ejml.simple.SimpleMatrix;
 
+/** DARE solver utility functions. */
 public final class DARE {
   private DARE() {
     throw new UnsupportedOperationException("This is a utility class!");

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

@@ -17,6 +17,9 @@ import java.util.TreeMap;
 public class InterpolatingMatrixTreeMap<K extends Number, R extends Num, C extends Num> {
   private final TreeMap<K, Matrix<R, C>> m_map = new TreeMap<>();
 
+  /** Default constructor. */
+  public InterpolatingMatrixTreeMap() {}
+
   /**
    * Inserts a key-value pair.
    *

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

@@ -40,7 +40,10 @@ public class MatBuilder<R extends Num, C extends Num> {
     return new Matrix<>(new SimpleMatrix(rows.getNum(), cols.getNum(), true, data));
   }
 
+  /** Number of rows. */
   protected final Nat<R> m_rows;
+
+  /** Number of columns. */
   protected final Nat<C> m_cols;
 
   /**

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

@@ -4,6 +4,7 @@
 
 package edu.wpi.first.math;
 
+/** WPIMath utility functions. */
 public interface MathShared {
   /**
    * Report an error.

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

@@ -6,6 +6,7 @@ package edu.wpi.first.math;
 
 import edu.wpi.first.util.WPIUtilJNI;
 
+/** Storage for MathShared object. */
 public final class MathSharedStore {
   private static MathShared mathShared;
 

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

@@ -4,15 +4,35 @@
 
 package edu.wpi.first.math;
 
+/** WPIMath usage reporting IDs. */
 public enum MathUsageId {
+  /** DifferentialDriveKinematics. */
   kKinematics_DifferentialDrive,
+
+  /** MecanumDriveKinematics. */
   kKinematics_MecanumDrive,
+
+  /** SwerveDriveKinematics. */
   kKinematics_SwerveDrive,
+
+  /** TrapezoidProfile. */
   kTrajectory_TrapezoidProfile,
+
+  /** LinearFilter. */
   kFilter_Linear,
+
+  /** DifferentialDriveOdometry. */
   kOdometry_DifferentialDrive,
+
+  /** SwerveDriveOdometry. */
   kOdometry_SwerveDrive,
+
+  /** MecanumDriveOdometry. */
   kOdometry_MecanumDrive,
+
+  /** PIDController. */
   kController_PIDController2,
+
+  /** ProfiledPIDController. */
   kController_ProfiledPIDController,
 }

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

@@ -4,6 +4,7 @@
 
 package edu.wpi.first.math;
 
+/** Math utility functions. */
 public final class MathUtil {
   private MathUtil() {
     throw new AssertionError("utility class");

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

@@ -24,6 +24,7 @@ import org.ejml.simple.SimpleMatrix;
  * @param <C> The number of columns in this matrix.
  */
 public class Matrix<R extends Num, C extends Num> {
+  /** Storage for underlying EJML matrix. */
   protected final SimpleMatrix m_storage;
 
   /**

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

@@ -6,6 +6,9 @@ package edu.wpi.first.math;
 
 /** A number expressed as a java class. */
 public abstract class Num {
+  /** Default constructor. */
+  public Num() {}
+
   /**
    * The number this is backing.
    *

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

@@ -4,23 +4,54 @@
 
 package edu.wpi.first.math;
 
+/**
+ * Represents a pair of two objects.
+ *
+ * @param <A> The first object's type.
+ * @param <B> The second object's type.
+ */
 public class Pair<A, B> {
   private final A m_first;
   private final B m_second;
 
+  /**
+   * Constructs a pair.
+   *
+   * @param first The first object.
+   * @param second The second object.
+   */
   public Pair(A first, B second) {
     m_first = first;
     m_second = second;
   }
 
+  /**
+   * Returns the first object.
+   *
+   * @return The first object.
+   */
   public A getFirst() {
     return m_first;
   }
 
+  /**
+   * Returns the second object.
+   *
+   * @return The second object.
+   */
   public B getSecond() {
     return m_second;
   }
 
+  /**
+   * Returns a pair comprised of the two given objects.
+   *
+   * @param <A> The first object's type.
+   * @param <B> The second object's type.
+   * @param a The first object.
+   * @param b The second object.
+   * @return A pair comprised of the two given objects.
+   */
   public static <A, B> Pair<A, B> of(A a, B b) {
     return new Pair<>(a, b);
   }

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

@@ -11,6 +11,7 @@ import edu.wpi.first.math.numbers.N4;
 import java.util.Random;
 import org.ejml.simple.SimpleMatrix;
 
+/** State-space utilities. */
 public final class StateSpaceUtil {
   private static Random rand = new Random();
 

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

@@ -14,12 +14,22 @@ import edu.wpi.first.util.struct.StructSerializable;
  * against the force of gravity on a beam suspended at an angle).
  */
 public class ArmFeedforward implements ProtobufSerializable, StructSerializable {
+  /** The static gain, in volts. */
   public final double ks;
+
+  /** The gravity gain, in volts. */
   public final double kg;
+
+  /** The velocity gain, in volt seconds per radian. */
   public final double kv;
+
+  /** The acceleration gain, in volt seconds² per radian. */
   public final double ka;
 
+  /** Arm feedforward protobuf for serialization. */
   public static final ArmFeedforwardProto proto = new ArmFeedforwardProto();
+
+  /** Arm feedforward struct for serialization. */
   public static final ArmFeedforwardStruct struct = new ArmFeedforwardStruct();
 
   /**

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

@@ -11,16 +11,29 @@ import edu.wpi.first.util.struct.StructSerializable;
 
 /** Motor voltages for a differential drive. */
 public class DifferentialDriveWheelVoltages implements ProtobufSerializable, StructSerializable {
+  /** Left wheel voltage. */
   public double left;
+
+  /** Right wheel voltage. */
   public double right;
 
+  /** DifferentialDriveWheelVoltages protobuf for serialization. */
   public static final DifferentialDriveWheelVoltagesProto proto =
       new DifferentialDriveWheelVoltagesProto();
+
+  /** DifferentialDriveWheelVoltages struct for serialization. */
   public static final DifferentialDriveWheelVoltagesStruct struct =
       new DifferentialDriveWheelVoltagesStruct();
 
+  /** Default constructor. */
   public DifferentialDriveWheelVoltages() {}
 
+  /**
+   * Constructs a DifferentialDriveWheelVoltages.
+   *
+   * @param left Left wheel voltage.
+   * @param right Right wheel voltage.
+   */
   public DifferentialDriveWheelVoltages(double left, double right) {
     this.left = left;
     this.right = right;

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

@@ -17,12 +17,22 @@ import edu.wpi.first.util.struct.StructSerializable;
  * against the force of gravity).
  */
 public class ElevatorFeedforward implements ProtobufSerializable, StructSerializable {
+  /** The static gain. */
   public final double ks;
+
+  /** The gravity gain. */
   public final double kg;
+
+  /** The velocity gain. */
   public final double kv;
+
+  /** The acceleration gain. */
   public final double ka;
 
+  /** ElevatorFeedforward protobuf for serialization. */
   public static final ElevatorFeedforwardProto proto = new ElevatorFeedforwardProto();
+
+  /** ElevatorFeedforward struct for serialization. */
   public static final ElevatorFeedforwardStruct struct = new ElevatorFeedforwardStruct();
 
   /**

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

@@ -10,8 +10,13 @@ import edu.wpi.first.math.system.plant.LinearSystemId;
 
 /** A helper class that computes feedforward outputs for a simple permanent-magnet DC motor. */
 public class SimpleMotorFeedforward {
+  /** The static gain. */
   public final double ks;
+
+  /** The velocity gain. */
   public final double kv;
+
+  /** The acceleration gain. */
   public final double ka;
 
   /**

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

@@ -13,11 +13,19 @@ import java.util.List;
 import java.util.Map;
 import java.util.function.BiConsumer;
 
+/**
+ * This class incorporates time-delayed measurements into a Kalman filter's state estimate.
+ *
+ * @param <S> The number of states.
+ * @param <I> The number of inputs.
+ * @param <O> The number of outputs.
+ */
 public class KalmanFilterLatencyCompensator<S extends Num, I extends Num, O extends Num> {
   private static final int kMaxPastObserverStates = 300;
 
   private final List<Map.Entry<Double, ObserverSnapshot>> m_pastObserverSnapshots;
 
+  /** Default constructor. */
   KalmanFilterLatencyCompensator() {
     m_pastObserverSnapshots = new ArrayList<>();
   }
@@ -164,9 +172,16 @@ public class KalmanFilterLatencyCompensator<S extends Num, I extends Num, O exte
 
   /** This class contains all the information about our observer at a given time. */
   public class ObserverSnapshot {
+    /** The state estimate. */
     public final Matrix<S, N1> xHat;
+
+    /** The error covariance. */
     public final Matrix<S, S> errorCovariances;
+
+    /** The inputs. */
     public final Matrix<I, N1> inputs;
+
+    /** The local measurements. */
     public final Matrix<O, N1> localMeasurements;
 
     private ObserverSnapshot(

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

@@ -8,24 +8,83 @@ import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.Num;
 import edu.wpi.first.math.numbers.N1;
 
+/**
+ * Interface for Kalman filters for use with KalmanFilterLatencyCompensator.
+ *
+ * @param <States> The number of states.
+ * @param <Inputs> The number of inputs.
+ * @param <Outputs> The number of outputs.
+ */
 public interface KalmanTypeFilter<States extends Num, Inputs extends Num, Outputs extends Num> {
+  /**
+   * Returns the error covariance matrix.
+   *
+   * @return The error covariance matrix.
+   */
   Matrix<States, States> getP();
 
+  /**
+   * Returns an element of the error covariance matrix.
+   *
+   * @param i The row.
+   * @param j The column.
+   * @return An element of the error covariance matrix.
+   */
   double getP(int i, int j);
 
+  /**
+   * Sets the error covariance matrix.
+   *
+   * @param newP The error covariance matrix.
+   */
   void setP(Matrix<States, States> newP);
 
+  /**
+   * Returns the state estimate.
+   *
+   * @return The state estimate.
+   */
   Matrix<States, N1> getXhat();
 
+  /**
+   * Returns an element of the state estimate.
+   *
+   * @param i The row.
+   * @return An element of the state estimate.
+   */
   double getXhat(int i);
 
+  /**
+   * Sets the state estimate.
+   *
+   * @param xHat The state estimate.
+   */
   void setXhat(Matrix<States, N1> xHat);
 
+  /**
+   * Sets an element of the state estimate.
+   *
+   * @param i The row.
+   * @param value The value.
+   */
   void setXhat(int i, double value);
 
+  /** Resets the observer. */
   void reset();
 
+  /**
+   * Project the model into the future with a new control input u.
+   *
+   * @param u New control input from controller.
+   * @param dtSeconds Timestep for prediction.
+   */
   void predict(Matrix<Inputs, N1> u, double dtSeconds);
 
+  /**
+   * Correct the state estimate x-hat using the measurements in y.
+   *
+   * @param u Same control input used in the predict step.
+   * @param y Measurement vector.
+   */
   void correct(Matrix<Inputs, N1> u, Matrix<Outputs, N1> y);
 }

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

@@ -119,6 +119,7 @@ public class SteadyStateKalmanFilter<States extends Num, Inputs extends Num, Out
     reset();
   }
 
+  /** Resets the observer. */
   public final void reset() {
     m_xHat = new Matrix<>(m_states, Nat.N1());
   }

wpimath/src/main/java/edu/wpi/first/math/filter/Debouncer.java

@@ -11,9 +11,13 @@ import edu.wpi.first.math.MathSharedStore;
  * baseline for a specified period of time before the filtered value changes.
  */
 public class Debouncer {
+  /** Type of debouncing to perform. */
   public enum DebounceType {
+    /** Rising edge. */
     kRising,
+    /** Falling edge. */
     kFalling,
+    /** Both rising and falling edges. */
     kBoth
   }
 

wpimath/src/main/java/edu/wpi/first/math/geometry/Pose2d.java

@@ -326,6 +326,9 @@ public class Pose2d implements Interpolatable<Pose2d>, ProtobufSerializable, Str
     }
   }
 
-  public static final Pose2dStruct struct = new Pose2dStruct();
+  /** Pose2d protobuf for serialization. */
   public static final Pose2dProto proto = new Pose2dProto();
+
+  /** Pose2d struct for serialization. */
+  public static final Pose2dStruct struct = new Pose2dStruct();
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/Pose3d.java

@@ -323,6 +323,9 @@ public class Pose3d implements Interpolatable<Pose3d>, ProtobufSerializable, Str
     }
   }
 
-  public static final Pose3dStruct struct = new Pose3dStruct();
+  /** Pose3d protobuf for serialization. */
   public static final Pose3dProto proto = new Pose3dProto();
+
+  /** Pose3d struct for serialization. */
+  public static final Pose3dStruct struct = new Pose3dStruct();
 }

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

@@ -17,6 +17,7 @@ import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Objects;
 
+/** Represents a quaternion. */
 @JsonIgnoreProperties(ignoreUnknown = true)
 @JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
 public class Quaternion implements ProtobufSerializable, StructSerializable {
@@ -405,6 +406,9 @@ public class Quaternion implements ProtobufSerializable, StructSerializable {
     return VecBuilder.fill(coeff * getX(), coeff * getY(), coeff * getZ());
   }
 
-  public static final QuaternionStruct struct = new QuaternionStruct();
+  /** Quaternion protobuf for serialization. */
   public static final QuaternionProto proto = new QuaternionProto();
+
+  /** Quaternion struct for serialization. */
+  public static final QuaternionStruct struct = new QuaternionStruct();
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java

@@ -275,6 +275,9 @@ public class Rotation2d
     return plus(endValue.minus(this).times(MathUtil.clamp(t, 0, 1)));
   }
 
-  public static final Rotation2dStruct struct = new Rotation2dStruct();
+  /** Rotation2d protobuf for serialization. */
   public static final Rotation2dProto proto = new Rotation2dProto();
+
+  /** Rotation2d struct for serialization. */
+  public static final Rotation2dStruct struct = new Rotation2dStruct();
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation3d.java

@@ -432,6 +432,9 @@ public class Rotation3d
     return plus(endValue.minus(this).times(MathUtil.clamp(t, 0, 1)));
   }
 
-  public static final Rotation3dStruct struct = new Rotation3dStruct();
+  /** Rotation3d protobuf for serialization. */
   public static final Rotation3dProto proto = new Rotation3dProto();
+
+  /** Rotation3d struct for serialization. */
+  public static final Rotation3dStruct struct = new Rotation3dStruct();
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/Transform2d.java

@@ -184,6 +184,9 @@ public class Transform2d implements ProtobufSerializable, StructSerializable {
     return Objects.hash(m_translation, m_rotation);
   }
 
-  public static final Transform2dStruct struct = new Transform2dStruct();
+  /** Transform2d protobuf for serialization. */
   public static final Transform2dProto proto = new Transform2dProto();
+
+  /** Transform2d struct for serialization. */
+  public static final Transform2dStruct struct = new Transform2dStruct();
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/Transform3d.java

@@ -178,6 +178,9 @@ public class Transform3d implements ProtobufSerializable, StructSerializable {
     return Objects.hash(m_translation, m_rotation);
   }
 
-  public static final Transform3dStruct struct = new Transform3dStruct();
+  /** Transform3d protobuf for serialization. */
   public static final Transform3dProto proto = new Transform3dProto();
+
+  /** Transform3d struct for serialization. */
+  public static final Transform3dStruct struct = new Transform3dStruct();
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/Translation2d.java

@@ -250,6 +250,9 @@ public class Translation2d
         MathUtil.interpolate(this.getY(), endValue.getY(), t));
   }
 
-  public static final Translation2dStruct struct = new Translation2dStruct();
+  /** Translation2d protobuf for serialization. */
   public static final Translation2dProto proto = new Translation2dProto();
+
+  /** Translation2d struct for serialization. */
+  public static final Translation2dStruct struct = new Translation2dStruct();
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/Translation3d.java

@@ -253,6 +253,9 @@ public class Translation3d
         MathUtil.interpolate(this.getZ(), endValue.getZ(), t));
   }
 
-  public static final Translation3dStruct struct = new Translation3dStruct();
+  /** Translation3d protobuf for serialization. */
   public static final Translation3dProto proto = new Translation3dProto();
+
+  /** Translation3d struct for serialization. */
+  public static final Translation3dStruct struct = new Translation3dStruct();
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/Twist2d.java

@@ -26,6 +26,7 @@ public class Twist2d implements ProtobufSerializable, StructSerializable {
   /** Angular "dtheta" component (radians). */
   public double dtheta;
 
+  /** Default constructor. */
   public Twist2d() {}
 
   /**
@@ -67,6 +68,9 @@ public class Twist2d implements ProtobufSerializable, StructSerializable {
     return Objects.hash(dx, dy, dtheta);
   }
 
-  public static final Twist2dStruct struct = new Twist2dStruct();
+  /** Twist2d protobuf for serialization. */
   public static final Twist2dProto proto = new Twist2dProto();
+
+  /** Twist2d struct for serialization. */
+  public static final Twist2dStruct struct = new Twist2dStruct();
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/Twist3d.java

@@ -35,6 +35,7 @@ public class Twist3d implements ProtobufSerializable, StructSerializable {
   /** Rotation vector z component (radians). */
   public double rz;
 
+  /** Default constructor. */
   public Twist3d() {}
 
   /**
@@ -87,6 +88,9 @@ public class Twist3d implements ProtobufSerializable, StructSerializable {
     return Objects.hash(dx, dy, dz, rx, ry, rz);
   }
 
-  public static final Twist3dStruct struct = new Twist3dStruct();
+  /** Twist3d protobuf for serialization. */
   public static final Twist3dProto proto = new Twist3dProto();
+
+  /** Twist3d struct for serialization. */
+  public static final Twist3dStruct struct = new Twist3dStruct();
 }

wpimath/src/main/java/edu/wpi/first/math/interpolation/InterpolatingDoubleTreeMap.java

@@ -9,6 +9,7 @@ package edu.wpi.first.math.interpolation;
  * from points that are defined. This uses linear interpolation.
  */
 public class InterpolatingDoubleTreeMap extends InterpolatingTreeMap<Double, Double> {
+  /** Default constructor. */
   public InterpolatingDoubleTreeMap() {
     super(InverseInterpolator.forDouble(), Interpolator.forDouble());
   }

wpimath/src/main/java/edu/wpi/first/math/interpolation/Interpolator.java

@@ -24,6 +24,11 @@ public interface Interpolator<T> {
    */
   T interpolate(T startValue, T endValue, double t);
 
+  /**
+   * Returns interpolator for Double.
+   *
+   * @return Interpolator for Double.
+   */
   static Interpolator<Double> forDouble() {
     return MathUtil::interpolate;
   }

wpimath/src/main/java/edu/wpi/first/math/interpolation/InverseInterpolator.java

@@ -24,6 +24,11 @@ public interface InverseInterpolator<T> {
    */
   double inverseInterpolate(T startValue, T endValue, T q);
 
+  /**
+   * Returns inverse interpolator for Double.
+   *
+   * @return Inverse interpolator for Double.
+   */
   static InverseInterpolator<Double> forDouble() {
     return MathUtil::inverseInterpolate;
   }

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

@@ -40,7 +40,10 @@ public class ChassisSpeeds implements ProtobufSerializable, StructSerializable {
   /** Represents the angular velocity of the robot frame. (CCW is +) */
   public double omegaRadiansPerSecond;
 
+  /** ChassisSpeeds protobuf for serialization. */
   public static final ChassisSpeedsProto proto = new ChassisSpeedsProto();
+
+  /** ChassisSpeeds struct for serialization. */
   public static final ChassisSpeedsStruct struct = new ChassisSpeedsStruct();
 
   /** Constructs a ChassisSpeeds with zeros for dx, dy, and theta. */

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

@@ -28,10 +28,14 @@ public class DifferentialDriveKinematics
     implements Kinematics<DifferentialDriveWheelSpeeds, DifferentialDriveWheelPositions>,
         ProtobufSerializable,
         StructSerializable {
+  /** Differential drive trackwidth. */
   public final double trackWidthMeters;
 
+  /** DifferentialDriveKinematics protobuf for serialization. */
   public static final DifferentialDriveKinematicsProto proto =
       new DifferentialDriveKinematicsProto();
+
+  /** DifferentialDriveKinematics struct for serialization. */
   public static final DifferentialDriveKinematicsStruct struct =
       new DifferentialDriveKinematicsStruct();
 

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

@@ -11,6 +11,7 @@ import edu.wpi.first.units.Distance;
 import edu.wpi.first.units.Measure;
 import java.util.Objects;
 
+/** Represents the wheel positions for a differential drive drivetrain. */
 public class DifferentialDriveWheelPositions
     implements WheelPositions<DifferentialDriveWheelPositions> {
   /** Distance measured by the left side. */

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

@@ -22,8 +22,11 @@ public class DifferentialDriveWheelSpeeds implements ProtobufSerializable, Struc
   /** Speed of the right side of the robot. */
   public double rightMetersPerSecond;
 
+  /** DifferentialDriveWheelSpeeds protobuf for serialization. */
   public static final DifferentialDriveWheelSpeedsProto proto =
       new DifferentialDriveWheelSpeedsProto();
+
+  /** DifferentialDriveWheelSpeeds struct for serialization. */
   public static final DifferentialDriveWheelSpeedsStruct struct =
       new DifferentialDriveWheelSpeedsStruct();
 

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

@@ -48,7 +48,10 @@ public class MecanumDriveKinematics
 
   private Translation2d m_prevCoR = new Translation2d();
 
+  /** MecanumDriveKinematics protobuf for serialization. */
   public static final MecanumDriveKinematicsProto proto = new MecanumDriveKinematicsProto();
+
+  /** MecanumDriveKinematics struct for serialization. */
   public static final MecanumDriveKinematicsStruct struct = new MecanumDriveKinematicsStruct();
 
   /**
@@ -217,18 +220,38 @@ public class MecanumDriveKinematics
     m_inverseKinematics.setRow(3, 0, 1, -1, -(rr.getX() + rr.getY()));
   }
 
+  /**
+   * Returns the front-left wheel translation.
+   *
+   * @return The front-left wheel translation.
+   */
   public Translation2d getFrontLeft() {
     return m_frontLeftWheelMeters;
   }
 
+  /**
+   * Returns the front-right wheel translation.
+   *
+   * @return The front-right wheel translation.
+   */
   public Translation2d getFrontRight() {
     return m_frontRightWheelMeters;
   }
 
+  /**
+   * Returns the rear-left wheel translation.
+   *
+   * @return The rear-left wheel translation.
+   */
   public Translation2d getRearLeft() {
     return m_rearLeftWheelMeters;
   }
 
+  /**
+   * Returns the rear-right wheel translation.
+   *
+   * @return The rear-right wheel translation.
+   */
   public Translation2d getRearRight() {
     return m_rearRightWheelMeters;
   }

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

@@ -15,6 +15,7 @@ import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Objects;
 
+/** Represents the wheel positions for a mecanum drive drivetrain. */
 public class MecanumDriveWheelPositions
     implements WheelPositions<MecanumDriveWheelPositions>,
         ProtobufSerializable,
@@ -31,9 +32,12 @@ public class MecanumDriveWheelPositions
   /** Distance measured by the rear right wheel. */
   public double rearRightMeters;
 
+  /** MecanumDriveWheelPositions protobuf for serialization. */
+  public static final MecanumDriveWheelPositionsProto proto = new MecanumDriveWheelPositionsProto();
+
+  /** MecanumDriveWheelPositions struct for serialization. */
   public static final MecanumDriveWheelPositionsStruct struct =
       new MecanumDriveWheelPositionsStruct();
-  public static final MecanumDriveWheelPositionsProto proto = new MecanumDriveWheelPositionsProto();
 
   /** Constructs a MecanumDriveWheelPositions with zeros for all member fields. */
   public MecanumDriveWheelPositions() {}

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

@@ -14,6 +14,7 @@ import edu.wpi.first.units.Velocity;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
 import edu.wpi.first.util.struct.StructSerializable;
 
+/** Represents the wheel speeds for a mecanum drive drivetrain. */
 public class MecanumDriveWheelSpeeds implements ProtobufSerializable, StructSerializable {
   /** Speed of the front left wheel. */
   public double frontLeftMetersPerSecond;
@@ -27,9 +28,12 @@ public class MecanumDriveWheelSpeeds implements ProtobufSerializable, StructSeri
   /** Speed of the rear right wheel. */
   public double rearRightMetersPerSecond;
 
-  public static final MecanumDriveWheelSpeedsStruct struct = new MecanumDriveWheelSpeedsStruct();
+  /** MecanumDriveWheelSpeeds protobuf for serialization. */
   public static final MecanumDriveWheelSpeedsProto proto = new MecanumDriveWheelSpeedsProto();
 
+  /** MecanumDriveWheelSpeeds struct for serialization. */
+  public static final MecanumDriveWheelSpeedsStruct struct = new MecanumDriveWheelSpeedsStruct();
+
   /** Constructs a MecanumDriveWheelSpeeds with zeros for all member fields. */
   public MecanumDriveWheelSpeeds() {}
 

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

@@ -41,7 +41,9 @@ import org.ejml.simple.SimpleMatrix;
  */
 public class SwerveDriveKinematics
     implements Kinematics<SwerveDriveKinematics.SwerveDriveWheelStates, SwerveDriveWheelPositions> {
+  /** Wrapper class for swerve module states. */
   public static class SwerveDriveWheelStates {
+    /** Swerve module states. */
     public SwerveModuleState[] states;
 
     /**

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

@@ -7,7 +7,9 @@ package edu.wpi.first.math.kinematics;
 import java.util.Arrays;
 import java.util.Objects;
 
+/** Represents the wheel positions for a swerve drive drivetrain. */
 public class SwerveDriveWheelPositions implements WheelPositions<SwerveDriveWheelPositions> {
+  /** The distances driven by the wheels. */
   public SwerveModulePosition[] positions;
 
   /**

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

@@ -29,9 +29,12 @@ public class SwerveModulePosition
   /** Angle of the module. */
   public Rotation2d angle = Rotation2d.fromDegrees(0);
 
-  public static final SwerveModulePositionStruct struct = new SwerveModulePositionStruct();
+  /** SwerveModulePosition protobuf for serialization. */
   public static final SwerveModulePositionProto proto = new SwerveModulePositionProto();
 
+  /** SwerveModulePosition struct for serialization. */
+  public static final SwerveModulePositionStruct struct = new SwerveModulePositionStruct();
+
   /** Constructs a SwerveModulePosition with zeros for distance and angle. */
   public SwerveModulePosition() {}
 

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

@@ -25,9 +25,12 @@ public class SwerveModuleState
   /** Angle of the module. */
   public Rotation2d angle = Rotation2d.fromDegrees(0);
 
-  public static final SwerveModuleStateStruct struct = new SwerveModuleStateStruct();
+  /** SwerveModuleState protobuf for serialization. */
   public static final SwerveModuleStateProto proto = new SwerveModuleStateProto();
 
+  /** SwerveModuleState struct for serialization. */
+  public static final SwerveModuleStateStruct struct = new SwerveModuleStateStruct();
+
   /** Constructs a SwerveModuleState with zeros for speed and angle. */
   public SwerveModuleState() {}
 

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

@@ -6,6 +6,11 @@ package edu.wpi.first.math.kinematics;
 
 import edu.wpi.first.math.interpolation.Interpolatable;
 
+/**
+ * Interface for wheel positions.
+ *
+ * @param <T> Wheel positions type.
+ */
 public interface WheelPositions<T extends WheelPositions<T>> extends Interpolatable<T> {
   /**
    * Returns a copy of this instance.

wpimath/src/main/java/edu/wpi/first/math/spline/CubicHermiteSpline.java

@@ -6,6 +6,7 @@ package edu.wpi.first.math.spline;
 
 import org.ejml.simple.SimpleMatrix;
 
+/** Represents a hermite spline of degree 3. */
 public class CubicHermiteSpline extends Spline {
   private static SimpleMatrix hermiteBasis;
   private final SimpleMatrix m_coefficients;

wpimath/src/main/java/edu/wpi/first/math/spline/PoseWithCurvature.java

@@ -8,10 +8,10 @@ import edu.wpi.first.math.geometry.Pose2d;
 
 /** Represents a pair of a pose and a curvature. */
 public class PoseWithCurvature {
-  // Represents the pose.
+  /** Represents the pose. */
   public Pose2d poseMeters;
 
-  // Represents the curvature.
+  /** Represents the curvature. */
   public double curvatureRadPerMeter;
 
   /**

wpimath/src/main/java/edu/wpi/first/math/spline/QuinticHermiteSpline.java

@@ -6,6 +6,7 @@ package edu.wpi.first.math.spline;
 
 import org.ejml.simple.SimpleMatrix;
 
+/** Represents a hermite spline of degree 5. */
 public class QuinticHermiteSpline extends Spline {
   private static SimpleMatrix hermiteBasis;
   private final SimpleMatrix m_coefficients;

wpimath/src/main/java/edu/wpi/first/math/spline/Spline.java

@@ -99,7 +99,10 @@ public abstract class Spline {
    * the value of x[2] is the second derivative in the x dimension.
    */
   public static class ControlVector {
+    /** The x components of the control vector. */
     public double[] x;
+
+    /** The y components of the control vector. */
     public double[] y;
 
     /**

wpimath/src/main/java/edu/wpi/first/math/spline/SplineHelper.java

@@ -10,6 +10,7 @@ import java.util.Arrays;
 import java.util.List;
 import org.ejml.simple.SimpleMatrix;
 
+/** Helper class that is used to generate cubic and quintic splines from user provided waypoints. */
 public final class SplineHelper {
   /** Private constructor because this is a utility class. */
   private SplineHelper() {}

wpimath/src/main/java/edu/wpi/first/math/spline/SplineParameterizer.java

@@ -56,6 +56,7 @@ public final class SplineParameterizer {
     }
   }
 
+  /** Exception for malformed splines. */
   public static class MalformedSplineException extends RuntimeException {
     /**
      * Create a new exception with the given message.

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

@@ -9,6 +9,7 @@ import edu.wpi.first.math.Num;
 import edu.wpi.first.math.Pair;
 import org.ejml.simple.SimpleMatrix;
 
+/** Discretization helper functions. */
 public final class Discretization {
   private Discretization() {
     // Utility class

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

@@ -8,6 +8,18 @@ import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.Num;
 import edu.wpi.first.math.numbers.N1;
 
+/**
+ * A plant defined using state-space notation.
+ *
+ * <p>A plant is a mathematical model of a system's dynamics.
+ *
+ * <p>For more on the underlying math, read
+ * https://file.tavsys.net/control/controls-engineering-in-frc.pdf.
+ *
+ * @param <States> Number of states.
+ * @param <Inputs> Number of inputs.
+ * @param <Outputs> Number of outputs.
+ */
 public class LinearSystem<States extends Num, Inputs extends Num, Outputs extends Num> {
   /** Continuous system matrix. */
   private final Matrix<States, States> m_A;

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

@@ -11,6 +11,7 @@ import java.util.function.BiFunction;
 import java.util.function.DoubleFunction;
 import java.util.function.Function;
 
+/** Numerical integration utilities. */
 public final class NumericalIntegration {
   private NumericalIntegration() {
     // utility Class

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

@@ -11,6 +11,7 @@ import edu.wpi.first.math.numbers.N1;
 import java.util.function.BiFunction;
 import java.util.function.Function;
 
+/** Numerical Jacobian utilities. */
 public final class NumericalJacobian {
   private NumericalJacobian() {
     // Utility Class.

wpimath/src/main/java/edu/wpi/first/math/system/plant/DCMotor.java

@@ -12,16 +12,34 @@ import edu.wpi.first.util.struct.StructSerializable;
 
 /** Holds the constants for a DC motor. */
 public class DCMotor implements ProtobufSerializable, StructSerializable {
+  /** Voltage at which the motor constants were measured. */
   public final double nominalVoltageVolts;
+
+  /** Torque when stalled. */
   public final double stallTorqueNewtonMeters;
+
+  /** Current draw when stalled. */
   public final double stallCurrentAmps;
+
+  /** Current draw under no load. */
   public final double freeCurrentAmps;
+
+  /** Angular velocity under no load. */
   public final double freeSpeedRadPerSec;
+
+  /** Motor internal resistance. */
   public final double rOhms;
+
+  /** Motor velocity constant. */
   public final double KvRadPerSecPerVolt;
+
+  /** Motor torque constant. */
   public final double KtNMPerAmp;
 
+  /** DCMotor protobuf for serialization. */
   public static final DCMotorProto proto = new DCMotorProto();
+
+  /** DCMotor struct for serialization. */
   public static final DCMotorStruct struct = new DCMotorStruct();
 
   /**

wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java

@@ -12,6 +12,7 @@ import edu.wpi.first.math.numbers.N1;
 import edu.wpi.first.math.numbers.N2;
 import edu.wpi.first.math.system.LinearSystem;
 
+/** Linear system ID utility functions. */
 public final class LinearSystemId {
   private LinearSystemId() {
     // Utility class

wpimath/src/main/java/edu/wpi/first/math/trajectory/ExponentialProfile.java

@@ -39,10 +39,20 @@ import java.util.Objects;
 public class ExponentialProfile {
   private final Constraints m_constraints;
 
+  /** Profile timing. */
   public static class ProfileTiming {
+    /** Profile inflection time. */
     public final double inflectionTime;
+
+    /** Total profile time. */
     public final double totalTime;
 
+    /**
+     * Constructs a ProfileTiming.
+     *
+     * @param inflectionTime Profile inflection time.
+     * @param totalTime Total profile time.
+     */
     protected ProfileTiming(double inflectionTime, double totalTime) {
       this.inflectionTime = inflectionTime;
       this.totalTime = totalTime;
@@ -55,14 +65,19 @@ public class ExponentialProfile {
      * @return if the profile is finished at time t.
      */
     public boolean isFinished(double t) {
-      return t > inflectionTime;
+      return t >= inflectionTime;
     }
   }
 
+  /** Profile constraints. */
   public static class Constraints {
+    /** Maximum unsigned input voltage. */
     public final double maxInput;
 
+    /** The State-Space 1x1 system matrix. */
     public final double A;
+
+    /** The State-Space 1x1 input matrix. */
     public final double B;
 
     /**
@@ -112,11 +127,15 @@ public class ExponentialProfile {
     }
   }
 
+  /** Profile state. */
   public static class State {
+    /** The position at this state. */
     public double position;
 
+    /** The velocity at this state. */
     public double velocity;
 
+    /** Default constructor. */
     public State() {}
 
     /**

wpimath/src/main/java/edu/wpi/first/math/trajectory/Trajectory.java

@@ -20,6 +20,7 @@ import java.util.stream.Collectors;
  * represent the pose, curvature, time elapsed, velocity, and acceleration at that point.
  */
 public class Trajectory implements ProtobufSerializable {
+  /** Trajectory protobuf for serialization. */
   public static final TrajectoryProto proto = new TrajectoryProto();
 
   private final double m_totalTimeSeconds;
@@ -269,28 +270,30 @@ public class Trajectory implements ProtobufSerializable {
    * represent the pose, curvature, time elapsed, velocity, and acceleration at that point.
    */
   public static class State implements ProtobufSerializable {
+    /** Trajectory.State protobuf for serialization. */
     public static final TrajectoryStateProto proto = new TrajectoryStateProto();
 
-    // The time elapsed since the beginning of the trajectory.
+    /** The time elapsed since the beginning of the trajectory. */
     @JsonProperty("time")
     public double timeSeconds;
 
-    // The speed at that point of the trajectory.
+    /** The speed at that point of the trajectory. */
     @JsonProperty("velocity")
     public double velocityMetersPerSecond;
 
-    // The acceleration at that point of the trajectory.
+    /** The acceleration at that point of the trajectory. */
     @JsonProperty("acceleration")
     public double accelerationMetersPerSecondSq;
 
-    // The pose at that point of the trajectory.
+    /** The pose at that point of the trajectory. */
     @JsonProperty("pose")
     public Pose2d poseMeters;
 
-    // The curvature at that point of the trajectory.
+    /** The curvature at that point of the trajectory. */
     @JsonProperty("curvature")
     public double curvatureRadPerMeter;
 
+    /** Default constructor. */
     public State() {
       poseMeters = new Pose2d();
     }

wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryGenerator.java

@@ -19,6 +19,7 @@ import java.util.Collection;
 import java.util.List;
 import java.util.function.BiConsumer;
 
+/** Helper class used to generate trajectories with various constraints. */
 public final class TrajectoryGenerator {
   private static final Trajectory kDoNothingTrajectory =
       new Trajectory(List.of(new Trajectory.State()));
@@ -263,16 +264,27 @@ public final class TrajectoryGenerator {
     return splinePoints;
   }
 
-  // Work around type erasure signatures
+  /** Control vector list type that works around type erasure signatures. */
   public static class ControlVectorList extends ArrayList<Spline.ControlVector> {
-    public ControlVectorList(int initialCapacity) {
-      super(initialCapacity);
-    }
-
+    /** Default constructor. */
     public ControlVectorList() {
       super();
     }
 
+    /**
+     * Constructs a ControlVectorList.
+     *
+     * @param initialCapacity The initial list capacity.
+     */
+    public ControlVectorList(int initialCapacity) {
+      super(initialCapacity);
+    }
+
+    /**
+     * Constructs a ControlVectorList.
+     *
+     * @param collection A collection of spline control vectors.
+     */
     public ControlVectorList(Collection<? extends Spline.ControlVector> collection) {
       super(collection);
     }

wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryParameterizer.java

@@ -315,7 +315,13 @@ public final class TrajectoryParameterizer {
     }
   }
 
+  /** Exception for trajectory generation failure. */
   public static class TrajectoryGenerationException extends RuntimeException {
+    /**
+     * Constructs a TrajectoryGenerationException.
+     *
+     * @param message Exception message.
+     */
     public TrajectoryGenerationException(String message) {
       super(message);
     }

wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryUtil.java

@@ -12,6 +12,7 @@ import java.nio.file.Path;
 import java.util.ArrayList;
 import java.util.List;
 
+/** Trajectory utilities. */
 public final class TrajectoryUtil {
   private TrajectoryUtil() {
     throw new UnsupportedOperationException("This is a utility class!");
@@ -111,7 +112,13 @@ public final class TrajectoryUtil {
     return WPIMathJNI.serializeTrajectory(getElementsFromTrajectory(trajectory));
   }
 
+  /** Exception for trajectory serialization failure. */
   public static class TrajectorySerializationException extends RuntimeException {
+    /**
+     * Constructs a TrajectorySerializationException.
+     *
+     * @param message The exception message.
+     */
     public TrajectorySerializationException(String message) {
       super(message);
     }

wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java

@@ -54,9 +54,12 @@ public class TrapezoidProfile {
   private double m_endFullSpeed;
   private double m_endDeccel;
 
+  /** Profile constraints. */
   public static class Constraints {
+    /** Maximum velocity. */
     public final double maxVelocity;
 
+    /** Maximum acceleration. */
     public final double maxAcceleration;
 
     /**
@@ -71,24 +74,48 @@ public class TrapezoidProfile {
       MathSharedStore.reportUsage(MathUsageId.kTrajectory_TrapezoidProfile, 1);
     }
 
+    /**
+     * Construct constraints for a TrapezoidProfile.
+     *
+     * @param <U> Unit type.
+     * @param maxVelocity maximum velocity
+     * @param maxAcceleration maximum acceleration
+     */
     public <U extends Unit<U>> Constraints(
         Measure<Velocity<U>> maxVelocity, Measure<Velocity<Velocity<U>>> maxAcceleration) {
       this(maxVelocity.baseUnitMagnitude(), maxAcceleration.baseUnitMagnitude());
     }
   }
 
+  /** Profile state. */
   public static class State {
+    /** The position at this state. */
     public double position;
 
+    /** The velocity at this state. */
     public double velocity;
 
+    /** Default constructor. */
     public State() {}
 
+    /**
+     * Constructs constraints for a Trapezoid Profile.
+     *
+     * @param position The position at this state.
+     * @param velocity The velocity at this state.
+     */
     public State(double position, double velocity) {
       this.position = position;
       this.velocity = velocity;
     }
 
+    /**
+     * Constructs constraints for a Trapezoid Profile.
+     *
+     * @param <U> Unit type.
+     * @param position The position at this state.
+     * @param velocity The velocity at this state.
+     */
     public <U extends Unit<U>> State(Measure<U> position, Measure<Velocity<U>> velocity) {
       this(position.baseUnitMagnitude(), velocity.baseUnitMagnitude());
     }

wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/TrajectoryConstraint.java

@@ -37,7 +37,10 @@ public interface TrajectoryConstraint {
 
   /** Represents a minimum and maximum acceleration. */
   class MinMax {
+    /** The minimum acceleration. */
     public double minAccelerationMetersPerSecondSq = -Double.MAX_VALUE;
+
+    /** The maximum acceleration. */
     public double maxAccelerationMetersPerSecondSq = Double.MAX_VALUE;
 
     /**

wpimath/src/main/native/cpp/kinematics/proto/MecanumDriveKinematicsProto.cpp

@@ -26,8 +26,8 @@ frc::MecanumDriveKinematics wpi::Protobuf<frc::MecanumDriveKinematics>::Unpack(
 void wpi::Protobuf<frc::MecanumDriveKinematics>::Pack(
     google::protobuf::Message* msg, const frc::MecanumDriveKinematics& value) {
   auto m = static_cast<wpi::proto::ProtobufMecanumDriveKinematics*>(msg);
-  wpi::PackProtobuf(m->mutable_front_left(), value.GetFrontLeftWheel());
-  wpi::PackProtobuf(m->mutable_front_right(), value.GetFrontRightWheel());
-  wpi::PackProtobuf(m->mutable_rear_left(), value.GetRearLeftWheel());
-  wpi::PackProtobuf(m->mutable_rear_right(), value.GetRearRightWheel());
+  wpi::PackProtobuf(m->mutable_front_left(), value.GetFrontLeft());
+  wpi::PackProtobuf(m->mutable_front_right(), value.GetFrontRight());
+  wpi::PackProtobuf(m->mutable_rear_left(), value.GetRearLeft());
+  wpi::PackProtobuf(m->mutable_rear_right(), value.GetRearRight());
 }

wpimath/src/main/native/cpp/kinematics/struct/MecanumDriveKinematicsStruct.cpp

@@ -27,8 +27,8 @@ frc::MecanumDriveKinematics StructType::Unpack(std::span<const uint8_t> data) {
 
 void StructType::Pack(std::span<uint8_t> data,
                       const frc::MecanumDriveKinematics& value) {
-  wpi::PackStruct<kFrontLeftOff>(data, value.GetFrontLeftWheel());
-  wpi::PackStruct<kFrontRightOff>(data, value.GetFrontRightWheel());
-  wpi::PackStruct<kRearLeftOff>(data, value.GetRearLeftWheel());
-  wpi::PackStruct<kRearRightOff>(data, value.GetRearRightWheel());
+  wpi::PackStruct<kFrontLeftOff>(data, value.GetFrontLeft());
+  wpi::PackStruct<kFrontRightOff>(data, value.GetFrontRight());
+  wpi::PackStruct<kRearLeftOff>(data, value.GetRearLeft());
+  wpi::PackStruct<kRearRightOff>(data, value.GetRearRight());
 }

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

@@ -33,10 +33,10 @@ class WPILIB_DLLEXPORT ArmFeedforward {
   /**
    * Creates a new ArmFeedforward with the specified gains.
    *
-   * @param kS   The static gain, in volts.
+   * @param kS The static gain, in volts.
    * @param kG The gravity gain, in volts.
-   * @param kV   The velocity gain, in volt seconds per radian.
-   * @param kA   The acceleration gain, in volt seconds² per radian.
+   * @param kV The velocity gain, in volt seconds per radian.
+   * @param kA The acceleration gain, in volt seconds² per radian.
    */
   constexpr ArmFeedforward(
       units::volt_t kS, units::volt_t kG, units::unit_t<kv_unit> kV,
@@ -175,9 +175,16 @@ class WPILIB_DLLEXPORT ArmFeedforward {
     return MaxAchievableAcceleration(-maxVoltage, angle, velocity);
   }
 
+  /// The static gain, in volts.
   const units::volt_t kS;
+
+  /// The gravity gain, in volts.
   const units::volt_t kG;
+
+  /// The velocity gain, in volt seconds per radian.
   const units::unit_t<kv_unit> kV;
+
+  /// The acceleration gain, in volt seconds² per radian.
   const units::unit_t<ka_unit> kA;
 };
 }  // namespace frc

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

@@ -12,7 +12,10 @@ namespace frc {
  * Motor voltages for a differential drive.
  */
 struct DifferentialDriveWheelVoltages {
+  /// Left wheel voltage.
   units::volt_t left = 0_V;
+
+  /// Right wheel voltage.
   units::volt_t right = 0_V;
 };
 

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

@@ -182,9 +182,16 @@ class ElevatorFeedforward {
     return MaxAchievableAcceleration(-maxVoltage, velocity);
   }
 
+  /// The static gain.
   const units::volt_t kS;
+
+  /// The gravity gain.
   const units::volt_t kG;
+
+  /// The velocity gain.
   const units::unit_t<kv_unit> kV;
+
+  /// The acceleration gain.
   const units::unit_t<ka_unit> kA;
 };
 }  // namespace frc

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

@@ -160,8 +160,13 @@ class SimpleMotorFeedforward {
     return MaxAchievableAcceleration(-maxVoltage, velocity);
   }
 
+  /** The static gain. */
   const units::volt_t kS;
+
+  /** The velocity gain. */
   const units::unit_t<kv_unit> kV;
+
+  /** The acceleration gain. */
   const units::unit_t<ka_unit> kA;
 };
 }  // namespace frc

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

@@ -16,13 +16,28 @@
 
 namespace frc {
 
+/**
+ * This class incorporates time-delayed measurements into a Kalman filter's
+ * state estimate.
+ *
+ * @tparam States The number of states.
+ * @tparam Inputs The number of inputs.
+ * @tparam Outputs The number of outputs.
+ */
 template <int States, int Inputs, int Outputs, typename KalmanFilterType>
 class KalmanFilterLatencyCompensator {
  public:
+  /**
+   * This class contains all the information about our observer at a given time.
+   */
   struct ObserverSnapshot {
+    /// The state estimate.
     Vectord<States> xHat;
+    /// The square root error covariance.
     Matrixd<States, States> squareRootErrorCovariances;
+    /// The inputs.
     Vectord<Inputs> inputs;
+    /// The local measurements.
     Vectord<Outputs> localMeasurements;
 
     ObserverSnapshot(const KalmanFilterType& observer, const Vectord<Inputs>& u,

wpimath/src/main/native/include/frc/filter/Debouncer.h

@@ -17,7 +17,17 @@ namespace frc {
  */
 class WPILIB_DLLEXPORT Debouncer {
  public:
-  enum DebounceType { kRising, kFalling, kBoth };
+  /**
+   * Type of debouncing to perform.
+   */
+  enum DebounceType {
+    /// Rising edge.
+    kRising,
+    /// Falling edge.
+    kFalling,
+    /// Both rising and falling edges.
+    kBoth
+  };
 
   /**
    * Creates a new Debouncer.

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

@@ -10,6 +10,9 @@
 
 namespace frc {
 
+/**
+ * Represents a quaternion.
+ */
 class WPILIB_DLLEXPORT Quaternion {
  public:
   /**

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

@@ -88,6 +88,7 @@ class WPILIB_DLLEXPORT DifferentialDriveKinematics
     return ToTwist2d(end.left - start.left, end.right - start.right);
   }
 
+  /// Differential drive trackwidth.
   units::meter_t trackWidth;
 };
 }  // namespace frc

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

@@ -138,10 +138,33 @@ class WPILIB_DLLEXPORT MecanumDriveKinematics
    */
   Twist2d ToTwist2d(const MecanumDriveWheelPositions& wheelDeltas) const;
 
-  const Translation2d GetFrontLeftWheel() const { return m_frontLeftWheel; }
-  const Translation2d GetFrontRightWheel() const { return m_frontRightWheel; }
-  const Translation2d GetRearLeftWheel() const { return m_rearLeftWheel; }
-  const Translation2d GetRearRightWheel() const { return m_rearRightWheel; }
+  /**
+   * Returns the front-left wheel translation.
+   *
+   * @return The front-left wheel translation.
+   */
+  const Translation2d& GetFrontLeft() const { return m_frontLeftWheel; }
+
+  /**
+   * Returns the front-right wheel translation.
+   *
+   * @return The front-right wheel translation.
+   */
+  const Translation2d& GetFrontRight() const { return m_frontRightWheel; }
+
+  /**
+   * Returns the rear-left wheel translation.
+   *
+   * @return The rear-left wheel translation.
+   */
+  const Translation2d& GetRearLeft() const { return m_rearLeftWheel; }
+
+  /**
+   * Returns the rear-right wheel translation.
+   *
+   * @return The rear-right wheel translation.
+   */
+  const Translation2d& GetRearRight() const { return m_rearRightWheel; }
 
  private:
   mutable Matrixd<4, 3> m_inverseKinematics;

wpimath/src/main/native/include/frc/spline/Spline.h

@@ -44,7 +44,10 @@ class Spline {
    * dimension.
    */
   struct ControlVector {
+    /// The x components of the control vector.
     wpi::array<double, (Degree + 1) / 2> x;
+
+    /// The y components of the control vector.
     wpi::array<double, (Degree + 1) / 2> y;
   };
 

wpimath/src/main/native/include/frc/system/plant/DCMotor.h

@@ -26,19 +26,28 @@ class WPILIB_DLLEXPORT DCMotor {
       units::unit_t<units::compound_unit<units::newton_meters,
                                          units::inverse<units::ampere>>>;
 
+  /// Voltage at which the motor constants were measured.
   units::volt_t nominalVoltage;
+
+  /// Torque when stalled.
   units::newton_meter_t stallTorque;
+
+  /// Current draw when stalled.
   units::ampere_t stallCurrent;
+
+  /// Current draw under no load.
   units::ampere_t freeCurrent;
+
+  /// Angular velocity under no load.
   units::radians_per_second_t freeSpeed;
 
-  // Resistance of motor
+  /// Motor internal resistance.
   units::ohm_t R;
 
-  // Motor velocity constant
+  /// Motor velocity constant.
   radians_per_second_per_volt_t Kv;
 
-  // Torque constant
+  /// Motor torque constant.
   newton_meters_per_ampere_t Kt;
 
   /**

wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h

@@ -20,6 +20,9 @@
 #include "units/voltage.h"
 
 namespace frc {
+/**
+ * Linear system ID utility functions.
+ */
 class WPILIB_DLLEXPORT LinearSystemId {
  public:
   template <typename Distance>

wpimath/src/main/native/include/frc/trajectory/ExponentialProfile.h

@@ -55,36 +55,80 @@ class ExponentialProfile {
   using KA = units::compound_unit<Input, units::inverse<Acceleration>>;
   using kA_t = units::unit_t<KA>;
 
+  /**
+   * Profile timing.
+   */
+  class ProfileTiming {
+   public:
+    /// Profile inflection time.
+    units::second_t inflectionTime;
+
+    /// Total profile time.
+    units::second_t totalTime;
+
+    /**
+     * Decides if the profile is finished by time t.
+     *
+     * @param t The time since the beginning of the profile.
+     * @return if the profile is finished at time t.
+     */
+    bool IsFinished(const units::second_t& t) const { return t >= totalTime; }
+  };
+
+  /**
+   * Profile constraints.
+   */
   class Constraints {
    public:
+    /**
+     * Construct constraints for an ExponentialProfile.
+     *
+     * @param maxInput maximum unsigned input voltage
+     * @param A The State-Space 1x1 system matrix.
+     * @param B The State-Space 1x1 input matrix.
+     */
     Constraints(Input_t maxInput, A_t A, B_t B)
         : maxInput{maxInput}, A{A}, B{B} {}
+
+    /**
+     * Construct constraints for an ExponentialProfile from characteristics.
+     *
+     * @param maxInput maximum unsigned input voltage
+     * @param kV The velocity gain.
+     * @param kA The acceleration gain.
+     */
     Constraints(Input_t maxInput, kV_t kV, kA_t kA)
         : maxInput{maxInput}, A{-kV / kA}, B{1 / kA} {}
+
+    /**
+     * Computes the max achievable velocity for an Exponential Profile.
+     *
+     * @return The seady-state velocity achieved by this profile.
+     */
     Velocity_t MaxVelocity() const { return -maxInput * B / A; }
 
+    /// Maximum unsigned input voltage.
     Input_t maxInput{0};
+
+    /// The State-Space 1x1 system matrix.
     A_t A{0};
+
+    /// The State-Space 1x1 input matrix.
     B_t B{0};
   };
 
+  /** Profile state. */
   class State {
    public:
+    /// The position at this state.
     Distance_t position{0};
+
+    /// The velocity at this state.
     Velocity_t velocity{0};
+
     bool operator==(const State&) const = default;
   };
 
-  class ProfileTiming {
-   public:
-    units::second_t inflectionTime;
-    units::second_t totalTime;
-
-    bool IsFinished(const units::second_t& time) const {
-      return time > totalTime;
-    }
-  };
-
   /**
    * Construct a ExponentialProfile.
    *

wpimath/src/main/native/include/frc/trajectory/Trajectory.h

@@ -28,19 +28,19 @@ class WPILIB_DLLEXPORT Trajectory {
    * Represents one point on the trajectory.
    */
   struct WPILIB_DLLEXPORT State {
-    // The time elapsed since the beginning of the trajectory.
+    /// The time elapsed since the beginning of the trajectory.
     units::second_t t = 0_s;
 
-    // The speed at that point of the trajectory.
+    /// The speed at that point of the trajectory.
     units::meters_per_second_t velocity = 0_mps;
 
-    // The acceleration at that point of the trajectory.
+    /// The acceleration at that point of the trajectory.
     units::meters_per_second_squared_t acceleration = 0_mps_sq;
 
-    // The pose at that point of the trajectory.
+    /// The pose at that point of the trajectory.
     Pose2d pose;
 
-    // The curvature at that point of the trajectory.
+    /// The curvature at that point of the trajectory.
     units::curvature_t curvature{0.0};
 
     /**

wpimath/src/main/native/include/frc/trajectory/TrajectoryUtil.h

@@ -12,6 +12,9 @@
 #include "frc/trajectory/Trajectory.h"
 
 namespace frc {
+/**
+ * Trajectory utilities.
+ */
 class WPILIB_DLLEXPORT TrajectoryUtil {
  public:
   TrajectoryUtil() = delete;

wpimath/src/main/native/include/frc/trajectory/TrapezoidProfile.h

@@ -52,25 +52,49 @@ class TrapezoidProfile {
       units::compound_unit<Velocity, units::inverse<units::seconds>>;
   using Acceleration_t = units::unit_t<Acceleration>;
 
+  /**
+   * Profile constraints.
+   */
   class Constraints {
    public:
+    /// Maximum velocity.
+    Velocity_t maxVelocity{0};
+
+    /// Maximum acceleration.
+    Acceleration_t maxAcceleration{0};
+
+    /**
+     * Default constructor.
+     */
     Constraints() {
       wpi::math::MathSharedStore::ReportUsage(
           wpi::math::MathUsageId::kTrajectory_TrapezoidProfile, 1);
     }
-    Constraints(Velocity_t maxVelocity_, Acceleration_t maxAcceleration_)
-        : maxVelocity{maxVelocity_}, maxAcceleration{maxAcceleration_} {
+
+    /**
+     * Constructs constraints for a Trapezoid Profile.
+     *
+     * @param maxVelocity Maximum velocity.
+     * @param maxAcceleration Maximum acceleration.
+     */
+    Constraints(Velocity_t maxVelocity, Acceleration_t maxAcceleration)
+        : maxVelocity{maxVelocity}, maxAcceleration{maxAcceleration} {
       wpi::math::MathSharedStore::ReportUsage(
           wpi::math::MathUsageId::kTrajectory_TrapezoidProfile, 1);
     }
-    Velocity_t maxVelocity{0};
-    Acceleration_t maxAcceleration{0};
   };
 
+  /**
+   * Profile state.
+   */
   class State {
    public:
+    /// The position at this state.
     Distance_t position{0};
+
+    /// The velocity at this state.
     Velocity_t velocity{0};
+
     bool operator==(const State&) const = default;
   };
 

wpimath/src/test/native/cpp/kinematics/proto/MecanumDriveKinematicsProtoTest.cpp

@@ -24,11 +24,8 @@ TEST(MecanumDriveKinematicsProtoTest, Roundtrip) {
   ProtoType::Pack(proto, kExpectedData);
 
   MecanumDriveKinematics unpacked_data = ProtoType::Unpack(*proto);
-  EXPECT_EQ(kExpectedData.GetFrontLeftWheel(),
-            unpacked_data.GetFrontLeftWheel());
-  EXPECT_EQ(kExpectedData.GetFrontRightWheel(),
-            unpacked_data.GetFrontRightWheel());
-  EXPECT_EQ(kExpectedData.GetRearLeftWheel(), unpacked_data.GetRearLeftWheel());
-  EXPECT_EQ(kExpectedData.GetRearRightWheel(),
-            unpacked_data.GetRearRightWheel());
+  EXPECT_EQ(kExpectedData.GetFrontLeft(), unpacked_data.GetFrontLeft());
+  EXPECT_EQ(kExpectedData.GetFrontRight(), unpacked_data.GetFrontRight());
+  EXPECT_EQ(kExpectedData.GetRearLeft(), unpacked_data.GetRearLeft());
+  EXPECT_EQ(kExpectedData.GetRearRight(), unpacked_data.GetRearRight());
 }

wpimath/src/test/native/cpp/kinematics/struct/MecanumDriveKinematicsStructTest.cpp

@@ -23,11 +23,8 @@ TEST(MecanumDriveKinematicsStructTest, Roundtrip) {
 
   MecanumDriveKinematics unpacked_data = StructType::Unpack(buffer);
 
-  EXPECT_EQ(kExpectedData.GetFrontLeftWheel(),
-            unpacked_data.GetFrontLeftWheel());
-  EXPECT_EQ(kExpectedData.GetFrontRightWheel(),
-            unpacked_data.GetFrontRightWheel());
-  EXPECT_EQ(kExpectedData.GetRearLeftWheel(), unpacked_data.GetRearLeftWheel());
-  EXPECT_EQ(kExpectedData.GetRearRightWheel(),
-            unpacked_data.GetRearRightWheel());
+  EXPECT_EQ(kExpectedData.GetFrontLeft(), unpacked_data.GetFrontLeft());
+  EXPECT_EQ(kExpectedData.GetFrontRight(), unpacked_data.GetFrontRight());
+  EXPECT_EQ(kExpectedData.GetRearLeft(), unpacked_data.GetRearLeft());
+  EXPECT_EQ(kExpectedData.GetRearRight(), unpacked_data.GetRearRight());
 }