* Move units into API docs instead because suffixes make user code verbose and hard to read
* Rename trackWidth to trackwidth
* Make ultrasonic classes use meters instead of a mix of m, cm, mm, ft,
and inches
It now uses SQP for problems without inequality constraints, which is
faster.
main:
```
[ RUN ] Ellipse2dTest.DistanceToPoint
0.203 ms
[ OK ] Ellipse2dTest.DistanceToPoint (0 ms)
[ RUN ] Ellipse2dTest.FindNearestPoint
0.019 ms
[ OK ] Ellipse2dTest.FindNearestPoint (0 ms)
```
upgrade:
```
[ RUN ] Ellipse2dTest.DistanceToPoint
0.197 ms
[ OK ] Ellipse2dTest.DistanceToPoint (0 ms)
[ RUN ] Ellipse2dTest.FindNearestPoint
0.015 ms
[ OK ] Ellipse2dTest.FindNearestPoint (0 ms)
```
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.
The Raspberry Pi 5 is fast enough that we no longer need it.
```
Running ./build/DAREBench
Run on (4 X 2400 MHz CPU s)
CPU Caches:
L1 Data 64 KiB (x4)
L1 Instruction 64 KiB (x4)
L2 Unified 512 KiB (x4)
L3 Unified 2048 KiB (x1)
Load Average: 0.47, 0.72, 0.45
***WARNING*** CPU scaling is enabled, the benchmark real time measurements may be noisy and will incur extra overhead.
-------------------------------------------------------------------------------
Benchmark Time CPU Iterations
-------------------------------------------------------------------------------
DARE_WPIMath_Dynamic 34.4 us 34.4 us 20315
DARE_WPIMath_NoPrecondChecks_Dynamic 21.7 us 21.7 us 32266
DARE_WPIMath_Static 15.2 us 15.2 us 45878
DARE_WPIMath_NoPrecondChecks_Static 7.84 us 7.84 us 89316
DARE_SLICOT 79.4 us 79.4 us 8789
DARE_Drake 34.9 us 34.9 us 20074
```
This reverts commit d1de7663d3.
Intellisense is still broken on Windows Athena target with the error
`incomplete type "Eigen::Matrix<double, 3, 3, 0, 3, 3>" is not allowed`.
The Google C++ protobuf implementation has issues with dynamic linkage across DLL boundaries because it uses global variables. It also has a compile-time dependency because the protoc version must exactly match the libprotobuf version. Using nanopb with a customized generator fixes both of these issues.
Co-authored-by: Gold856 <117957790+Gold856@users.noreply.github.com>
