This also makes the Gradle build work with JDK 17.
The extra JVM args in gradle.properties works around a bug with spotless
and JDK 17: https://github.com/diffplug/spotless/issues/834
PMD.CloseResource was ignored because it's almost always a false
positive, and there are many of them.
The wpimath library is a new library designed to separate the reusable math functionality
from the common utility library (wpiutil) and the hardware-dependent library (wpilibc/j).
Package names / include file names were NOT changed to minimize breakage. In a future year
it would be good to revamp these for a more uniform user experience and to reduce the risk
of accidental naming conflicts.
While theoretically all of this functionality could be placed into wpiutil, several pieces
of this library (e.g. DARE) are very time-consuming to compile, so it's nice to avoid this
expense for users who only want cscore or ntcore. It also allows for easy future separation
of build tasks vs number of workers on memory-constrained machines.
This moves the following functionality from wpiutil into wpimath:
- Eigen
- ejml
- Drake
- DARE
- wpiutil.math package (Matrix etc)
- units
And the following functionality from wpilibc/j into wpimath:
- Geometry
- Kinematics
- Spline
- Trajectory
- LinearFilter
- MedianFilter
- Feed-forward controllers
