Joseph Eng 9e1258440b [wpimath] Fix Rotation3d interpolation and document extrinsic vs intrinsic (#8544) ...

Documents the extrinsic vs intrinsic semantics of `plus()` and
`minus()`. (`rotateBy()` was documented in [a previous
PR](https://github.com/wpilibsuite/allwpilib/pull/5508))
Fixes usage of `plus()` and `minus()` in `Rotation3d.interpolate()`.
(Fixes #8523)
Fixes incorrect usages of `plus()`, `minus()`, and `rotateBy()`
throughout `Odometry3d`.
Adds explanatory comments for some `plus()`, `minus()`, and `rotateBy()`
operations.
Fixes `TimeInterpolatableBuffer` not using twists for `Pose3d` (this was
just because I happened to notice it, it isn't really related to the PR)

To check all of our usages of `plus()`, `minus()`, and `rotateBy()`, I
marked them as deprecated, checked compile errors from `./gradlew
compileJava`, and then undeprecated them. You can see all of the spots
that showed up (at least on the Java side) by viewing the diff for
241109c.

I wanted to present this alternative to #8526 because the change has its
own quirks, there's little time before kickoff, and there would be no
code-side warning to teams (and mentors) already used to the current
behavior.

2026-01-14 20:16:24 -08:00

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