[wpimath] Add vector slewrate limiter

[OhmV-IR]

Intends to close #4708
Adds a function in MathUtil which takes an initial Translation(2d or 3d), and a second translation, the time interval between them and a max velocity. The function will return the output translation, which is the translation with the capped speed(if the speed of the translation is less than the maxVelocity, then the translation should be unchanged).
will mark PR as ready for review when java code is completed

[OhmV-IR]

I can see I have some work to do on this. Will mark as ready for review when I resolve all the current feedback

[KangarooKoala]

Does using diff * (maxVelocity * dt / dist) work? There should be an implicit conversion from dimensionless unit_t to double that you can then multiply the Translation2d by. See the below:

allwpilib/wpimath/src/main/native/include/units/base.h

Lines 2153 to 2162 in f9307de

	/**
	* @brief implicit type conversion.
	* @details only enabled for scalar unit types.
	*/
	template<class Ty, std::enable_if_t<traits::is_dimensionless_unit<Units>::value && std::is_arithmetic<Ty>::value, int> = 0>
	constexpr operator Ty() const noexcept
	{
	// this conversion also resolves any PI exponents, by converting from a non-zero PI ratio to a zero-pi ratio.
	return static_cast<Ty>(units::convert<Units, unit<std::ratio<1>, units::category::scalar_unit>>((*this)()));
	}

Oopsies on my part for forgetting that the unit operations need to be grouped together so that the Translation2d doesn't get multiplied by a unit type.

[calcmogul]

You'll need to add #include <numbers> to the C++ test for the constants in std::numbers. Also, it seems https://en.cppreference.com/w/cpp/header/numbers doesn't list a std::numbers::inv_sqrt2, so you can just use std::numbers::sqrt2.

[OhmV-IR]

builds on my machine fine now

[KangarooKoala]

Nice work! Just one tiny nitpick that I noticed. (The last 5% of the work always takes the longest, but I think you're nearly there)