Trajectory Generation V2

[mjansen4857]

Rewrite of the trajectory generation to properly balance robot rotation and translation, and respect individual module limits. This isn't time optimal like Choreo, but should be significantly more accurate and hopefully allow PathPlanner paths to "just work" with little to no path tuning.

Still has a lot of issues that need to be ironed out and optimizations that need to be made. Some of these issues are due to the distribution of path samples along each spline segment. These will be fixed in a future PR that will dynamically sample the path based on distance and amount of rotation. Should be good enough for now with future PRs to improve it.

• Implement POC for new generation in GUI
• Add more motor torque curves for popular motors and current limits
• Support differential drive robots
• Fix issues and optimize (from testing, the dynamic path resolution PR should alleviate issues with module path discontinuities)
• Display GUI warning when a trajectory fails to generate
• GUI test coverage
• PPLib Java
• PPLib C++
• PPLib Python
• Test on real robot (benchmarked on RIO 1... significantly longer generation time but mostly acceptable. dynamic resolution and pre-generation will improve this)
• Documentation Will do later to get this merged sooner

[codecov]

Codecov Report

Attention: Patch coverage is 88.17097% with 119 lines in your changes missing coverage. Please review.

Project coverage is 85.35%. Comparing base (448e433) to head (4d4feac).
Report is 1 commits behind head on main.

Files with missing lines	Patch %	Lines
lib/widgets/editor/split_path_editor.dart	18.36%	40 Missing ⚠️
lib/pages/home_page.dart	0.00%	29 Missing ⚠️
lib/trajectory/motor_torque_curve.dart	15.38%	22 Missing ⚠️
lib/util/wpimath/kinematics.dart	88.60%	9 Missing ⚠️
lib/trajectory/trajectory.dart	97.34%	8 Missing ⚠️
lib/util/wpimath/geometry.dart	96.03%	4 Missing ⚠️
lib/widgets/editor/split_auto_editor.dart	94.23%	3 Missing ⚠️
lib/widgets/editor/split_choreo_path_editor.dart	60.00%	2 Missing ⚠️
lib/path/pathplanner_path.dart	85.71%	1 Missing ⚠️
lib/trajectory/auto_simulator.dart	95.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #694      +/-   ##
==========================================
- Coverage   85.51%   85.35%   -0.16%     
==========================================
  Files          78       83       +5     
  Lines        6867     7445     +578     
==========================================
+ Hits         5872     6355     +483     
- Misses        995     1090      +95     

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