[wpimath] Add overloads for Transform2d and Transform3d

wpimath/src/main/java/edu/wpi/first/math/geometry/Transform2d.java

@@ -40,6 +40,18 @@ public Transform2d(Translation2d translation, Rotation2d rotation) {
     m_rotation = rotation;
   }
 
+  /**
+   * Constructs a transform with x and y translations instead of a separate Translation2d.
+   *
+   * @param x The x component of the translational component of the transform.
+   * @param y The y component of the translational component of the transform.
+   * @param rotation The rotational component of the transform.
+   */
+  public Transform2d(double x, double y, Rotation2d rotation) {
+    m_translation = new Translation2d(x, y);
+    m_rotation = rotation;
+  }
+
   /** Constructs the identity transform -- maps an initial pose to itself. */
   public Transform2d() {
     m_translation = new Translation2d();

wpimath/src/main/java/edu/wpi/first/math/geometry/Transform3d.java

@@ -40,6 +40,19 @@ public Transform3d(Translation3d translation, Rotation3d rotation) {
     m_rotation = rotation;
   }
 
+  /**
+   * Constructs a transform with x, y, and z translations instead of a separate Translation3d.
+   *
+   * @param x The x component of the translational component of the transform.
+   * @param y The y component of the translational component of the transform.
+   * @param z The z component of the translational component of the transform.
+   * @param rotation The rotational component of the transform.
+   */
+  public Transform3d(double x, double y, double z, Rotation3d rotation) {
+    m_translation = new Translation3d(x, y, z);
+    m_rotation = rotation;
+  }
+
   /** Constructs the identity transform -- maps an initial pose to itself. */
   public Transform3d() {
     m_translation = new Translation3d();

wpimath/src/main/native/cpp/geometry/Transform3d.cpp

@@ -21,6 +21,10 @@ Transform3d::Transform3d(Pose3d initial, Pose3d final) {
 Transform3d::Transform3d(Translation3d translation, Rotation3d rotation)
     : m_translation(std::move(translation)), m_rotation(std::move(rotation)) {}
 
+Transform3d::Transform3d(units::meter_t x, units::meter_t y, units::meter_t z,
+                         Rotation3d rotation)
+    : m_translation(x, y, z), m_rotation(std::move(rotation)) {}
+
 Transform3d Transform3d::Inverse() const {
   // We are rotating the difference between the translations
   // using a clockwise rotation matrix. This transforms the global

wpimath/src/main/native/include/frc/geometry/Transform2d.h

@@ -33,6 +33,17 @@ class WPILIB_DLLEXPORT Transform2d {
    */
   constexpr Transform2d(Translation2d translation, Rotation2d rotation);
 
+  /**
+   * Constructs a transform with x and y translations instead of a separate
+   * Translation2d.
+   *
+   * @param x The x component of the translational component of the transform.
+   * @param y The y component of the translational component of the transform.
+   * @param rotation The rotational component of the transform.
+   */
+  constexpr Transform2d(units::meter_t x, units::meter_t y,
+                        Rotation2d rotation);
+
   /**
    * Constructs the identity transform -- maps an initial pose to itself.
    */

wpimath/src/main/native/include/frc/geometry/Transform2d.inc

@@ -16,6 +16,10 @@ constexpr Transform2d::Transform2d(Translation2d translation,
                                    Rotation2d rotation)
     : m_translation(std::move(translation)), m_rotation(std::move(rotation)) {}
 
+constexpr Transform2d::Transform2d(units::meter_t x, units::meter_t y,
+                                   Rotation2d rotation)
+    : m_translation(x, y), m_rotation(std::move(rotation)) {}
+
 constexpr Transform2d Transform2d::Inverse() const {
   // We are rotating the difference between the translations
   // using a clockwise rotation matrix. This transforms the global

wpimath/src/main/native/include/frc/geometry/Transform3d.h

@@ -33,6 +33,18 @@ class WPILIB_DLLEXPORT Transform3d {
    */
   Transform3d(Translation3d translation, Rotation3d rotation);
 
+  /**
+   * Constructs a transform with x, y, and z translations instead of a separate
+   * Translation3d.
+   *
+   * @param x The x component of the translational component of the transform.
+   * @param y The y component of the translational component of the transform.
+   * @param z The z component of the translational component of the transform.
+   * @param rotation The rotational component of the transform.
+   */
+  Transform3d(units::meter_t x, units::meter_t y, units::meter_t z,
+              Rotation3d rotation);
+
   /**
    * Constructs the identity transform -- maps an initial pose to itself.
    */