[wpimath] Refactor StateSpaceUtil into separate files #8421
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* Moved makeWhiteNoiseVector() to random.Normal.normal()
* Moved isControllable() and isDetectable() to system.LinearSystemUtil
* Renamed makeCostMatrix() to costMatrix() (Java)
* Renamed makeCovarianceMatrix() to covarianceMatrix() (Java)
* Renamed MakeCostMatrix() to CostMatrix() (C++)
* Renamed MakeCovMatrix() to CovarianceMatrix() (C++)
* Removed deprecated poseTo3dVector(), poseTo4dVector(), poseToVector()
* Removed clampInputMaxMagnitude()
* We don't use it, and Eigen has this functionality built in via
`u = u.array().min(u_max.array()).max(u_min.array());`
* Simplified implementation of desaturateInputVector()
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KangarooKoala
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Nov 26, 2025
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Seems alright to me, for what it's worth.
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u = u.array().min(u_max.array()).max(u_min.array());