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[wpimath] Implement Pose2d and Pose3d rotateAround() #3885

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Run time

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Job	Run time
Build - WPILib	13m 54s
Build - Shuffleboard	5m 7s
Build - PathWeaver	1m 52s
Build - Robotpy	13m 23s
Build - RobotBuilder	5m 7s
	39m 23s