[choreolib] Add trajectory mirroring for x and y

[RohanBhattacharyya]

Allows the user to create a mirrored trajectory over the length or width.

Example usage would be if an auto was made for one side of the trench, but the user wants to run it for the other side in 2026 REBUILT.

Example usage:

private AutoRoutine shootToAllianceLeft() {
    final AutoRoutine routine = autoFactory.newRoutine("Shoot to Alliance Left");
    final AutoTrajectory traj = ShootAlliance.asAutoTraj(routine);

    routine.active().onTrue(
        Commands.sequence(
            traj.resetOdometry(),
            traj.cmd()
        )
    );


    return routine;
}

private AutoRoutine shootToAllianceRight() {
    final AutoRoutine routine = autoFactory.newRoutine("Shoot to Alliance Right");
    final AutoTrajectory traj = routine.trajectory(ShootAlliance.asAutoTraj(routine).getRawTrajectory().mirrorY());

    routine.active().onTrue(
        Commands.sequence(
            traj.resetOdometry(),
            traj.cmd()
        )
    );
    return routine;
}

[Daniel1464]

Looks good, but I would recommend adding mirrorX() and mirrorY() instance methods to AutoTrajectory, so you could just do

ShootAliance.asAutoTraj(routine).mirrorY()

[RohanBhattacharyya]

Looks good, but I would recommend adding mirrorX() and mirrorY() instance methods to AutoTrajectory, so you could just do

ShootAliance.asAutoTraj(routine).mirrorY()

Alright, I added that.

[shueja]

Added new public methods:

• DifferentialSample::mirrorY and DifferentialSample::mirrorX
• SwerveSample::mirrorY and SwerveSample::mirrorX

[shueja]

Flipper is no longer an enum with MIRRORED and ROTATE_AROUND, it is an abstract class with factories and instance utility methods.

[calcmogul]

The Copilot output wasn't great.

[RohanBhattacharyya]

I updated the port to C++ and Python with codex.

[calcmogul]

Please don't use an LLM to address review comments like this. It generated a lot of bad code, and I don't want to spend the time annotating everything it messed up.

[RohanBhattacharyya]

Please don't use an LLM to address review comments like this. It generated a lot of bad code, and I don't want to spend the time annotating everything it messed up.

Alright, I undid the LLM-based commits. Please add the help: needs C++ and help: needs Python tags. This is reverted to before the Python and C++ ports.