Describe cosine compensation in swerve drive kinematics

[Alextopher]

So called "cosine compensation" is a common swerve drive optimization that I believe could benefit from easier discoverability and explanation.

I apologize I'm not familiar with wpilibc or robotpy, I would appreciate if someone could verify those code examples look right.

[sciencewhiz]

Is there a reason that C++ uses a different variable name from Java and Python?

[Alextopher]

Is there a reason that C++ uses a different variable name from Java and Python?

I used the same variable names as the previous code example.