From 3288b3cec3192901ac381dc824189f1150267567 Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Mon, 25 Nov 2024 09:29:03 -0800
Subject: [PATCH] Expand deprecation message

---
 .../main/java/edu/wpi/first/math/StateSpaceUtil.java |  9 ++++++---
 wpimath/src/main/native/include/frc/StateSpaceUtil.h | 12 +++++++++---
 2 files changed, 15 insertions(+), 6 deletions(-)

diff --git a/wpimath/src/main/java/edu/wpi/first/math/StateSpaceUtil.java b/wpimath/src/main/java/edu/wpi/first/math/StateSpaceUtil.java
index 91f2bf8a508..eb494308926 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/StateSpaceUtil.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/StateSpaceUtil.java
@@ -131,7 +131,8 @@ public static <States extends Num, Outputs extends Num> boolean isDetectable(
    *
    * @param pose A pose to convert to a vector.
    * @return The given pose in vector form, with the third element, theta, in radians.
-   * @deprecated Use {@link Pose2d#toMatrix()} instead.
+   * @deprecated Create the vector manually instead. If you were using this as an intermediate step
+   *     for constructing affine transformations, use {@link Pose2d#toMatrix()} instead.
    */
   @Deprecated(forRemoval = true, since = "2025")
   public static Matrix<N3, N1> poseToVector(Pose2d pose) {
@@ -182,7 +183,8 @@ public static <I extends Num> Matrix<I, N1> desaturateInputVector(
    *
    * @param pose A pose to convert to a vector.
    * @return The given pose in as a 4x1 vector of x, y, cos(theta), and sin(theta).
-   * @deprecated Use {@link Pose2d#toMatrix()} instead.
+   * @deprecated Create the vector manually instead. If you were using this as an intermediate step
+   *     for constructing affine transformations, use {@link Pose2d#toMatrix()} instead.
    */
   @Deprecated(forRemoval = true, since = "2025")
   public static Matrix<N4, N1> poseTo4dVector(Pose2d pose) {
@@ -198,7 +200,8 @@ public static Matrix<N4, N1> poseTo4dVector(Pose2d pose) {
    *
    * @param pose A pose to convert to a vector.
    * @return The given pose in vector form, with the third element, theta, in radians.
-   * @deprecated Use {@link Pose2d#toMatrix()} instead.
+   * @deprecated Create the vector manually instead. If you were using this as an intermediate step
+   *     for constructing affine transformations, use {@link Pose2d#toMatrix()} instead.
    */
   @Deprecated(forRemoval = true, since = "2025")
   public static Matrix<N3, N1> poseTo3dVector(Pose2d pose) {
diff --git a/wpimath/src/main/native/include/frc/StateSpaceUtil.h b/wpimath/src/main/native/include/frc/StateSpaceUtil.h
index f5435545232..1e8ae2a1081 100644
--- a/wpimath/src/main/native/include/frc/StateSpaceUtil.h
+++ b/wpimath/src/main/native/include/frc/StateSpaceUtil.h
@@ -206,7 +206,9 @@ Vectord<N> MakeWhiteNoiseVector(const std::array<double, N>& stdDevs) {
  * @param pose The pose that is being represented.
  *
  * @return The vector.
- * @deprecated Use Pose2d.ToMatrix() instead.
+ * @deprecated Create the vector manually instead. If you were using this as an
+ *     intermediate step for constructing affine transformations, use
+ *     Pose2d.ToMatrix() instead.
  */
 [[deprecated("Use Pose2d.ToMatrix() instead.")]]
 WPILIB_DLLEXPORT constexpr Eigen::Vector3d PoseTo3dVector(const Pose2d& pose) {
@@ -221,7 +223,9 @@ WPILIB_DLLEXPORT constexpr Eigen::Vector3d PoseTo3dVector(const Pose2d& pose) {
  * @param pose The pose that is being represented.
  *
  * @return The vector.
- * @deprecated Use Pose2d.ToMatrix() instead.
+ * @deprecated Create the vector manually instead. If you were using this as an
+ *     intermediate step for constructing affine transformations, use
+ *     Pose2d.ToMatrix() instead.
  */
 [[deprecated("Use Pose2d.ToMatrix() instead.")]]
 WPILIB_DLLEXPORT constexpr Eigen::Vector4d PoseTo4dVector(const Pose2d& pose) {
@@ -313,7 +317,9 @@ bool IsDetectable(const Matrixd<States, States>& A,
  * @param pose The pose that is being represented.
  *
  * @return The vector.
- * @deprecated Use Pose2d.ToMatrix() instead.
+ * @deprecated Create the vector manually instead. If you were using this as an
+ *     intermediate step for constructing affine transformations, use
+ *     Pose2d.ToMatrix() instead.
  */
 [[deprecated("Use Pose2d.ToMatrix() instead.")]]
 WPILIB_DLLEXPORT constexpr Eigen::Vector3d PoseToVector(const Pose2d& pose) {