Point2d is a duplicate of Translation2d, but with fewer features.
The following functions should just take a Trajectory, not the internal vector of states type. https://github.com/VexWPILib/vpi/blob/main/vpi/include/vpi/controller/SimpleTrajectoryFollower.h#L21-L25
The following functions feel bolted on and don't really follow the original purpose of "basic inverse kinematics for teleop driving". It also provides multiple ways to do the same thing, and we like to follow the Zen of Python's "There should be one-- and preferably only one --obvious way to do it.". https://github.com/VexWPILib/vpi/blob/main/vpi/include/vpi/drive/DifferentialDrive.h#L121-L161