[cmd] After Command Decorators

[oh-yes-0-fps]

Adds After and AfterTime to commands.

These are being upstreamed from choreolib CommandExt

This allows you to do trajCmd.after(gampiece().negate()) to wait to move until the robot shoots its gamepiece.

[oh-yes-0-fps]

Ignore the WIP commit that got in by accident, oopsie.

[github-actions]

This PR modifies commands. Please open a corresponding PR in Python Commands and include a link to this PR.

[rzblue]

"after" might be a bit confusing, since we also have decorators that enforce command ordering.

[oh-yes-0-fps]

I originally had waitFor but js suggested after, i can see both making sense

[KangarooKoala]

It might be clearer to implement these factories in terms of beforeStarting() (and optionally the corresponding Commands.wait() factory), especially for the C++ implementation.
For example:

 public SequentialCommandGroup after(BooleanSupplier condition) {
     // if we want this to bypass the `WaitUntilCommand` if the condition is already true,
     // we can use a conditional command but it proposes some compositional issues
-    return new SequentialCommandGroup(new WaitUntilCommand(condition), this);
+    return beforeStarting(Commands.wait(condition));
   }

 CommandPtr CommandPtr::After(std::function<bool()> condition) && {
-  AssertValid();
-  std::vector<std::unique_ptr<Command>> temp;
-  temp.emplace_back(std::make_unique<WaitUntilCommand>(std::move(condition)));
-  temp.emplace_back(std::move(m_ptr));
-  m_ptr = std::make_unique<SequentialCommandGroup>(std::move(temp));
-  return std::move(*this);
+  return std::move(*this).BeforeStarting(cmd::Wait(condition));
 }