Command/com.amarcolini.joos.hardware.drive/TrajectoryCommandBuilder/splineToLinearHeading

splineToLinearHeading

public final TrajectoryCommandBuilder splineToLinearHeading(Pose2d endPose, Angle endTangent)

Adds a spline segment with linear heading interpolation.

Parameters

endPose

end pose

endTangent

end tangent

@JvmOverloads()
public final TrajectoryCommandBuilder splineToLinearHeading(Pose2d endPose, Angle endTangent, TrajectoryVelocityConstraint velConstraintOverride, TrajectoryAccelerationConstraint accelConstraintOverride)
@JvmOverloads()
public final TrajectoryCommandBuilder splineToLinearHeading(Pose2d endPose, Angle endTangent, TrajectoryVelocityConstraint velConstraintOverride)

Adds a spline segment with linear heading interpolation.

Parameters

endPose

end pose

endTangent

end tangent

constraintsOverride

segment-specific constraints