addSpline
public final TrajectoryBuilder addSpline(Vector2d endPosition, Angle endTangent, Double startTangentMag, Double endTangentMag, HeadingInterpolation headingInterpolation, TrajectoryVelocityConstraint velConstraintOverride, TrajectoryAccelerationConstraint accelConstraintOverride)
public final TrajectoryBuilder addSpline(Vector2d endPosition, Angle endTangent, Double startTangentMag, Double endTangentMag, HeadingInterpolation headingInterpolation, TrajectoryVelocityConstraint velConstraintOverride)
public final TrajectoryBuilder addSpline(Vector2d endPosition, Angle endTangent, Double startTangentMag, Double endTangentMag, TrajectoryVelocityConstraint velConstraintOverride)
public final TrajectoryBuilder addSpline(Vector2d endPosition, Angle endTangent, Double startTangentMag, TrajectoryVelocityConstraint velConstraintOverride)
public final TrajectoryBuilder addSpline(Vector2d endPosition, Angle endTangent, TrajectoryVelocityConstraint velConstraintOverride)
Adds a spline segment with the specified heading interpolation.
Parameters
endPosition
end position
endTangent
end tangent (negative = default magnitude)
endTangentMag
the magnitude of the end tangent (negative = default magnitude)
headingInterpolation
the desired heading interpolation
constraintsOverride
segment-specific constraints