splineToLinearHeading
public final TrajectoryBuilder splineToLinearHeading(Pose2d endPose, Angle endTangent, TrajectoryVelocityConstraint velConstraintOverride, TrajectoryAccelerationConstraint accelConstraintOverride)
public final TrajectoryBuilder 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