TrajectoryBuilder

constructor(startPose: Pose2d = Pose2d(), startTangent: Angle = startPose.heading, baseVelConstraint: TrajectoryVelocityConstraint, baseAccelConstraint: TrajectoryAccelerationConstraint, baseAngVel: Angle, baseAngAccel: Angle, baseAngJerk: Angle = 0.rad, resolution: Double = 0.25)

constructor(startPose: Pose2d = Pose2d(), startTangent: Angle = startPose.heading, constraints: TrajectoryConstraints, resolution: Double = 0.25)

Creates a builder from a start pose and tangent. This is the recommended constructor for creating trajectories from rest.

constructor(startPose: Pose2d, reversed: Boolean, baseVelConstraint: TrajectoryVelocityConstraint, baseAccelConstraint: TrajectoryAccelerationConstraint, baseAngVel: Angle, baseAngAccel: Angle, baseAngJerk: Angle = 0.rad, resolution: Double = 0.25)

constructor(startPose: Pose2d, reversed: Boolean, constraints: TrajectoryConstraints, resolution: Double = 0.25)

Create a builder from a start pose with a reversed tangent. This constructor is used to execute trajectories backwards.

constructor(trajectory: Trajectory, t: Double, baseVelConstraint: TrajectoryVelocityConstraint, baseAccelConstraint: TrajectoryAccelerationConstraint, baseAngVel: Angle, baseAngAccel: Angle, baseAngJerk: Angle = 0.rad, resolution: Double = 0.25)

constructor(trajectory: Trajectory, t: Double, constraints: TrajectoryConstraints, resolution: Double = 0.25)

Create a builder from an active trajectory. This is useful for interrupting a live trajectory and smoothly transitioning to a new one.

protected constructor(startPose: Pose2d, startDeriv: Pose2d, startSecondDeriv: Pose2d, baseVelConstraint: TrajectoryVelocityConstraint, baseAccelConstraint: TrajectoryAccelerationConstraint, baseAngVel: Angle, baseAngAccel: Angle, baseAngJerk: Angle, start: MotionState, resolution: Double)