addSpline
fun addSpline(endPosition: Vector2d, endTangent: Angle, startTangentMag: Double = -1.0, endTangentMag: Double = -1.0, headingInterpolation: HeadingInterpolation = TangentHeading, velConstraintOverride: TrajectoryVelocityConstraint, accelConstraintOverride: TrajectoryAccelerationConstraint = baseAccelConstraint): TrajectoryBuilder
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