SimpleTrajectoryBuilder(startPose: Pose2d, driveConstraints: DriveConstraints, start: MotionState = MotionState(0.0, 0.0, 0.0))
Create a builder from a start pose and motion state. This is the recommended constructor for creating trajectories from rest.
SimpleTrajectoryBuilder(trajectory: Trajectory, t: Double, driveConstraints: DriveConstraints)
Create a builder from an active trajectory. This is useful for interrupting a live trajectory and smoothly transitioning to a new one.