TrajectoryBuilder(startPose: Pose2d, trajectoryConstraints: TrajectoryConstraints, start: MotionState = MotionState(0.0, 0.0, 0.0), resolution: Double = 0.25)
Create a builder from a start pose and motion state. This is the recommended constructor for creating trajectories from rest.
TrajectoryBuilder(trajectory: Trajectory, t: Double, trajectoryConstraints: 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.