SimpleTrajectoryBuilder(startPose: Pose2d, startTangent: Double = startPose.heading, driveConstraints: DriveConstraints)
Create a builder from a start pose and motion state. This is the recommended constructor for creating trajectories from rest.
SimpleTrajectoryBuilder(startPose: Pose2d, reversed: Boolean, driveConstraints: DriveConstraints)
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.