TrajectoryBuilder(startPose: Pose2d, startTangent: Double = startPose.heading, baseVelConstraint: TrajectoryVelocityConstraint, baseAccelConstraint: TrajectoryAccelerationConstraint, 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(startPose: Pose2d, reversed: Boolean, baseVelConstraint: TrajectoryVelocityConstraint, baseAccelConstraint: TrajectoryAccelerationConstraint, resolution: Double = 0.25)
TrajectoryBuilder(trajectory: Trajectory, t: Double, baseVelConstraint: TrajectoryVelocityConstraint, baseAccelConstraint: TrajectoryAccelerationConstraint, 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.