core / com.acmerobotics.roadrunner.trajectory / TrajectoryBuilder / splineToLinearHeading

splineToLinearHeading

fun splineToLinearHeading(endPose: Pose2d, endTangent: Double, velConstraintOverride: TrajectoryVelocityConstraint?, accelConstraintOverride: TrajectoryAccelerationConstraint?): TrajectoryBuilder

(source)

Adds a spline segment with linear heading interpolation.

Parameters

endPose - end pose

endTangent - end tangent

constraintsOverride - segment-specific constraints