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

splineTo

fun splineTo(endPosition: Vector2d, endTangent: Double, velConstraintOverride: TrajectoryVelocityConstraint?, accelConstraintOverride: TrajectoryAccelerationConstraint?): TrajectoryBuilder (source)

Adds a spline segment with tangent heading interpolation.

Parameters

endPosition - end position

endTangent - end tangent

constraintsOverride - segment-specific constraints