spline To Linear Heading
open fun splineToLinearHeading(endPoseInchRad: Pose2d, endHeadingRad: Double, velConstraint: TrajectoryVelocityConstraint, accelConstraint: TrajectoryAccelerationConstraint): RoadRunner.RoadRunnerTrajectoryTaskBuilder
Spline to a given position with a linear heading and custom velocity and acceleration constraints.
Return
The builder
Parameters
end Pose Inch Rad
The end pose (in, in, radians)
end Heading Rad
The end heading (radians)
vel Constraint
The velocity constraint (inches/sec)
accel Constraint
The acceleration constraint (inches/sec^2)