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