splineToLinearHeading
fun splineToLinearHeading(pose: Pose2d, tangent: Rotation2d, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder
fun splineToLinearHeading(pose: Pose2d, tangent: Double, velConstraintOverride: VelConstraint? = null, accelConstraintOverride: AccelConstraint? = null): TrajectoryActionBuilder
Adds a curved path segment using quintic Hermite splines that goes to pose.position with an end tangent of tangent. The shape of the curve is based off of the starting position and tangent as well as the ending position and tangent. The robot's heading linearly interpolates from its current heading to pose.heading.