v2.4.0

v2.4.0 focuses on making path and trajectory creation easier for end users. Its features are primarily documented here.

What's Changed

• 1D Bezier Curves can be created using BezierCurve1d.fromRRSpline()
• 2D Bezier Curves can be created using fromPoints() with either a list or vararg of Vector2d objects
• Heading interpolation can be added to a PositionPath (creating a PosePath) using the following functions:
  • withTangentHeading adds tangent heading interpolation; required for non-holonomic drive types
  • withLinearHeading accepts a start and end heading, and linearly interpolates heading between them
  • withSplineHeading accepts a start and end heading, and generates a one-dimensional spline to use for heading interpolation
• PosePaths can be profiled using Drive.createProfile, which uses the constraints provided by the Drive implementation
• PosePaths can be turned into a DisplacementTrajectory using Drive.createTrajectory, which uses createProfile to generate the profile
• PosePaths can be added using PosePath.plus, which returns a CompositePosePath of the receiver and its argument
  • For Kotlin users, plus is an operator function, so path1 + path2 is perfectly valid

Full Changelog: v2.3.1...v2.4.0