Enhanced ChoreoLib with Time-Based Start and Nearest Trajectory State Functionality #468
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…g weighted parameters
Added the extra feature (start trajectory following a given time) to the documentation
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Enhancement:
Use Case:
Allows the robot to resume following a path from a designated point, useful for scenarios like interrupting the command during autonomous to perform a task (e.g., picking up a game piece with vision) and then seamlessly continuing along the trajectory.
New Feature:
Explanation: It is similar to Pose2d.nearest(). The difference is that ChoreoTrajectoryState.nearest() incorporates weighted parameters to determine the impact of errors in each parameter on the output.
Example Use Case: Enables the robot, after deviating from the trajectory to perform a task, to resume following the path from the point closest to its current position. The weighting parameters allow fine-tuning of the selection criteria based on specific requirements, such as prioritizing position accuracy.