Traj2 #9
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Traj2 #9
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Stacked on the odom2 PR, merge that one first before looking at this diff.
Implements basic cubic spline trajectories. The interface is flexible if a bit clunky. This implements a basic PDF follower, as well the pattern I would suggest using for different automodes.
Note that I was lazy and didn't split
AutoModeandTraj2into a cpp file, this isn't that bad because the files are only included in one translation unit: theRobot.cppone, but feel free to split them up if you like.