diff --git a/src/roadrunner_10/complete_trajectorybuilder_reference.md b/src/roadrunner_10/complete_trajectorybuilder_reference.md
index 81ac19e..e163db6 100644
--- a/src/roadrunner_10/complete_trajectorybuilder_reference.md
+++ b/src/roadrunner_10/complete_trajectorybuilder_reference.md
@@ -6,14 +6,14 @@
### The Problem
-The current [TrajectoryBuilder Reference](https://rr.brott.dev/docs/v1-0/builder-ref/) in
+The current [TrajectoryBuilder Reference](https://rr.brott.dev/docs/v1-0/builder-ref/) in
the official Road Runner 1.0 docs only has a few TrajectoryBuilder methods, and does
not explain them very well in depth. This is a complete reference for more methods in
the TrajectoryBuilder class for Road Runner 1.0.
---
-## TrajectoryBuilder Reference
+## TrajectoryBuilder Reference
### Table of Contents
@@ -53,17 +53,11 @@ The begin pose is the origin (0,0) with a heading of $\frac{\pi}{6}$.
.video-container {
display: flex;
justify-content: center;
- max-width: 450px; /* Set the maximum width */
- }
-
- .video-container iframe {
- width: 100%; /* Make the iframe take the full width of the container */
- max-width: 100%; /* Ensure the iframe doesn't exceed the container's width */
}
-
+
---
@@ -78,17 +72,11 @@ The begin pose is the origin (0,0) with a heading of $\frac{\pi}{6}$.
.video-container {
display: flex;
justify-content: center;
- max-width: 450px; /* Set the maximum width */
- }
-
- .video-container iframe {
- width: 100%; /* Make the iframe take the full width of the container */
- max-width: 100%; /* Ensure the iframe doesn't exceed the container's width */
}
-
+
---
@@ -103,17 +91,11 @@ The begin pose is the origin (0,0) with a heading of $\frac{\pi}{6}$.
.video-container {
display: flex;
justify-content: center;
- max-width: 450px; /* Set the maximum width */
- }
-
- .video-container iframe {
- width: 100%; /* Make the iframe take the full width of the container */
- max-width: 100%; /* Ensure the iframe doesn't exceed the container's width */
}
-
+
---
@@ -144,23 +126,6 @@ The begin pose is the origin (0,0) with a heading of $\frac{\pi}{6}$.
{{#rustdoc_include BuilderReference.java:48:53}}
```
-
-
-
-
-
-
---
#### `.strafeToLinearHeading(new Vector2d(x, y), Math.toRadians(heading))`
@@ -169,23 +134,6 @@ The begin pose is the origin (0,0) with a heading of $\frac{\pi}{6}$.
{{#rustdoc_include BuilderReference.java:57:60}}
```
-
-
-
-
-
-
---
#### `.strafeToSplineHeading(new Vector2d(x, y), Math.toRadians(heading))`
@@ -194,7 +142,7 @@ The begin pose is the origin (0,0) with a heading of $\frac{\pi}{6}$.
{{#rustdoc_include BuilderReference.java:64:67}}
```
-> **What is the difference between spline interpolation and linear interpolation?**
+> **What is the difference between spline interpolation and linear interpolation?**
> - Interpolation is a method of finding new data points (angle heading) in between two given data points (initial heading and final heading).
> - Linear interpolation means that the robot interpolates its heading and turns at a constant, linear rate, from start to the end of the trajectory.
> - Spline interpolation is the opposite, as the robot turns at a non-linear rate.
@@ -204,7 +152,7 @@ The begin pose is the origin (0,0) with a heading of $\frac{\pi}{6}$.
#### `lineToX(x: double)` & `.lineToXConstantHeading(x: double)`
> 🚨 **WARNING:** 🚨
-> It is **HIGHLY RECOMMENDED** to use [`.strafeTo()`](https://arushyadlapati.github.io/cookbook/roadrunner_10/complete_trajectorybuilder_reference.html) instead of any `lineTo()`'s! 🚨
+> It is **HIGHLY RECOMMENDED** to use [`.strafeTo()`](https://arushyadlapati.github.io/cookbook/roadrunner_10/complete_trajectorybuilder_reference.html) instead of any `lineTo()`'s! 🚨
```java
{{#rustdoc_include BuilderReference.java:71:76}}
@@ -267,7 +215,6 @@ The begin pose is the origin (0,0) with a heading of $\frac{\pi}{2}$.
---
-
## Resources
- [Official Road Runner 1.0 Builder Reference](https://rr.brott.dev/docs/v1-0/builder-ref/)
@@ -276,9 +223,8 @@ The begin pose is the origin (0,0) with a heading of $\frac{\pi}{2}$.
- [`turn()` Video Playground](https://rr.brott.dev/playground/?5a434271b239e5bc )
- [`turnTo()` Video Playground](https://rr.brott.dev/playground/?ad40438ae13740f7)
- [`strafeTo()` / `strafeToConstantHeading()` Video Playground](https://rr.brott.dev/playground/?f49042fdf5ea3ab0)
-- [`.strafeToLinearHeading` Video Playground](https://rr.brott.dev/playground/?ed5d41566d46b59f)
+- [`.strafeToLinearHeading()` Video Playground](https://rr.brott.dev/playground/?ed5d41566d46b59f)
---
*Last Updated: 2024-07-02*
-