Merge branch 'main' into 2022

wpilibc/src/main/native/include/frc/smartdashboard/FieldObject2d.h

@@ -21,6 +21,7 @@
 namespace frc {
 
 class Field2d;
+class Trajectory;
 
 /**
  * Game field object on a Field2d.
@@ -76,6 +77,13 @@ class FieldObject2d {
    */
   void SetPoses(std::initializer_list<Pose2d> poses);
 
+  /**
+   * Sets poses from a trajectory.
+   *
+   * @param trajectory The trajectory from which poses should be added.
+   */
+  void SetTrajectory(const Trajectory& trajectory);
+
   /**
    * Get multiple poses.
    *