diff --git a/wpimath/src/main/java/edu/wpi/first/math/interpolation/InterpolatingDoubleTreeMap.java b/wpimath/src/main/java/edu/wpi/first/math/interpolation/InterpolatingDoubleTreeMap.java
index 15c55d091c..010d232146 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/interpolation/InterpolatingDoubleTreeMap.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/interpolation/InterpolatingDoubleTreeMap.java
@@ -4,6 +4,8 @@
 
 package edu.wpi.first.math.interpolation;
 
+import java.util.Map;
+
 /**
  * Interpolating Tree Maps are used to get values at points that are not defined by making a guess
  * from points that are defined. This uses linear interpolation.
@@ -13,4 +15,19 @@ public class InterpolatingDoubleTreeMap extends InterpolatingTreeMap<Double, Dou
   public InterpolatingDoubleTreeMap() {
     super(InverseInterpolator.forDouble(), Interpolator.forDouble());
   }
+
+  /**
+   * Creates an {@link InterpolatingDoubleTreeMap} from the given entries.
+   *
+   * @param entries The entries to add to the map.
+   * @return The map filled with the {@code entries}.
+   */
+  @SafeVarargs
+  public static InterpolatingDoubleTreeMap ofEntries(Map.Entry<Double, Double>... entries) {
+    InterpolatingDoubleTreeMap map = new InterpolatingDoubleTreeMap();
+    for (var entry : entries) {
+      map.put(entry.getKey(), entry.getValue());
+    }
+    return map;
+  }
 }