The most common mistake users (including contributors to WPILib) seem to make while creating new constraints is ignoring some sort of edge case that causes the calculated minimum acceleration to be greater than the calculated maximum acceleration.
This specialized exception, with its detailed error message, should make it easier and quicker for said users to debug and fix bugs within their constraints.
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This PR changes the spline parameterizer to use an explicit stack instead of recursion. This is motivated by the fact that splines with adjacent waypoints with approximately opposite headings will never parameterize. In this case the parameterizer subdivides these malformed splines fine for a while, and then gets stuck parameterizing infinitely on some interval. In the recursive approach, this would lead to a stack overflow. We could implement a recursion depth counter (this is what my team did on our similar trajectory code last season), but it's hard to choose a good number for max depth because the initial amount of stack used varies based on how the user calls Parameterize.
A good solution for this is converting the recursion to an "explicit stack," which basically simulates recursion, but allows us to have a much larger maximum stack size. Because we avoid the stack overflow, we can instead throws a more informative MalformedSplineException. If the user is using the TrajectoryGenerator instead of the SplineParameterizer directly then the TrajectoryGenerator will go ahead and catch the exception, return a harmless empty trajectory, and report and error to the driver station.
Add an overload for the generateTrajectory method that accepts a DifferentialDriveKinematics instance instead of a list of constraints. This instance is used to automatically create a DifferentialDriveKinematicsConstraint behind the scenes, saving the user some verbosity.
