TrajectoryLib
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Documentation!
I love this teams work but you guys have a severe lack of documentation for it being openly viewable...
Your Spline code is logical and has a good flow but it is difficult to read since you have seemingly redundant calls when it could be held in a reference and without any comments or javadocs to explain the reasoning to people outside of your team.
Unless this wasnt really meant for public viewing, inspiration and criticism... then carry on and good work!
I agree.