From 98875ec5da59a0b0324f811fd1c23156a7d7df42 Mon Sep 17 00:00:00 2001
From: mjansen4857 <mjansen4857@users.noreply.github.com>
Date: Sat, 14 Oct 2023 01:24:15 +0000
Subject: [PATCH] Publish docs from PathPlannerLib

---
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diff --git a/docs/cpp/ADStar_8h_source.html b/docs/cpp/ADStar_8h_source.html
new file mode 100644
index 00000000..52372a5c
--- /dev/null
+++ b/docs/cpp/ADStar_8h_source.html
@@ -0,0 +1,280 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>PathPlannerLib: src/main/native/include/pathplanner/lib/pathfinding/ADStar.h Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
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+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
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+
+<div class="header">
+  <div class="headertitle"><div class="title">ADStar.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;unordered_map&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;unordered_set&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;atomic&gt;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;thread&gt;</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;mutex&gt;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &lt;frc/geometry/Translation2d.h&gt;</span></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#include &lt;optional&gt;</span></div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span> </div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="keyword">namespace </span>pathplanner {</div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"><a class="line" href="classpathplanner_1_1ADStar.html">   13</a></span><span class="keyword">class </span><a class="code hl_class" href="classpathplanner_1_1ADStar.html">ADStar</a> {</div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span>    <span class="keyword">static</span> <span class="keywordtype">void</span> ensureInitialized();</div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span> </div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>    <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> isNewPathAvailable() {</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>        <span class="keywordflow">return</span> newPathAvailable;</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>    }</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span> </div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>    <span class="keyword">static</span> std::vector&lt;frc::Translation2d&gt; getCurrentPath();</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span> </div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>    <span class="keyword">static</span> <span class="keywordtype">void</span> setStartPos(<span class="keyword">const</span> frc::Translation2d &amp;start);</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span> </div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>    <span class="keyword">static</span> <span class="keywordtype">void</span> setGoalPos(<span class="keyword">const</span> frc::Translation2d &amp;goal);</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span> </div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>    <span class="keyword">static</span> <span class="keywordtype">void</span> setDynamicObstacles(</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>            <span class="keyword">const</span> std::vector&lt;std::pair&lt;frc::Translation2d, frc::Translation2d&gt;&gt; &amp;obs,</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>            <span class="keyword">const</span> frc::Translation2d &amp;currentRobotPos);</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span> </div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"><a class="line" href="classpathplanner_1_1ADStar_1_1GridPosition.html">   31</a></span>    <span class="keyword">class </span><a class="code hl_class" href="classpathplanner_1_1ADStar_1_1GridPosition.html">GridPosition</a> {</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>    <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>        <span class="keywordtype">int</span> x;</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>        <span class="keywordtype">int</span> y;</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span> </div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>        <span class="keyword">constexpr</span> <a class="code hl_class" href="classpathplanner_1_1ADStar_1_1GridPosition.html">GridPosition</a>() : x(0), y(0) {</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>        }</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span> </div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>        <span class="keyword">constexpr</span> <a class="code hl_class" href="classpathplanner_1_1ADStar_1_1GridPosition.html">GridPosition</a>(<span class="keyword">const</span> <span class="keywordtype">int</span> xPos, <span class="keyword">const</span> <span class="keywordtype">int</span> yPos) : x(xPos), y(</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>                yPos) {</div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>        }</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span> </div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>        <span class="keyword">constexpr</span> <span class="keywordtype">bool</span> operator==(<span class="keyword">const</span> <a class="code hl_class" href="classpathplanner_1_1ADStar_1_1GridPosition.html">GridPosition</a> &amp;other)<span class="keyword"> const </span>{</div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>            <span class="keywordflow">return</span> x == other.x &amp;&amp; y == other.y;</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>        }</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    };</div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span> </div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>    <span class="keyword">static</span> <span class="keyword">inline</span> <a class="code hl_class" href="classpathplanner_1_1ADStar_1_1GridPosition.html">GridPosition</a> getGridPos(<span class="keyword">const</span> frc::Translation2d &amp;pos) {</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>        <span class="keywordflow">return</span> <a class="code hl_class" href="classpathplanner_1_1ADStar_1_1GridPosition.html">GridPosition</a>(<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(std::floor(pos.X()() / NODE_SIZE)),</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>                <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(std::floor(pos.Y()() / NODE_SIZE)));</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    }</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span> </div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span><span class="keyword">private</span>:</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>    <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> SMOOTHING_ANCHOR_PCT;</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>    <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> SMOOTHING_CONTROL_PCT;</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span> </div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    <span class="keyword">static</span> <span class="keywordtype">double</span> FIELD_LENGTH;</div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>    <span class="keyword">static</span> <span class="keywordtype">double</span> FIELD_WIDTH;</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span> </div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    <span class="keyword">static</span> <span class="keywordtype">double</span> NODE_SIZE;</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span> </div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    <span class="keyword">static</span> <span class="keywordtype">int</span> NODE_X;</div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>    <span class="keyword">static</span> <span class="keywordtype">int</span> NODE_Y;</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span> </div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>    <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> EPS;</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span> </div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>    <span class="keyword">static</span> std::unordered_map&lt;GridPosition, double&gt; g;</div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    <span class="keyword">static</span> std::unordered_map&lt;GridPosition, double&gt; rhs;</div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>    <span class="keyword">static</span> std::unordered_map&lt;GridPosition, std::pair&lt;double, double&gt;&gt; open;</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>    <span class="keyword">static</span> std::unordered_map&lt;GridPosition, std::pair&lt;double, double&gt;&gt; incons;</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>    <span class="keyword">static</span> std::unordered_set&lt;GridPosition&gt; closed;</div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>    <span class="keyword">static</span> std::unordered_set&lt;GridPosition&gt; staticObstacles;</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>    <span class="keyword">static</span> std::unordered_set&lt;GridPosition&gt; dynamicObstacles;</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>    <span class="keyword">static</span> std::unordered_set&lt;GridPosition&gt; obstacles;</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span> </div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>    <span class="keyword">static</span> GridPosition sStart;</div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    <span class="keyword">static</span> frc::Translation2d realStartPos;</div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>    <span class="keyword">static</span> GridPosition sGoal;</div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    <span class="keyword">static</span> frc::Translation2d realGoalPos;</div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span> </div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>    <span class="keyword">static</span> <span class="keywordtype">double</span> eps;</div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span> </div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>    <span class="keyword">static</span> std::thread planningThread;</div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>    <span class="keyword">static</span> std::mutex mutex;</div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span> </div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> doMinor;</div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> doMajor;</div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> needsReset;</div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> needsExtract;</div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> running;</div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> newPathAvailable;</div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span> </div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>    <span class="keyword">static</span> std::vector&lt;frc::Translation2d&gt; currentPath;</div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span> </div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>    <span class="keyword">static</span> <span class="keywordtype">void</span> runThread();</div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span> </div>
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>    <span class="keyword">static</span> <span class="keywordtype">void</span> doWork();</div>
+<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span> </div>
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>    <span class="keyword">static</span> GridPosition findClosestNonObstacle(<span class="keyword">const</span> GridPosition &amp;pos);</div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span> </div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>    <span class="keyword">static</span> std::vector&lt;frc::Translation2d&gt; extractPath();</div>
+<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span> </div>
+<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> walkable(<span class="keyword">const</span> GridPosition &amp;s1, <span class="keyword">const</span> GridPosition &amp;s2);</div>
+<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span> </div>
+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>    <span class="keyword">static</span> <span class="keywordtype">void</span> reset();</div>
+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span> </div>
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>    <span class="keyword">static</span> <span class="keywordtype">void</span> computeOrImprovePath();</div>
+<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span> </div>
+<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>    <span class="keyword">static</span> <span class="keywordtype">void</span> updateState(<span class="keyword">const</span> GridPosition &amp;s);</div>
+<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span> </div>
+<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>    <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">double</span> cost(<span class="keyword">const</span> GridPosition &amp;sStart,</div>
+<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>            <span class="keyword">const</span> GridPosition &amp;sGoal) {</div>
+<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>        <span class="keywordflow">if</span> (isCollision(sStart, sGoal)) {</div>
+<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>            <span class="keywordflow">return</span> std::numeric_limits&lt;double&gt;::infinity();</div>
+<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>        }</div>
+<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>        <span class="keywordflow">return</span> heuristic(sStart, sGoal);</div>
+<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>    }</div>
+<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span> </div>
+<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> isCollision(<span class="keyword">const</span> GridPosition &amp;sStart,</div>
+<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>            <span class="keyword">const</span> GridPosition &amp;sEnd);</div>
+<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span> </div>
+<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>    <span class="keyword">static</span> std::unordered_set&lt;GridPosition&gt; getOpenNeighbors(</div>
+<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>            <span class="keyword">const</span> GridPosition &amp;s);</div>
+<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span> </div>
+<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>    <span class="keyword">static</span> std::unordered_set&lt;GridPosition&gt; getAllNeighbors(</div>
+<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>            <span class="keyword">const</span> GridPosition &amp;s);</div>
+<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span> </div>
+<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>    <span class="keyword">static</span> std::pair&lt;double, double&gt; key(<span class="keyword">const</span> GridPosition &amp;s);</div>
+<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span> </div>
+<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>    <span class="keyword">static</span> std::optional&lt;std::pair&lt;GridPosition, std::pair&lt;double, double&gt;&gt;&gt; topKey();</div>
+<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span> </div>
+<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>    <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">double</span> heuristic(<span class="keyword">const</span> GridPosition &amp;sStart,</div>
+<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>            <span class="keyword">const</span> GridPosition &amp;sGoal) {</div>
+<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>        <span class="keywordflow">return</span> std::hypot(sGoal.x - sStart.x, sGoal.y - sStart.y);</div>
+<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>    }</div>
+<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span> </div>
+<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>    <span class="keyword">static</span> <span class="keyword">constexpr</span> <span class="keywordtype">int</span> comparePair(<span class="keyword">const</span> std::pair&lt;double, double&gt; &amp;a,</div>
+<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>            <span class="keyword">const</span> std::pair&lt;double, double&gt; &amp;b) {</div>
+<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>        <span class="keywordtype">int</span> first = compareDouble(a.first, b.first);</div>
+<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span>        <span class="keywordflow">if</span> (first == 0) {</div>
+<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>            <span class="keywordflow">return</span> compareDouble(a.second, b.second);</div>
+<div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span>        } <span class="keywordflow">else</span> {</div>
+<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>            <span class="keywordflow">return</span> first;</div>
+<div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>        }</div>
+<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>    }</div>
+<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span> </div>
+<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>    <span class="keyword">static</span> <span class="keyword">constexpr</span> <span class="keywordtype">int</span> compareDouble(<span class="keyword">const</span> <span class="keywordtype">double</span> a, <span class="keyword">const</span> <span class="keywordtype">double</span> b) {</div>
+<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>        <span class="keywordflow">if</span> (a &lt; b) {</div>
+<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>            <span class="keywordflow">return</span> -1;</div>
+<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>        } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (a &gt; b) {</div>
+<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>            <span class="keywordflow">return</span> 1;</div>
+<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>        }</div>
+<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>        <span class="keywordflow">return</span> 0;</div>
+<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>    }</div>
+<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span> </div>
+<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>    <span class="keyword">static</span> <span class="keyword">inline</span> frc::Translation2d gridPosToTranslation2d(</div>
+<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>            <span class="keyword">const</span> GridPosition &amp;pos) {</div>
+<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span>        <span class="keywordflow">return</span> frc::Translation2d(</div>
+<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>                units::meter_t { (pos.x * NODE_SIZE) + (NODE_SIZE / 2.0) },</div>
+<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>                units::meter_t { (pos.y * NODE_SIZE) + (NODE_SIZE / 2.0) });</div>
+<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>    }</div>
+<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>};</div>
+<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>}</div>
+<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span> </div>
+<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span><span class="keyword">namespace </span>std {</div>
+<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span><span class="keyword">template</span>&lt;&gt;</div>
+<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"><a class="line" href="structstd_1_1hash_3_01pathplanner_1_1ADStar_1_1GridPosition_01_4.html">  167</a></span><span class="keyword">struct </span>hash&lt;pathplanner::ADStar::GridPosition&gt; {</div>
+<div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span>    <span class="keywordtype">size_t</span> operator()(<span class="keyword">const</span> <a class="code hl_class" href="classpathplanner_1_1ADStar_1_1GridPosition.html">pathplanner::ADStar::GridPosition</a> &amp;gridPos)<span class="keyword"> const </span>{</div>
+<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span>        <span class="keywordflow">return</span> ((hash&lt;int&gt;()(gridPos.x) ^ ((hash&lt;int&gt;()(gridPos.y) &lt;&lt; 1) &gt;&gt; 1)));</div>
+<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>    }</div>
+<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span>};</div>
+<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>}</div>
+<div class="ttc" id="aclasspathplanner_1_1ADStar_1_1GridPosition_html"><div class="ttname"><a href="classpathplanner_1_1ADStar_1_1GridPosition.html">pathplanner::ADStar::GridPosition</a></div><div class="ttdef"><b>Definition:</b> ADStar.h:31</div></div>
+<div class="ttc" id="aclasspathplanner_1_1ADStar_html"><div class="ttname"><a href="classpathplanner_1_1ADStar.html">pathplanner::ADStar</a></div><div class="ttdef"><b>Definition:</b> ADStar.h:13</div></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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+    <li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_5eb159725f84c66aafd839904a4acdd0.html">main</a></li><li class="navelem"><a class="el" href="dir_b09f3849ec87f7f01357d2c1b28ddfb1.html">native</a></li><li class="navelem"><a class="el" href="dir_34a15534b0ba644081206e4286ea6115.html">include</a></li><li class="navelem"><a class="el" href="dir_9928c8ff9a485b7ddff02877d2a05a10.html">pathplanner</a></li><li class="navelem"><a class="el" href="dir_13948881c4c0769b2e268e8b81181ef8.html">lib</a></li><li class="navelem"><a class="el" href="dir_2bf211bbb3f9edfa1db93a68b0597e71.html">pathfinding</a></li><li class="navelem"><b>ADStar.h</b></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
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diff --git a/docs/cpp/AutoBuilder_8h_source.html b/docs/cpp/AutoBuilder_8h_source.html
new file mode 100644
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+++ b/docs/cpp/AutoBuilder_8h_source.html
@@ -0,0 +1,215 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
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+<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>PathPlannerLib: src/main/native/include/pathplanner/lib/auto/AutoBuilder.h Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
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+<table cellspacing="0" cellpadding="0">
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+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
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+<div class="header">
+  <div class="headertitle"><div class="title">AutoBuilder.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;functional&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;frc2/command/CommandPtr.h&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;frc/geometry/Pose2d.h&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;frc/kinematics/ChassisSpeeds.h&gt;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;frc/controller/RamseteController.h&gt;</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;memory&gt;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &lt;wpi/json.h&gt;</span></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#include &lt;wpi/array.h&gt;</span></div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="preprocessor">#include &lt;string&gt;</span></div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="preprocessor">#include &quot;pathplanner/lib/path/PathPlannerPath.h&quot;</span></div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="preprocessor">#include &quot;pathplanner/lib/util/HolonomicPathFollowerConfig.h&quot;</span></div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="preprocessor">#include &quot;pathplanner/lib/util/ReplanningConfig.h&quot;</span></div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span> </div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="keyword">namespace </span>pathplanner {</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"><a class="line" href="classpathplanner_1_1AutoBuilder.html">   17</a></span><span class="keyword">class </span><a class="code hl_class" href="classpathplanner_1_1AutoBuilder.html">AutoBuilder</a> {</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>    <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classpathplanner_1_1AutoBuilder.html#a35a1d44dd44756f2f008996967f49007">configureHolonomic</a>(std::function&lt;frc::Pose2d()&gt; poseSupplier,</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>            std::function&lt;<span class="keywordtype">void</span>(frc::Pose2d)&gt; resetPose,</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>            std::function&lt;frc::ChassisSpeeds()&gt; robotRelativeSpeedsSupplier,</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>            std::function&lt;<span class="keywordtype">void</span>(frc::ChassisSpeeds)&gt; robotRelativeOutput,</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>            <a class="code hl_class" href="classpathplanner_1_1HolonomicPathFollowerConfig.html">HolonomicPathFollowerConfig</a> config,</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>            frc2::Subsystem *driveSubsystem);</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span> </div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>    <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classpathplanner_1_1AutoBuilder.html#a27cddae7eee06a064a2fee83637ef458">configureRamsete</a>(std::function&lt;frc::Pose2d()&gt; poseSupplier,</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>            std::function&lt;<span class="keywordtype">void</span>(frc::Pose2d)&gt; resetPose,</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>            std::function&lt;frc::ChassisSpeeds()&gt; speedsSupplier,</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>            std::function&lt;<span class="keywordtype">void</span>(frc::ChassisSpeeds)&gt; output,</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>            <a class="code hl_class" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a> replanningConfig, frc2::Subsystem *driveSubsystem);</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span> </div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>    <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classpathplanner_1_1AutoBuilder.html#a27cddae7eee06a064a2fee83637ef458">configureRamsete</a>(std::function&lt;frc::Pose2d()&gt; poseSupplier,</div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>            std::function&lt;<span class="keywordtype">void</span>(frc::Pose2d)&gt; resetPose,</div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>            std::function&lt;frc::ChassisSpeeds()&gt; speedsSupplier,</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>            std::function&lt;<span class="keywordtype">void</span>(frc::ChassisSpeeds)&gt; output,</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>            units::unit_t&lt;frc::RamseteController::b_unit&gt; b,</div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>            units::unit_t&lt;frc::RamseteController::zeta_unit&gt; zeta,</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>            <a class="code hl_class" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a> replanningConfig, frc2::Subsystem *driveSubsystem);</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span> </div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>    <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classpathplanner_1_1AutoBuilder.html#ae42e2c7770c7cfee1c178323ce17b9aa">configureLTV</a>(std::function&lt;frc::Pose2d()&gt; poseSupplier,</div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>            std::function&lt;<span class="keywordtype">void</span>(frc::Pose2d)&gt; resetPose,</div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>            std::function&lt;frc::ChassisSpeeds()&gt; speedsSupplier,</div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>            std::function&lt;<span class="keywordtype">void</span>(frc::ChassisSpeeds)&gt; output,</div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>            <span class="keyword">const</span> wpi::array&lt;double, 3&gt; &amp;Qelms,</div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>            <span class="keyword">const</span> wpi::array&lt;double, 2&gt; &amp;Relms, units::second_t dt,</div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>            <a class="code hl_class" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a> replanningConfig, frc2::Subsystem *driveSubsystem);</div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span> </div>
+<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>    <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classpathplanner_1_1AutoBuilder.html#ae42e2c7770c7cfee1c178323ce17b9aa">configureLTV</a>(std::function&lt;frc::Pose2d()&gt; poseSupplier,</div>
+<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>            std::function&lt;<span class="keywordtype">void</span>(frc::Pose2d)&gt; resetPose,</div>
+<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>            std::function&lt;frc::ChassisSpeeds()&gt; speedsSupplier,</div>
+<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>            std::function&lt;<span class="keywordtype">void</span>(frc::ChassisSpeeds)&gt; output, units::second_t dt,</div>
+<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>            <a class="code hl_class" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a> replanningConfig, frc2::Subsystem *driveSubsystem);</div>
+<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span> </div>
+<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>    <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classpathplanner_1_1AutoBuilder.html#aa9d4e8bc410906d4f7113f3783b04e49">configureCustom</a>(</div>
+<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>            std::function&lt;frc2::CommandPtr(std::shared_ptr&lt;PathPlannerPath&gt;)&gt; pathFollowingCommandBuilder,</div>
+<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>            std::function&lt;frc::Pose2d()&gt; poseSupplier,</div>
+<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>            std::function&lt;<span class="keywordtype">void</span>(frc::Pose2d)&gt; resetPose);</div>
+<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span> </div>
+<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"><a class="line" href="classpathplanner_1_1AutoBuilder.html#ac447d58765d6ac127f13301291245caf">  132</a></span>    <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classpathplanner_1_1AutoBuilder.html#ac447d58765d6ac127f13301291245caf">isConfigured</a>() {</div>
+<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>        <span class="keywordflow">return</span> m_configured;</div>
+<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>    }</div>
+<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span> </div>
+<div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span>    <span class="keyword">static</span> frc2::CommandPtr <a class="code hl_function" href="classpathplanner_1_1AutoBuilder.html#a017b1eba314f2b6e525f3c3f0abed96b">followPathWithEvents</a>(</div>
+<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>            std::shared_ptr&lt;PathPlannerPath&gt; path);</div>
+<div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span> </div>
+<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>    <span class="keyword">static</span> frc2::CommandPtr <a class="code hl_function" href="classpathplanner_1_1AutoBuilder.html#abb4e30e93dea6d7c23fa122c6f8d7531">buildAuto</a>(std::string autoName);</div>
+<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span> </div>
+<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>    <span class="keyword">static</span> frc2::CommandPtr <a class="code hl_function" href="classpathplanner_1_1AutoBuilder.html#a50592a28e0dd6768c12b6bba9abd8cef">getAutoCommandFromJson</a>(<span class="keyword">const</span> wpi::json &amp;json);</div>
+<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span> </div>
+<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>    <span class="keyword">static</span> frc::Pose2d getStartingPoseFromJson(<span class="keyword">const</span> wpi::json &amp;json);</div>
+<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span> </div>
+<div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span>    <span class="keyword">static</span> frc2::CommandPtr <a class="code hl_function" href="classpathplanner_1_1AutoBuilder.html#a51d6009e360d8017ab7268edf3d69236">pathfindToPose</a>(frc::Pose2d pose,</div>
+<div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>            <a class="code hl_class" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> constraints, units::meters_per_second_t goalEndVel =</div>
+<div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>                    0_mps, units::meter_t rotationDelayDistance = 0_m);</div>
+<div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span> </div>
+<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span>    <span class="keyword">static</span> frc2::CommandPtr <a class="code hl_function" href="classpathplanner_1_1AutoBuilder.html#ad6bcd5c3fa107143b10d94cc1a2f7063">pathfindThenFollowPath</a>(</div>
+<div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span>            std::shared_ptr&lt;PathPlannerPath&gt; goalPath,</div>
+<div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span>            <a class="code hl_class" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> pathfindingConstraints,</div>
+<div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span>            units::meter_t rotationDelayDistance = 0_m);</div>
+<div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span> </div>
+<div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span><span class="keyword">private</span>:</div>
+<div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> m_configured;</div>
+<div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>    <span class="keyword">static</span> std::function&lt;frc2::CommandPtr(std::shared_ptr&lt;PathPlannerPath&gt;)&gt; m_pathFollowingCommandBuilder;</div>
+<div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span>    <span class="keyword">static</span> std::function&lt;frc::Pose2d()&gt; m_getPose;</div>
+<div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span>    <span class="keyword">static</span> std::function&lt;void(frc::Pose2d)&gt; m_resetPose;</div>
+<div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span> </div>
+<div class="line"><a id="l00199" name="l00199"></a><span class="lineno">  199</span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> m_pathfindingConfigured;</div>
+<div class="line"><a id="l00200" name="l00200"></a><span class="lineno">  200</span>    <span class="keyword">static</span> std::function&lt;</div>
+<div class="line"><a id="l00201" name="l00201"></a><span class="lineno">  201</span>            frc2::CommandPtr(frc::Pose2d, <a class="code hl_class" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a>,</div>
+<div class="line"><a id="l00202" name="l00202"></a><span class="lineno">  202</span>                    units::meters_per_second_t, units::meter_t)&gt; m_pathfindToPoseCommandBuilder;</div>
+<div class="line"><a id="l00203" name="l00203"></a><span class="lineno">  203</span>    <span class="keyword">static</span> std::function&lt;</div>
+<div class="line"><a id="l00204" name="l00204"></a><span class="lineno">  204</span>            frc2::CommandPtr(std::shared_ptr&lt;PathPlannerPath&gt;, <a class="code hl_class" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a>,</div>
+<div class="line"><a id="l00205" name="l00205"></a><span class="lineno">  205</span>                    units::meter_t)&gt; m_pathfindThenFollowPathCommandBuilder;</div>
+<div class="line"><a id="l00206" name="l00206"></a><span class="lineno">  206</span>};</div>
+<div class="line"><a id="l00207" name="l00207"></a><span class="lineno">  207</span>}</div>
+<div class="ttc" id="aclasspathplanner_1_1AutoBuilder_html"><div class="ttname"><a href="classpathplanner_1_1AutoBuilder.html">pathplanner::AutoBuilder</a></div><div class="ttdef"><b>Definition:</b> AutoBuilder.h:17</div></div>
+<div class="ttc" id="aclasspathplanner_1_1AutoBuilder_html_a017b1eba314f2b6e525f3c3f0abed96b"><div class="ttname"><a href="classpathplanner_1_1AutoBuilder.html#a017b1eba314f2b6e525f3c3f0abed96b">pathplanner::AutoBuilder::followPathWithEvents</a></div><div class="ttdeci">static frc2::CommandPtr followPathWithEvents(std::shared_ptr&lt; PathPlannerPath &gt; path)</div><div class="ttdef"><b>Definition:</b> AutoBuilder.cpp:254</div></div>
+<div class="ttc" id="aclasspathplanner_1_1AutoBuilder_html_a27cddae7eee06a064a2fee83637ef458"><div class="ttname"><a href="classpathplanner_1_1AutoBuilder.html#a27cddae7eee06a064a2fee83637ef458">pathplanner::AutoBuilder::configureRamsete</a></div><div class="ttdeci">static void configureRamsete(std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; void(frc::Pose2d)&gt; resetPose, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, ReplanningConfig replanningConfig, frc2::Subsystem *driveSubsystem)</div><div class="ttdef"><b>Definition:</b> AutoBuilder.cpp:74</div></div>
+<div class="ttc" id="aclasspathplanner_1_1AutoBuilder_html_a35a1d44dd44756f2f008996967f49007"><div class="ttname"><a href="classpathplanner_1_1AutoBuilder.html#a35a1d44dd44756f2f008996967f49007">pathplanner::AutoBuilder::configureHolonomic</a></div><div class="ttdeci">static void configureHolonomic(std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; void(frc::Pose2d)&gt; resetPose, std::function&lt; frc::ChassisSpeeds()&gt; robotRelativeSpeedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; robotRelativeOutput, HolonomicPathFollowerConfig config, frc2::Subsystem *driveSubsystem)</div><div class="ttdef"><b>Definition:</b> AutoBuilder.cpp:33</div></div>
+<div class="ttc" id="aclasspathplanner_1_1AutoBuilder_html_a50592a28e0dd6768c12b6bba9abd8cef"><div class="ttname"><a href="classpathplanner_1_1AutoBuilder.html#a50592a28e0dd6768c12b6bba9abd8cef">pathplanner::AutoBuilder::getAutoCommandFromJson</a></div><div class="ttdeci">static frc2::CommandPtr getAutoCommandFromJson(const wpi::json &amp;json)</div><div class="ttdef"><b>Definition:</b> AutoBuilder.cpp:282</div></div>
+<div class="ttc" id="aclasspathplanner_1_1AutoBuilder_html_a51d6009e360d8017ab7268edf3d69236"><div class="ttname"><a href="classpathplanner_1_1AutoBuilder.html#a51d6009e360d8017ab7268edf3d69236">pathplanner::AutoBuilder::pathfindToPose</a></div><div class="ttdeci">static frc2::CommandPtr pathfindToPose(frc::Pose2d pose, PathConstraints constraints, units::meters_per_second_t goalEndVel=0_mps, units::meter_t rotationDelayDistance=0_m)</div><div class="ttdef"><b>Definition:</b> AutoBuilder.cpp:306</div></div>
+<div class="ttc" id="aclasspathplanner_1_1AutoBuilder_html_aa9d4e8bc410906d4f7113f3783b04e49"><div class="ttname"><a href="classpathplanner_1_1AutoBuilder.html#aa9d4e8bc410906d4f7113f3783b04e49">pathplanner::AutoBuilder::configureCustom</a></div><div class="ttdeci">static void configureCustom(std::function&lt; frc2::CommandPtr(std::shared_ptr&lt; PathPlannerPath &gt;)&gt; pathFollowingCommandBuilder, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; void(frc::Pose2d)&gt; resetPose)</div><div class="ttdef"><b>Definition:</b> AutoBuilder.cpp:237</div></div>
+<div class="ttc" id="aclasspathplanner_1_1AutoBuilder_html_abb4e30e93dea6d7c23fa122c6f8d7531"><div class="ttname"><a href="classpathplanner_1_1AutoBuilder.html#abb4e30e93dea6d7c23fa122c6f8d7531">pathplanner::AutoBuilder::buildAuto</a></div><div class="ttdeci">static frc2::CommandPtr buildAuto(std::string autoName)</div><div class="ttdef"><b>Definition:</b> AutoBuilder.cpp:265</div></div>
+<div class="ttc" id="aclasspathplanner_1_1AutoBuilder_html_ac447d58765d6ac127f13301291245caf"><div class="ttname"><a href="classpathplanner_1_1AutoBuilder.html#ac447d58765d6ac127f13301291245caf">pathplanner::AutoBuilder::isConfigured</a></div><div class="ttdeci">static bool isConfigured()</div><div class="ttdef"><b>Definition:</b> AutoBuilder.h:132</div></div>
+<div class="ttc" id="aclasspathplanner_1_1AutoBuilder_html_ad6bcd5c3fa107143b10d94cc1a2f7063"><div class="ttname"><a href="classpathplanner_1_1AutoBuilder.html#ad6bcd5c3fa107143b10d94cc1a2f7063">pathplanner::AutoBuilder::pathfindThenFollowPath</a></div><div class="ttdeci">static frc2::CommandPtr pathfindThenFollowPath(std::shared_ptr&lt; PathPlannerPath &gt; goalPath, PathConstraints pathfindingConstraints, units::meter_t rotationDelayDistance=0_m)</div><div class="ttdef"><b>Definition:</b> AutoBuilder.cpp:318</div></div>
+<div class="ttc" id="aclasspathplanner_1_1AutoBuilder_html_ae42e2c7770c7cfee1c178323ce17b9aa"><div class="ttname"><a href="classpathplanner_1_1AutoBuilder.html#ae42e2c7770c7cfee1c178323ce17b9aa">pathplanner::AutoBuilder::configureLTV</a></div><div class="ttdeci">static void configureLTV(std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; void(frc::Pose2d)&gt; resetPose, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, const wpi::array&lt; double, 3 &gt; &amp;Qelms, const wpi::array&lt; double, 2 &gt; &amp;Relms, units::second_t dt, ReplanningConfig replanningConfig, frc2::Subsystem *driveSubsystem)</div><div class="ttdef"><b>Definition:</b> AutoBuilder.cpp:156</div></div>
+<div class="ttc" id="aclasspathplanner_1_1HolonomicPathFollowerConfig_html"><div class="ttname"><a href="classpathplanner_1_1HolonomicPathFollowerConfig.html">pathplanner::HolonomicPathFollowerConfig</a></div><div class="ttdef"><b>Definition:</b> HolonomicPathFollowerConfig.h:10</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathConstraints_html"><div class="ttname"><a href="classpathplanner_1_1PathConstraints.html">pathplanner::PathConstraints</a></div><div class="ttdef"><b>Definition:</b> PathConstraints.h:10</div></div>
+<div class="ttc" id="aclasspathplanner_1_1ReplanningConfig_html"><div class="ttname"><a href="classpathplanner_1_1ReplanningConfig.html">pathplanner::ReplanningConfig</a></div><div class="ttdef"><b>Definition:</b> ReplanningConfig.h:6</div></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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+    <li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_5eb159725f84c66aafd839904a4acdd0.html">main</a></li><li class="navelem"><a class="el" href="dir_b09f3849ec87f7f01357d2c1b28ddfb1.html">native</a></li><li class="navelem"><a class="el" href="dir_34a15534b0ba644081206e4286ea6115.html">include</a></li><li class="navelem"><a class="el" href="dir_9928c8ff9a485b7ddff02877d2a05a10.html">pathplanner</a></li><li class="navelem"><a class="el" href="dir_13948881c4c0769b2e268e8b81181ef8.html">lib</a></li><li class="navelem"><a class="el" href="dir_c2a4c57c2fee12ede795dfa3b4f6ba03.html">auto</a></li><li class="navelem"><b>AutoBuilder.h</b></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
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diff --git a/docs/cpp/ChassisSpeedsRateLimiter_8h_source.html b/docs/cpp/ChassisSpeedsRateLimiter_8h_source.html
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@@ -0,0 +1,180 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+  <div class="headertitle"><div class="title">ChassisSpeedsRateLimiter.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;units/time.h&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;units/velocity.h&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;units/acceleration.h&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;units/angular_velocity.h&gt;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;units/angular_acceleration.h&gt;</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;frc/kinematics/ChassisSpeeds.h&gt;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="keyword">namespace </span>pathplanner {</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"><a class="line" href="classpathplanner_1_1ChassisSpeedsRateLimiter.html">   17</a></span><span class="keyword">class </span><a class="code hl_class" href="classpathplanner_1_1ChassisSpeedsRateLimiter.html">ChassisSpeedsRateLimiter</a> {</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"><a class="line" href="classpathplanner_1_1ChassisSpeedsRateLimiter.html#a0f07f44ebfc281da3c862b832ab53826">   26</a></span>    <a class="code hl_function" href="classpathplanner_1_1ChassisSpeedsRateLimiter.html#a0f07f44ebfc281da3c862b832ab53826">ChassisSpeedsRateLimiter</a>(</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>            units::meters_per_second_squared_t translationRateLimit,</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>            units::radians_per_second_squared_t rotationRateLimit,</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>            frc::ChassisSpeeds initialValue = frc::ChassisSpeeds { }) : m_translationRateLimit(</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>            translationRateLimit), m_rotationRateLimit(rotationRateLimit) {</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>        <a class="code hl_function" href="classpathplanner_1_1ChassisSpeedsRateLimiter.html#ac7efd541000522662cda915a3e46011d">reset</a>(initialValue);</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>    }</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span> </div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>    <span class="keywordtype">void</span> <a class="code hl_function" href="classpathplanner_1_1ChassisSpeedsRateLimiter.html#ac7efd541000522662cda915a3e46011d">reset</a>(frc::ChassisSpeeds value);</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span> </div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"><a class="line" href="classpathplanner_1_1ChassisSpeedsRateLimiter.html#a16c38975d1ce985e50cdf90b54863577">   47</a></span>    <span class="keyword">constexpr</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classpathplanner_1_1ChassisSpeedsRateLimiter.html#a16c38975d1ce985e50cdf90b54863577">setRateLimits</a>(</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>            units::meters_per_second_squared_t translationRateLimit,</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>            units::radians_per_second_squared_t rotationRateLimit) {</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>        m_translationRateLimit = translationRateLimit;</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>        m_rotationRateLimit = rotationRateLimit;</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>    }</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span> </div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    frc::ChassisSpeeds <a class="code hl_function" href="classpathplanner_1_1ChassisSpeedsRateLimiter.html#ab2c8f08687c34f87039a2344a89ca6a4">calculate</a>(<span class="keyword">const</span> frc::ChassisSpeeds &amp;input);</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span> </div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span><span class="keyword">private</span>:</div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>    units::meters_per_second_squared_t m_translationRateLimit;</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>    units::radians_per_second_squared_t m_rotationRateLimit;</div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span> </div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>    frc::ChassisSpeeds m_prevVal;</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>    units::second_t m_prevTime;</div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span> </div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>    <span class="keyword">class </span>Vector2 {</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>    <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>        <span class="keyword">const</span> units::meters_per_second_t x;</div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>        <span class="keyword">const</span> units::meters_per_second_t y;</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span> </div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>        <span class="keyword">constexpr</span> Vector2(units::meters_per_second_t xVel,</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>                units::meters_per_second_t yVel) : x(xVel), y(yVel) {</div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>        }</div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span> </div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>        <span class="keyword">constexpr</span> units::meters_per_second_t norm()<span class="keyword"> const </span>{</div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>            <span class="keywordflow">return</span> units::meters_per_second_t(std::sqrt((x * x)() + (y * y)()));</div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>        }</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span> </div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>        <span class="keyword">constexpr</span> Vector2 operator+(<span class="keyword">const</span> Vector2 &amp;other)<span class="keyword"> const </span>{</div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>            <span class="keywordflow">return</span> Vector2(x + other.x, y + other.y);</div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>        }</div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span> </div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>        <span class="keyword">constexpr</span> Vector2 operator-(<span class="keyword">const</span> Vector2 &amp;other)<span class="keyword"> const </span>{</div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>            <span class="keywordflow">return</span> Vector2(x - other.x, y - other.y);</div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>        }</div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span> </div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>        <span class="keyword">constexpr</span> Vector2 operator*(<span class="keyword">const</span> <span class="keywordtype">double</span> d)<span class="keyword"> const </span>{</div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>            <span class="keywordflow">return</span> Vector2(x * d, y * d);</div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>        }</div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span> </div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>        <span class="keyword">constexpr</span> Vector2 operator/(<span class="keyword">const</span> <span class="keywordtype">double</span> d)<span class="keyword"> const </span>{</div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>            <span class="keywordflow">return</span> Vector2(x / d, y / d);</div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>        }</div>
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>    };</div>
+<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>};</div>
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>}</div>
+<div class="ttc" id="aclasspathplanner_1_1ChassisSpeedsRateLimiter_html"><div class="ttname"><a href="classpathplanner_1_1ChassisSpeedsRateLimiter.html">pathplanner::ChassisSpeedsRateLimiter</a></div><div class="ttdef"><b>Definition:</b> ChassisSpeedsRateLimiter.h:17</div></div>
+<div class="ttc" id="aclasspathplanner_1_1ChassisSpeedsRateLimiter_html_a0f07f44ebfc281da3c862b832ab53826"><div class="ttname"><a href="classpathplanner_1_1ChassisSpeedsRateLimiter.html#a0f07f44ebfc281da3c862b832ab53826">pathplanner::ChassisSpeedsRateLimiter::ChassisSpeedsRateLimiter</a></div><div class="ttdeci">ChassisSpeedsRateLimiter(units::meters_per_second_squared_t translationRateLimit, units::radians_per_second_squared_t rotationRateLimit, frc::ChassisSpeeds initialValue=frc::ChassisSpeeds { })</div><div class="ttdef"><b>Definition:</b> ChassisSpeedsRateLimiter.h:26</div></div>
+<div class="ttc" id="aclasspathplanner_1_1ChassisSpeedsRateLimiter_html_a16c38975d1ce985e50cdf90b54863577"><div class="ttname"><a href="classpathplanner_1_1ChassisSpeedsRateLimiter.html#a16c38975d1ce985e50cdf90b54863577">pathplanner::ChassisSpeedsRateLimiter::setRateLimits</a></div><div class="ttdeci">constexpr void setRateLimits(units::meters_per_second_squared_t translationRateLimit, units::radians_per_second_squared_t rotationRateLimit)</div><div class="ttdef"><b>Definition:</b> ChassisSpeedsRateLimiter.h:47</div></div>
+<div class="ttc" id="aclasspathplanner_1_1ChassisSpeedsRateLimiter_html_ab2c8f08687c34f87039a2344a89ca6a4"><div class="ttname"><a href="classpathplanner_1_1ChassisSpeedsRateLimiter.html#ab2c8f08687c34f87039a2344a89ca6a4">pathplanner::ChassisSpeedsRateLimiter::calculate</a></div><div class="ttdeci">frc::ChassisSpeeds calculate(const frc::ChassisSpeeds &amp;input)</div><div class="ttdef"><b>Definition:</b> ChassisSpeedsRateLimiter.cpp:12</div></div>
+<div class="ttc" id="aclasspathplanner_1_1ChassisSpeedsRateLimiter_html_ac7efd541000522662cda915a3e46011d"><div class="ttname"><a href="classpathplanner_1_1ChassisSpeedsRateLimiter.html#ac7efd541000522662cda915a3e46011d">pathplanner::ChassisSpeedsRateLimiter::reset</a></div><div class="ttdeci">void reset(frc::ChassisSpeeds value)</div><div class="ttdef"><b>Definition:</b> ChassisSpeedsRateLimiter.cpp:7</div></div>
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+<div class="header">
+  <div class="headertitle"><div class="title">CommandUtil.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;wpi/json.h&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;frc2/command/Command.h&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;memory&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span> </div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="keyword">namespace </span>pathplanner {</div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"><a class="line" href="classpathplanner_1_1CommandUtil.html">    8</a></span><span class="keyword">class </span><a class="code hl_class" href="classpathplanner_1_1CommandUtil.html">CommandUtil</a> {</div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>    <span class="keyword">static</span> frc2::CommandPtr <a class="code hl_function" href="classpathplanner_1_1CommandUtil.html#a084caee4b421f3596d4a9d0e8bc6b82e">wrappedEventCommand</a>(</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>            std::shared_ptr&lt;frc2::Command&gt; command);</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span> </div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>    <span class="keyword">static</span> frc2::CommandPtr <a class="code hl_function" href="classpathplanner_1_1CommandUtil.html#a1242839afe67a5c778da2d905818b2f4">commandFromJson</a>(<span class="keyword">const</span> wpi::json &amp;json);</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span> </div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span><span class="keyword">private</span>:</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>    <span class="keyword">static</span> frc2::CommandPtr waitCommandFromJson(<span class="keyword">const</span> wpi::json &amp;json);</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span> </div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>    <span class="keyword">static</span> frc2::CommandPtr namedCommandFromJson(<span class="keyword">const</span> wpi::json &amp;json);</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span> </div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>    <span class="keyword">static</span> frc2::CommandPtr pathCommandFromJson(<span class="keyword">const</span> wpi::json &amp;json);</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span> </div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>    <span class="keyword">static</span> frc2::CommandPtr sequentialGroupFromJson(<span class="keyword">const</span> wpi::json &amp;json);</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span> </div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>    <span class="keyword">static</span> frc2::CommandPtr parallelGroupFromJson(<span class="keyword">const</span> wpi::json &amp;json);</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span> </div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>    <span class="keyword">static</span> frc2::CommandPtr raceGroupFromJson(<span class="keyword">const</span> wpi::json &amp;json);</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span> </div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>    <span class="keyword">static</span> frc2::CommandPtr deadlineGroupFromJson(<span class="keyword">const</span> wpi::json &amp;json);</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>};</div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>}</div>
+<div class="ttc" id="aclasspathplanner_1_1CommandUtil_html"><div class="ttname"><a href="classpathplanner_1_1CommandUtil.html">pathplanner::CommandUtil</a></div><div class="ttdef"><b>Definition:</b> CommandUtil.h:8</div></div>
+<div class="ttc" id="aclasspathplanner_1_1CommandUtil_html_a084caee4b421f3596d4a9d0e8bc6b82e"><div class="ttname"><a href="classpathplanner_1_1CommandUtil.html#a084caee4b421f3596d4a9d0e8bc6b82e">pathplanner::CommandUtil::wrappedEventCommand</a></div><div class="ttdeci">static frc2::CommandPtr wrappedEventCommand(std::shared_ptr&lt; frc2::Command &gt; command)</div><div class="ttdef"><b>Definition:</b> CommandUtil.cpp:11</div></div>
+<div class="ttc" id="aclasspathplanner_1_1CommandUtil_html_a1242839afe67a5c778da2d905818b2f4"><div class="ttname"><a href="classpathplanner_1_1CommandUtil.html#a1242839afe67a5c778da2d905818b2f4">pathplanner::CommandUtil::commandFromJson</a></div><div class="ttdeci">static frc2::CommandPtr commandFromJson(const wpi::json &amp;json)</div><div class="ttdef"><b>Definition:</b> CommandUtil.cpp:31</div></div>
+</div><!-- fragment --></div><!-- contents -->
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
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diff --git a/docs/cpp/ConstraintsZone_8h_source.html b/docs/cpp/ConstraintsZone_8h_source.html
new file mode 100644
index 00000000..222d7eb5
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+++ b/docs/cpp/ConstraintsZone_8h_source.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<title>PathPlannerLib: src/main/native/include/pathplanner/lib/path/ConstraintsZone.h Source File</title>
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+<table cellspacing="0" cellpadding="0">
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+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
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+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+  <div class="headertitle"><div class="title">ConstraintsZone.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &quot;pathplanner/lib/path/PathConstraints.h&quot;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;wpi/json.h&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="keyword">namespace </span>pathplanner {</div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"><a class="line" href="classpathplanner_1_1ConstraintsZone.html">    7</a></span><span class="keyword">class </span><a class="code hl_class" href="classpathplanner_1_1ConstraintsZone.html">ConstraintsZone</a> {</div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"><a class="line" href="classpathplanner_1_1ConstraintsZone.html#a257d618ea261f5e19e7bf8674e0fc8d7">   16</a></span>    <span class="keyword">constexpr</span> <a class="code hl_function" href="classpathplanner_1_1ConstraintsZone.html#a257d618ea261f5e19e7bf8674e0fc8d7">ConstraintsZone</a>(<span class="keywordtype">double</span> minWaypointRelativePos,</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>            <span class="keywordtype">double</span> maxWaypointRelativePos, <a class="code hl_class" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> constraints) : m_minPos(</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>            minWaypointRelativePos), m_maxPos(maxWaypointRelativePos), m_constraints(</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>            constraints) {</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>    }</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span> </div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>    <span class="keyword">static</span> <a class="code hl_class" href="classpathplanner_1_1ConstraintsZone.html">ConstraintsZone</a> <a class="code hl_function" href="classpathplanner_1_1ConstraintsZone.html#a4a29eeff4f7f38af89ad6b89dbf9570b">fromJson</a>(<span class="keyword">const</span> wpi::json &amp;json);</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span> </div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"><a class="line" href="classpathplanner_1_1ConstraintsZone.html#a1ddacd3bd0b2d590acbfa93b0f0ddaec">   35</a></span>    <span class="keyword">constexpr</span> <span class="keywordtype">double</span> <a class="code hl_function" href="classpathplanner_1_1ConstraintsZone.html#a1ddacd3bd0b2d590acbfa93b0f0ddaec">getMinWaypointRelativePos</a>()<span class="keyword"> const </span>{</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>        <span class="keywordflow">return</span> m_minPos;</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>    }</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span> </div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"><a class="line" href="classpathplanner_1_1ConstraintsZone.html#acf6c9117b71f5a740985790388092b6e">   44</a></span>    <span class="keyword">constexpr</span> <span class="keywordtype">double</span> <a class="code hl_function" href="classpathplanner_1_1ConstraintsZone.html#acf6c9117b71f5a740985790388092b6e">getMaxWaypointRelativePos</a>()<span class="keyword"> const </span>{</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>        <span class="keywordflow">return</span> m_maxPos;</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    }</div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span> </div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"><a class="line" href="classpathplanner_1_1ConstraintsZone.html#a51f771e5addb6dbe00e907f68da48b6d">   53</a></span>    <span class="keyword">constexpr</span> <span class="keyword">const</span> <a class="code hl_class" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a>&amp; <a class="code hl_function" href="classpathplanner_1_1ConstraintsZone.html#a51f771e5addb6dbe00e907f68da48b6d">getConstraints</a>()<span class="keyword"> const </span>{</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>        <span class="keywordflow">return</span> m_constraints;</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>    }</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span> </div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"><a class="line" href="classpathplanner_1_1ConstraintsZone.html#af1860116d986465f83e666cf302849a3">   63</a></span>    <span class="keyword">constexpr</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classpathplanner_1_1ConstraintsZone.html#af1860116d986465f83e666cf302849a3">isWithinZone</a>(<span class="keywordtype">double</span> t)<span class="keyword"> const </span>{</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>        <span class="keywordflow">return</span> t &gt;= m_minPos &amp;&amp; t &lt;= m_maxPos;</div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>    }</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span> </div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"><a class="line" href="classpathplanner_1_1ConstraintsZone.html#a2fcf8a1f73da55eef874f8a283abe2f3">   74</a></span>    <span class="keyword">constexpr</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classpathplanner_1_1ConstraintsZone.html#a2fcf8a1f73da55eef874f8a283abe2f3">overlapsRange</a>(<span class="keywordtype">double</span> minPos, <span class="keywordtype">double</span> maxPos)<span class="keyword"> const </span>{</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>        <span class="keywordflow">return</span> std::max(minPos, m_minPos) &lt;= std::min(maxPos, m_maxPos);</div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>    }</div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span> </div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"><a class="line" href="classpathplanner_1_1ConstraintsZone.html#a5479868c4125fafcfb4b7f651e5fa535">   86</a></span>    <span class="keyword">constexpr</span> <a class="code hl_class" href="classpathplanner_1_1ConstraintsZone.html">ConstraintsZone</a> <a class="code hl_function" href="classpathplanner_1_1ConstraintsZone.html#a5479868c4125fafcfb4b7f651e5fa535">forSegmentIndex</a>(<span class="keywordtype">int</span> segmentIndex)<span class="keyword"> const </span>{</div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>        <span class="keywordflow">return</span> <a class="code hl_class" href="classpathplanner_1_1ConstraintsZone.html">ConstraintsZone</a>(m_minPos - segmentIndex, m_maxPos - segmentIndex,</div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>                m_constraints);</div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>    }</div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span> </div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    <span class="keyword">inline</span> <span class="keywordtype">bool</span> operator==(<span class="keyword">const</span> <a class="code hl_class" href="classpathplanner_1_1ConstraintsZone.html">ConstraintsZone</a> &amp;other)<span class="keyword"> const </span>{</div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>        <span class="keywordflow">return</span> std::abs(m_minPos - other.m_minPos) &lt; 1E-9</div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>                &amp;&amp; std::abs(m_maxPos - other.m_maxPos) &lt; 1E-9</div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>                &amp;&amp; m_constraints == other.m_constraints;</div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>    }</div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span> </div>
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span><span class="keyword">private</span>:</div>
+<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>    <span class="keywordtype">double</span> m_minPos;</div>
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>    <span class="keywordtype">double</span> m_maxPos;</div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>    PathConstraints m_constraints;</div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>};</div>
+<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>}</div>
+<div class="ttc" id="aclasspathplanner_1_1ConstraintsZone_html"><div class="ttname"><a href="classpathplanner_1_1ConstraintsZone.html">pathplanner::ConstraintsZone</a></div><div class="ttdef"><b>Definition:</b> ConstraintsZone.h:7</div></div>
+<div class="ttc" id="aclasspathplanner_1_1ConstraintsZone_html_a1ddacd3bd0b2d590acbfa93b0f0ddaec"><div class="ttname"><a href="classpathplanner_1_1ConstraintsZone.html#a1ddacd3bd0b2d590acbfa93b0f0ddaec">pathplanner::ConstraintsZone::getMinWaypointRelativePos</a></div><div class="ttdeci">constexpr double getMinWaypointRelativePos() const</div><div class="ttdef"><b>Definition:</b> ConstraintsZone.h:35</div></div>
+<div class="ttc" id="aclasspathplanner_1_1ConstraintsZone_html_a257d618ea261f5e19e7bf8674e0fc8d7"><div class="ttname"><a href="classpathplanner_1_1ConstraintsZone.html#a257d618ea261f5e19e7bf8674e0fc8d7">pathplanner::ConstraintsZone::ConstraintsZone</a></div><div class="ttdeci">constexpr ConstraintsZone(double minWaypointRelativePos, double maxWaypointRelativePos, PathConstraints constraints)</div><div class="ttdef"><b>Definition:</b> ConstraintsZone.h:16</div></div>
+<div class="ttc" id="aclasspathplanner_1_1ConstraintsZone_html_a2fcf8a1f73da55eef874f8a283abe2f3"><div class="ttname"><a href="classpathplanner_1_1ConstraintsZone.html#a2fcf8a1f73da55eef874f8a283abe2f3">pathplanner::ConstraintsZone::overlapsRange</a></div><div class="ttdeci">constexpr bool overlapsRange(double minPos, double maxPos) const</div><div class="ttdef"><b>Definition:</b> ConstraintsZone.h:74</div></div>
+<div class="ttc" id="aclasspathplanner_1_1ConstraintsZone_html_a4a29eeff4f7f38af89ad6b89dbf9570b"><div class="ttname"><a href="classpathplanner_1_1ConstraintsZone.html#a4a29eeff4f7f38af89ad6b89dbf9570b">pathplanner::ConstraintsZone::fromJson</a></div><div class="ttdeci">static ConstraintsZone fromJson(const wpi::json &amp;json)</div><div class="ttdef"><b>Definition:</b> ConstraintsZone.cpp:6</div></div>
+<div class="ttc" id="aclasspathplanner_1_1ConstraintsZone_html_a51f771e5addb6dbe00e907f68da48b6d"><div class="ttname"><a href="classpathplanner_1_1ConstraintsZone.html#a51f771e5addb6dbe00e907f68da48b6d">pathplanner::ConstraintsZone::getConstraints</a></div><div class="ttdeci">constexpr const PathConstraints &amp; getConstraints() const</div><div class="ttdef"><b>Definition:</b> ConstraintsZone.h:53</div></div>
+<div class="ttc" id="aclasspathplanner_1_1ConstraintsZone_html_a5479868c4125fafcfb4b7f651e5fa535"><div class="ttname"><a href="classpathplanner_1_1ConstraintsZone.html#a5479868c4125fafcfb4b7f651e5fa535">pathplanner::ConstraintsZone::forSegmentIndex</a></div><div class="ttdeci">constexpr ConstraintsZone forSegmentIndex(int segmentIndex) const</div><div class="ttdef"><b>Definition:</b> ConstraintsZone.h:86</div></div>
+<div class="ttc" id="aclasspathplanner_1_1ConstraintsZone_html_acf6c9117b71f5a740985790388092b6e"><div class="ttname"><a href="classpathplanner_1_1ConstraintsZone.html#acf6c9117b71f5a740985790388092b6e">pathplanner::ConstraintsZone::getMaxWaypointRelativePos</a></div><div class="ttdeci">constexpr double getMaxWaypointRelativePos() const</div><div class="ttdef"><b>Definition:</b> ConstraintsZone.h:44</div></div>
+<div class="ttc" id="aclasspathplanner_1_1ConstraintsZone_html_af1860116d986465f83e666cf302849a3"><div class="ttname"><a href="classpathplanner_1_1ConstraintsZone.html#af1860116d986465f83e666cf302849a3">pathplanner::ConstraintsZone::isWithinZone</a></div><div class="ttdeci">constexpr bool isWithinZone(double t) const</div><div class="ttdef"><b>Definition:</b> ConstraintsZone.h:63</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathConstraints_html"><div class="ttname"><a href="classpathplanner_1_1PathConstraints.html">pathplanner::PathConstraints</a></div><div class="ttdef"><b>Definition:</b> PathConstraints.h:10</div></div>
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+  <div class="headertitle"><div class="title">EventMarker.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;frc2/command/Commands.h&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;frc/geometry/Translation2d.h&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;frc/geometry/Pose2d.h&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;units/length.h&gt;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;memory&gt;</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;wpi/json.h&gt;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="keyword">namespace </span>pathplanner {</div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"><a class="line" href="classpathplanner_1_1EventMarker.html">   11</a></span><span class="keyword">class </span><a class="code hl_class" href="classpathplanner_1_1EventMarker.html">EventMarker</a> {</div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"><a class="line" href="classpathplanner_1_1EventMarker.html#a12e800aa86657c34b19e61c4d828a46d">   21</a></span>    <a class="code hl_function" href="classpathplanner_1_1EventMarker.html#a12e800aa86657c34b19e61c4d828a46d">EventMarker</a>(<span class="keywordtype">double</span> waypointRelativePos, frc2::CommandPtr &amp;&amp;command,</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>            units::meter_t minimumTriggerDistance = 0.5_m) : m_pos(</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>            waypointRelativePos), m_command(std::move(command).Unwrap()), m_minTriggerDistance(</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>            minimumTriggerDistance) {</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>    }</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span> </div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"><a class="line" href="classpathplanner_1_1EventMarker.html#acdc27eba3b17ab1402a6d31549f24a66">   35</a></span>    <a class="code hl_function" href="classpathplanner_1_1EventMarker.html#acdc27eba3b17ab1402a6d31549f24a66">EventMarker</a>(<span class="keywordtype">double</span> waypointRelativePos,</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>            std::shared_ptr&lt;frc2::Command&gt; command,</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>            units::meter_t minimumTriggerDistance = 0.5_m) : m_pos(</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>            waypointRelativePos), m_command(command), m_minTriggerDistance(</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>            minimumTriggerDistance) {</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>    }</div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span> </div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>    <span class="keyword">static</span> <a class="code hl_class" href="classpathplanner_1_1EventMarker.html">EventMarker</a> <a class="code hl_function" href="classpathplanner_1_1EventMarker.html#a693c6484e415b5c3365c3adc88b99506">fromJson</a>(<span class="keyword">const</span> wpi::json &amp;json);</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span> </div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"><a class="line" href="classpathplanner_1_1EventMarker.html#ad27d886428a8e07857defae973f41acb">   55</a></span>    <span class="keyword">constexpr</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classpathplanner_1_1EventMarker.html#ad27d886428a8e07857defae973f41acb">reset</a>(frc::Pose2d robotPose) {</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>        m_lastRobotPos = robotPose.Translation();</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    }</div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span> </div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>    <span class="keywordtype">bool</span> <a class="code hl_function" href="classpathplanner_1_1EventMarker.html#a0c027f6fdcf0f364a89565a1ccd35090">shouldTrigger</a>(frc::Pose2d robotPose);</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span> </div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"><a class="line" href="classpathplanner_1_1EventMarker.html#a558e9cc79c680d08268b880ecb53087a">   72</a></span>    std::shared_ptr&lt;frc2::Command&gt; <a class="code hl_function" href="classpathplanner_1_1EventMarker.html#a558e9cc79c680d08268b880ecb53087a">getCommand</a>()<span class="keyword"> const </span>{</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>        <span class="keywordflow">return</span> m_command;</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>    }</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span> </div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"><a class="line" href="classpathplanner_1_1EventMarker.html#a6cb6d47109992bd120f3ede6410960aa">   81</a></span>    <span class="keyword">constexpr</span> <span class="keywordtype">double</span> <a class="code hl_function" href="classpathplanner_1_1EventMarker.html#a6cb6d47109992bd120f3ede6410960aa">getWaypointRelativePos</a>()<span class="keyword"> const </span>{</div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>        <span class="keywordflow">return</span> m_pos;</div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>    }</div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span> </div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"><a class="line" href="classpathplanner_1_1EventMarker.html#a328b5edeb7af5f88f7a54a945ba2f683">   91</a></span>    <span class="keyword">constexpr</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classpathplanner_1_1EventMarker.html#a328b5edeb7af5f88f7a54a945ba2f683">setMarkerPosition</a>(frc::Translation2d fieldPosition) {</div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>        m_markerPos = fieldPosition;</div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>    }</div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span> </div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"><a class="line" href="classpathplanner_1_1EventMarker.html#a6ec068726b35bc1ebd3770a83a59219d">  100</a></span>    <span class="keyword">constexpr</span> units::meter_t <a class="code hl_function" href="classpathplanner_1_1EventMarker.html#a6ec068726b35bc1ebd3770a83a59219d">getMinimumTriggerDistance</a>()<span class="keyword"> const </span>{</div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>        <span class="keywordflow">return</span> m_minTriggerDistance;</div>
+<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>    }</div>
+<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span> </div>
+<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span><span class="keyword">private</span>:</div>
+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>    <span class="keywordtype">double</span> m_pos;</div>
+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>    std::shared_ptr&lt;frc2::Command&gt; m_command;</div>
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>    units::meter_t m_minTriggerDistance;</div>
+<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span> </div>
+<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>    frc::Translation2d m_markerPos;</div>
+<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>    frc::Translation2d m_lastRobotPos;</div>
+<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>};</div>
+<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>}</div>
+<div class="ttc" id="aclasspathplanner_1_1EventMarker_html"><div class="ttname"><a href="classpathplanner_1_1EventMarker.html">pathplanner::EventMarker</a></div><div class="ttdef"><b>Definition:</b> EventMarker.h:11</div></div>
+<div class="ttc" id="aclasspathplanner_1_1EventMarker_html_a0c027f6fdcf0f364a89565a1ccd35090"><div class="ttname"><a href="classpathplanner_1_1EventMarker.html#a0c027f6fdcf0f364a89565a1ccd35090">pathplanner::EventMarker::shouldTrigger</a></div><div class="ttdeci">bool shouldTrigger(frc::Pose2d robotPose)</div><div class="ttdef"><b>Definition:</b> EventMarker.cpp:11</div></div>
+<div class="ttc" id="aclasspathplanner_1_1EventMarker_html_a12e800aa86657c34b19e61c4d828a46d"><div class="ttname"><a href="classpathplanner_1_1EventMarker.html#a12e800aa86657c34b19e61c4d828a46d">pathplanner::EventMarker::EventMarker</a></div><div class="ttdeci">EventMarker(double waypointRelativePos, frc2::CommandPtr &amp;&amp;command, units::meter_t minimumTriggerDistance=0.5_m)</div><div class="ttdef"><b>Definition:</b> EventMarker.h:21</div></div>
+<div class="ttc" id="aclasspathplanner_1_1EventMarker_html_a328b5edeb7af5f88f7a54a945ba2f683"><div class="ttname"><a href="classpathplanner_1_1EventMarker.html#a328b5edeb7af5f88f7a54a945ba2f683">pathplanner::EventMarker::setMarkerPosition</a></div><div class="ttdeci">constexpr void setMarkerPosition(frc::Translation2d fieldPosition)</div><div class="ttdef"><b>Definition:</b> EventMarker.h:91</div></div>
+<div class="ttc" id="aclasspathplanner_1_1EventMarker_html_a558e9cc79c680d08268b880ecb53087a"><div class="ttname"><a href="classpathplanner_1_1EventMarker.html#a558e9cc79c680d08268b880ecb53087a">pathplanner::EventMarker::getCommand</a></div><div class="ttdeci">std::shared_ptr&lt; frc2::Command &gt; getCommand() const</div><div class="ttdef"><b>Definition:</b> EventMarker.h:72</div></div>
+<div class="ttc" id="aclasspathplanner_1_1EventMarker_html_a693c6484e415b5c3365c3adc88b99506"><div class="ttname"><a href="classpathplanner_1_1EventMarker.html#a693c6484e415b5c3365c3adc88b99506">pathplanner::EventMarker::fromJson</a></div><div class="ttdeci">static EventMarker fromJson(const wpi::json &amp;json)</div><div class="ttdef"><b>Definition:</b> EventMarker.cpp:6</div></div>
+<div class="ttc" id="aclasspathplanner_1_1EventMarker_html_a6cb6d47109992bd120f3ede6410960aa"><div class="ttname"><a href="classpathplanner_1_1EventMarker.html#a6cb6d47109992bd120f3ede6410960aa">pathplanner::EventMarker::getWaypointRelativePos</a></div><div class="ttdeci">constexpr double getWaypointRelativePos() const</div><div class="ttdef"><b>Definition:</b> EventMarker.h:81</div></div>
+<div class="ttc" id="aclasspathplanner_1_1EventMarker_html_a6ec068726b35bc1ebd3770a83a59219d"><div class="ttname"><a href="classpathplanner_1_1EventMarker.html#a6ec068726b35bc1ebd3770a83a59219d">pathplanner::EventMarker::getMinimumTriggerDistance</a></div><div class="ttdeci">constexpr units::meter_t getMinimumTriggerDistance() const</div><div class="ttdef"><b>Definition:</b> EventMarker.h:100</div></div>
+<div class="ttc" id="aclasspathplanner_1_1EventMarker_html_acdc27eba3b17ab1402a6d31549f24a66"><div class="ttname"><a href="classpathplanner_1_1EventMarker.html#acdc27eba3b17ab1402a6d31549f24a66">pathplanner::EventMarker::EventMarker</a></div><div class="ttdeci">EventMarker(double waypointRelativePos, std::shared_ptr&lt; frc2::Command &gt; command, units::meter_t minimumTriggerDistance=0.5_m)</div><div class="ttdef"><b>Definition:</b> EventMarker.h:35</div></div>
+<div class="ttc" id="aclasspathplanner_1_1EventMarker_html_ad27d886428a8e07857defae973f41acb"><div class="ttname"><a href="classpathplanner_1_1EventMarker.html#ad27d886428a8e07857defae973f41acb">pathplanner::EventMarker::reset</a></div><div class="ttdeci">constexpr void reset(frc::Pose2d robotPose)</div><div class="ttdef"><b>Definition:</b> EventMarker.h:55</div></div>
+</div><!-- fragment --></div><!-- contents -->
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+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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+  <div class="headertitle"><div class="title">FollowPathCommand.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;frc2/command/Command.h&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;frc2/command/CommandHelper.h&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;frc2/command/Requirements.h&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;memory&gt;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;functional&gt;</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;frc/geometry/Pose2d.h&gt;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &lt;frc/kinematics/ChassisSpeeds.h&gt;</span></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#include &lt;frc/Timer.h&gt;</span></div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="preprocessor">#include &lt;units/velocity.h&gt;</span></div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="preprocessor">#include &lt;units/length.h&gt;</span></div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="preprocessor">#include &lt;units/time.h&gt;</span></div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="preprocessor">#include &quot;pathplanner/lib/path/PathPlannerPath.h&quot;</span></div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="preprocessor">#include &quot;pathplanner/lib/path/PathPlannerTrajectory.h&quot;</span></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="preprocessor">#include &quot;pathplanner/lib/controllers/PathFollowingController.h&quot;</span></div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="preprocessor">#include &quot;pathplanner/lib/util/ReplanningConfig.h&quot;</span></div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="preprocessor">#include &quot;pathplanner/lib/util/PathPlannerLogging.h&quot;</span></div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span><span class="preprocessor">#include &quot;pathplanner/lib/util/PPLibTelemetry.h&quot;</span></div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span> </div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span><span class="keyword">namespace </span>pathplanner {</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"><a class="line" href="classpathplanner_1_1FollowPathCommand.html">   22</a></span><span class="keyword">class </span><a class="code hl_class" href="classpathplanner_1_1FollowPathCommand.html">FollowPathCommand</a>: <span class="keyword">public</span> frc2::CommandHelper&lt;frc2::Command,</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>        FollowPathCommand&gt; {</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>    <a class="code hl_class" href="classpathplanner_1_1FollowPathCommand.html">FollowPathCommand</a>(std::shared_ptr&lt;PathPlannerPath&gt; path,</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>            std::function&lt;frc::Pose2d()&gt; poseSupplier,</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>            std::function&lt;frc::ChassisSpeeds()&gt; speedsSupplier,</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>            std::function&lt;<span class="keywordtype">void</span>(frc::ChassisSpeeds)&gt; output,</div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>            std::unique_ptr&lt;PathFollowingController&gt; controller,</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>            <a class="code hl_class" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a> replanningConfig, frc2::Requirements requirements);</div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span> </div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>    <span class="keywordtype">void</span> Initialize() <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span> </div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    <span class="keywordtype">void</span> Execute() <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span> </div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>    <span class="keywordtype">bool</span> IsFinished() <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span> </div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>    <span class="keywordtype">void</span> End(<span class="keywordtype">bool</span> interrupted) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span> </div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span><span class="keyword">private</span>:</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>    frc::Timer m_timer;</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>    std::shared_ptr&lt;PathPlannerPath&gt; m_path;</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>    std::function&lt;frc::Pose2d()&gt; m_poseSupplier;</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>    std::function&lt;frc::ChassisSpeeds()&gt; m_speedsSupplier;</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    std::function&lt;void(frc::ChassisSpeeds)&gt; m_output;</div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>    std::unique_ptr&lt;PathFollowingController&gt; m_controller;</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>    <a class="code hl_class" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a> m_replanningConfig;</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span> </div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>    <a class="code hl_class" href="classpathplanner_1_1PathPlannerTrajectory.html">PathPlannerTrajectory</a> m_generatedTrajectory;</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span> </div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>    <span class="keyword">inline</span> <span class="keywordtype">void</span> replanPath(<span class="keyword">const</span> frc::Pose2d &amp;currentPose,</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>            <span class="keyword">const</span> frc::ChassisSpeeds &amp;currentSpeeds) {</div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>        <span class="keyword">auto</span> replanned = m_path-&gt;replan(currentPose, currentSpeeds);</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>        m_generatedTrajectory = <a class="code hl_class" href="classpathplanner_1_1PathPlannerTrajectory.html">PathPlannerTrajectory</a>(replanned, currentSpeeds);</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>        PathPlannerLogging::logActivePath(replanned);</div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>        PPLibTelemetry::setCurrentPath(replanned);</div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>    }</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>};</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>}</div>
+<div class="ttc" id="aclasspathplanner_1_1FollowPathCommand_html"><div class="ttname"><a href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a></div><div class="ttdef"><b>Definition:</b> FollowPathCommand.h:23</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathPlannerTrajectory_html"><div class="ttname"><a href="classpathplanner_1_1PathPlannerTrajectory.html">pathplanner::PathPlannerTrajectory</a></div><div class="ttdef"><b>Definition:</b> PathPlannerTrajectory.h:21</div></div>
+<div class="ttc" id="aclasspathplanner_1_1ReplanningConfig_html"><div class="ttname"><a href="classpathplanner_1_1ReplanningConfig.html">pathplanner::ReplanningConfig</a></div><div class="ttdef"><b>Definition:</b> ReplanningConfig.h:6</div></div>
+</div><!-- fragment --></div><!-- contents -->
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
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diff --git a/docs/cpp/FollowPathHolonomic_8h_source.html b/docs/cpp/FollowPathHolonomic_8h_source.html
new file mode 100644
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+  <div class="headertitle"><div class="title">FollowPathHolonomic.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &quot;pathplanner/lib/commands/FollowPathCommand.h&quot;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &quot;pathplanner/lib/controllers/PPHolonomicDriveController.h&quot;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &quot;pathplanner/lib/util/PIDConstants.h&quot;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &quot;pathplanner/lib/util/HolonomicPathFollowerConfig.h&quot;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="keyword">namespace </span>pathplanner {</div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"><a class="line" href="classpathplanner_1_1FollowPathHolonomic.html">    9</a></span><span class="keyword">class </span><a class="code hl_class" href="classpathplanner_1_1FollowPathHolonomic.html">FollowPathHolonomic</a>: <span class="keyword">public</span> <a class="code hl_class" href="classpathplanner_1_1FollowPathCommand.html">FollowPathCommand</a> {</div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"><a class="line" href="classpathplanner_1_1FollowPathHolonomic.html#a5ed966701059b6f740f0f351fb106f24">   30</a></span>    <a class="code hl_function" href="classpathplanner_1_1FollowPathHolonomic.html#a5ed966701059b6f740f0f351fb106f24">FollowPathHolonomic</a>(std::shared_ptr&lt;PathPlannerPath&gt; path,</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>            std::function&lt;frc::Pose2d()&gt; poseSupplier,</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>            std::function&lt;frc::ChassisSpeeds()&gt; speedsSupplier,</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>            std::function&lt;<span class="keywordtype">void</span>(frc::ChassisSpeeds)&gt; output,</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>            <a class="code hl_class" href="classpathplanner_1_1PIDConstants.html">PIDConstants</a> translationConstants, <a class="code hl_class" href="classpathplanner_1_1PIDConstants.html">PIDConstants</a> rotationConstants,</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>            units::meters_per_second_t maxModuleSpeed,</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>            units::meter_t driveBaseRadius, <a class="code hl_class" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a> replanningConfig,</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>            frc2::Requirements requirements, units::second_t period = 0.02_s) : <a class="code hl_class" href="classpathplanner_1_1FollowPathCommand.html">FollowPathCommand</a>(</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>            path, poseSupplier, speedsSupplier, output,</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>            std::make_unique &lt; <a class="code hl_class" href="classpathplanner_1_1PPHolonomicDriveController.html">PPHolonomicDriveController</a></div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>                    &gt; (translationConstants, rotationConstants, maxModuleSpeed, driveBaseRadius, period),</div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>            replanningConfig, requirements) {</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>    }</div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span> </div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"><a class="line" href="classpathplanner_1_1FollowPathHolonomic.html#a0105d698a3b57612b241cde73beaf9f8">   56</a></span>    <a class="code hl_function" href="classpathplanner_1_1FollowPathHolonomic.html#a0105d698a3b57612b241cde73beaf9f8">FollowPathHolonomic</a>(std::shared_ptr&lt;PathPlannerPath&gt; path,</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>            std::function&lt;frc::Pose2d()&gt; poseSupplier,</div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>            std::function&lt;frc::ChassisSpeeds()&gt; speedsSupplier,</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>            std::function&lt;<span class="keywordtype">void</span>(frc::ChassisSpeeds)&gt; output,</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>            <a class="code hl_class" href="classpathplanner_1_1HolonomicPathFollowerConfig.html">HolonomicPathFollowerConfig</a> config, frc2::Requirements requirements) : <a class="code hl_class" href="classpathplanner_1_1FollowPathHolonomic.html">FollowPathHolonomic</a>(</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>            path, poseSupplier, speedsSupplier, output,</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>            config.translationConstants, config.rotationConstants,</div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>            config.maxModuleSpeed, config.driveBaseRadius,</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>            config.replanningConfig, requirements, config.period) {</div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>    }</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>};</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>}</div>
+<div class="ttc" id="aclasspathplanner_1_1FollowPathCommand_html"><div class="ttname"><a href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a></div><div class="ttdef"><b>Definition:</b> FollowPathCommand.h:23</div></div>
+<div class="ttc" id="aclasspathplanner_1_1FollowPathHolonomic_html"><div class="ttname"><a href="classpathplanner_1_1FollowPathHolonomic.html">pathplanner::FollowPathHolonomic</a></div><div class="ttdef"><b>Definition:</b> FollowPathHolonomic.h:9</div></div>
+<div class="ttc" id="aclasspathplanner_1_1FollowPathHolonomic_html_a0105d698a3b57612b241cde73beaf9f8"><div class="ttname"><a href="classpathplanner_1_1FollowPathHolonomic.html#a0105d698a3b57612b241cde73beaf9f8">pathplanner::FollowPathHolonomic::FollowPathHolonomic</a></div><div class="ttdeci">FollowPathHolonomic(std::shared_ptr&lt; PathPlannerPath &gt; path, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, HolonomicPathFollowerConfig config, frc2::Requirements requirements)</div><div class="ttdef"><b>Definition:</b> FollowPathHolonomic.h:56</div></div>
+<div class="ttc" id="aclasspathplanner_1_1FollowPathHolonomic_html_a5ed966701059b6f740f0f351fb106f24"><div class="ttname"><a href="classpathplanner_1_1FollowPathHolonomic.html#a5ed966701059b6f740f0f351fb106f24">pathplanner::FollowPathHolonomic::FollowPathHolonomic</a></div><div class="ttdeci">FollowPathHolonomic(std::shared_ptr&lt; PathPlannerPath &gt; path, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, PIDConstants translationConstants, PIDConstants rotationConstants, units::meters_per_second_t maxModuleSpeed, units::meter_t driveBaseRadius, ReplanningConfig replanningConfig, frc2::Requirements requirements, units::second_t period=0.02_s)</div><div class="ttdef"><b>Definition:</b> FollowPathHolonomic.h:30</div></div>
+<div class="ttc" id="aclasspathplanner_1_1HolonomicPathFollowerConfig_html"><div class="ttname"><a href="classpathplanner_1_1HolonomicPathFollowerConfig.html">pathplanner::HolonomicPathFollowerConfig</a></div><div class="ttdef"><b>Definition:</b> HolonomicPathFollowerConfig.h:10</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PIDConstants_html"><div class="ttname"><a href="classpathplanner_1_1PIDConstants.html">pathplanner::PIDConstants</a></div><div class="ttdef"><b>Definition:</b> PIDConstants.h:4</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PPHolonomicDriveController_html"><div class="ttname"><a href="classpathplanner_1_1PPHolonomicDriveController.html">pathplanner::PPHolonomicDriveController</a></div><div class="ttdef"><b>Definition:</b> PPHolonomicDriveController.h:20</div></div>
+<div class="ttc" id="aclasspathplanner_1_1ReplanningConfig_html"><div class="ttname"><a href="classpathplanner_1_1ReplanningConfig.html">pathplanner::ReplanningConfig</a></div><div class="ttdef"><b>Definition:</b> ReplanningConfig.h:6</div></div>
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
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diff --git a/docs/cpp/FollowPathLTV_8h_source.html b/docs/cpp/FollowPathLTV_8h_source.html
new file mode 100644
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+  <div class="headertitle"><div class="title">FollowPathLTV.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &quot;pathplanner/lib/commands/FollowPathCommand.h&quot;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &quot;pathplanner/lib/controllers/PPLTVController.h&quot;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="keyword">namespace </span>pathplanner {</div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"><a class="line" href="classpathplanner_1_1FollowPathLTV.html">    7</a></span><span class="keyword">class </span><a class="code hl_class" href="classpathplanner_1_1FollowPathLTV.html">FollowPathLTV</a>: <span class="keyword">public</span> <a class="code hl_class" href="classpathplanner_1_1FollowPathCommand.html">FollowPathCommand</a> {</div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"><a class="line" href="classpathplanner_1_1FollowPathLTV.html#a2fae1ff62b4fab22042c328dcd69af07">   23</a></span>    <a class="code hl_function" href="classpathplanner_1_1FollowPathLTV.html#a2fae1ff62b4fab22042c328dcd69af07">FollowPathLTV</a>(std::shared_ptr&lt;PathPlannerPath&gt; path,</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>            std::function&lt;frc::Pose2d()&gt; poseSupplier,</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>            std::function&lt;frc::ChassisSpeeds()&gt; speedsSupplier,</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>            std::function&lt;<span class="keywordtype">void</span>(frc::ChassisSpeeds)&gt; output,</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>            <span class="keyword">const</span> wpi::array&lt;double, 3&gt; &amp;Qelms,</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>            <span class="keyword">const</span> wpi::array&lt;double, 2&gt; &amp;Relms, units::second_t dt,</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>            <a class="code hl_class" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a> replanningConfig, frc2::Requirements requirements) : <a class="code hl_class" href="classpathplanner_1_1FollowPathCommand.html">FollowPathCommand</a>(</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>            path, poseSupplier, speedsSupplier, output,</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>            std::make_unique &lt; <a class="code hl_class" href="classpathplanner_1_1PPLTVController.html">PPLTVController</a> &gt; (Qelms, Relms, dt),</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>            replanningConfig, requirements) {</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>    }</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span> </div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"><a class="line" href="classpathplanner_1_1FollowPathLTV.html#ac6333230362e621c1cd8afbc0c2f8b7a">   47</a></span>    <a class="code hl_function" href="classpathplanner_1_1FollowPathLTV.html#ac6333230362e621c1cd8afbc0c2f8b7a">FollowPathLTV</a>(std::shared_ptr&lt;PathPlannerPath&gt; path,</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>            std::function&lt;frc::Pose2d()&gt; poseSupplier,</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>            std::function&lt;frc::ChassisSpeeds()&gt; speedsSupplier,</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>            std::function&lt;<span class="keywordtype">void</span>(frc::ChassisSpeeds)&gt; output, units::second_t dt,</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>            <a class="code hl_class" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a> replanningConfig, frc2::Requirements requirements) : <a class="code hl_class" href="classpathplanner_1_1FollowPathCommand.html">FollowPathCommand</a>(</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>            path, poseSupplier, speedsSupplier, output,</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>            std::make_unique &lt; <a class="code hl_class" href="classpathplanner_1_1PPLTVController.html">PPLTVController</a> &gt; (dt), replanningConfig,</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>            requirements) {</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>    }</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>};</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>}</div>
+<div class="ttc" id="aclasspathplanner_1_1FollowPathCommand_html"><div class="ttname"><a href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a></div><div class="ttdef"><b>Definition:</b> FollowPathCommand.h:23</div></div>
+<div class="ttc" id="aclasspathplanner_1_1FollowPathLTV_html"><div class="ttname"><a href="classpathplanner_1_1FollowPathLTV.html">pathplanner::FollowPathLTV</a></div><div class="ttdef"><b>Definition:</b> FollowPathLTV.h:7</div></div>
+<div class="ttc" id="aclasspathplanner_1_1FollowPathLTV_html_a2fae1ff62b4fab22042c328dcd69af07"><div class="ttname"><a href="classpathplanner_1_1FollowPathLTV.html#a2fae1ff62b4fab22042c328dcd69af07">pathplanner::FollowPathLTV::FollowPathLTV</a></div><div class="ttdeci">FollowPathLTV(std::shared_ptr&lt; PathPlannerPath &gt; path, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, const wpi::array&lt; double, 3 &gt; &amp;Qelms, const wpi::array&lt; double, 2 &gt; &amp;Relms, units::second_t dt, ReplanningConfig replanningConfig, frc2::Requirements requirements)</div><div class="ttdef"><b>Definition:</b> FollowPathLTV.h:23</div></div>
+<div class="ttc" id="aclasspathplanner_1_1FollowPathLTV_html_ac6333230362e621c1cd8afbc0c2f8b7a"><div class="ttname"><a href="classpathplanner_1_1FollowPathLTV.html#ac6333230362e621c1cd8afbc0c2f8b7a">pathplanner::FollowPathLTV::FollowPathLTV</a></div><div class="ttdeci">FollowPathLTV(std::shared_ptr&lt; PathPlannerPath &gt; path, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, units::second_t dt, ReplanningConfig replanningConfig, frc2::Requirements requirements)</div><div class="ttdef"><b>Definition:</b> FollowPathLTV.h:47</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PPLTVController_html"><div class="ttname"><a href="classpathplanner_1_1PPLTVController.html">pathplanner::PPLTVController</a></div><div class="ttdef"><b>Definition:</b> PPLTVController.h:8</div></div>
+<div class="ttc" id="aclasspathplanner_1_1ReplanningConfig_html"><div class="ttname"><a href="classpathplanner_1_1ReplanningConfig.html">pathplanner::ReplanningConfig</a></div><div class="ttdef"><b>Definition:</b> ReplanningConfig.h:6</div></div>
+</div><!-- fragment --></div><!-- contents -->
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
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diff --git a/docs/cpp/FollowPathRamsete_8h_source.html b/docs/cpp/FollowPathRamsete_8h_source.html
new file mode 100644
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+  <div class="headertitle"><div class="title">FollowPathRamsete.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &quot;pathplanner/lib/commands/FollowPathCommand.h&quot;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &quot;pathplanner/lib/controllers/PPRamseteController.h&quot;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="keyword">namespace </span>pathplanner {</div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"><a class="line" href="classpathplanner_1_1FollowPathRamsete.html">    7</a></span><span class="keyword">class </span><a class="code hl_class" href="classpathplanner_1_1FollowPathRamsete.html">FollowPathRamsete</a>: <span class="keyword">public</span> <a class="code hl_class" href="classpathplanner_1_1FollowPathCommand.html">FollowPathCommand</a> {</div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"><a class="line" href="classpathplanner_1_1FollowPathRamsete.html#a71fb0c88a78904e3b0b81c7dec82a225">   24</a></span>    <a class="code hl_function" href="classpathplanner_1_1FollowPathRamsete.html#a71fb0c88a78904e3b0b81c7dec82a225">FollowPathRamsete</a>(std::shared_ptr&lt;PathPlannerPath&gt; path,</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>            std::function&lt;frc::Pose2d()&gt; poseSupplier,</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>            std::function&lt;frc::ChassisSpeeds()&gt; speedsSupplier,</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>            std::function&lt;<span class="keywordtype">void</span>(frc::ChassisSpeeds)&gt; output,</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>            units::unit_t&lt;frc::RamseteController::b_unit&gt; b,</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>            units::unit_t&lt;frc::RamseteController::zeta_unit&gt; zeta,</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>            <a class="code hl_class" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a> replanningConfig, frc2::Requirements requirements) : <a class="code hl_class" href="classpathplanner_1_1FollowPathCommand.html">FollowPathCommand</a>(</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>            path, poseSupplier, speedsSupplier, output,</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>            std::make_unique &lt; <a class="code hl_class" href="classpathplanner_1_1PPRamseteController.html">PPRamseteController</a> &gt; (b, zeta),</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>            replanningConfig, requirements) {</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>    }</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span> </div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"><a class="line" href="classpathplanner_1_1FollowPathRamsete.html#a30639dcdb783b7b37697a211cb20c4b9">   47</a></span>    <a class="code hl_function" href="classpathplanner_1_1FollowPathRamsete.html#a30639dcdb783b7b37697a211cb20c4b9">FollowPathRamsete</a>(std::shared_ptr&lt;PathPlannerPath&gt; path,</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>            std::function&lt;frc::Pose2d()&gt; poseSupplier,</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>            std::function&lt;frc::ChassisSpeeds()&gt; speedsSupplier,</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>            std::function&lt;<span class="keywordtype">void</span>(frc::ChassisSpeeds)&gt; output,</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>            <a class="code hl_class" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a> replanningConfig, frc2::Requirements requirements) : <a class="code hl_class" href="classpathplanner_1_1FollowPathCommand.html">FollowPathCommand</a>(</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>            path, poseSupplier, speedsSupplier, output,</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>            std::make_unique&lt;<a class="code hl_class" href="classpathplanner_1_1PPRamseteController.html">PPRamseteController</a>&gt;(), replanningConfig,</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>            requirements) {</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>    }</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>};</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>}</div>
+<div class="ttc" id="aclasspathplanner_1_1FollowPathCommand_html"><div class="ttname"><a href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a></div><div class="ttdef"><b>Definition:</b> FollowPathCommand.h:23</div></div>
+<div class="ttc" id="aclasspathplanner_1_1FollowPathRamsete_html"><div class="ttname"><a href="classpathplanner_1_1FollowPathRamsete.html">pathplanner::FollowPathRamsete</a></div><div class="ttdef"><b>Definition:</b> FollowPathRamsete.h:7</div></div>
+<div class="ttc" id="aclasspathplanner_1_1FollowPathRamsete_html_a30639dcdb783b7b37697a211cb20c4b9"><div class="ttname"><a href="classpathplanner_1_1FollowPathRamsete.html#a30639dcdb783b7b37697a211cb20c4b9">pathplanner::FollowPathRamsete::FollowPathRamsete</a></div><div class="ttdeci">FollowPathRamsete(std::shared_ptr&lt; PathPlannerPath &gt; path, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, ReplanningConfig replanningConfig, frc2::Requirements requirements)</div><div class="ttdef"><b>Definition:</b> FollowPathRamsete.h:47</div></div>
+<div class="ttc" id="aclasspathplanner_1_1FollowPathRamsete_html_a71fb0c88a78904e3b0b81c7dec82a225"><div class="ttname"><a href="classpathplanner_1_1FollowPathRamsete.html#a71fb0c88a78904e3b0b81c7dec82a225">pathplanner::FollowPathRamsete::FollowPathRamsete</a></div><div class="ttdeci">FollowPathRamsete(std::shared_ptr&lt; PathPlannerPath &gt; path, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, units::unit_t&lt; frc::RamseteController::b_unit &gt; b, units::unit_t&lt; frc::RamseteController::zeta_unit &gt; zeta, ReplanningConfig replanningConfig, frc2::Requirements requirements)</div><div class="ttdef"><b>Definition:</b> FollowPathRamsete.h:24</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PPRamseteController_html"><div class="ttname"><a href="classpathplanner_1_1PPRamseteController.html">pathplanner::PPRamseteController</a></div><div class="ttdef"><b>Definition:</b> PPRamseteController.h:8</div></div>
+<div class="ttc" id="aclasspathplanner_1_1ReplanningConfig_html"><div class="ttname"><a href="classpathplanner_1_1ReplanningConfig.html">pathplanner::ReplanningConfig</a></div><div class="ttdef"><b>Definition:</b> ReplanningConfig.h:6</div></div>
+</div><!-- fragment --></div><!-- contents -->
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diff --git a/docs/cpp/FollowPathWithEvents_8h_source.html b/docs/cpp/FollowPathWithEvents_8h_source.html
new file mode 100644
index 00000000..ff34e566
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+++ b/docs/cpp/FollowPathWithEvents_8h_source.html
@@ -0,0 +1,143 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<div class="header">
+  <div class="headertitle"><div class="title">FollowPathWithEvents.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;frc2/command/Command.h&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;frc2/command/CommandHelper.h&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;memory&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;functional&gt;</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;frc/geometry/Pose2d.h&gt;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &quot;pathplanner/lib/path/PathPlannerPath.h&quot;</span></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span> </div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="keyword">namespace </span>pathplanner {</div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"><a class="line" href="classpathplanner_1_1FollowPathWithEvents.html">   12</a></span><span class="keyword">class </span><a class="code hl_class" href="classpathplanner_1_1FollowPathWithEvents.html">FollowPathWithEvents</a>: <span class="keyword">public</span> frc2::CommandHelper&lt;frc2::Command,</div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span>        FollowPathWithEvents&gt; {</div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>    <a class="code hl_class" href="classpathplanner_1_1FollowPathWithEvents.html">FollowPathWithEvents</a>(std::unique_ptr&lt;frc2::Command&gt; &amp;&amp;pathFollowingCommand,</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>            std::shared_ptr&lt;PathPlannerPath&gt; path,</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>            std::function&lt;frc::Pose2d()&gt; poseSupplier);</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span> </div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>    <span class="keywordtype">void</span> Initialize() <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span> </div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>    <span class="keywordtype">void</span> Execute() <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span> </div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>    <span class="keywordtype">bool</span> IsFinished() <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span> </div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>    <span class="keywordtype">void</span> End(<span class="keywordtype">bool</span> interrupted) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span> </div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span><span class="keyword">private</span>:</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>    std::unique_ptr&lt;frc2::Command&gt; m_pathFollowingCommand;</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>    std::shared_ptr&lt;PathPlannerPath&gt; m_path;</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>    std::function&lt;frc::Pose2d()&gt; m_poseSupplier;</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span> </div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>    std::vector&lt;std::pair&lt;std::shared_ptr&lt;frc2::Command&gt;, <span class="keywordtype">bool</span>&gt;&gt; m_currentCommands;</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>    std::vector&lt;std::pair&lt;EventMarker, bool&gt;&gt; m_markers;</div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>    <span class="keywordtype">bool</span> m_isFinished;</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>};</div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>}</div>
+<div class="ttc" id="aclasspathplanner_1_1FollowPathWithEvents_html"><div class="ttname"><a href="classpathplanner_1_1FollowPathWithEvents.html">pathplanner::FollowPathWithEvents</a></div><div class="ttdef"><b>Definition:</b> FollowPathWithEvents.h:13</div></div>
+</div><!-- fragment --></div><!-- contents -->
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diff --git a/docs/cpp/GeometryUtil_8h_source.html b/docs/cpp/GeometryUtil_8h_source.html
new file mode 100644
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+++ b/docs/cpp/GeometryUtil_8h_source.html
@@ -0,0 +1,214 @@
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+<div class="header">
+  <div class="headertitle"><div class="title">GeometryUtil.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;frc/geometry/Rotation2d.h&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;frc/geometry/Translation2d.h&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;units/time.h&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;units/velocity.h&gt;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;units/acceleration.h&gt;</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;units/length.h&gt;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &lt;units/angle.h&gt;</span></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#include &lt;units/angular_velocity.h&gt;</span></div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="preprocessor">#include &lt;units/angular_acceleration.h&gt;</span></div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="preprocessor">#include &lt;units/math.h&gt;</span></div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="preprocessor">#include &lt;units/curvature.h&gt;</span></div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="preprocessor">#include &lt;math.h&gt;</span></div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span> </div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="preprocessor">#define PI 3.14159265358979323846</span></div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span> </div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="keyword">namespace </span>pathplanner {</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span><span class="keyword">namespace </span>GeometryUtil {</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span><span class="keyword">constexpr</span> units::second_t unitLerp(units::second_t <span class="keyword">const</span> startVal,</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>        units::second_t <span class="keyword">const</span> endVal, <span class="keywordtype">double</span> <span class="keyword">const</span> t) {</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>    <span class="keywordflow">return</span> startVal + (endVal - startVal) * t;</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>}</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span> </div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span><span class="keyword">constexpr</span> units::meters_per_second_t unitLerp(</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>        units::meters_per_second_t <span class="keyword">const</span> startVal,</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>        units::meters_per_second_t <span class="keyword">const</span> endVal, <span class="keywordtype">double</span> <span class="keyword">const</span> t) {</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>    <span class="keywordflow">return</span> startVal + (endVal - startVal) * t;</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>}</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span> </div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span><span class="keyword">constexpr</span> units::meters_per_second_squared_t unitLerp(</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>        units::meters_per_second_squared_t <span class="keyword">const</span> startVal,</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>        units::meters_per_second_squared_t <span class="keyword">const</span> endVal, <span class="keywordtype">double</span> <span class="keyword">const</span> t) {</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>    <span class="keywordflow">return</span> startVal + (endVal - startVal) * t;</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>}</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span> </div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span><span class="keyword">constexpr</span> units::radians_per_second_t unitLerp(</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>        units::radians_per_second_t <span class="keyword">const</span> startVal,</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>        units::radians_per_second_t <span class="keyword">const</span> endVal, <span class="keywordtype">double</span> <span class="keyword">const</span> t) {</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>    <span class="keywordflow">return</span> startVal + (endVal - startVal) * t;</div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>}</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span> </div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span><span class="keyword">constexpr</span> units::radians_per_second_squared_t unitLerp(</div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>        units::radians_per_second_squared_t <span class="keyword">const</span> startVal,</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>        units::radians_per_second_squared_t <span class="keyword">const</span> endVal, <span class="keywordtype">double</span> <span class="keyword">const</span> t) {</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    <span class="keywordflow">return</span> startVal + (endVal - startVal) * t;</div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>}</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span> </div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span><span class="keyword">constexpr</span> units::meter_t unitLerp(units::meter_t <span class="keyword">const</span> startVal,</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>        units::meter_t <span class="keyword">const</span> endVal, <span class="keywordtype">double</span> <span class="keyword">const</span> t) {</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    <span class="keywordflow">return</span> startVal + (endVal - startVal) * t;</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>}</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span> </div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span><span class="keyword">constexpr</span> units::curvature_t unitLerp(units::curvature_t <span class="keyword">const</span> startVal,</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>        units::curvature_t <span class="keyword">const</span> endVal, <span class="keywordtype">double</span> <span class="keyword">const</span> t) {</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>    <span class="keywordflow">return</span> startVal + (endVal - startVal) * t;</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>}</div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span> </div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span><span class="keyword">constexpr</span> frc::Rotation2d rotationLerp(frc::Rotation2d <span class="keyword">const</span> startVal,</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>        frc::Rotation2d <span class="keyword">const</span> endVal, <span class="keywordtype">double</span> <span class="keyword">const</span> t) {</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>    <span class="keywordflow">return</span> startVal + ((endVal - startVal) * t);</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>}</div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span> </div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span><span class="keyword">constexpr</span> frc::Translation2d translationLerp(frc::Translation2d <span class="keyword">const</span> startVal,</div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>        frc::Translation2d <span class="keyword">const</span> endVal, <span class="keywordtype">double</span> <span class="keyword">const</span> t) {</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>    <span class="keywordflow">return</span> startVal + ((endVal - startVal) * t);</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>}</div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span> </div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span><span class="keyword">constexpr</span> frc::Translation2d quadraticLerp(frc::Translation2d <span class="keyword">const</span> a,</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>        frc::Translation2d <span class="keyword">const</span> b, frc::Translation2d <span class="keyword">const</span> c,</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>        <span class="keywordtype">double</span> <span class="keyword">const</span> t) {</div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>    frc::Translation2d <span class="keyword">const</span> p0 = translationLerp(a, b, t);</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>    frc::Translation2d <span class="keyword">const</span> p1 = translationLerp(b, c, t);</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>    <span class="keywordflow">return</span> translationLerp(p0, p1, t);</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>}</div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span> </div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span><span class="keyword">constexpr</span> frc::Translation2d cubicLerp(frc::Translation2d <span class="keyword">const</span> a,</div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>        frc::Translation2d <span class="keyword">const</span> b, frc::Translation2d <span class="keyword">const</span> c,</div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>        frc::Translation2d <span class="keyword">const</span> d, <span class="keywordtype">double</span> <span class="keyword">const</span> t) {</div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    frc::Translation2d <span class="keyword">const</span> p0 = quadraticLerp(a, b, c, t);</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>    frc::Translation2d <span class="keyword">const</span> p1 = quadraticLerp(b, c, d, t);</div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>    <span class="keywordflow">return</span> translationLerp(p0, p1, t);</div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>}</div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span> </div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span><span class="keyword">constexpr</span> frc::Rotation2d cosineInterpolate(frc::Rotation2d <span class="keyword">const</span> y1,</div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>        frc::Rotation2d <span class="keyword">const</span> y2, <span class="keywordtype">double</span> <span class="keyword">const</span> mu) {</div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>    <span class="keywordtype">double</span> <span class="keyword">const</span> mu2 = (1 - frc::Rotation2d(units::radian_t { mu * PI }).Cos())</div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>            / 2;</div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>    <span class="keywordflow">return</span> frc::Rotation2d(y1.Radians() * (1 - mu2) + y2.Radians() * mu2);</div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>}</div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span> </div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>units::meter_t calculateRadius(<span class="keyword">const</span> frc::Translation2d a,</div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>        <span class="keyword">const</span> frc::Translation2d b, <span class="keyword">const</span> frc::Translation2d c);</div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span> </div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span><span class="keyword">inline</span> units::degree_t modulo(units::degree_t <span class="keyword">const</span> a,</div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>        units::degree_t <span class="keyword">const</span> b) {</div>
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>    <span class="keywordflow">return</span> a - (b * units::math::floor(a / b));</div>
+<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>}</div>
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span> </div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span><span class="keyword">inline</span> <span class="keywordtype">bool</span> isFinite(units::meter_t <span class="keyword">const</span> u) {</div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>    <span class="keywordflow">return</span> std::isfinite(u());</div>
+<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>}</div>
+<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span> </div>
+<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span><span class="keyword">inline</span> <span class="keywordtype">bool</span> isNaN(units::meter_t <span class="keyword">const</span> u) {</div>
+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>    <span class="keywordflow">return</span> std::isnan(u());</div>
+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>}</div>
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>}</div>
+<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>}</div>
+</div><!-- fragment --></div><!-- contents -->
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+  <div class="headertitle"><div class="title">GoalEndState.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;units/velocity.h&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;units/math.h&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;frc/geometry/Rotation2d.h&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;wpi/json.h&gt;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="keyword">namespace </span>pathplanner {</div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"><a class="line" href="classpathplanner_1_1GoalEndState.html">    9</a></span><span class="keyword">class </span><a class="code hl_class" href="classpathplanner_1_1GoalEndState.html">GoalEndState</a> {</div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"><a class="line" href="classpathplanner_1_1GoalEndState.html#a41dfd9669b9d9eaf81655e26377bee2a">   17</a></span>    <span class="keyword">constexpr</span> <a class="code hl_function" href="classpathplanner_1_1GoalEndState.html#a41dfd9669b9d9eaf81655e26377bee2a">GoalEndState</a>(units::meters_per_second_t velocity,</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>            frc::Rotation2d rotation) : m_velocity(velocity), m_rotation(</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>            rotation) {</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>    }</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span> </div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>    <span class="keyword">static</span> <a class="code hl_class" href="classpathplanner_1_1GoalEndState.html">GoalEndState</a> <a class="code hl_function" href="classpathplanner_1_1GoalEndState.html#a1ee3edd41014345b954082fc43ccde34">fromJson</a>(<span class="keyword">const</span> wpi::json &amp;json);</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span> </div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"><a class="line" href="classpathplanner_1_1GoalEndState.html#a3f201f1b301f46ae3359e0e4ed305839">   35</a></span>    <span class="keyword">constexpr</span> units::meters_per_second_t <a class="code hl_function" href="classpathplanner_1_1GoalEndState.html#a3f201f1b301f46ae3359e0e4ed305839">getVelocity</a>()<span class="keyword"> const </span>{</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>        <span class="keywordflow">return</span> m_velocity;</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>    }</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span> </div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"><a class="line" href="classpathplanner_1_1GoalEndState.html#a7dbe48e50285bda3e39881d07b471586">   44</a></span>    <span class="keyword">constexpr</span> <span class="keyword">const</span> frc::Rotation2d&amp; <a class="code hl_function" href="classpathplanner_1_1GoalEndState.html#a7dbe48e50285bda3e39881d07b471586">getRotation</a>()<span class="keyword"> const </span>{</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>        <span class="keywordflow">return</span> m_rotation;</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    }</div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span> </div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>    <span class="keyword">inline</span> <span class="keywordtype">bool</span> operator==(<span class="keyword">const</span> <a class="code hl_class" href="classpathplanner_1_1GoalEndState.html">GoalEndState</a> &amp;other)<span class="keyword"> const </span>{</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>        <span class="keywordflow">return</span> std::abs(m_velocity() - other.m_velocity()) &lt; 1E-9</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>                &amp;&amp; m_rotation == other.m_rotation;</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    }</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span> </div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span><span class="keyword">private</span>:</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>    units::meters_per_second_t m_velocity;</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>    frc::Rotation2d m_rotation;</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>};</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>}</div>
+<div class="ttc" id="aclasspathplanner_1_1GoalEndState_html"><div class="ttname"><a href="classpathplanner_1_1GoalEndState.html">pathplanner::GoalEndState</a></div><div class="ttdef"><b>Definition:</b> GoalEndState.h:9</div></div>
+<div class="ttc" id="aclasspathplanner_1_1GoalEndState_html_a1ee3edd41014345b954082fc43ccde34"><div class="ttname"><a href="classpathplanner_1_1GoalEndState.html#a1ee3edd41014345b954082fc43ccde34">pathplanner::GoalEndState::fromJson</a></div><div class="ttdeci">static GoalEndState fromJson(const wpi::json &amp;json)</div><div class="ttdef"><b>Definition:</b> GoalEndState.cpp:7</div></div>
+<div class="ttc" id="aclasspathplanner_1_1GoalEndState_html_a3f201f1b301f46ae3359e0e4ed305839"><div class="ttname"><a href="classpathplanner_1_1GoalEndState.html#a3f201f1b301f46ae3359e0e4ed305839">pathplanner::GoalEndState::getVelocity</a></div><div class="ttdeci">constexpr units::meters_per_second_t getVelocity() const</div><div class="ttdef"><b>Definition:</b> GoalEndState.h:35</div></div>
+<div class="ttc" id="aclasspathplanner_1_1GoalEndState_html_a41dfd9669b9d9eaf81655e26377bee2a"><div class="ttname"><a href="classpathplanner_1_1GoalEndState.html#a41dfd9669b9d9eaf81655e26377bee2a">pathplanner::GoalEndState::GoalEndState</a></div><div class="ttdeci">constexpr GoalEndState(units::meters_per_second_t velocity, frc::Rotation2d rotation)</div><div class="ttdef"><b>Definition:</b> GoalEndState.h:17</div></div>
+<div class="ttc" id="aclasspathplanner_1_1GoalEndState_html_a7dbe48e50285bda3e39881d07b471586"><div class="ttname"><a href="classpathplanner_1_1GoalEndState.html#a7dbe48e50285bda3e39881d07b471586">pathplanner::GoalEndState::getRotation</a></div><div class="ttdeci">constexpr const frc::Rotation2d &amp; getRotation() const</div><div class="ttdef"><b>Definition:</b> GoalEndState.h:44</div></div>
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diff --git a/docs/cpp/HolonomicPathFollowerConfig_8h_source.html b/docs/cpp/HolonomicPathFollowerConfig_8h_source.html
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+  <div class="headertitle"><div class="title">HolonomicPathFollowerConfig.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;units/velocity.h&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;units/length.h&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;units/time.h&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &quot;pathplanner/lib/util/PIDConstants.h&quot;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &quot;pathplanner/lib/util/ReplanningConfig.h&quot;</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span> </div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="keyword">namespace </span>pathplanner {</div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"><a class="line" href="classpathplanner_1_1HolonomicPathFollowerConfig.html">   10</a></span><span class="keyword">class </span><a class="code hl_class" href="classpathplanner_1_1HolonomicPathFollowerConfig.html">HolonomicPathFollowerConfig</a> {</div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span>    <span class="keyword">const</span> <a class="code hl_class" href="classpathplanner_1_1PIDConstants.html">PIDConstants</a> translationConstants;</div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span>    <span class="keyword">const</span> <a class="code hl_class" href="classpathplanner_1_1PIDConstants.html">PIDConstants</a> rotationConstants;</div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span>    <span class="keyword">const</span> units::meters_per_second_t maxModuleSpeed;</div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span>    <span class="keyword">const</span> units::meter_t driveBaseRadius;</div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>    <span class="keyword">const</span> <a class="code hl_class" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a> replanningConfig;</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>    <span class="keyword">const</span> units::second_t period;</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span> </div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"><a class="line" href="classpathplanner_1_1HolonomicPathFollowerConfig.html#aedf6d65cc87f908ae0b87a1b55b03dd4">   33</a></span>    <span class="keyword">constexpr</span> <a class="code hl_function" href="classpathplanner_1_1HolonomicPathFollowerConfig.html#aedf6d65cc87f908ae0b87a1b55b03dd4">HolonomicPathFollowerConfig</a>(</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>            <span class="keyword">const</span> <a class="code hl_class" href="classpathplanner_1_1PIDConstants.html">PIDConstants</a> translationConstants,</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>            <span class="keyword">const</span> <a class="code hl_class" href="classpathplanner_1_1PIDConstants.html">PIDConstants</a> rotationConstants,</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>            <span class="keyword">const</span> units::meters_per_second_t maxModuleSpeed,</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>            <span class="keyword">const</span> units::meter_t driveBaseRadius,</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>            <span class="keyword">const</span> <a class="code hl_class" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a> replanningConfig,</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>            <span class="keyword">const</span> units::second_t period = 0.02_s) : translationConstants(</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>            translationConstants), rotationConstants(rotationConstants), maxModuleSpeed(</div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>            maxModuleSpeed), driveBaseRadius(driveBaseRadius), replanningConfig(</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>            replanningConfig), period(period) {</div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>    }</div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span> </div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"><a class="line" href="classpathplanner_1_1HolonomicPathFollowerConfig.html#a7c8e885bacedff2a21f95399b7c7f37f">   55</a></span>    <span class="keyword">constexpr</span> <a class="code hl_function" href="classpathplanner_1_1HolonomicPathFollowerConfig.html#a7c8e885bacedff2a21f95399b7c7f37f">HolonomicPathFollowerConfig</a>(</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>            <span class="keyword">const</span> units::meters_per_second_t maxModuleSpeed,</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>            <span class="keyword">const</span> units::meter_t driveBaseRadius,</div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>            <span class="keyword">const</span> <a class="code hl_class" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a> replanningConfig,</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>            <span class="keyword">const</span> units::second_t period = 0.02_s) : <a class="code hl_class" href="classpathplanner_1_1HolonomicPathFollowerConfig.html">HolonomicPathFollowerConfig</a>(</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>            <a class="code hl_class" href="classpathplanner_1_1PIDConstants.html">PIDConstants</a>(5.0, 0.0, 0.0), <a class="code hl_class" href="classpathplanner_1_1PIDConstants.html">PIDConstants</a>(5.0, 0.0, 0.0),</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>            maxModuleSpeed, driveBaseRadius, replanningConfig, period) {</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    }</div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>};</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>}</div>
+<div class="ttc" id="aclasspathplanner_1_1HolonomicPathFollowerConfig_html"><div class="ttname"><a href="classpathplanner_1_1HolonomicPathFollowerConfig.html">pathplanner::HolonomicPathFollowerConfig</a></div><div class="ttdef"><b>Definition:</b> HolonomicPathFollowerConfig.h:10</div></div>
+<div class="ttc" id="aclasspathplanner_1_1HolonomicPathFollowerConfig_html_a7c8e885bacedff2a21f95399b7c7f37f"><div class="ttname"><a href="classpathplanner_1_1HolonomicPathFollowerConfig.html#a7c8e885bacedff2a21f95399b7c7f37f">pathplanner::HolonomicPathFollowerConfig::HolonomicPathFollowerConfig</a></div><div class="ttdeci">constexpr HolonomicPathFollowerConfig(const units::meters_per_second_t maxModuleSpeed, const units::meter_t driveBaseRadius, const ReplanningConfig replanningConfig, const units::second_t period=0.02_s)</div><div class="ttdef"><b>Definition:</b> HolonomicPathFollowerConfig.h:55</div></div>
+<div class="ttc" id="aclasspathplanner_1_1HolonomicPathFollowerConfig_html_aedf6d65cc87f908ae0b87a1b55b03dd4"><div class="ttname"><a href="classpathplanner_1_1HolonomicPathFollowerConfig.html#aedf6d65cc87f908ae0b87a1b55b03dd4">pathplanner::HolonomicPathFollowerConfig::HolonomicPathFollowerConfig</a></div><div class="ttdeci">constexpr HolonomicPathFollowerConfig(const PIDConstants translationConstants, const PIDConstants rotationConstants, const units::meters_per_second_t maxModuleSpeed, const units::meter_t driveBaseRadius, const ReplanningConfig replanningConfig, const units::second_t period=0.02_s)</div><div class="ttdef"><b>Definition:</b> HolonomicPathFollowerConfig.h:33</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PIDConstants_html"><div class="ttname"><a href="classpathplanner_1_1PIDConstants.html">pathplanner::PIDConstants</a></div><div class="ttdef"><b>Definition:</b> PIDConstants.h:4</div></div>
+<div class="ttc" id="aclasspathplanner_1_1ReplanningConfig_html"><div class="ttname"><a href="classpathplanner_1_1ReplanningConfig.html">pathplanner::ReplanningConfig</a></div><div class="ttdef"><b>Definition:</b> ReplanningConfig.h:6</div></div>
+</div><!-- fragment --></div><!-- contents -->
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+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
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diff --git a/docs/cpp/NamedCommands_8h_source.html b/docs/cpp/NamedCommands_8h_source.html
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@@ -0,0 +1,142 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>PathPlannerLib: src/main/native/include/pathplanner/lib/auto/NamedCommands.h Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
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+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+     onmouseover="return searchBox.OnSearchSelectShow()"
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+  <div class="headertitle"><div class="title">NamedCommands.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;string&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;unordered_map&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;memory&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;frc2/command/Commands.h&gt;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="keyword">namespace </span>pathplanner {</div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"><a class="line" href="classpathplanner_1_1NamedCommands.html">    9</a></span><span class="keyword">class </span><a class="code hl_class" href="classpathplanner_1_1NamedCommands.html">NamedCommands</a> {</div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"><a class="line" href="classpathplanner_1_1NamedCommands.html#addaa0c15860d2b6d150471eb7fd83200">   17</a></span>    <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classpathplanner_1_1NamedCommands.html#addaa0c15860d2b6d150471eb7fd83200">registerCommand</a>(std::string name,</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>            std::shared_ptr&lt;frc2::Command&gt; command) {</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>        NamedCommands::namedCommands.emplace(name, command);</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>    }</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span> </div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>    <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classpathplanner_1_1NamedCommands.html#addaa0c15860d2b6d150471eb7fd83200">registerCommand</a>(std::string name,</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>            frc2::CommandPtr &amp;&amp;command) {</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>        <a class="code hl_function" href="classpathplanner_1_1NamedCommands.html#addaa0c15860d2b6d150471eb7fd83200">registerCommand</a>(name,</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>                std::shared_ptr &lt; frc2::Command</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>                        &gt; (std::move(command).Unwrap()));</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>    }</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span> </div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"><a class="line" href="classpathplanner_1_1NamedCommands.html#ae7db5c097d0da8bfc546f74ae6595833">   35</a></span>    <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classpathplanner_1_1NamedCommands.html#ae7db5c097d0da8bfc546f74ae6595833">hasCommand</a>(std::string name) {</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>        <span class="keywordflow">return</span> NamedCommands::namedCommands.contains(name);</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>    }</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span> </div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>    <span class="keyword">static</span> frc2::CommandPtr <a class="code hl_function" href="classpathplanner_1_1NamedCommands.html#a11a1c7f01d6adaf9c02f58c675054eae">getCommand</a>(std::string name);</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span> </div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span><span class="keyword">private</span>:</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>    <span class="keyword">static</span> std::unordered_map&lt;std::string, std::shared_ptr&lt;frc2::Command&gt;&gt; namedCommands;</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>};</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>}</div>
+<div class="ttc" id="aclasspathplanner_1_1NamedCommands_html"><div class="ttname"><a href="classpathplanner_1_1NamedCommands.html">pathplanner::NamedCommands</a></div><div class="ttdef"><b>Definition:</b> NamedCommands.h:9</div></div>
+<div class="ttc" id="aclasspathplanner_1_1NamedCommands_html_a11a1c7f01d6adaf9c02f58c675054eae"><div class="ttname"><a href="classpathplanner_1_1NamedCommands.html#a11a1c7f01d6adaf9c02f58c675054eae">pathplanner::NamedCommands::getCommand</a></div><div class="ttdeci">static frc2::CommandPtr getCommand(std::string name)</div><div class="ttdef"><b>Definition:</b> NamedCommands.cpp:8</div></div>
+<div class="ttc" id="aclasspathplanner_1_1NamedCommands_html_addaa0c15860d2b6d150471eb7fd83200"><div class="ttname"><a href="classpathplanner_1_1NamedCommands.html#addaa0c15860d2b6d150471eb7fd83200">pathplanner::NamedCommands::registerCommand</a></div><div class="ttdeci">static void registerCommand(std::string name, std::shared_ptr&lt; frc2::Command &gt; command)</div><div class="ttdef"><b>Definition:</b> NamedCommands.h:17</div></div>
+<div class="ttc" id="aclasspathplanner_1_1NamedCommands_html_ae7db5c097d0da8bfc546f74ae6595833"><div class="ttname"><a href="classpathplanner_1_1NamedCommands.html#ae7db5c097d0da8bfc546f74ae6595833">pathplanner::NamedCommands::hasCommand</a></div><div class="ttdeci">static bool hasCommand(std::string name)</div><div class="ttdef"><b>Definition:</b> NamedCommands.h:35</div></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
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+  <div class="headertitle"><div class="title">PIDConstants.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="keyword">namespace </span>pathplanner {</div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PIDConstants.html">    4</a></span><span class="keyword">class </span><a class="code hl_class" href="classpathplanner_1_1PIDConstants.html">PIDConstants</a> {</div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span>    <span class="keyword">const</span> <span class="keywordtype">double</span> kP;</div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span>    <span class="keyword">const</span> <span class="keywordtype">double</span> kI;</div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span>    <span class="keyword">const</span> <span class="keywordtype">double</span> kD;</div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span>    <span class="keyword">const</span> <span class="keywordtype">double</span> iZone;</div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span> </div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PIDConstants.html#a69565033153bfeeefa60d89be3301bfc">   19</a></span>    <span class="keyword">constexpr</span> <a class="code hl_function" href="classpathplanner_1_1PIDConstants.html#a69565033153bfeeefa60d89be3301bfc">PIDConstants</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> kP, <span class="keyword">const</span> <span class="keywordtype">double</span> kI, <span class="keyword">const</span> <span class="keywordtype">double</span> kD,</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>            <span class="keyword">const</span> <span class="keywordtype">double</span> iZone = 1.0) : kP(kP), kI(kI), kD(kD), iZone(iZone) {</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>    }</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span> </div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PIDConstants.html#abbcfd68aace480e7c89996ad9579fcbe">   29</a></span>    <span class="keyword">constexpr</span> <a class="code hl_function" href="classpathplanner_1_1PIDConstants.html#abbcfd68aace480e7c89996ad9579fcbe">PIDConstants</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> kP, <span class="keyword">const</span> <span class="keywordtype">double</span> kD) : <a class="code hl_class" href="classpathplanner_1_1PIDConstants.html">PIDConstants</a>(kP,</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>            0, kD) {</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>    }</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span> </div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PIDConstants.html#aac976a1eba85cc9017c663812c9ebe38">   38</a></span>    <span class="keyword">constexpr</span> <a class="code hl_function" href="classpathplanner_1_1PIDConstants.html#aac976a1eba85cc9017c663812c9ebe38">PIDConstants</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> kP) : <a class="code hl_class" href="classpathplanner_1_1PIDConstants.html">PIDConstants</a>(kP, 0, 0) {</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>    }</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>};</div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>}</div>
+<div class="ttc" id="aclasspathplanner_1_1PIDConstants_html"><div class="ttname"><a href="classpathplanner_1_1PIDConstants.html">pathplanner::PIDConstants</a></div><div class="ttdef"><b>Definition:</b> PIDConstants.h:4</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PIDConstants_html_a69565033153bfeeefa60d89be3301bfc"><div class="ttname"><a href="classpathplanner_1_1PIDConstants.html#a69565033153bfeeefa60d89be3301bfc">pathplanner::PIDConstants::PIDConstants</a></div><div class="ttdeci">constexpr PIDConstants(const double kP, const double kI, const double kD, const double iZone=1.0)</div><div class="ttdef"><b>Definition:</b> PIDConstants.h:19</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PIDConstants_html_aac976a1eba85cc9017c663812c9ebe38"><div class="ttname"><a href="classpathplanner_1_1PIDConstants.html#aac976a1eba85cc9017c663812c9ebe38">pathplanner::PIDConstants::PIDConstants</a></div><div class="ttdeci">constexpr PIDConstants(const double kP)</div><div class="ttdef"><b>Definition:</b> PIDConstants.h:38</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PIDConstants_html_abbcfd68aace480e7c89996ad9579fcbe"><div class="ttname"><a href="classpathplanner_1_1PIDConstants.html#abbcfd68aace480e7c89996ad9579fcbe">pathplanner::PIDConstants::PIDConstants</a></div><div class="ttdeci">constexpr PIDConstants(const double kP, const double kD)</div><div class="ttdef"><b>Definition:</b> PIDConstants.h:29</div></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
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+<div class="header">
+  <div class="headertitle"><div class="title">PPHolonomicDriveController.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;frc/controller/PIDController.h&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;frc/controller/ProfiledPIDController.h&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;units/velocity.h&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;units/length.h&gt;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;units/time.h&gt;</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;units/angular_velocity.h&gt;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &lt;frc/geometry/Translation2d.h&gt;</span></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#include &lt;frc/geometry/Rotation2d.h&gt;</span></div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="preprocessor">#include &lt;frc/geometry/Pose2d.h&gt;</span></div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="preprocessor">#include &lt;frc/kinematics/ChassisSpeeds.h&gt;</span></div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="preprocessor">#include &quot;pathplanner/lib/util/GeometryUtil.h&quot;</span></div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="preprocessor">#include &quot;pathplanner/lib/util/PIDConstants.h&quot;</span></div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="preprocessor">#include &quot;pathplanner/lib/util/HolonomicPathFollowerConfig.h&quot;</span></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="preprocessor">#include &quot;pathplanner/lib/path/PathPlannerTrajectory.h&quot;</span></div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="preprocessor">#include &quot;pathplanner/lib/controllers/PathFollowingController.h&quot;</span></div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span> </div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span><span class="keyword">namespace </span>pathplanner {</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PPHolonomicDriveController.html">   20</a></span><span class="keyword">class </span><a class="code hl_class" href="classpathplanner_1_1PPHolonomicDriveController.html">PPHolonomicDriveController</a>: <span class="keyword">public</span> <a class="code hl_class" href="classpathplanner_1_1PathFollowingController.html">PathFollowingController</a> {</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>    <a class="code hl_class" href="classpathplanner_1_1PPHolonomicDriveController.html">PPHolonomicDriveController</a>(<a class="code hl_class" href="classpathplanner_1_1PIDConstants.html">PIDConstants</a> translationConstants,</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>            <a class="code hl_class" href="classpathplanner_1_1PIDConstants.html">PIDConstants</a> rotationConstants,</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>            units::meters_per_second_t maxModuleSpeed,</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>            units::meter_t driveBaseRadius, units::second_t period = 0.02_s);</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span> </div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PPHolonomicDriveController.html#ae3da3b9e5ef33855f01d8653ccc11ef7">   44</a></span>    <span class="keyword">constexpr</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classpathplanner_1_1PPHolonomicDriveController.html#ae3da3b9e5ef33855f01d8653ccc11ef7">setEnabled</a>(<span class="keywordtype">bool</span> enabled) {</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>        m_enabled = enabled;</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    }</div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span> </div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PPHolonomicDriveController.html#a0b9ad901c14364666b7d9aff7f1db6fa">   48</a></span>    <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classpathplanner_1_1PPHolonomicDriveController.html#a0b9ad901c14364666b7d9aff7f1db6fa">reset</a>(<span class="keyword">const</span> frc::Pose2d &amp;currentPose,</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>            <span class="keyword">const</span> frc::ChassisSpeeds &amp;currentSpeeds)<span class="keyword"> override </span>{</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>        m_rotationController.Reset(currentPose.Rotation().Radians(),</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>                currentSpeeds.omega);</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>    }</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span> </div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PPHolonomicDriveController.html#a664a6866463393f42cdbebff5c74154b">   59</a></span>    <span class="keyword">inline</span> units::meter_t <a class="code hl_function" href="classpathplanner_1_1PPHolonomicDriveController.html#a664a6866463393f42cdbebff5c74154b">getPositionalError</a>()<span class="keyword"> override </span>{</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>        <span class="keywordflow">return</span> m_translationError.Norm();</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>    }</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span> </div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>    frc::ChassisSpeeds <a class="code hl_function" href="classpathplanner_1_1PPHolonomicDriveController.html#af7ea70afb7857680b3656f9c106e43db">calculateRobotRelativeSpeeds</a>(</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>            <span class="keyword">const</span> frc::Pose2d &amp;currentPose,</div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>            <span class="keyword">const</span> <a class="code hl_class" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">PathPlannerTrajectory::State</a> &amp;referenceState) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span> </div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PPHolonomicDriveController.html#ab4e50cbe9e11bedfb7c9837bf1093e4d">   80</a></span>    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classpathplanner_1_1PPHolonomicDriveController.html#ab4e50cbe9e11bedfb7c9837bf1093e4d">isHolonomic</a>()<span class="keyword"> override </span>{</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>    }</div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span> </div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span><span class="keyword">private</span>:</div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>    <span class="keyword">using </span>rpsPerMps_t = units::unit_t&lt;units::compound_unit&lt;units::radians_per_second, units::inverse&lt;units::meters_per_second&gt;&gt;&gt;;</div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span> </div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>    frc::PIDController m_xController;</div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>    frc::PIDController m_yController;</div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>    frc::ProfiledPIDController&lt;units::radians&gt; m_rotationController;</div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    units::meters_per_second_t m_maxModuleSpeed;</div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    rpsPerMps_t m_mpsToRps;</div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span> </div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>    frc::Translation2d m_translationError;</div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>    <span class="keywordtype">bool</span> m_enabled;</div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>};</div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>}</div>
+<div class="ttc" id="aclasspathplanner_1_1PIDConstants_html"><div class="ttname"><a href="classpathplanner_1_1PIDConstants.html">pathplanner::PIDConstants</a></div><div class="ttdef"><b>Definition:</b> PIDConstants.h:4</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PPHolonomicDriveController_html"><div class="ttname"><a href="classpathplanner_1_1PPHolonomicDriveController.html">pathplanner::PPHolonomicDriveController</a></div><div class="ttdef"><b>Definition:</b> PPHolonomicDriveController.h:20</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PPHolonomicDriveController_html_a0b9ad901c14364666b7d9aff7f1db6fa"><div class="ttname"><a href="classpathplanner_1_1PPHolonomicDriveController.html#a0b9ad901c14364666b7d9aff7f1db6fa">pathplanner::PPHolonomicDriveController::reset</a></div><div class="ttdeci">void reset(const frc::Pose2d &amp;currentPose, const frc::ChassisSpeeds &amp;currentSpeeds) override</div><div class="ttdef"><b>Definition:</b> PPHolonomicDriveController.h:48</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PPHolonomicDriveController_html_a664a6866463393f42cdbebff5c74154b"><div class="ttname"><a href="classpathplanner_1_1PPHolonomicDriveController.html#a664a6866463393f42cdbebff5c74154b">pathplanner::PPHolonomicDriveController::getPositionalError</a></div><div class="ttdeci">units::meter_t getPositionalError() override</div><div class="ttdef"><b>Definition:</b> PPHolonomicDriveController.h:59</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PPHolonomicDriveController_html_ab4e50cbe9e11bedfb7c9837bf1093e4d"><div class="ttname"><a href="classpathplanner_1_1PPHolonomicDriveController.html#ab4e50cbe9e11bedfb7c9837bf1093e4d">pathplanner::PPHolonomicDriveController::isHolonomic</a></div><div class="ttdeci">bool isHolonomic() override</div><div class="ttdef"><b>Definition:</b> PPHolonomicDriveController.h:80</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PPHolonomicDriveController_html_ae3da3b9e5ef33855f01d8653ccc11ef7"><div class="ttname"><a href="classpathplanner_1_1PPHolonomicDriveController.html#ae3da3b9e5ef33855f01d8653ccc11ef7">pathplanner::PPHolonomicDriveController::setEnabled</a></div><div class="ttdeci">constexpr void setEnabled(bool enabled)</div><div class="ttdef"><b>Definition:</b> PPHolonomicDriveController.h:44</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PPHolonomicDriveController_html_af7ea70afb7857680b3656f9c106e43db"><div class="ttname"><a href="classpathplanner_1_1PPHolonomicDriveController.html#af7ea70afb7857680b3656f9c106e43db">pathplanner::PPHolonomicDriveController::calculateRobotRelativeSpeeds</a></div><div class="ttdeci">frc::ChassisSpeeds calculateRobotRelativeSpeeds(const frc::Pose2d &amp;currentPose, const PathPlannerTrajectory::State &amp;referenceState) override</div><div class="ttdef"><b>Definition:</b> PPHolonomicDriveController.cpp:26</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathFollowingController_html"><div class="ttname"><a href="classpathplanner_1_1PathFollowingController.html">pathplanner::PathFollowingController</a></div><div class="ttdef"><b>Definition:</b> PathFollowingController.h:9</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathPlannerTrajectory_1_1State_html"><div class="ttname"><a href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">pathplanner::PathPlannerTrajectory::State</a></div><div class="ttdef"><b>Definition:</b> PathPlannerTrajectory.h:23</div></div>
+</div><!-- fragment --></div><!-- contents -->
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diff --git a/docs/cpp/PPLTVController_8h_source.html b/docs/cpp/PPLTVController_8h_source.html
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+  <div class="headertitle"><div class="title">PPLTVController.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &quot;pathplanner/lib/controllers/PathFollowingController.h&quot;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;frc/controller/LTVUnicycleController.h&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="keyword">namespace </span>pathplanner {</div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PPLTVController.html">    7</a></span><span class="keyword">class </span><a class="code hl_class" href="classpathplanner_1_1PPLTVController.html">PPLTVController</a>: <span class="keyword">public</span> frc::LTVUnicycleController,</div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span>        <span class="keyword">public</span> <a class="code hl_class" href="classpathplanner_1_1PathFollowingController.html">PathFollowingController</a> {</div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PPLTVController.html#a4929bd9baa23f1b7b089a8add0609ab4">   19</a></span>    <a class="code hl_function" href="classpathplanner_1_1PPLTVController.html#a4929bd9baa23f1b7b089a8add0609ab4">PPLTVController</a>(units::second_t dt,</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>            units::velocity::meters_per_second_t maxVelocity = 9_mps) : LTVUnicycleController(</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>            dt, maxVelocity), m_lastError(0_m) {</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>    }</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span> </div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PPLTVController.html#a971f88ddcccba7653b5be2b02dff79bf">   38</a></span>    <a class="code hl_function" href="classpathplanner_1_1PPLTVController.html#a971f88ddcccba7653b5be2b02dff79bf">PPLTVController</a>(<span class="keyword">const</span> wpi::array&lt;double, 3&gt; &amp;Qelems,</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>            <span class="keyword">const</span> wpi::array&lt;double, 2&gt; &amp;Relems, units::second_t dt,</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>            units::meters_per_second_t maxVelocity = 9_mps) : LTVUnicycleController(</div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>            Qelems, Relems, dt, maxVelocity), m_lastError(0_m) {</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>    }</div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span> </div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PPLTVController.html#aa935fe0ee3c2e1e2c795c983cae7c931">   44</a></span>    frc::ChassisSpeeds <a class="code hl_function" href="classpathplanner_1_1PPLTVController.html#aa935fe0ee3c2e1e2c795c983cae7c931">calculateRobotRelativeSpeeds</a>(</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>            <span class="keyword">const</span> frc::Pose2d &amp;currentPose,</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>            <span class="keyword">const</span> <a class="code hl_class" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">PathPlannerTrajectory::State</a> &amp;targetState)<span class="keyword"> override </span>{</div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>        m_lastError = currentPose.Translation().Distance(targetState.position);</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span> </div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>        <span class="keywordflow">return</span> Calculate(currentPose, targetState.<a class="code hl_function" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html#ab5d306d4a23a4c4eeb589ac199e6ed08">getDifferentialPose</a>(),</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>                targetState.velocity, targetState.headingAngularVelocity);</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    }</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span> </div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PPLTVController.html#aa821f72877dde70bb8cd167378ad411e">   53</a></span>    <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classpathplanner_1_1PPLTVController.html#aa821f72877dde70bb8cd167378ad411e">reset</a>(<span class="keyword">const</span> frc::Pose2d &amp;currentPose,</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>            <span class="keyword">const</span> frc::ChassisSpeeds &amp;currentSpeeds)<span class="keyword"> override </span>{</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>        m_lastError = 0_m;</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>    }</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span> </div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PPLTVController.html#a79a37bf3eb7539baedee3cfd9698f20a">   58</a></span>    <span class="keyword">inline</span> units::meter_t <a class="code hl_function" href="classpathplanner_1_1PPLTVController.html#a79a37bf3eb7539baedee3cfd9698f20a">getPositionalError</a>()<span class="keyword"> override </span>{</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>        <span class="keywordflow">return</span> m_lastError;</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    }</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span> </div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PPLTVController.html#a7df93fcd85a218b11afc26403f86905a">   68</a></span>    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classpathplanner_1_1PPLTVController.html#a7df93fcd85a218b11afc26403f86905a">isHolonomic</a>()<span class="keyword"> override </span>{</div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>        <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>    }</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span> </div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span><span class="keyword">private</span>:</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>    units::meter_t m_lastError;</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>};</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>}</div>
+<div class="ttc" id="aclasspathplanner_1_1PPLTVController_html"><div class="ttname"><a href="classpathplanner_1_1PPLTVController.html">pathplanner::PPLTVController</a></div><div class="ttdef"><b>Definition:</b> PPLTVController.h:8</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PPLTVController_html_a4929bd9baa23f1b7b089a8add0609ab4"><div class="ttname"><a href="classpathplanner_1_1PPLTVController.html#a4929bd9baa23f1b7b089a8add0609ab4">pathplanner::PPLTVController::PPLTVController</a></div><div class="ttdeci">PPLTVController(units::second_t dt, units::velocity::meters_per_second_t maxVelocity=9_mps)</div><div class="ttdef"><b>Definition:</b> PPLTVController.h:19</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PPLTVController_html_a79a37bf3eb7539baedee3cfd9698f20a"><div class="ttname"><a href="classpathplanner_1_1PPLTVController.html#a79a37bf3eb7539baedee3cfd9698f20a">pathplanner::PPLTVController::getPositionalError</a></div><div class="ttdeci">units::meter_t getPositionalError() override</div><div class="ttdef"><b>Definition:</b> PPLTVController.h:58</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PPLTVController_html_a7df93fcd85a218b11afc26403f86905a"><div class="ttname"><a href="classpathplanner_1_1PPLTVController.html#a7df93fcd85a218b11afc26403f86905a">pathplanner::PPLTVController::isHolonomic</a></div><div class="ttdeci">bool isHolonomic() override</div><div class="ttdef"><b>Definition:</b> PPLTVController.h:68</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PPLTVController_html_a971f88ddcccba7653b5be2b02dff79bf"><div class="ttname"><a href="classpathplanner_1_1PPLTVController.html#a971f88ddcccba7653b5be2b02dff79bf">pathplanner::PPLTVController::PPLTVController</a></div><div class="ttdeci">PPLTVController(const wpi::array&lt; double, 3 &gt; &amp;Qelems, const wpi::array&lt; double, 2 &gt; &amp;Relems, units::second_t dt, units::meters_per_second_t maxVelocity=9_mps)</div><div class="ttdef"><b>Definition:</b> PPLTVController.h:38</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PPLTVController_html_aa821f72877dde70bb8cd167378ad411e"><div class="ttname"><a href="classpathplanner_1_1PPLTVController.html#aa821f72877dde70bb8cd167378ad411e">pathplanner::PPLTVController::reset</a></div><div class="ttdeci">void reset(const frc::Pose2d &amp;currentPose, const frc::ChassisSpeeds &amp;currentSpeeds) override</div><div class="ttdef"><b>Definition:</b> PPLTVController.h:53</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PPLTVController_html_aa935fe0ee3c2e1e2c795c983cae7c931"><div class="ttname"><a href="classpathplanner_1_1PPLTVController.html#aa935fe0ee3c2e1e2c795c983cae7c931">pathplanner::PPLTVController::calculateRobotRelativeSpeeds</a></div><div class="ttdeci">frc::ChassisSpeeds calculateRobotRelativeSpeeds(const frc::Pose2d &amp;currentPose, const PathPlannerTrajectory::State &amp;targetState) override</div><div class="ttdef"><b>Definition:</b> PPLTVController.h:44</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathFollowingController_html"><div class="ttname"><a href="classpathplanner_1_1PathFollowingController.html">pathplanner::PathFollowingController</a></div><div class="ttdef"><b>Definition:</b> PathFollowingController.h:9</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathPlannerTrajectory_1_1State_html"><div class="ttname"><a href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">pathplanner::PathPlannerTrajectory::State</a></div><div class="ttdef"><b>Definition:</b> PathPlannerTrajectory.h:23</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathPlannerTrajectory_1_1State_html_ab5d306d4a23a4c4eeb589ac199e6ed08"><div class="ttname"><a href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html#ab5d306d4a23a4c4eeb589ac199e6ed08">pathplanner::PathPlannerTrajectory::State::getDifferentialPose</a></div><div class="ttdeci">constexpr frc::Pose2d getDifferentialPose() const</div><div class="ttdef"><b>Definition:</b> PathPlannerTrajectory.h:93</div></div>
+</div><!-- fragment --></div><!-- contents -->
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diff --git a/docs/cpp/PPLibTelemetry_8h_source.html b/docs/cpp/PPLibTelemetry_8h_source.html
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+  <div class="headertitle"><div class="title">PPLibTelemetry.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;networktables/NetworkTableInstance.h&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;networktables/DoubleArrayTopic.h&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;networktables/DoubleTopic.h&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;networktables/DoubleArrayTopic.h&gt;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;networktables/NetworkTableListener.h&gt;</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;string&gt;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &lt;unordered_map&gt;</span></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="preprocessor">#include &lt;memory&gt;</span></div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="preprocessor">#include &lt;optional&gt;</span></div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="preprocessor">#include &lt;units/velocity.h&gt;</span></div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="preprocessor">#include &lt;units/angular_velocity.h&gt;</span></div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="preprocessor">#include &lt;units/length.h&gt;</span></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="preprocessor">#include &lt;span&gt;</span></div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="preprocessor">#include &lt;frc/geometry/Pose2d.h&gt;</span></div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="preprocessor">#include &quot;pathplanner/lib/path/PathPlannerPath.h&quot;</span></div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span><span class="preprocessor">#include &quot;pathplanner/lib/commands/PathPlannerAuto.h&quot;</span></div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span> </div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span><span class="keyword">namespace </span>pathplanner {</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PPLibTelemetry.html">   22</a></span><span class="keyword">class </span><a class="code hl_class" href="classpathplanner_1_1PPLibTelemetry.html">PPLibTelemetry</a> {</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>    <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> enableCompetitionMode() {</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>        m_compMode = <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>    }</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span> </div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>    <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> setVelocities(units::meters_per_second_t actualVel,</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>            units::meters_per_second_t commandedVel,</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>            units::degrees_per_second_t actualAngVel,</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>            units::degrees_per_second_t commandedAngVel) {</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>        <span class="keywordflow">if</span> (!m_compMode) {</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>            m_velPub.Set(std::span&lt;const double&gt;( { actualVel(), commandedVel(),</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>                    actualAngVel(), commandedAngVel() }));</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>        }</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>    }</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span> </div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>    <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> setPathInaccuracy(units::meter_t inaccuracy) {</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>        <span class="keywordflow">if</span> (!m_compMode) {</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>            m_inaccuracyPub.Set(inaccuracy());</div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>        }</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>    }</div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span> </div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>    <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> setCurrentPose(frc::Pose2d pose) {</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>        <span class="keywordflow">if</span> (!m_compMode) {</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>            m_posePub.Set(std::span&lt;const double&gt;( { pose.X()(), pose.Y()(),</div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>                    pose.Rotation().Degrees()() }));</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>        }</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>    }</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span> </div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    <span class="keyword">static</span> <span class="keywordtype">void</span> setCurrentPath(std::shared_ptr&lt;PathPlannerPath&gt; path);</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span> </div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>    <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> setTargetPose(frc::Pose2d targetPose) {</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>        <span class="keywordflow">if</span> (!m_compMode) {</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>            m_targetPosePub.Set(std::span&lt;const double&gt;( { targetPose.X()(),</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>                    targetPose.Y()(), targetPose.Rotation().Degrees()() }));</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>        }</div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>    }</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span> </div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    <span class="keyword">static</span> <span class="keywordtype">void</span> registerHotReloadPath(std::string pathName,</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>            std::shared_ptr&lt;PathPlannerPath&gt; path);</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span> </div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span><span class="keyword">private</span>:</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>    <span class="keyword">static</span> <span class="keywordtype">void</span> ensureHotReloadListenersInitialized();</div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span> </div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>    <span class="keyword">static</span> <span class="keywordtype">void</span> handlePathHotReloadEvent(<span class="keyword">const</span> nt::Event &amp;event);</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span> </div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    <span class="keyword">static</span> <span class="keywordtype">bool</span> m_compMode;</div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span> </div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>    <span class="keyword">static</span> nt::DoubleArrayPublisher m_velPub;</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>    <span class="keyword">static</span> nt::DoublePublisher m_inaccuracyPub;</div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>    <span class="keyword">static</span> nt::DoubleArrayPublisher m_posePub;</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>    <span class="keyword">static</span> nt::DoubleArrayPublisher m_pathPub;</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>    <span class="keyword">static</span> nt::DoubleArrayPublisher m_targetPosePub;</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span> </div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>    <span class="keyword">static</span> std::unordered_map&lt;std::string,</div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>            std::vector&lt;std::shared_ptr&lt;PathPlannerPath&gt;&gt;&gt; m_hotReloadPaths;</div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span> </div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    <span class="keyword">static</span> std::optional&lt;NT_Listener&gt; m_hotReloadPathListener;</div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>};</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>}</div>
+<div class="ttc" id="aclasspathplanner_1_1PPLibTelemetry_html"><div class="ttname"><a href="classpathplanner_1_1PPLibTelemetry.html">pathplanner::PPLibTelemetry</a></div><div class="ttdef"><b>Definition:</b> PPLibTelemetry.h:22</div></div>
+</div><!-- fragment --></div><!-- contents -->
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diff --git a/docs/cpp/PPRamseteController_8h_source.html b/docs/cpp/PPRamseteController_8h_source.html
new file mode 100644
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+  <div class="headertitle"><div class="title">PPRamseteController.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &quot;pathplanner/lib/controllers/PathFollowingController.h&quot;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;frc/controller/RamseteController.h&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="keyword">namespace </span>pathplanner {</div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PPRamseteController.html">    7</a></span><span class="keyword">class </span><a class="code hl_class" href="classpathplanner_1_1PPRamseteController.html">PPRamseteController</a>: <span class="keyword">public</span> frc::RamseteController,</div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span>        <span class="keyword">public</span> <a class="code hl_class" href="classpathplanner_1_1PathFollowingController.html">PathFollowingController</a> {</div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PPRamseteController.html#ae5772a7c13a3ec8f527085ba0367b188">   18</a></span>    <a class="code hl_function" href="classpathplanner_1_1PPRamseteController.html#ae5772a7c13a3ec8f527085ba0367b188">PPRamseteController</a>(units::unit_t&lt;b_unit&gt; b, units::unit_t&lt;zeta_unit&gt; zeta) : RamseteController(</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>            b, zeta), m_lastError(0_m) {</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>    }</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span> </div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PPRamseteController.html#a610fd96e6e5fa74d3a8e3a8f17b8eb0c">   26</a></span>    <a class="code hl_function" href="classpathplanner_1_1PPRamseteController.html#a610fd96e6e5fa74d3a8e3a8f17b8eb0c">PPRamseteController</a>() : RamseteController(), m_lastError(0_m) {</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>    }</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span> </div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PPRamseteController.html#a8d14ffb80c95770055f8ced1394d17d0">   29</a></span>    frc::ChassisSpeeds <a class="code hl_function" href="classpathplanner_1_1PPRamseteController.html#a8d14ffb80c95770055f8ced1394d17d0">calculateRobotRelativeSpeeds</a>(</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>            <span class="keyword">const</span> frc::Pose2d &amp;currentPose,</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>            <span class="keyword">const</span> <a class="code hl_class" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">PathPlannerTrajectory::State</a> &amp;targetState)<span class="keyword"> override </span>{</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>        m_lastError = currentPose.Translation().Distance(targetState.position);</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span> </div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>        <span class="keywordflow">return</span> Calculate(currentPose, targetState.<a class="code hl_function" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html#ab5d306d4a23a4c4eeb589ac199e6ed08">getDifferentialPose</a>(),</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>                targetState.velocity, targetState.headingAngularVelocity);</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>    }</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span> </div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PPRamseteController.html#ae4e0a1e37d71614a75576bb7ea8e4e50">   38</a></span>    <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classpathplanner_1_1PPRamseteController.html#ae4e0a1e37d71614a75576bb7ea8e4e50">reset</a>(<span class="keyword">const</span> frc::Pose2d &amp;currentPose,</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>            <span class="keyword">const</span> frc::ChassisSpeeds &amp;currentSpeeds)<span class="keyword"> override </span>{</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>        m_lastError = 0_m;</div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>    }</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span> </div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PPRamseteController.html#aecf94d68ee9953199141042a2fadbcaf">   43</a></span>    <span class="keyword">inline</span> units::meter_t <a class="code hl_function" href="classpathplanner_1_1PPRamseteController.html#aecf94d68ee9953199141042a2fadbcaf">getPositionalError</a>()<span class="keyword"> override </span>{</div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>        <span class="keywordflow">return</span> m_lastError;</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>    }</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span> </div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PPRamseteController.html#a05c5a148faaff8d5e93bdc3dce2a7a49">   53</a></span>    <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classpathplanner_1_1PPRamseteController.html#a05c5a148faaff8d5e93bdc3dce2a7a49">isHolonomic</a>()<span class="keyword"> override </span>{</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>        <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>    }</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span> </div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span><span class="keyword">private</span>:</div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>    units::meter_t m_lastError;</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>};</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>}</div>
+<div class="ttc" id="aclasspathplanner_1_1PPRamseteController_html"><div class="ttname"><a href="classpathplanner_1_1PPRamseteController.html">pathplanner::PPRamseteController</a></div><div class="ttdef"><b>Definition:</b> PPRamseteController.h:8</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PPRamseteController_html_a05c5a148faaff8d5e93bdc3dce2a7a49"><div class="ttname"><a href="classpathplanner_1_1PPRamseteController.html#a05c5a148faaff8d5e93bdc3dce2a7a49">pathplanner::PPRamseteController::isHolonomic</a></div><div class="ttdeci">bool isHolonomic() override</div><div class="ttdef"><b>Definition:</b> PPRamseteController.h:53</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PPRamseteController_html_a610fd96e6e5fa74d3a8e3a8f17b8eb0c"><div class="ttname"><a href="classpathplanner_1_1PPRamseteController.html#a610fd96e6e5fa74d3a8e3a8f17b8eb0c">pathplanner::PPRamseteController::PPRamseteController</a></div><div class="ttdeci">PPRamseteController()</div><div class="ttdef"><b>Definition:</b> PPRamseteController.h:26</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PPRamseteController_html_a8d14ffb80c95770055f8ced1394d17d0"><div class="ttname"><a href="classpathplanner_1_1PPRamseteController.html#a8d14ffb80c95770055f8ced1394d17d0">pathplanner::PPRamseteController::calculateRobotRelativeSpeeds</a></div><div class="ttdeci">frc::ChassisSpeeds calculateRobotRelativeSpeeds(const frc::Pose2d &amp;currentPose, const PathPlannerTrajectory::State &amp;targetState) override</div><div class="ttdef"><b>Definition:</b> PPRamseteController.h:29</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PPRamseteController_html_ae4e0a1e37d71614a75576bb7ea8e4e50"><div class="ttname"><a href="classpathplanner_1_1PPRamseteController.html#ae4e0a1e37d71614a75576bb7ea8e4e50">pathplanner::PPRamseteController::reset</a></div><div class="ttdeci">void reset(const frc::Pose2d &amp;currentPose, const frc::ChassisSpeeds &amp;currentSpeeds) override</div><div class="ttdef"><b>Definition:</b> PPRamseteController.h:38</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PPRamseteController_html_ae5772a7c13a3ec8f527085ba0367b188"><div class="ttname"><a href="classpathplanner_1_1PPRamseteController.html#ae5772a7c13a3ec8f527085ba0367b188">pathplanner::PPRamseteController::PPRamseteController</a></div><div class="ttdeci">PPRamseteController(units::unit_t&lt; b_unit &gt; b, units::unit_t&lt; zeta_unit &gt; zeta)</div><div class="ttdef"><b>Definition:</b> PPRamseteController.h:18</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PPRamseteController_html_aecf94d68ee9953199141042a2fadbcaf"><div class="ttname"><a href="classpathplanner_1_1PPRamseteController.html#aecf94d68ee9953199141042a2fadbcaf">pathplanner::PPRamseteController::getPositionalError</a></div><div class="ttdeci">units::meter_t getPositionalError() override</div><div class="ttdef"><b>Definition:</b> PPRamseteController.h:43</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathFollowingController_html"><div class="ttname"><a href="classpathplanner_1_1PathFollowingController.html">pathplanner::PathFollowingController</a></div><div class="ttdef"><b>Definition:</b> PathFollowingController.h:9</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathPlannerTrajectory_1_1State_html"><div class="ttname"><a href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">pathplanner::PathPlannerTrajectory::State</a></div><div class="ttdef"><b>Definition:</b> PathPlannerTrajectory.h:23</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathPlannerTrajectory_1_1State_html_ab5d306d4a23a4c4eeb589ac199e6ed08"><div class="ttname"><a href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html#ab5d306d4a23a4c4eeb589ac199e6ed08">pathplanner::PathPlannerTrajectory::State::getDifferentialPose</a></div><div class="ttdeci">constexpr frc::Pose2d getDifferentialPose() const</div><div class="ttdef"><b>Definition:</b> PathPlannerTrajectory.h:93</div></div>
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+  <div class="headertitle"><div class="title">PathConstraints.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;units/velocity.h&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;units/acceleration.h&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;units/angular_velocity.h&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;units/angular_acceleration.h&gt;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;wpi/json.h&gt;</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span> </div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="keyword">namespace </span>pathplanner {</div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathConstraints.html">   10</a></span><span class="keyword">class </span><a class="code hl_class" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> {</div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathConstraints.html#afd5ff7d50f81933f628b7e119123897c">   20</a></span>    <span class="keyword">constexpr</span> <a class="code hl_function" href="classpathplanner_1_1PathConstraints.html#afd5ff7d50f81933f628b7e119123897c">PathConstraints</a>(units::meters_per_second_t maxVel,</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>            units::meters_per_second_squared_t maxAccel,</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>            units::radians_per_second_t maxAngularVel,</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>            units::radians_per_second_squared_t maxAngularAccel) : m_maxVelocity(</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>            maxVel), m_maxAcceleration(maxAccel), m_maxAngularVelocity(</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>            maxAngularVel), m_maxAngularAcceleration(maxAngularAccel) {</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>    }</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span> </div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>    <span class="keyword">static</span> <a class="code hl_class" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> <a class="code hl_function" href="classpathplanner_1_1PathConstraints.html#a9963568da951044f73765de376337269">fromJson</a>(<span class="keyword">const</span> wpi::json &amp;json);</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span> </div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathConstraints.html#a3e55a90b65cf31d313e9f5fd6e5d7988">   41</a></span>    <span class="keyword">constexpr</span> units::meters_per_second_t <a class="code hl_function" href="classpathplanner_1_1PathConstraints.html#a3e55a90b65cf31d313e9f5fd6e5d7988">getMaxVelocity</a>()<span class="keyword"> const </span>{</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>        <span class="keywordflow">return</span> m_maxVelocity;</div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>    }</div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span> </div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathConstraints.html#ad48ea4771018e336fc20d69bf32c468d">   50</a></span>    <span class="keyword">constexpr</span> units::meters_per_second_squared_t <a class="code hl_function" href="classpathplanner_1_1PathConstraints.html#ad48ea4771018e336fc20d69bf32c468d">getMaxAcceleration</a>()<span class="keyword"> const </span>{</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>        <span class="keywordflow">return</span> m_maxAcceleration;</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>    }</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span> </div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathConstraints.html#ac2f8dc7ece4f0e8652494bf14a4a6bab">   59</a></span>    <span class="keyword">constexpr</span> units::radians_per_second_t <a class="code hl_function" href="classpathplanner_1_1PathConstraints.html#ac2f8dc7ece4f0e8652494bf14a4a6bab">getMaxAngularVelocity</a>()<span class="keyword"> const </span>{</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>        <span class="keywordflow">return</span> m_maxAngularVelocity;</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>    }</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span> </div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathConstraints.html#aae61e0f700e7e40b7841803cc0da85fd">   68</a></span>    <span class="keyword">constexpr</span> units::radians_per_second_squared_t <a class="code hl_function" href="classpathplanner_1_1PathConstraints.html#aae61e0f700e7e40b7841803cc0da85fd">getMaxAngularAcceleration</a>()<span class="keyword"> const </span>{</div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>        <span class="keywordflow">return</span> m_maxAngularAcceleration;</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>    }</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span> </div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>    <span class="keywordtype">bool</span> operator==(<span class="keyword">const</span> <a class="code hl_class" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> &amp;other)<span class="keyword"> const </span>{</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>        <span class="keywordflow">return</span> std::abs(m_maxVelocity() - other.m_maxVelocity()) &lt; 1E-9</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>                &amp;&amp; std::abs(m_maxAcceleration() - other.m_maxAcceleration())</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>                        &lt; 1E-9</div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>                &amp;&amp; std::abs(</div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>                        m_maxAngularVelocity() - other.m_maxAngularVelocity())</div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>                        &lt; 1E-9</div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>                &amp;&amp; std::abs(</div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>                        m_maxAngularAcceleration()</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>                                - other.m_maxAngularAcceleration()) &lt; 1E-9;</div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>    }</div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span> </div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span><span class="keyword">private</span>:</div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>    units::meters_per_second_t m_maxVelocity;</div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>    units::meters_per_second_squared_t m_maxAcceleration;</div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>    units::radians_per_second_t m_maxAngularVelocity;</div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>    units::radians_per_second_squared_t m_maxAngularAcceleration;</div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>};</div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>}</div>
+<div class="ttc" id="aclasspathplanner_1_1PathConstraints_html"><div class="ttname"><a href="classpathplanner_1_1PathConstraints.html">pathplanner::PathConstraints</a></div><div class="ttdef"><b>Definition:</b> PathConstraints.h:10</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathConstraints_html_a3e55a90b65cf31d313e9f5fd6e5d7988"><div class="ttname"><a href="classpathplanner_1_1PathConstraints.html#a3e55a90b65cf31d313e9f5fd6e5d7988">pathplanner::PathConstraints::getMaxVelocity</a></div><div class="ttdeci">constexpr units::meters_per_second_t getMaxVelocity() const</div><div class="ttdef"><b>Definition:</b> PathConstraints.h:41</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathConstraints_html_a9963568da951044f73765de376337269"><div class="ttname"><a href="classpathplanner_1_1PathConstraints.html#a9963568da951044f73765de376337269">pathplanner::PathConstraints::fromJson</a></div><div class="ttdeci">static PathConstraints fromJson(const wpi::json &amp;json)</div><div class="ttdef"><b>Definition:</b> PathConstraints.cpp:6</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathConstraints_html_aae61e0f700e7e40b7841803cc0da85fd"><div class="ttname"><a href="classpathplanner_1_1PathConstraints.html#aae61e0f700e7e40b7841803cc0da85fd">pathplanner::PathConstraints::getMaxAngularAcceleration</a></div><div class="ttdeci">constexpr units::radians_per_second_squared_t getMaxAngularAcceleration() const</div><div class="ttdef"><b>Definition:</b> PathConstraints.h:68</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathConstraints_html_ac2f8dc7ece4f0e8652494bf14a4a6bab"><div class="ttname"><a href="classpathplanner_1_1PathConstraints.html#ac2f8dc7ece4f0e8652494bf14a4a6bab">pathplanner::PathConstraints::getMaxAngularVelocity</a></div><div class="ttdeci">constexpr units::radians_per_second_t getMaxAngularVelocity() const</div><div class="ttdef"><b>Definition:</b> PathConstraints.h:59</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathConstraints_html_ad48ea4771018e336fc20d69bf32c468d"><div class="ttname"><a href="classpathplanner_1_1PathConstraints.html#ad48ea4771018e336fc20d69bf32c468d">pathplanner::PathConstraints::getMaxAcceleration</a></div><div class="ttdeci">constexpr units::meters_per_second_squared_t getMaxAcceleration() const</div><div class="ttdef"><b>Definition:</b> PathConstraints.h:50</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathConstraints_html_afd5ff7d50f81933f628b7e119123897c"><div class="ttname"><a href="classpathplanner_1_1PathConstraints.html#afd5ff7d50f81933f628b7e119123897c">pathplanner::PathConstraints::PathConstraints</a></div><div class="ttdeci">constexpr PathConstraints(units::meters_per_second_t maxVel, units::meters_per_second_squared_t maxAccel, units::radians_per_second_t maxAngularVel, units::radians_per_second_squared_t maxAngularAccel)</div><div class="ttdef"><b>Definition:</b> PathConstraints.h:20</div></div>
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+    <li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_5eb159725f84c66aafd839904a4acdd0.html">main</a></li><li class="navelem"><a class="el" href="dir_b09f3849ec87f7f01357d2c1b28ddfb1.html">native</a></li><li class="navelem"><a class="el" href="dir_34a15534b0ba644081206e4286ea6115.html">include</a></li><li class="navelem"><a class="el" href="dir_9928c8ff9a485b7ddff02877d2a05a10.html">pathplanner</a></li><li class="navelem"><a class="el" href="dir_13948881c4c0769b2e268e8b81181ef8.html">lib</a></li><li class="navelem"><a class="el" href="dir_a716bf125c45ee20a6ca002744f4da0b.html">path</a></li><li class="navelem"><b>PathConstraints.h</b></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<title>PathPlannerLib: src/main/native/include/pathplanner/lib/controllers/PathFollowingController.h Source File</title>
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+  <div class="headertitle"><div class="title">PathFollowingController.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;frc/kinematics/ChassisSpeeds.h&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;frc/geometry/Pose2d.h&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;units/length.h&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &quot;pathplanner/lib/path/PathPlannerTrajectory.h&quot;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="keyword">namespace </span>pathplanner {</div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathFollowingController.html">    9</a></span><span class="keyword">class </span><a class="code hl_class" href="classpathplanner_1_1PathFollowingController.html">PathFollowingController</a> {</div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span>    <span class="keyword">virtual</span> <a class="code hl_class" href="classpathplanner_1_1PathFollowingController.html">~PathFollowingController</a>() {</div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span>    }</div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span> </div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathFollowingController.html#a606f820cf7c0b607dad35518da99f459">   21</a></span>    <span class="keyword">virtual</span> frc::ChassisSpeeds <a class="code hl_function" href="classpathplanner_1_1PathFollowingController.html#a606f820cf7c0b607dad35518da99f459">calculateRobotRelativeSpeeds</a>(</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>            <span class="keyword">const</span> frc::Pose2d &amp;currentPose,</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>            <span class="keyword">const</span> <a class="code hl_class" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">PathPlannerTrajectory::State</a> &amp;targetState) = 0;</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span> </div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathFollowingController.html#ab0877961e6f6db0209990fa9d1288d42">   31</a></span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classpathplanner_1_1PathFollowingController.html#ab0877961e6f6db0209990fa9d1288d42">reset</a>(<span class="keyword">const</span> frc::Pose2d &amp;currentPose,</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>            <span class="keyword">const</span> frc::ChassisSpeeds &amp;currentSpeeds) = 0;</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span> </div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathFollowingController.html#aec75b4c43026780f9d3f57ddc081fe0f">   39</a></span>    <span class="keyword">virtual</span> units::meter_t <a class="code hl_function" href="classpathplanner_1_1PathFollowingController.html#aec75b4c43026780f9d3f57ddc081fe0f">getPositionalError</a>() = 0;</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span> </div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathFollowingController.html#ae323fa07e8d2a8af8325d460e3cb1352">   47</a></span>    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classpathplanner_1_1PathFollowingController.html#ae323fa07e8d2a8af8325d460e3cb1352">isHolonomic</a>() = 0;</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>};</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>}</div>
+<div class="ttc" id="aclasspathplanner_1_1PathFollowingController_html"><div class="ttname"><a href="classpathplanner_1_1PathFollowingController.html">pathplanner::PathFollowingController</a></div><div class="ttdef"><b>Definition:</b> PathFollowingController.h:9</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathFollowingController_html_a606f820cf7c0b607dad35518da99f459"><div class="ttname"><a href="classpathplanner_1_1PathFollowingController.html#a606f820cf7c0b607dad35518da99f459">pathplanner::PathFollowingController::calculateRobotRelativeSpeeds</a></div><div class="ttdeci">virtual frc::ChassisSpeeds calculateRobotRelativeSpeeds(const frc::Pose2d &amp;currentPose, const PathPlannerTrajectory::State &amp;targetState)=0</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathFollowingController_html_ab0877961e6f6db0209990fa9d1288d42"><div class="ttname"><a href="classpathplanner_1_1PathFollowingController.html#ab0877961e6f6db0209990fa9d1288d42">pathplanner::PathFollowingController::reset</a></div><div class="ttdeci">virtual void reset(const frc::Pose2d &amp;currentPose, const frc::ChassisSpeeds &amp;currentSpeeds)=0</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathFollowingController_html_ae323fa07e8d2a8af8325d460e3cb1352"><div class="ttname"><a href="classpathplanner_1_1PathFollowingController.html#ae323fa07e8d2a8af8325d460e3cb1352">pathplanner::PathFollowingController::isHolonomic</a></div><div class="ttdeci">virtual bool isHolonomic()=0</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathFollowingController_html_aec75b4c43026780f9d3f57ddc081fe0f"><div class="ttname"><a href="classpathplanner_1_1PathFollowingController.html#aec75b4c43026780f9d3f57ddc081fe0f">pathplanner::PathFollowingController::getPositionalError</a></div><div class="ttdeci">virtual units::meter_t getPositionalError()=0</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathPlannerTrajectory_1_1State_html"><div class="ttname"><a href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">pathplanner::PathPlannerTrajectory::State</a></div><div class="ttdef"><b>Definition:</b> PathPlannerTrajectory.h:23</div></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
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+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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+    <li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_5eb159725f84c66aafd839904a4acdd0.html">main</a></li><li class="navelem"><a class="el" href="dir_b09f3849ec87f7f01357d2c1b28ddfb1.html">native</a></li><li class="navelem"><a class="el" href="dir_34a15534b0ba644081206e4286ea6115.html">include</a></li><li class="navelem"><a class="el" href="dir_9928c8ff9a485b7ddff02877d2a05a10.html">pathplanner</a></li><li class="navelem"><a class="el" href="dir_13948881c4c0769b2e268e8b81181ef8.html">lib</a></li><li class="navelem"><a class="el" href="dir_01a354f897409c7725242d1f10f7fb84.html">controllers</a></li><li class="navelem"><b>PathFollowingController.h</b></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
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diff --git a/docs/cpp/PathPlannerAuto_8h_source.html b/docs/cpp/PathPlannerAuto_8h_source.html
new file mode 100644
index 00000000..d23c446f
--- /dev/null
+++ b/docs/cpp/PathPlannerAuto_8h_source.html
@@ -0,0 +1,144 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
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+<meta name="generator" content="Doxygen 1.9.5"/>
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+<title>PathPlannerLib: src/main/native/include/pathplanner/lib/commands/PathPlannerAuto.h Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
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+<!-- end header part -->
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+/* @license-end */
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+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<div class="header">
+  <div class="headertitle"><div class="title">PathPlannerAuto.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;frc2/command/CommandHelper.h&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;frc/geometry/Pose2d.h&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;wpi/json.h&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;string&gt;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;memory&gt;</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &quot;pathplanner/lib/path/PathPlannerPath.h&quot;</span></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span> </div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="keyword">namespace </span>pathplanner {</div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathPlannerAuto.html">   15</a></span><span class="keyword">class </span><a class="code hl_class" href="classpathplanner_1_1PathPlannerAuto.html">PathPlannerAuto</a>: <span class="keyword">public</span> frc2::CommandHelper&lt;frc2::Command, PathPlannerAuto&gt; {</div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>    <a class="code hl_class" href="classpathplanner_1_1PathPlannerAuto.html">PathPlannerAuto</a>(std::string autoName);</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span> </div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>    <span class="keyword">static</span> std::vector&lt;std::shared_ptr&lt;PathPlannerPath&gt;&gt; <a class="code hl_function" href="classpathplanner_1_1PathPlannerAuto.html#a2df5ff0fd686dfdca1e4091999939f84">getPathGroupFromAutoFile</a>(</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>            std::string autoName);</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span> </div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>    <span class="keyword">static</span> frc::Pose2d <a class="code hl_function" href="classpathplanner_1_1PathPlannerAuto.html#a8a789e029ae0f4dd1802eb1453eb1606">getStartingPoseFromAutoFile</a>(std::string autoName);</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span> </div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>    <span class="keywordtype">void</span> Initialize() <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span> </div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>    <span class="keywordtype">void</span> Execute() <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span> </div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>    <span class="keywordtype">bool</span> IsFinished() <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span> </div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>    <span class="keywordtype">void</span> End(<span class="keywordtype">bool</span> interrupted) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span> </div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span><span class="keyword">private</span>:</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>    std::unique_ptr&lt;frc2::Command&gt; m_autoCommand;</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span> </div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>    <span class="keyword">static</span> std::vector&lt;std::shared_ptr&lt;PathPlannerPath&gt;&gt; pathsFromCommandJson(</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>            <span class="keyword">const</span> wpi::json &amp;json);</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>};</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>}</div>
+<div class="ttc" id="aclasspathplanner_1_1PathPlannerAuto_html"><div class="ttname"><a href="classpathplanner_1_1PathPlannerAuto.html">pathplanner::PathPlannerAuto</a></div><div class="ttdef"><b>Definition:</b> PathPlannerAuto.h:15</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathPlannerAuto_html_a2df5ff0fd686dfdca1e4091999939f84"><div class="ttname"><a href="classpathplanner_1_1PathPlannerAuto.html#a2df5ff0fd686dfdca1e4091999939f84">pathplanner::PathPlannerAuto::getPathGroupFromAutoFile</a></div><div class="ttdeci">static std::vector&lt; std::shared_ptr&lt; PathPlannerPath &gt; &gt; getPathGroupFromAutoFile(std::string autoName)</div><div class="ttdef"><b>Definition:</b> PathPlannerAuto.cpp:19</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathPlannerAuto_html_a8a789e029ae0f4dd1802eb1453eb1606"><div class="ttname"><a href="classpathplanner_1_1PathPlannerAuto.html#a8a789e029ae0f4dd1802eb1453eb1606">pathplanner::PathPlannerAuto::getStartingPoseFromAutoFile</a></div><div class="ttdeci">static frc::Pose2d getStartingPoseFromAutoFile(std::string autoName)</div><div class="ttdef"><b>Definition:</b> PathPlannerAuto.cpp:37</div></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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+    <li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_5eb159725f84c66aafd839904a4acdd0.html">main</a></li><li class="navelem"><a class="el" href="dir_b09f3849ec87f7f01357d2c1b28ddfb1.html">native</a></li><li class="navelem"><a class="el" href="dir_34a15534b0ba644081206e4286ea6115.html">include</a></li><li class="navelem"><a class="el" href="dir_9928c8ff9a485b7ddff02877d2a05a10.html">pathplanner</a></li><li class="navelem"><a class="el" href="dir_13948881c4c0769b2e268e8b81181ef8.html">lib</a></li><li class="navelem"><a class="el" href="dir_031296ca7f998269a5e24c7d71fdcf0c.html">commands</a></li><li class="navelem"><b>PathPlannerAuto.h</b></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
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diff --git a/docs/cpp/PathPlannerLogging_8h_source.html b/docs/cpp/PathPlannerLogging_8h_source.html
new file mode 100644
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--- /dev/null
+++ b/docs/cpp/PathPlannerLogging_8h_source.html
@@ -0,0 +1,163 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>PathPlannerLib: src/main/native/include/pathplanner/lib/util/PathPlannerLogging.h Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
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+<div class="header">
+  <div class="headertitle"><div class="title">PathPlannerLogging.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;functional&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;frc/geometry/Pose2d.h&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;memory&gt;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;optional&gt;</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &quot;pathplanner/lib/path/PathPlannerPath.h&quot;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="keyword">namespace </span>pathplanner {</div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathPlannerLogging.html">   11</a></span><span class="keyword">class </span><a class="code hl_class" href="classpathplanner_1_1PathPlannerLogging.html">PathPlannerLogging</a> {</div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span>    <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> setLogCurrentPoseCallback(</div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span>            std::function&lt;<span class="keywordtype">void</span>(frc::Pose2d)&gt; logCurrentPose) {</div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span>        m_logCurrentPose = logCurrentPose;</div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>    }</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span> </div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>    <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> setLogTargetPoseCallback(</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>            std::function&lt;<span class="keywordtype">void</span>(frc::Pose2d)&gt; logTargetPose) {</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>        m_logTargetPose = logTargetPose;</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>    }</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span> </div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>    <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> setLogActivePathCallback(</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>            std::function&lt;<span class="keywordtype">void</span>(std::vector&lt;frc::Pose2d&gt;)&gt; logActivePath) {</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>        m_logActivePath = logActivePath;</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>    }</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span> </div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>    <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> logCurrentPose(frc::Pose2d pose) {</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>        <span class="keywordflow">if</span> (m_logCurrentPose) {</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>            m_logCurrentPose(pose);</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>        }</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>    }</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span> </div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>    <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> logTargetPose(frc::Pose2d targetPose) {</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>        <span class="keywordflow">if</span> (m_logTargetPose) {</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>            m_logTargetPose(targetPose);</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>        }</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>    }</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span> </div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>    <span class="keyword">static</span> <span class="keywordtype">void</span> logActivePath(std::shared_ptr&lt;PathPlannerPath&gt; path) {</div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>        <span class="keywordflow">if</span> (m_logActivePath) {</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>            std::vector &lt; frc::Pose2d &gt; poses;</div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>            <span class="keywordflow">for</span> (<span class="keyword">const</span> <a class="code hl_class" href="classpathplanner_1_1PathPoint.html">PathPoint</a> &amp;point : path-&gt;getAllPathPoints()) {</div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>                poses.push_back(frc::Pose2d(point.position, frc::Rotation2d()));</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>            }</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>            m_logActivePath(poses);</div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>        }</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>    }</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span> </div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span><span class="keyword">private</span>:</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    <span class="keyword">static</span> std::function&lt;void(frc::Pose2d)&gt; m_logCurrentPose;</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>    <span class="keyword">static</span> std::function&lt;void(frc::Pose2d)&gt; m_logTargetPose;</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>    <span class="keyword">static</span> std::function&lt;void(std::vector&lt;frc::Pose2d&gt;&amp;)&gt; m_logActivePath;</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>};</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>}</div>
+<div class="ttc" id="aclasspathplanner_1_1PathPlannerLogging_html"><div class="ttname"><a href="classpathplanner_1_1PathPlannerLogging.html">pathplanner::PathPlannerLogging</a></div><div class="ttdef"><b>Definition:</b> PathPlannerLogging.h:11</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathPoint_html"><div class="ttname"><a href="classpathplanner_1_1PathPoint.html">pathplanner::PathPoint</a></div><div class="ttdef"><b>Definition:</b> PathPoint.h:12</div></div>
+</div><!-- fragment --></div><!-- contents -->
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+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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diff --git a/docs/cpp/PathPlannerPath_8h_source.html b/docs/cpp/PathPlannerPath_8h_source.html
new file mode 100644
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+++ b/docs/cpp/PathPlannerPath_8h_source.html
@@ -0,0 +1,259 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
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+  <div class="headertitle"><div class="title">PathPlannerPath.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &quot;pathplanner/lib/path/RotationTarget.h&quot;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &quot;pathplanner/lib/path/ConstraintsZone.h&quot;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &quot;pathplanner/lib/path/EventMarker.h&quot;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &quot;pathplanner/lib/path/PathConstraints.h&quot;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &quot;pathplanner/lib/path/GoalEndState.h&quot;</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &quot;pathplanner/lib/path/PathPoint.h&quot;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &quot;pathplanner/lib/path/PathSegment.h&quot;</span></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="preprocessor">#include &lt;frc/geometry/Translation2d.h&gt;</span></div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="preprocessor">#include &lt;frc/kinematics/ChassisSpeeds.h&gt;</span></div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="preprocessor">#include &lt;wpi/json.h&gt;</span></div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="preprocessor">#include &lt;string&gt;</span></div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="preprocessor">#include &lt;units/length.h&gt;</span></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="preprocessor">#include &lt;memory&gt;</span></div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="preprocessor">#include &lt;initializer_list&gt;</span></div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span> </div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span><span class="keyword">namespace </span>pathplanner {</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathPlannerPath.html">   20</a></span><span class="keyword">class </span><a class="code hl_class" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> {</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>    <a class="code hl_class" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a>(std::vector&lt;frc::Translation2d&gt; bezierPoints,</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>            std::vector&lt;RotationTarget&gt; rotationTargets,</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>            std::vector&lt;ConstraintsZone&gt; constraintZones,</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>            std::vector&lt;EventMarker&gt; eventMarkers,</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>            <a class="code hl_class" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> globalConstraints, <a class="code hl_class" href="classpathplanner_1_1GoalEndState.html">GoalEndState</a> goalEndState,</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>            <span class="keywordtype">bool</span> reversed);</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span> </div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathPlannerPath.html#a63cc832264c985fd779a0a71882ae4a2">   51</a></span>    <a class="code hl_function" href="classpathplanner_1_1PathPlannerPath.html#a63cc832264c985fd779a0a71882ae4a2">PathPlannerPath</a>(std::vector&lt;frc::Translation2d&gt; bezierPoints,</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>            <a class="code hl_class" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> constraints, <a class="code hl_class" href="classpathplanner_1_1GoalEndState.html">GoalEndState</a> goalEndState,</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>            <span class="keywordtype">bool</span> reversed = <span class="keyword">false</span>) : <a class="code hl_class" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a>(bezierPoints,</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>            std::vector&lt;<a class="code hl_class" href="classpathplanner_1_1RotationTarget.html">RotationTarget</a>&gt;(), std::vector&lt;<a class="code hl_class" href="classpathplanner_1_1ConstraintsZone.html">ConstraintsZone</a>&gt;(),</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>            std::vector&lt;<a class="code hl_class" href="classpathplanner_1_1EventMarker.html">EventMarker</a>&gt;(), constraints, goalEndState, reversed) {</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>    }</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span> </div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>    <span class="keywordtype">void</span> hotReload(<span class="keyword">const</span> wpi::json &amp;json);</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span> </div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>    <span class="keyword">static</span> std::vector&lt;frc::Translation2d&gt; <a class="code hl_function" href="classpathplanner_1_1PathPlannerPath.html#a15ae899cebb2cb4923ba026f2fa62ca2">bezierFromPoses</a>(</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>            std::vector&lt;frc::Pose2d&gt; poses);</div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span> </div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>    <span class="keyword">static</span> std::shared_ptr&lt;PathPlannerPath&gt; <a class="code hl_function" href="classpathplanner_1_1PathPlannerPath.html#a055b88dc374aa0d386de4e854c35ceda">fromPathFile</a>(std::string pathName);</div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span> </div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathPlannerPath.html#ac62037f69a815a7d7fe26bac400ddc12">   83</a></span>    <span class="keyword">inline</span> <a class="code hl_class" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> <a class="code hl_function" href="classpathplanner_1_1PathPlannerPath.html#ac62037f69a815a7d7fe26bac400ddc12">getConstraintsForPoint</a>(<span class="keywordtype">size_t</span> idx) {</div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="classpathplanner_1_1PathPlannerPath.html#a3f7ee172e69a9fe3c911d27f9332c624">getPoint</a>(idx).constraints.value_or(m_globalConstraints);</div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>    }</div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span> </div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    <span class="keyword">static</span> <a class="code hl_class" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> <a class="code hl_function" href="classpathplanner_1_1PathPlannerPath.html#a702b6f10eefd5edd7c2c9bdcd6d6f89b">fromPathPoints</a>(std::vector&lt;PathPoint&gt; pathPoints,</div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>            <a class="code hl_class" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> globalConstraints, <a class="code hl_class" href="classpathplanner_1_1GoalEndState.html">GoalEndState</a> goalEndState);</div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span> </div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>    <span class="keyword">static</span> std::vector&lt;PathPoint&gt; <a class="code hl_function" href="classpathplanner_1_1PathPlannerPath.html#af5e83eb181bf6a0221654ea731e8ad48">createPath</a>(</div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>            std::vector&lt;frc::Translation2d&gt; bezierPoints,</div>
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>            std::vector&lt;RotationTarget&gt; holonomicRotations,</div>
+<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>            std::vector&lt;ConstraintsZone&gt; constraintZones);</div>
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span> </div>
+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathPlannerPath.html#a7d98826cbadfa78a92f6a53069de09ea">  105</a></span>    <span class="keyword">constexpr</span> <span class="keyword">const</span> std::vector&lt;PathPoint&gt;&amp; <a class="code hl_function" href="classpathplanner_1_1PathPlannerPath.html#a7d98826cbadfa78a92f6a53069de09ea">getAllPathPoints</a>()<span class="keyword"> const </span>{</div>
+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>        <span class="keywordflow">return</span> m_allPoints;</div>
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>    }</div>
+<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span> </div>
+<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathPlannerPath.html#a986bd8fcd5b02df8786a0381ac86638c">  114</a></span>    <span class="keyword">inline</span> <span class="keywordtype">size_t</span> <a class="code hl_function" href="classpathplanner_1_1PathPlannerPath.html#a986bd8fcd5b02df8786a0381ac86638c">numPoints</a>()<span class="keyword"> const </span>{</div>
+<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>        <span class="keywordflow">return</span> m_allPoints.size();</div>
+<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>    }</div>
+<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span> </div>
+<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathPlannerPath.html#a3f7ee172e69a9fe3c911d27f9332c624">  124</a></span>    <span class="keyword">inline</span> <span class="keyword">const</span> <a class="code hl_class" href="classpathplanner_1_1PathPoint.html">PathPoint</a>&amp; <a class="code hl_function" href="classpathplanner_1_1PathPlannerPath.html#a3f7ee172e69a9fe3c911d27f9332c624">getPoint</a>(<span class="keywordtype">size_t</span> index)<span class="keyword"> const </span>{</div>
+<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>        <span class="keywordflow">return</span> m_allPoints[index];</div>
+<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>    }</div>
+<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span> </div>
+<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathPlannerPath.html#a8409e0700cf178b6e1da27a92023ac12">  133</a></span>    <span class="keyword">constexpr</span> <span class="keyword">const</span> <a class="code hl_class" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a>&amp; <a class="code hl_function" href="classpathplanner_1_1PathPlannerPath.html#a8409e0700cf178b6e1da27a92023ac12">getGlobalConstraints</a>()<span class="keyword"> const </span>{</div>
+<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>        <span class="keywordflow">return</span> m_globalConstraints;</div>
+<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>    }</div>
+<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span> </div>
+<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathPlannerPath.html#a78876dc692b0a6a72ebdd3c9917f9826">  142</a></span>    <span class="keyword">constexpr</span> <span class="keyword">const</span> <a class="code hl_class" href="classpathplanner_1_1GoalEndState.html">GoalEndState</a>&amp; <a class="code hl_function" href="classpathplanner_1_1PathPlannerPath.html#a78876dc692b0a6a72ebdd3c9917f9826">getGoalEndState</a>()<span class="keyword"> const </span>{</div>
+<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>        <span class="keywordflow">return</span> m_goalEndState;</div>
+<div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>    }</div>
+<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span> </div>
+<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathPlannerPath.html#a97c6e010814eb0733af1cd4c13c32b93">  151</a></span>    <span class="keyword">constexpr</span> std::vector&lt;EventMarker&gt;&amp; <a class="code hl_function" href="classpathplanner_1_1PathPlannerPath.html#a97c6e010814eb0733af1cd4c13c32b93">getEventMarkers</a>() {</div>
+<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>        <span class="keywordflow">return</span> m_eventMarkers;</div>
+<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>    }</div>
+<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span> </div>
+<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathPlannerPath.html#a8e5f27c1607a5b68a4f5bf7a7e08cb2f">  160</a></span>    <span class="keyword">constexpr</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classpathplanner_1_1PathPlannerPath.html#a8e5f27c1607a5b68a4f5bf7a7e08cb2f">isReversed</a>()<span class="keyword"> const </span>{</div>
+<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>        <span class="keywordflow">return</span> m_reversed;</div>
+<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>    }</div>
+<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span> </div>
+<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span>    std::shared_ptr&lt;PathPlannerPath&gt; <a class="code hl_function" href="classpathplanner_1_1PathPlannerPath.html#a6adba9071719c8d75ff383504b0d1b61">replan</a>(<span class="keyword">const</span> frc::Pose2d startingPose,</div>
+<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>            <span class="keyword">const</span> frc::ChassisSpeeds currentSpeeds) <span class="keyword">const</span>;</div>
+<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span> </div>
+<div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span><span class="keyword">private</span>:</div>
+<div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>    <a class="code hl_class" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a>(<a class="code hl_class" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> globalConstraints,</div>
+<div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>            <a class="code hl_class" href="classpathplanner_1_1GoalEndState.html">GoalEndState</a> goalEndState);</div>
+<div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span> </div>
+<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span>    <span class="keyword">static</span> <a class="code hl_class" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> fromJson(<span class="keyword">const</span> wpi::json &amp;json);</div>
+<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span> </div>
+<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>    <span class="keyword">static</span> std::vector&lt;frc::Translation2d&gt; bezierPointsFromWaypointsJson(</div>
+<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span>            <span class="keyword">const</span> wpi::json &amp;json);</div>
+<div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span> </div>
+<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span>    <span class="keyword">static</span> frc::Translation2d pointFromJson(<span class="keyword">const</span> wpi::json &amp;json);</div>
+<div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span> </div>
+<div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span>    <span class="keywordtype">void</span> precalcValues();</div>
+<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span> </div>
+<div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span>    <span class="keyword">static</span> units::meter_t getCurveRadiusAtPoint(<span class="keywordtype">size_t</span> index,</div>
+<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span>            std::vector&lt;PathPoint&gt; &amp;points);</div>
+<div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span> </div>
+<div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span>    <span class="keyword">static</span> <span class="keywordtype">double</span> mapPct(<span class="keywordtype">double</span> pct, <span class="keywordtype">double</span> seg1Pct) {</div>
+<div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span>        <span class="keywordtype">double</span> mappedPct;</div>
+<div class="line"><a id="l00199" name="l00199"></a><span class="lineno">  199</span>        <span class="keywordflow">if</span> (pct &lt;= seg1Pct) {</div>
+<div class="line"><a id="l00200" name="l00200"></a><span class="lineno">  200</span>            <span class="comment">// Map to segment 1</span></div>
+<div class="line"><a id="l00201" name="l00201"></a><span class="lineno">  201</span>            mappedPct = pct / seg1Pct;</div>
+<div class="line"><a id="l00202" name="l00202"></a><span class="lineno">  202</span>        } <span class="keywordflow">else</span> {</div>
+<div class="line"><a id="l00203" name="l00203"></a><span class="lineno">  203</span>            <span class="comment">// Map to segment 2</span></div>
+<div class="line"><a id="l00204" name="l00204"></a><span class="lineno">  204</span>            mappedPct = 1.0 + ((pct - seg1Pct) / (1.0 - seg1Pct));</div>
+<div class="line"><a id="l00205" name="l00205"></a><span class="lineno">  205</span>        }</div>
+<div class="line"><a id="l00206" name="l00206"></a><span class="lineno">  206</span> </div>
+<div class="line"><a id="l00207" name="l00207"></a><span class="lineno">  207</span>        <span class="keywordflow">return</span> std::round(mappedPct * (1.0 / PathSegment::RESOLUTION))</div>
+<div class="line"><a id="l00208" name="l00208"></a><span class="lineno">  208</span>                / (1.0 / PathSegment::RESOLUTION);</div>
+<div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span>    }</div>
+<div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span> </div>
+<div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span>    <span class="keyword">static</span> <span class="keyword">inline</span> units::meter_t positionDelta(<span class="keyword">const</span> frc::Translation2d &amp;a,</div>
+<div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span>            <span class="keyword">const</span> frc::Translation2d &amp;b) {</div>
+<div class="line"><a id="l00213" name="l00213"></a><span class="lineno">  213</span>        frc::Translation2d delta = a - b;</div>
+<div class="line"><a id="l00214" name="l00214"></a><span class="lineno">  214</span> </div>
+<div class="line"><a id="l00215" name="l00215"></a><span class="lineno">  215</span>        <span class="keywordflow">return</span> units::math::abs(delta.X()) + units::math::abs(delta.Y());</div>
+<div class="line"><a id="l00216" name="l00216"></a><span class="lineno">  216</span>    }</div>
+<div class="line"><a id="l00217" name="l00217"></a><span class="lineno">  217</span> </div>
+<div class="line"><a id="l00218" name="l00218"></a><span class="lineno">  218</span>    std::vector&lt;frc::Translation2d&gt; m_bezierPoints;</div>
+<div class="line"><a id="l00219" name="l00219"></a><span class="lineno">  219</span>    std::vector&lt;RotationTarget&gt; m_rotationTargets;</div>
+<div class="line"><a id="l00220" name="l00220"></a><span class="lineno">  220</span>    std::vector&lt;ConstraintsZone&gt; m_constraintZones;</div>
+<div class="line"><a id="l00221" name="l00221"></a><span class="lineno">  221</span>    std::vector&lt;EventMarker&gt; m_eventMarkers;</div>
+<div class="line"><a id="l00222" name="l00222"></a><span class="lineno">  222</span>    PathConstraints m_globalConstraints;</div>
+<div class="line"><a id="l00223" name="l00223"></a><span class="lineno">  223</span>    GoalEndState m_goalEndState;</div>
+<div class="line"><a id="l00224" name="l00224"></a><span class="lineno">  224</span>    std::vector&lt;PathPoint&gt; m_allPoints;</div>
+<div class="line"><a id="l00225" name="l00225"></a><span class="lineno">  225</span>    <span class="keywordtype">bool</span> m_reversed;</div>
+<div class="line"><a id="l00226" name="l00226"></a><span class="lineno">  226</span>};</div>
+<div class="line"><a id="l00227" name="l00227"></a><span class="lineno">  227</span>}</div>
+<div class="ttc" id="aclasspathplanner_1_1ConstraintsZone_html"><div class="ttname"><a href="classpathplanner_1_1ConstraintsZone.html">pathplanner::ConstraintsZone</a></div><div class="ttdef"><b>Definition:</b> ConstraintsZone.h:7</div></div>
+<div class="ttc" id="aclasspathplanner_1_1EventMarker_html"><div class="ttname"><a href="classpathplanner_1_1EventMarker.html">pathplanner::EventMarker</a></div><div class="ttdef"><b>Definition:</b> EventMarker.h:11</div></div>
+<div class="ttc" id="aclasspathplanner_1_1GoalEndState_html"><div class="ttname"><a href="classpathplanner_1_1GoalEndState.html">pathplanner::GoalEndState</a></div><div class="ttdef"><b>Definition:</b> GoalEndState.h:9</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathConstraints_html"><div class="ttname"><a href="classpathplanner_1_1PathConstraints.html">pathplanner::PathConstraints</a></div><div class="ttdef"><b>Definition:</b> PathConstraints.h:10</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathPlannerPath_html"><div class="ttname"><a href="classpathplanner_1_1PathPlannerPath.html">pathplanner::PathPlannerPath</a></div><div class="ttdef"><b>Definition:</b> PathPlannerPath.h:20</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathPlannerPath_html_a055b88dc374aa0d386de4e854c35ceda"><div class="ttname"><a href="classpathplanner_1_1PathPlannerPath.html#a055b88dc374aa0d386de4e854c35ceda">pathplanner::PathPlannerPath::fromPathFile</a></div><div class="ttdeci">static std::shared_ptr&lt; PathPlannerPath &gt; fromPathFile(std::string pathName)</div><div class="ttdef"><b>Definition:</b> PathPlannerPath.cpp:84</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathPlannerPath_html_a15ae899cebb2cb4923ba026f2fa62ca2"><div class="ttname"><a href="classpathplanner_1_1PathPlannerPath.html#a15ae899cebb2cb4923ba026f2fa62ca2">pathplanner::PathPlannerPath::bezierFromPoses</a></div><div class="ttdeci">static std::vector&lt; frc::Translation2d &gt; bezierFromPoses(std::vector&lt; frc::Pose2d &gt; poses)</div><div class="ttdef"><b>Definition:</b> PathPlannerPath.cpp:45</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathPlannerPath_html_a3f7ee172e69a9fe3c911d27f9332c624"><div class="ttname"><a href="classpathplanner_1_1PathPlannerPath.html#a3f7ee172e69a9fe3c911d27f9332c624">pathplanner::PathPlannerPath::getPoint</a></div><div class="ttdeci">const PathPoint &amp; getPoint(size_t index) const</div><div class="ttdef"><b>Definition:</b> PathPlannerPath.h:124</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathPlannerPath_html_a63cc832264c985fd779a0a71882ae4a2"><div class="ttname"><a href="classpathplanner_1_1PathPlannerPath.html#a63cc832264c985fd779a0a71882ae4a2">pathplanner::PathPlannerPath::PathPlannerPath</a></div><div class="ttdeci">PathPlannerPath(std::vector&lt; frc::Translation2d &gt; bezierPoints, PathConstraints constraints, GoalEndState goalEndState, bool reversed=false)</div><div class="ttdef"><b>Definition:</b> PathPlannerPath.h:51</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathPlannerPath_html_a6adba9071719c8d75ff383504b0d1b61"><div class="ttname"><a href="classpathplanner_1_1PathPlannerPath.html#a6adba9071719c8d75ff383504b0d1b61">pathplanner::PathPlannerPath::replan</a></div><div class="ttdeci">std::shared_ptr&lt; PathPlannerPath &gt; replan(const frc::Pose2d startingPose, const frc::ChassisSpeeds currentSpeeds) const</div><div class="ttdef"><b>Definition:</b> PathPlannerPath.cpp:285</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathPlannerPath_html_a702b6f10eefd5edd7c2c9bdcd6d6f89b"><div class="ttname"><a href="classpathplanner_1_1PathPlannerPath.html#a702b6f10eefd5edd7c2c9bdcd6d6f89b">pathplanner::PathPlannerPath::fromPathPoints</a></div><div class="ttdeci">static PathPlannerPath fromPathPoints(std::vector&lt; PathPoint &gt; pathPoints, PathConstraints globalConstraints, GoalEndState goalEndState)</div><div class="ttdef"><b>Definition:</b> PathPlannerPath.cpp:172</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathPlannerPath_html_a78876dc692b0a6a72ebdd3c9917f9826"><div class="ttname"><a href="classpathplanner_1_1PathPlannerPath.html#a78876dc692b0a6a72ebdd3c9917f9826">pathplanner::PathPlannerPath::getGoalEndState</a></div><div class="ttdeci">constexpr const GoalEndState &amp; getGoalEndState() const</div><div class="ttdef"><b>Definition:</b> PathPlannerPath.h:142</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathPlannerPath_html_a7d98826cbadfa78a92f6a53069de09ea"><div class="ttname"><a href="classpathplanner_1_1PathPlannerPath.html#a7d98826cbadfa78a92f6a53069de09ea">pathplanner::PathPlannerPath::getAllPathPoints</a></div><div class="ttdeci">constexpr const std::vector&lt; PathPoint &gt; &amp; getAllPathPoints() const</div><div class="ttdef"><b>Definition:</b> PathPlannerPath.h:105</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathPlannerPath_html_a8409e0700cf178b6e1da27a92023ac12"><div class="ttname"><a href="classpathplanner_1_1PathPlannerPath.html#a8409e0700cf178b6e1da27a92023ac12">pathplanner::PathPlannerPath::getGlobalConstraints</a></div><div class="ttdeci">constexpr const PathConstraints &amp; getGlobalConstraints() const</div><div class="ttdef"><b>Definition:</b> PathPlannerPath.h:133</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathPlannerPath_html_a8e5f27c1607a5b68a4f5bf7a7e08cb2f"><div class="ttname"><a href="classpathplanner_1_1PathPlannerPath.html#a8e5f27c1607a5b68a4f5bf7a7e08cb2f">pathplanner::PathPlannerPath::isReversed</a></div><div class="ttdeci">constexpr bool isReversed() const</div><div class="ttdef"><b>Definition:</b> PathPlannerPath.h:160</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathPlannerPath_html_a97c6e010814eb0733af1cd4c13c32b93"><div class="ttname"><a href="classpathplanner_1_1PathPlannerPath.html#a97c6e010814eb0733af1cd4c13c32b93">pathplanner::PathPlannerPath::getEventMarkers</a></div><div class="ttdeci">constexpr std::vector&lt; EventMarker &gt; &amp; getEventMarkers()</div><div class="ttdef"><b>Definition:</b> PathPlannerPath.h:151</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathPlannerPath_html_a986bd8fcd5b02df8786a0381ac86638c"><div class="ttname"><a href="classpathplanner_1_1PathPlannerPath.html#a986bd8fcd5b02df8786a0381ac86638c">pathplanner::PathPlannerPath::numPoints</a></div><div class="ttdeci">size_t numPoints() const</div><div class="ttdef"><b>Definition:</b> PathPlannerPath.h:114</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathPlannerPath_html_ac62037f69a815a7d7fe26bac400ddc12"><div class="ttname"><a href="classpathplanner_1_1PathPlannerPath.html#ac62037f69a815a7d7fe26bac400ddc12">pathplanner::PathPlannerPath::getConstraintsForPoint</a></div><div class="ttdeci">PathConstraints getConstraintsForPoint(size_t idx)</div><div class="ttdef"><b>Definition:</b> PathPlannerPath.h:83</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathPlannerPath_html_af5e83eb181bf6a0221654ea731e8ad48"><div class="ttname"><a href="classpathplanner_1_1PathPlannerPath.html#af5e83eb181bf6a0221654ea731e8ad48">pathplanner::PathPlannerPath::createPath</a></div><div class="ttdeci">static std::vector&lt; PathPoint &gt; createPath(std::vector&lt; frc::Translation2d &gt; bezierPoints, std::vector&lt; RotationTarget &gt; holonomicRotations, std::vector&lt; ConstraintsZone &gt; constraintZones)</div><div class="ttdef"><b>Definition:</b> PathPlannerPath.cpp:183</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathPoint_html"><div class="ttname"><a href="classpathplanner_1_1PathPoint.html">pathplanner::PathPoint</a></div><div class="ttdef"><b>Definition:</b> PathPoint.h:12</div></div>
+<div class="ttc" id="aclasspathplanner_1_1RotationTarget_html"><div class="ttname"><a href="classpathplanner_1_1RotationTarget.html">pathplanner::RotationTarget</a></div><div class="ttdef"><b>Definition:</b> RotationTarget.h:7</div></div>
+</div><!-- fragment --></div><!-- contents -->
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diff --git a/docs/cpp/PathPlannerTrajectory_8h_source.html b/docs/cpp/PathPlannerTrajectory_8h_source.html
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+  <div class="headertitle"><div class="title">PathPlannerTrajectory.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;units/time.h&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;units/length.h&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;units/velocity.h&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;units/acceleration.h&gt;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;units/angular_velocity.h&gt;</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;units/curvature.h&gt;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &lt;frc/geometry/Translation2d.h&gt;</span></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#include &lt;frc/geometry/Rotation2d.h&gt;</span></div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="preprocessor">#include &lt;frc/geometry/Pose2d.h&gt;</span></div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="preprocessor">#include &lt;frc/kinematics/ChassisSpeeds.h&gt;</span></div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="preprocessor">#include &lt;frc/MathUtil.h&gt;</span></div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="preprocessor">#include &lt;memory&gt;</span></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="preprocessor">#include &quot;pathplanner/lib/path/PathConstraints.h&quot;</span></div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="preprocessor">#include &quot;pathplanner/lib/path/PathPlannerPath.h&quot;</span></div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="preprocessor">#include &quot;pathplanner/lib/util/GeometryUtil.h&quot;</span></div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span> </div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span><span class="keyword">namespace </span>pathplanner {</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathPlannerTrajectory.html">   21</a></span><span class="keyword">class </span><a class="code hl_class" href="classpathplanner_1_1PathPlannerTrajectory.html">PathPlannerTrajectory</a> {</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">   23</a></span>    <span class="keyword">class </span><a class="code hl_class" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">State</a> {</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>    <span class="keyword">public</span>:</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>        units::second_t time;</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>        units::meters_per_second_t velocity;</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>        units::meters_per_second_squared_t acceleration;</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>        units::radians_per_second_t headingAngularVelocity;</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>        frc::Translation2d position;</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>        frc::Rotation2d heading;</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>        frc::Rotation2d targetHolonomicRotation;</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>        units::curvature_t curvature;</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>        <a class="code hl_class" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> constraints;</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>        units::meter_t deltaPos;</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span> </div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>        <span class="keyword">constexpr</span> <a class="code hl_class" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">State</a>() : constraints(0_mps, 0_mps_sq, 0_rad_per_s,</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>                0_rad_per_s_sq) {</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>        }</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span> </div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>        <span class="keyword">constexpr</span> <a class="code hl_class" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">State</a> interpolate(<span class="keyword">const</span> <a class="code hl_class" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">State</a> &amp;endValue, <span class="keywordtype">double</span> t)<span class="keyword"> const </span>{</div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>            <a class="code hl_class" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">State</a> lerpedState;</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span> </div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>            lerpedState.time = GeometryUtil::unitLerp(time, endValue.time, t);</div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>            units::second_t deltaT = lerpedState.time - time;</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span> </div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>            <span class="keywordflow">if</span> (deltaT &lt; 0_s) {</div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>                <span class="keywordflow">return</span> endValue.interpolate(*<span class="keyword">this</span>, 1.0 - t);</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>            }</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span> </div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>            lerpedState.velocity = GeometryUtil::unitLerp(velocity,</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>                    endValue.velocity, t);</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>            lerpedState.acceleration = GeometryUtil::unitLerp(acceleration,</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>                    endValue.acceleration, t);</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>            lerpedState.position = GeometryUtil::translationLerp(position,</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>                    endValue.position, t);</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>            lerpedState.heading = GeometryUtil::rotationLerp(heading,</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>                    endValue.heading, t);</div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>            lerpedState.headingAngularVelocity = GeometryUtil::unitLerp(</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>                    headingAngularVelocity, endValue.headingAngularVelocity, t);</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>            lerpedState.curvature = GeometryUtil::unitLerp(curvature,</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>                    endValue.curvature, t);</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>            lerpedState.deltaPos = GeometryUtil::unitLerp(deltaPos,</div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>                    endValue.deltaPos, t);</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span> </div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>            <span class="keywordflow">if</span> (t &lt; 0.5) {</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>                lerpedState.constraints = constraints;</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>                lerpedState.targetHolonomicRotation = targetHolonomicRotation;</div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>            } <span class="keywordflow">else</span> {</div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>                lerpedState.constraints = endValue.constraints;</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>                lerpedState.targetHolonomicRotation =</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>                        endValue.targetHolonomicRotation;</div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>            }</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span> </div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>            <span class="keywordflow">return</span> lerpedState;</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>        }</div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span> </div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html#ac4973e5c1f460c635997af5f50b20d57">   84</a></span>        <span class="keyword">constexpr</span> frc::Pose2d <a class="code hl_function" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html#ac4973e5c1f460c635997af5f50b20d57">getTargetHolonomicPose</a>()<span class="keyword"> const </span>{</div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>            <span class="keywordflow">return</span> frc::Pose2d(position, targetHolonomicRotation);</div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>        }</div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span> </div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html#ab5d306d4a23a4c4eeb589ac199e6ed08">   93</a></span>        <span class="keyword">constexpr</span> frc::Pose2d <a class="code hl_function" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html#ab5d306d4a23a4c4eeb589ac199e6ed08">getDifferentialPose</a>()<span class="keyword"> const </span>{</div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>            <span class="keywordflow">return</span> frc::Pose2d(position, heading);</div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>        }</div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span> </div>
+<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html#a3c0e46f74c1b27e38d3416a2f97b678f">  103</a></span>        <span class="keyword">constexpr</span> <a class="code hl_class" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">State</a> <a class="code hl_function" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html#a3c0e46f74c1b27e38d3416a2f97b678f">reverse</a>()<span class="keyword"> const </span>{</div>
+<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>            <a class="code hl_class" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">State</a> reversed;</div>
+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span> </div>
+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>            reversed.time = time;</div>
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>            reversed.velocity = -velocity;</div>
+<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>            reversed.acceleration = -acceleration;</div>
+<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>            reversed.headingAngularVelocity = -headingAngularVelocity;</div>
+<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>            reversed.heading = frc::Rotation2d(</div>
+<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>                    frc::InputModulus(reversed.heading.Degrees() + 180_deg,</div>
+<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>                            -180_deg, 180_deg));</div>
+<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>            reversed.targetHolonomicRotation = targetHolonomicRotation;</div>
+<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>            reversed.curvature = -curvature;</div>
+<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>            reversed.deltaPos = deltaPos;</div>
+<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>            reversed.constraints = constraints;</div>
+<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span> </div>
+<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>            <span class="keywordflow">return</span> reversed;</div>
+<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>        }</div>
+<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>    };</div>
+<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span> </div>
+<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>    <a class="code hl_class" href="classpathplanner_1_1PathPlannerTrajectory.html">PathPlannerTrajectory</a>() {</div>
+<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>    }</div>
+<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span> </div>
+<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathPlannerTrajectory.html#a8063217aeeb651633a87e40370cc83a0">  131</a></span>    <a class="code hl_function" href="classpathplanner_1_1PathPlannerTrajectory.html#a8063217aeeb651633a87e40370cc83a0">PathPlannerTrajectory</a>(std::shared_ptr&lt;PathPlannerPath&gt; path,</div>
+<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>            <span class="keyword">const</span> frc::ChassisSpeeds &amp;startingSpeeds) : m_states(</div>
+<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>            generateStates(path, startingSpeeds)) {</div>
+<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>    }</div>
+<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span> </div>
+<div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span>    State <a class="code hl_function" href="classpathplanner_1_1PathPlannerTrajectory.html#a2a6b514d0f95d7890a8e3ed150a2036a">sample</a>(<span class="keyword">const</span> units::second_t time);</div>
+<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span> </div>
+<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathPlannerTrajectory.html#a6f935d670bfa0d45079ce51661224af9">  149</a></span>    <span class="keyword">constexpr</span> std::vector&lt;State&gt;&amp; <a class="code hl_function" href="classpathplanner_1_1PathPlannerTrajectory.html#a6f935d670bfa0d45079ce51661224af9">getStates</a>() {</div>
+<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>        <span class="keywordflow">return</span> m_states;</div>
+<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>    }</div>
+<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span> </div>
+<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathPlannerTrajectory.html#a2329ac90fd3511ac1131ccc3809c4cb0">  158</a></span>    <span class="keyword">inline</span> units::second_t <a class="code hl_function" href="classpathplanner_1_1PathPlannerTrajectory.html#a2329ac90fd3511ac1131ccc3809c4cb0">getTotalTime</a>() {</div>
+<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="classpathplanner_1_1PathPlannerTrajectory.html#ad9bee7be286923a359d26bed7eefcbd0">getEndState</a>().time;</div>
+<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>    }</div>
+<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span> </div>
+<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathPlannerTrajectory.html#a0a699d6d04d75425d78089115f3eaaaa">  168</a></span>    <span class="keyword">inline</span> <a class="code hl_class" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">State</a> <a class="code hl_function" href="classpathplanner_1_1PathPlannerTrajectory.html#a0a699d6d04d75425d78089115f3eaaaa">getState</a>(<span class="keywordtype">size_t</span> index) {</div>
+<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span>        <span class="keywordflow">return</span> m_states[index];</div>
+<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>    }</div>
+<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span> </div>
+<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathPlannerTrajectory.html#a03b44fbc085e5a9d899b68d7c68980f2">  177</a></span>    <span class="keyword">inline</span> <a class="code hl_class" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">State</a> <a class="code hl_function" href="classpathplanner_1_1PathPlannerTrajectory.html#a03b44fbc085e5a9d899b68d7c68980f2">getInitialState</a>() {</div>
+<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span>        <span class="keywordflow">return</span> m_states[0];</div>
+<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span>    }</div>
+<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span> </div>
+<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathPlannerTrajectory.html#a6d8107a32a708c654dd08a2fa7e568e1">  188</a></span>    <span class="keyword">inline</span> frc::Pose2d <a class="code hl_function" href="classpathplanner_1_1PathPlannerTrajectory.html#a6d8107a32a708c654dd08a2fa7e568e1">getInitialTargetHolonomicPose</a>() {</div>
+<div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span>        <span class="keywordflow">return</span> m_states[0].getTargetHolonomicPose();</div>
+<div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span>    }</div>
+<div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span> </div>
+<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathPlannerTrajectory.html#acf9de5ca2d759d223405a16357049744">  197</a></span>    <span class="keyword">inline</span> frc::Pose2d <a class="code hl_function" href="classpathplanner_1_1PathPlannerTrajectory.html#acf9de5ca2d759d223405a16357049744">getInitialDifferentialPose</a>() {</div>
+<div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span>        <span class="keywordflow">return</span> m_states[0].getDifferentialPose();</div>
+<div class="line"><a id="l00199" name="l00199"></a><span class="lineno">  199</span>    }</div>
+<div class="line"><a id="l00200" name="l00200"></a><span class="lineno">  200</span> </div>
+<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathPlannerTrajectory.html#ad9bee7be286923a359d26bed7eefcbd0">  206</a></span>    <span class="keyword">inline</span> <a class="code hl_class" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">State</a> <a class="code hl_function" href="classpathplanner_1_1PathPlannerTrajectory.html#ad9bee7be286923a359d26bed7eefcbd0">getEndState</a>() {</div>
+<div class="line"><a id="l00207" name="l00207"></a><span class="lineno">  207</span>        <span class="keywordflow">return</span> m_states[m_states.size() - 1];</div>
+<div class="line"><a id="l00208" name="l00208"></a><span class="lineno">  208</span>    }</div>
+<div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span> </div>
+<div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span><span class="keyword">private</span>:</div>
+<div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span>    std::vector&lt;State&gt; m_states;</div>
+<div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span> </div>
+<div class="line"><a id="l00213" name="l00213"></a><span class="lineno">  213</span>    <span class="keyword">static</span> <span class="keywordtype">size_t</span> getNextRotationTargetIdx(</div>
+<div class="line"><a id="l00214" name="l00214"></a><span class="lineno">  214</span>            std::shared_ptr&lt;PathPlannerPath&gt; path, <span class="keyword">const</span> <span class="keywordtype">size_t</span> startingIndex);</div>
+<div class="line"><a id="l00215" name="l00215"></a><span class="lineno">  215</span> </div>
+<div class="line"><a id="l00216" name="l00216"></a><span class="lineno">  216</span>    <span class="keyword">static</span> std::vector&lt;State&gt; generateStates(</div>
+<div class="line"><a id="l00217" name="l00217"></a><span class="lineno">  217</span>            std::shared_ptr&lt;PathPlannerPath&gt; path,</div>
+<div class="line"><a id="l00218" name="l00218"></a><span class="lineno">  218</span>            <span class="keyword">const</span> frc::ChassisSpeeds &amp;startingSpeeds);</div>
+<div class="line"><a id="l00219" name="l00219"></a><span class="lineno">  219</span>};</div>
+<div class="line"><a id="l00220" name="l00220"></a><span class="lineno">  220</span>}</div>
+<div class="ttc" id="aclasspathplanner_1_1PathConstraints_html"><div class="ttname"><a href="classpathplanner_1_1PathConstraints.html">pathplanner::PathConstraints</a></div><div class="ttdef"><b>Definition:</b> PathConstraints.h:10</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathPlannerTrajectory_1_1State_html"><div class="ttname"><a href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">pathplanner::PathPlannerTrajectory::State</a></div><div class="ttdef"><b>Definition:</b> PathPlannerTrajectory.h:23</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathPlannerTrajectory_1_1State_html_a3c0e46f74c1b27e38d3416a2f97b678f"><div class="ttname"><a href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html#a3c0e46f74c1b27e38d3416a2f97b678f">pathplanner::PathPlannerTrajectory::State::reverse</a></div><div class="ttdeci">constexpr State reverse() const</div><div class="ttdef"><b>Definition:</b> PathPlannerTrajectory.h:103</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathPlannerTrajectory_1_1State_html_ab5d306d4a23a4c4eeb589ac199e6ed08"><div class="ttname"><a href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html#ab5d306d4a23a4c4eeb589ac199e6ed08">pathplanner::PathPlannerTrajectory::State::getDifferentialPose</a></div><div class="ttdeci">constexpr frc::Pose2d getDifferentialPose() const</div><div class="ttdef"><b>Definition:</b> PathPlannerTrajectory.h:93</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathPlannerTrajectory_1_1State_html_ac4973e5c1f460c635997af5f50b20d57"><div class="ttname"><a href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html#ac4973e5c1f460c635997af5f50b20d57">pathplanner::PathPlannerTrajectory::State::getTargetHolonomicPose</a></div><div class="ttdeci">constexpr frc::Pose2d getTargetHolonomicPose() const</div><div class="ttdef"><b>Definition:</b> PathPlannerTrajectory.h:84</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathPlannerTrajectory_html"><div class="ttname"><a href="classpathplanner_1_1PathPlannerTrajectory.html">pathplanner::PathPlannerTrajectory</a></div><div class="ttdef"><b>Definition:</b> PathPlannerTrajectory.h:21</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathPlannerTrajectory_html_a03b44fbc085e5a9d899b68d7c68980f2"><div class="ttname"><a href="classpathplanner_1_1PathPlannerTrajectory.html#a03b44fbc085e5a9d899b68d7c68980f2">pathplanner::PathPlannerTrajectory::getInitialState</a></div><div class="ttdeci">State getInitialState()</div><div class="ttdef"><b>Definition:</b> PathPlannerTrajectory.h:177</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathPlannerTrajectory_html_a0a699d6d04d75425d78089115f3eaaaa"><div class="ttname"><a href="classpathplanner_1_1PathPlannerTrajectory.html#a0a699d6d04d75425d78089115f3eaaaa">pathplanner::PathPlannerTrajectory::getState</a></div><div class="ttdeci">State getState(size_t index)</div><div class="ttdef"><b>Definition:</b> PathPlannerTrajectory.h:168</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathPlannerTrajectory_html_a2329ac90fd3511ac1131ccc3809c4cb0"><div class="ttname"><a href="classpathplanner_1_1PathPlannerTrajectory.html#a2329ac90fd3511ac1131ccc3809c4cb0">pathplanner::PathPlannerTrajectory::getTotalTime</a></div><div class="ttdeci">units::second_t getTotalTime()</div><div class="ttdef"><b>Definition:</b> PathPlannerTrajectory.h:158</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathPlannerTrajectory_html_a2a6b514d0f95d7890a8e3ed150a2036a"><div class="ttname"><a href="classpathplanner_1_1PathPlannerTrajectory.html#a2a6b514d0f95d7890a8e3ed150a2036a">pathplanner::PathPlannerTrajectory::sample</a></div><div class="ttdeci">State sample(const units::second_t time)</div><div class="ttdef"><b>Definition:</b> PathPlannerTrajectory.cpp:5</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathPlannerTrajectory_html_a6d8107a32a708c654dd08a2fa7e568e1"><div class="ttname"><a href="classpathplanner_1_1PathPlannerTrajectory.html#a6d8107a32a708c654dd08a2fa7e568e1">pathplanner::PathPlannerTrajectory::getInitialTargetHolonomicPose</a></div><div class="ttdeci">frc::Pose2d getInitialTargetHolonomicPose()</div><div class="ttdef"><b>Definition:</b> PathPlannerTrajectory.h:188</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathPlannerTrajectory_html_a6f935d670bfa0d45079ce51661224af9"><div class="ttname"><a href="classpathplanner_1_1PathPlannerTrajectory.html#a6f935d670bfa0d45079ce51661224af9">pathplanner::PathPlannerTrajectory::getStates</a></div><div class="ttdeci">constexpr std::vector&lt; State &gt; &amp; getStates()</div><div class="ttdef"><b>Definition:</b> PathPlannerTrajectory.h:149</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathPlannerTrajectory_html_a8063217aeeb651633a87e40370cc83a0"><div class="ttname"><a href="classpathplanner_1_1PathPlannerTrajectory.html#a8063217aeeb651633a87e40370cc83a0">pathplanner::PathPlannerTrajectory::PathPlannerTrajectory</a></div><div class="ttdeci">PathPlannerTrajectory(std::shared_ptr&lt; PathPlannerPath &gt; path, const frc::ChassisSpeeds &amp;startingSpeeds)</div><div class="ttdef"><b>Definition:</b> PathPlannerTrajectory.h:131</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathPlannerTrajectory_html_acf9de5ca2d759d223405a16357049744"><div class="ttname"><a href="classpathplanner_1_1PathPlannerTrajectory.html#acf9de5ca2d759d223405a16357049744">pathplanner::PathPlannerTrajectory::getInitialDifferentialPose</a></div><div class="ttdeci">frc::Pose2d getInitialDifferentialPose()</div><div class="ttdef"><b>Definition:</b> PathPlannerTrajectory.h:197</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathPlannerTrajectory_html_ad9bee7be286923a359d26bed7eefcbd0"><div class="ttname"><a href="classpathplanner_1_1PathPlannerTrajectory.html#ad9bee7be286923a359d26bed7eefcbd0">pathplanner::PathPlannerTrajectory::getEndState</a></div><div class="ttdeci">State getEndState()</div><div class="ttdef"><b>Definition:</b> PathPlannerTrajectory.h:206</div></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
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diff --git a/docs/cpp/PathPoint_8h_source.html b/docs/cpp/PathPoint_8h_source.html
new file mode 100644
index 00000000..88bf5ed8
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+++ b/docs/cpp/PathPoint_8h_source.html
@@ -0,0 +1,135 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<title>PathPlannerLib: src/main/native/include/pathplanner/lib/path/PathPoint.h Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+  <div class="headertitle"><div class="title">PathPoint.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;frc/geometry/Translation2d.h&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;frc/geometry/Rotation2d.h&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;limits&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;optional&gt;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;units/length.h&gt;</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;units/velocity.h&gt;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &quot;pathplanner/lib/path/PathConstraints.h&quot;</span></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span> </div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="keyword">namespace </span>pathplanner {</div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathPoint.html">   12</a></span><span class="keyword">class </span><a class="code hl_class" href="classpathplanner_1_1PathPoint.html">PathPoint</a> {</div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span>    frc::Translation2d position;</div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span>    units::meter_t distanceAlongPath = 0_m;</div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>    units::meter_t curveRadius = 0_m;</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>    units::meters_per_second_t maxV = units::meters_per_second_t {</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>            std::numeric_limits&lt;double&gt;::infinity() };</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>    std::optional&lt;frc::Rotation2d&gt; holonomicRotation = std::nullopt;</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>    std::optional&lt;PathConstraints&gt; constraints = std::nullopt;</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span> </div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>    <span class="keyword">constexpr</span> <a class="code hl_class" href="classpathplanner_1_1PathPoint.html">PathPoint</a>(frc::Translation2d pos,</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>            std::optional&lt;frc::Rotation2d&gt; rot,</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>            std::optional&lt;PathConstraints&gt; pathCostriaints) : position(pos), holonomicRotation(</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>            rot), constraints(pathCostriaints) {</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>    }</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>};</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>}</div>
+<div class="ttc" id="aclasspathplanner_1_1PathPoint_html"><div class="ttname"><a href="classpathplanner_1_1PathPoint.html">pathplanner::PathPoint</a></div><div class="ttdef"><b>Definition:</b> PathPoint.h:12</div></div>
+</div><!-- fragment --></div><!-- contents -->
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+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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diff --git a/docs/cpp/PathSegment_8h_source.html b/docs/cpp/PathSegment_8h_source.html
new file mode 100644
index 00000000..8dd6779d
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+  <div class="headertitle"><div class="title">PathSegment.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &quot;pathplanner/lib/path/PathPoint.h&quot;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &quot;pathplanner/lib/path/RotationTarget.h&quot;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &quot;pathplanner/lib/path/ConstraintsZone.h&quot;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;frc/geometry/Rotation2d.h&gt;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;frc/geometry/Translation2d.h&gt;</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &lt;optional&gt;</span></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span> </div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="keyword">namespace </span>pathplanner {</div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathSegment.html">   12</a></span><span class="keyword">class </span><a class="code hl_class" href="classpathplanner_1_1PathSegment.html">PathSegment</a> {</div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span>    <span class="keyword">static</span> <span class="keyword">constexpr</span> <span class="keywordtype">double</span> RESOLUTION = 0.05;</div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span> </div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>    <a class="code hl_class" href="classpathplanner_1_1PathSegment.html">PathSegment</a>(frc::Translation2d p1, frc::Translation2d p2,</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>            frc::Translation2d p3, frc::Translation2d p4,</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>            std::vector&lt;RotationTarget&gt; targetHolonomicRotations,</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>            std::vector&lt;ConstraintsZone&gt; constraintZones, <span class="keywordtype">bool</span> endSegment);</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span> </div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathSegment.html#a212b955e6c46a332fe5eec3ec3f21929">   41</a></span>    <a class="code hl_function" href="classpathplanner_1_1PathSegment.html#a212b955e6c46a332fe5eec3ec3f21929">PathSegment</a>(frc::Translation2d p1, frc::Translation2d p2,</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>            frc::Translation2d p3, frc::Translation2d p4, <span class="keywordtype">bool</span> endSegment) : <a class="code hl_class" href="classpathplanner_1_1PathSegment.html">PathSegment</a>(</div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>            p1, p2, p3, p4, std::vector&lt;<a class="code hl_class" href="classpathplanner_1_1RotationTarget.html">RotationTarget</a>&gt;(),</div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>            std::vector&lt;<a class="code hl_class" href="classpathplanner_1_1ConstraintsZone.html">ConstraintsZone</a>&gt;(), endSegment) {</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>    }</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span> </div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathSegment.html#ae29272731c67c2c2d75ba63f31db970d">   52</a></span>    <span class="keyword">constexpr</span> std::vector&lt;PathPoint&gt;&amp; <a class="code hl_function" href="classpathplanner_1_1PathSegment.html#ae29272731c67c2c2d75ba63f31db970d">getSegmentPoints</a>() {</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>        <span class="keywordflow">return</span> m_segmentPoints;</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>    }</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span> </div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span><span class="keyword">private</span>:</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    std::vector&lt;PathPoint&gt; m_segmentPoints;</div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span> </div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>    std::optional&lt;ConstraintsZone&gt; findConstraintsZone(</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>            std::vector&lt;ConstraintsZone&gt; &amp;zones, <span class="keywordtype">double</span> t) <span class="keyword">const</span>;</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>};</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>}</div>
+<div class="ttc" id="aclasspathplanner_1_1ConstraintsZone_html"><div class="ttname"><a href="classpathplanner_1_1ConstraintsZone.html">pathplanner::ConstraintsZone</a></div><div class="ttdef"><b>Definition:</b> ConstraintsZone.h:7</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathSegment_html"><div class="ttname"><a href="classpathplanner_1_1PathSegment.html">pathplanner::PathSegment</a></div><div class="ttdef"><b>Definition:</b> PathSegment.h:12</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathSegment_html_a212b955e6c46a332fe5eec3ec3f21929"><div class="ttname"><a href="classpathplanner_1_1PathSegment.html#a212b955e6c46a332fe5eec3ec3f21929">pathplanner::PathSegment::PathSegment</a></div><div class="ttdeci">PathSegment(frc::Translation2d p1, frc::Translation2d p2, frc::Translation2d p3, frc::Translation2d p4, bool endSegment)</div><div class="ttdef"><b>Definition:</b> PathSegment.h:41</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathSegment_html_ae29272731c67c2c2d75ba63f31db970d"><div class="ttname"><a href="classpathplanner_1_1PathSegment.html#ae29272731c67c2c2d75ba63f31db970d">pathplanner::PathSegment::getSegmentPoints</a></div><div class="ttdeci">constexpr std::vector&lt; PathPoint &gt; &amp; getSegmentPoints()</div><div class="ttdef"><b>Definition:</b> PathSegment.h:52</div></div>
+<div class="ttc" id="aclasspathplanner_1_1RotationTarget_html"><div class="ttname"><a href="classpathplanner_1_1RotationTarget.html">pathplanner::RotationTarget</a></div><div class="ttdef"><b>Definition:</b> RotationTarget.h:7</div></div>
+</div><!-- fragment --></div><!-- contents -->
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+    <li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_5eb159725f84c66aafd839904a4acdd0.html">main</a></li><li class="navelem"><a class="el" href="dir_b09f3849ec87f7f01357d2c1b28ddfb1.html">native</a></li><li class="navelem"><a class="el" href="dir_34a15534b0ba644081206e4286ea6115.html">include</a></li><li class="navelem"><a class="el" href="dir_9928c8ff9a485b7ddff02877d2a05a10.html">pathplanner</a></li><li class="navelem"><a class="el" href="dir_13948881c4c0769b2e268e8b81181ef8.html">lib</a></li><li class="navelem"><a class="el" href="dir_a716bf125c45ee20a6ca002744f4da0b.html">path</a></li><li class="navelem"><b>PathSegment.h</b></li>
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diff --git a/docs/cpp/PathfindHolonomic_8h_source.html b/docs/cpp/PathfindHolonomic_8h_source.html
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+  <div class="headertitle"><div class="title">PathfindHolonomic.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &quot;pathplanner/lib/commands/PathfindingCommand.h&quot;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &quot;pathplanner/lib/controllers/PPHolonomicDriveController.h&quot;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="keyword">namespace </span>pathplanner {</div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathfindHolonomic.html">    7</a></span><span class="keyword">class </span><a class="code hl_class" href="classpathplanner_1_1PathfindHolonomic.html">PathfindHolonomic</a>: <span class="keyword">public</span> <a class="code hl_class" href="classpathplanner_1_1PathfindingCommand.html">PathfindingCommand</a> {</div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathfindHolonomic.html#a51f352aeb9662256421e25495cba0764">   24</a></span>    <a class="code hl_function" href="classpathplanner_1_1PathfindHolonomic.html#a51f352aeb9662256421e25495cba0764">PathfindHolonomic</a>(std::shared_ptr&lt;PathPlannerPath&gt; targetPath,</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>            <a class="code hl_class" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> constraints,</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>            std::function&lt;frc::Pose2d()&gt; poseSupplier,</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>            std::function&lt;frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds,</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>            std::function&lt;<span class="keywordtype">void</span>(frc::ChassisSpeeds)&gt; output,</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>            <a class="code hl_class" href="classpathplanner_1_1HolonomicPathFollowerConfig.html">HolonomicPathFollowerConfig</a> config, frc2::Requirements requirements,</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>            units::meter_t rotationDelayDistance = 0_m) : <a class="code hl_class" href="classpathplanner_1_1PathfindingCommand.html">PathfindingCommand</a>(</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>            targetPath, constraints, poseSupplier, currentRobotRelativeSpeeds,</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>            output,</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>            std::make_unique &lt; <a class="code hl_class" href="classpathplanner_1_1PPHolonomicDriveController.html">PPHolonomicDriveController</a></div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>                    &gt; (config.translationConstants, config.rotationConstants, config.maxModuleSpeed, config.driveBaseRadius, config.period),</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>            rotationDelayDistance, requirements) {</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>    }</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span> </div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathfindHolonomic.html#af8d4fe139d8c7dc51e7c66a95e3d0606">   55</a></span>    <a class="code hl_function" href="classpathplanner_1_1PathfindHolonomic.html#af8d4fe139d8c7dc51e7c66a95e3d0606">PathfindHolonomic</a>(frc::Pose2d targetPose, <a class="code hl_class" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> constraints,</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>            units::meters_per_second_t goalEndVel,</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>            std::function&lt;frc::Pose2d()&gt; poseSupplier,</div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>            std::function&lt;frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds,</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>            std::function&lt;<span class="keywordtype">void</span>(frc::ChassisSpeeds)&gt; output,</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>            <a class="code hl_class" href="classpathplanner_1_1HolonomicPathFollowerConfig.html">HolonomicPathFollowerConfig</a> config, frc2::Requirements requirements,</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>            units::meter_t rotationDelayDistance = 0_m) : <a class="code hl_class" href="classpathplanner_1_1PathfindingCommand.html">PathfindingCommand</a>(</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>            targetPose, constraints, goalEndVel, poseSupplier,</div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>            currentRobotRelativeSpeeds, output,</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>            std::make_unique &lt; <a class="code hl_class" href="classpathplanner_1_1PPHolonomicDriveController.html">PPHolonomicDriveController</a></div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>                    &gt; (config.translationConstants, config.rotationConstants, config.maxModuleSpeed, config.driveBaseRadius, config.period),</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>            rotationDelayDistance, requirements) {</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>    }</div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span> </div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathfindHolonomic.html#a36345732d29be7a006750d21a619cb33">   85</a></span>    <a class="code hl_function" href="classpathplanner_1_1PathfindHolonomic.html#a36345732d29be7a006750d21a619cb33">PathfindHolonomic</a>(frc::Pose2d targetPose, <a class="code hl_class" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> constraints,</div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>            std::function&lt;frc::Pose2d()&gt; poseSupplier,</div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>            std::function&lt;frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds,</div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>            std::function&lt;<span class="keywordtype">void</span>(frc::ChassisSpeeds)&gt; output,</div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>            <a class="code hl_class" href="classpathplanner_1_1HolonomicPathFollowerConfig.html">HolonomicPathFollowerConfig</a> config, frc2::Requirements requirements,</div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>            units::meter_t rotationDelayDistance = 0_m) : <a class="code hl_class" href="classpathplanner_1_1PathfindHolonomic.html">PathfindHolonomic</a>(</div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>            targetPose, constraints, 0_mps, poseSupplier,</div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>            currentRobotRelativeSpeeds, output, config, requirements,</div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>            rotationDelayDistance) {</div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>    }</div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>};</div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>}</div>
+<div class="ttc" id="aclasspathplanner_1_1HolonomicPathFollowerConfig_html"><div class="ttname"><a href="classpathplanner_1_1HolonomicPathFollowerConfig.html">pathplanner::HolonomicPathFollowerConfig</a></div><div class="ttdef"><b>Definition:</b> HolonomicPathFollowerConfig.h:10</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PPHolonomicDriveController_html"><div class="ttname"><a href="classpathplanner_1_1PPHolonomicDriveController.html">pathplanner::PPHolonomicDriveController</a></div><div class="ttdef"><b>Definition:</b> PPHolonomicDriveController.h:20</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathConstraints_html"><div class="ttname"><a href="classpathplanner_1_1PathConstraints.html">pathplanner::PathConstraints</a></div><div class="ttdef"><b>Definition:</b> PathConstraints.h:10</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathfindHolonomic_html"><div class="ttname"><a href="classpathplanner_1_1PathfindHolonomic.html">pathplanner::PathfindHolonomic</a></div><div class="ttdef"><b>Definition:</b> PathfindHolonomic.h:7</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathfindHolonomic_html_a36345732d29be7a006750d21a619cb33"><div class="ttname"><a href="classpathplanner_1_1PathfindHolonomic.html#a36345732d29be7a006750d21a619cb33">pathplanner::PathfindHolonomic::PathfindHolonomic</a></div><div class="ttdeci">PathfindHolonomic(frc::Pose2d targetPose, PathConstraints constraints, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; output, HolonomicPathFollowerConfig config, frc2::Requirements requirements, units::meter_t rotationDelayDistance=0_m)</div><div class="ttdef"><b>Definition:</b> PathfindHolonomic.h:85</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathfindHolonomic_html_a51f352aeb9662256421e25495cba0764"><div class="ttname"><a href="classpathplanner_1_1PathfindHolonomic.html#a51f352aeb9662256421e25495cba0764">pathplanner::PathfindHolonomic::PathfindHolonomic</a></div><div class="ttdeci">PathfindHolonomic(std::shared_ptr&lt; PathPlannerPath &gt; targetPath, PathConstraints constraints, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; output, HolonomicPathFollowerConfig config, frc2::Requirements requirements, units::meter_t rotationDelayDistance=0_m)</div><div class="ttdef"><b>Definition:</b> PathfindHolonomic.h:24</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathfindHolonomic_html_af8d4fe139d8c7dc51e7c66a95e3d0606"><div class="ttname"><a href="classpathplanner_1_1PathfindHolonomic.html#af8d4fe139d8c7dc51e7c66a95e3d0606">pathplanner::PathfindHolonomic::PathfindHolonomic</a></div><div class="ttdeci">PathfindHolonomic(frc::Pose2d targetPose, PathConstraints constraints, units::meters_per_second_t goalEndVel, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; output, HolonomicPathFollowerConfig config, frc2::Requirements requirements, units::meter_t rotationDelayDistance=0_m)</div><div class="ttdef"><b>Definition:</b> PathfindHolonomic.h:55</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathfindingCommand_html"><div class="ttname"><a href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a></div><div class="ttdef"><b>Definition:</b> PathfindingCommand.h:23</div></div>
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+  <div class="headertitle"><div class="title">PathfindLTV.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &quot;pathplanner/lib/commands/PathfindingCommand.h&quot;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &quot;pathplanner/lib/controllers/PPLTVController.h&quot;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="keyword">namespace </span>pathplanner {</div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathfindLTV.html">    7</a></span><span class="keyword">class </span><a class="code hl_class" href="classpathplanner_1_1PathfindLTV.html">PathfindLTV</a>: <span class="keyword">public</span> <a class="code hl_class" href="classpathplanner_1_1PathfindingCommand.html">PathfindingCommand</a> {</div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathfindLTV.html#ae47ba3c72dc3814e4aa7292caf326eb8">   22</a></span>    <a class="code hl_function" href="classpathplanner_1_1PathfindLTV.html#ae47ba3c72dc3814e4aa7292caf326eb8">PathfindLTV</a>(std::shared_ptr&lt;PathPlannerPath&gt; targetPath,</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>            <a class="code hl_class" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> constraints,</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>            std::function&lt;frc::Pose2d()&gt; poseSupplier,</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>            std::function&lt;frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds,</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>            std::function&lt;<span class="keywordtype">void</span>(frc::ChassisSpeeds)&gt; output,</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>            <span class="keyword">const</span> wpi::array&lt;double, 3&gt; &amp;Qelems,</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>            <span class="keyword">const</span> wpi::array&lt;double, 2&gt; &amp;Relems, units::second_t dt,</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>            frc2::Requirements requirements) : <a class="code hl_class" href="classpathplanner_1_1PathfindingCommand.html">PathfindingCommand</a>(targetPath,</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>            constraints, poseSupplier, currentRobotRelativeSpeeds, output,</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>            std::make_unique &lt; <a class="code hl_class" href="classpathplanner_1_1PPLTVController.html">PPLTVController</a> &gt; (Qelems, Relems, dt), 0_m,</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>            requirements) {</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>    }</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span> </div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathfindLTV.html#a8982265d7d797bc0a424428b35f091c6">   46</a></span>    <a class="code hl_function" href="classpathplanner_1_1PathfindLTV.html#a8982265d7d797bc0a424428b35f091c6">PathfindLTV</a>(std::shared_ptr&lt;PathPlannerPath&gt; targetPath,</div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>            <a class="code hl_class" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> constraints,</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>            std::function&lt;frc::Pose2d()&gt; poseSupplier,</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>            std::function&lt;frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds,</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>            std::function&lt;<span class="keywordtype">void</span>(frc::ChassisSpeeds)&gt; output, units::second_t dt,</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>            frc2::Requirements requirements) : <a class="code hl_class" href="classpathplanner_1_1PathfindingCommand.html">PathfindingCommand</a>(targetPath,</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>            constraints, poseSupplier, currentRobotRelativeSpeeds, output,</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>            std::make_unique &lt; <a class="code hl_class" href="classpathplanner_1_1PPLTVController.html">PPLTVController</a> &gt; (dt), 0_m, requirements) {</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>    }</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span> </div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathfindLTV.html#a42f76f92050cc6c1f3ee6be109b6ad74">   70</a></span>    <a class="code hl_function" href="classpathplanner_1_1PathfindLTV.html#a42f76f92050cc6c1f3ee6be109b6ad74">PathfindLTV</a>(frc::Translation2d targetPosition, <a class="code hl_class" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> constraints,</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>            units::meters_per_second_t goalEndVel,</div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>            std::function&lt;frc::Pose2d()&gt; poseSupplier,</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>            std::function&lt;frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds,</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>            std::function&lt;<span class="keywordtype">void</span>(frc::ChassisSpeeds)&gt; output,</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>            <span class="keyword">const</span> wpi::array&lt;double, 3&gt; &amp;Qelems,</div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>            <span class="keyword">const</span> wpi::array&lt;double, 2&gt; &amp;Relems, units::second_t dt,</div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>            frc2::Requirements requirements) : <a class="code hl_class" href="classpathplanner_1_1PathfindingCommand.html">PathfindingCommand</a>(</div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>            frc::Pose2d(targetPosition, frc::Rotation2d()), constraints,</div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>            goalEndVel, poseSupplier, currentRobotRelativeSpeeds, output,</div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>            std::make_unique &lt; <a class="code hl_class" href="classpathplanner_1_1PPLTVController.html">PPLTVController</a> &gt; (Qelems, Relems, dt), 0_m,</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>            requirements) {</div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>    }</div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span> </div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathfindLTV.html#a4ca5ff25b6e9a19924c2336980fc1561">   96</a></span>    <a class="code hl_function" href="classpathplanner_1_1PathfindLTV.html#a4ca5ff25b6e9a19924c2336980fc1561">PathfindLTV</a>(frc::Translation2d targetPosition, <a class="code hl_class" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> constraints,</div>
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>            units::meters_per_second_t goalEndVel,</div>
+<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>            std::function&lt;frc::Pose2d()&gt; poseSupplier,</div>
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>            std::function&lt;frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds,</div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>            std::function&lt;<span class="keywordtype">void</span>(frc::ChassisSpeeds)&gt; output, units::second_t dt,</div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>            frc2::Requirements requirements) : <a class="code hl_class" href="classpathplanner_1_1PathfindingCommand.html">PathfindingCommand</a>(</div>
+<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>            frc::Pose2d(targetPosition, frc::Rotation2d()), constraints,</div>
+<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>            goalEndVel, poseSupplier, currentRobotRelativeSpeeds, output,</div>
+<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>            std::make_unique &lt; <a class="code hl_class" href="classpathplanner_1_1PPLTVController.html">PPLTVController</a> &gt; (dt), 0_m, requirements) {</div>
+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>    }</div>
+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>};</div>
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>}</div>
+<div class="ttc" id="aclasspathplanner_1_1PPLTVController_html"><div class="ttname"><a href="classpathplanner_1_1PPLTVController.html">pathplanner::PPLTVController</a></div><div class="ttdef"><b>Definition:</b> PPLTVController.h:8</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathConstraints_html"><div class="ttname"><a href="classpathplanner_1_1PathConstraints.html">pathplanner::PathConstraints</a></div><div class="ttdef"><b>Definition:</b> PathConstraints.h:10</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathfindLTV_html"><div class="ttname"><a href="classpathplanner_1_1PathfindLTV.html">pathplanner::PathfindLTV</a></div><div class="ttdef"><b>Definition:</b> PathfindLTV.h:7</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathfindLTV_html_a42f76f92050cc6c1f3ee6be109b6ad74"><div class="ttname"><a href="classpathplanner_1_1PathfindLTV.html#a42f76f92050cc6c1f3ee6be109b6ad74">pathplanner::PathfindLTV::PathfindLTV</a></div><div class="ttdeci">PathfindLTV(frc::Translation2d targetPosition, PathConstraints constraints, units::meters_per_second_t goalEndVel, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; output, const wpi::array&lt; double, 3 &gt; &amp;Qelems, const wpi::array&lt; double, 2 &gt; &amp;Relems, units::second_t dt, frc2::Requirements requirements)</div><div class="ttdef"><b>Definition:</b> PathfindLTV.h:70</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathfindLTV_html_a4ca5ff25b6e9a19924c2336980fc1561"><div class="ttname"><a href="classpathplanner_1_1PathfindLTV.html#a4ca5ff25b6e9a19924c2336980fc1561">pathplanner::PathfindLTV::PathfindLTV</a></div><div class="ttdeci">PathfindLTV(frc::Translation2d targetPosition, PathConstraints constraints, units::meters_per_second_t goalEndVel, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; output, units::second_t dt, frc2::Requirements requirements)</div><div class="ttdef"><b>Definition:</b> PathfindLTV.h:96</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathfindLTV_html_a8982265d7d797bc0a424428b35f091c6"><div class="ttname"><a href="classpathplanner_1_1PathfindLTV.html#a8982265d7d797bc0a424428b35f091c6">pathplanner::PathfindLTV::PathfindLTV</a></div><div class="ttdeci">PathfindLTV(std::shared_ptr&lt; PathPlannerPath &gt; targetPath, PathConstraints constraints, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; output, units::second_t dt, frc2::Requirements requirements)</div><div class="ttdef"><b>Definition:</b> PathfindLTV.h:46</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathfindLTV_html_ae47ba3c72dc3814e4aa7292caf326eb8"><div class="ttname"><a href="classpathplanner_1_1PathfindLTV.html#ae47ba3c72dc3814e4aa7292caf326eb8">pathplanner::PathfindLTV::PathfindLTV</a></div><div class="ttdeci">PathfindLTV(std::shared_ptr&lt; PathPlannerPath &gt; targetPath, PathConstraints constraints, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; output, const wpi::array&lt; double, 3 &gt; &amp;Qelems, const wpi::array&lt; double, 2 &gt; &amp;Relems, units::second_t dt, frc2::Requirements requirements)</div><div class="ttdef"><b>Definition:</b> PathfindLTV.h:22</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathfindingCommand_html"><div class="ttname"><a href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a></div><div class="ttdef"><b>Definition:</b> PathfindingCommand.h:23</div></div>
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diff --git a/docs/cpp/PathfindRamsete_8h_source.html b/docs/cpp/PathfindRamsete_8h_source.html
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+  <div class="headertitle"><div class="title">PathfindRamsete.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &quot;pathplanner/lib/commands/PathfindingCommand.h&quot;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &quot;pathplanner/lib/controllers/PPRamseteController.h&quot;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="keyword">namespace </span>pathplanner {</div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathfindRamsete.html">    7</a></span><span class="keyword">class </span><a class="code hl_class" href="classpathplanner_1_1PathfindRamsete.html">PathfindRamsete</a>: <span class="keyword">public</span> <a class="code hl_class" href="classpathplanner_1_1PathfindingCommand.html">PathfindingCommand</a> {</div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathfindRamsete.html#a2b53a0d2800954213c06118332ee786e">   23</a></span>    <a class="code hl_function" href="classpathplanner_1_1PathfindRamsete.html#a2b53a0d2800954213c06118332ee786e">PathfindRamsete</a>(std::shared_ptr&lt;PathPlannerPath&gt; targetPath,</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>            <a class="code hl_class" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> constraints,</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>            std::function&lt;frc::Pose2d()&gt; poseSupplier,</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>            std::function&lt;frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds,</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>            std::function&lt;<span class="keywordtype">void</span>(frc::ChassisSpeeds)&gt; output,</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>            units::unit_t&lt;PPRamseteController::b_unit&gt; b,</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>            units::unit_t&lt;PPRamseteController::zeta_unit&gt; zeta,</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>            frc2::Requirements requirements) : <a class="code hl_class" href="classpathplanner_1_1PathfindingCommand.html">PathfindingCommand</a>(targetPath,</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>            constraints, poseSupplier, currentRobotRelativeSpeeds, output,</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>            std::make_unique &lt; <a class="code hl_class" href="classpathplanner_1_1PPRamseteController.html">PPRamseteController</a> &gt; (b, zeta), 0_m,</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>            requirements) {</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>    }</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span> </div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathfindRamsete.html#a423f0d6e6359596851c7529bd8527731">   46</a></span>    <a class="code hl_function" href="classpathplanner_1_1PathfindRamsete.html#a423f0d6e6359596851c7529bd8527731">PathfindRamsete</a>(std::shared_ptr&lt;PathPlannerPath&gt; targetPath,</div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>            <a class="code hl_class" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> constraints,</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>            std::function&lt;frc::Pose2d()&gt; poseSupplier,</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>            std::function&lt;frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds,</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>            std::function&lt;<span class="keywordtype">void</span>(frc::ChassisSpeeds)&gt; output,</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>            frc2::Requirements requirements) : <a class="code hl_class" href="classpathplanner_1_1PathfindingCommand.html">PathfindingCommand</a>(targetPath,</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>            constraints, poseSupplier, currentRobotRelativeSpeeds, output,</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>            std::make_unique&lt;<a class="code hl_class" href="classpathplanner_1_1PPRamseteController.html">PPRamseteController</a>&gt;(), 0_m, requirements) {</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>    }</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span> </div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathfindRamsete.html#a72a2a36de2458c757a3e202d2c2a1250">   71</a></span>    <a class="code hl_function" href="classpathplanner_1_1PathfindRamsete.html#a72a2a36de2458c757a3e202d2c2a1250">PathfindRamsete</a>(frc::Translation2d targetPosition,</div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>            <a class="code hl_class" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> constraints, units::meters_per_second_t goalEndVel,</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>            std::function&lt;frc::Pose2d()&gt; poseSupplier,</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>            std::function&lt;frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds,</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>            std::function&lt;<span class="keywordtype">void</span>(frc::ChassisSpeeds)&gt; output,</div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>            units::unit_t&lt;PPRamseteController::b_unit&gt; b,</div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>            units::unit_t&lt;PPRamseteController::zeta_unit&gt; zeta,</div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>            frc2::Requirements requirements) : <a class="code hl_class" href="classpathplanner_1_1PathfindingCommand.html">PathfindingCommand</a>(</div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>            frc::Pose2d(targetPosition, frc::Rotation2d()), constraints,</div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>            goalEndVel, poseSupplier, currentRobotRelativeSpeeds, output,</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>            std::make_unique &lt; <a class="code hl_class" href="classpathplanner_1_1PPRamseteController.html">PPRamseteController</a> &gt; (b, zeta), 0_m,</div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>            requirements) {</div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>    }</div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span> </div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathfindRamsete.html#a76a0a7032f707e32c93f3d69c7a8f682">   96</a></span>    <a class="code hl_function" href="classpathplanner_1_1PathfindRamsete.html#a76a0a7032f707e32c93f3d69c7a8f682">PathfindRamsete</a>(frc::Translation2d targetPosition,</div>
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>            <a class="code hl_class" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> constraints, units::meters_per_second_t goalEndVel,</div>
+<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>            std::function&lt;frc::Pose2d()&gt; poseSupplier,</div>
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>            std::function&lt;frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds,</div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>            std::function&lt;<span class="keywordtype">void</span>(frc::ChassisSpeeds)&gt; output,</div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>            frc2::Requirements requirements) : <a class="code hl_class" href="classpathplanner_1_1PathfindingCommand.html">PathfindingCommand</a>(</div>
+<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>            frc::Pose2d(targetPosition, frc::Rotation2d()), constraints,</div>
+<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>            goalEndVel, poseSupplier, currentRobotRelativeSpeeds, output,</div>
+<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>            std::make_unique&lt;<a class="code hl_class" href="classpathplanner_1_1PPRamseteController.html">PPRamseteController</a>&gt;(), 0_m, requirements) {</div>
+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>    }</div>
+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>};</div>
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>}</div>
+<div class="ttc" id="aclasspathplanner_1_1PPRamseteController_html"><div class="ttname"><a href="classpathplanner_1_1PPRamseteController.html">pathplanner::PPRamseteController</a></div><div class="ttdef"><b>Definition:</b> PPRamseteController.h:8</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathConstraints_html"><div class="ttname"><a href="classpathplanner_1_1PathConstraints.html">pathplanner::PathConstraints</a></div><div class="ttdef"><b>Definition:</b> PathConstraints.h:10</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathfindRamsete_html"><div class="ttname"><a href="classpathplanner_1_1PathfindRamsete.html">pathplanner::PathfindRamsete</a></div><div class="ttdef"><b>Definition:</b> PathfindRamsete.h:7</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathfindRamsete_html_a2b53a0d2800954213c06118332ee786e"><div class="ttname"><a href="classpathplanner_1_1PathfindRamsete.html#a2b53a0d2800954213c06118332ee786e">pathplanner::PathfindRamsete::PathfindRamsete</a></div><div class="ttdeci">PathfindRamsete(std::shared_ptr&lt; PathPlannerPath &gt; targetPath, PathConstraints constraints, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; output, units::unit_t&lt; PPRamseteController::b_unit &gt; b, units::unit_t&lt; PPRamseteController::zeta_unit &gt; zeta, frc2::Requirements requirements)</div><div class="ttdef"><b>Definition:</b> PathfindRamsete.h:23</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathfindRamsete_html_a423f0d6e6359596851c7529bd8527731"><div class="ttname"><a href="classpathplanner_1_1PathfindRamsete.html#a423f0d6e6359596851c7529bd8527731">pathplanner::PathfindRamsete::PathfindRamsete</a></div><div class="ttdeci">PathfindRamsete(std::shared_ptr&lt; PathPlannerPath &gt; targetPath, PathConstraints constraints, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; output, frc2::Requirements requirements)</div><div class="ttdef"><b>Definition:</b> PathfindRamsete.h:46</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathfindRamsete_html_a72a2a36de2458c757a3e202d2c2a1250"><div class="ttname"><a href="classpathplanner_1_1PathfindRamsete.html#a72a2a36de2458c757a3e202d2c2a1250">pathplanner::PathfindRamsete::PathfindRamsete</a></div><div class="ttdeci">PathfindRamsete(frc::Translation2d targetPosition, PathConstraints constraints, units::meters_per_second_t goalEndVel, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; output, units::unit_t&lt; PPRamseteController::b_unit &gt; b, units::unit_t&lt; PPRamseteController::zeta_unit &gt; zeta, frc2::Requirements requirements)</div><div class="ttdef"><b>Definition:</b> PathfindRamsete.h:71</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathfindRamsete_html_a76a0a7032f707e32c93f3d69c7a8f682"><div class="ttname"><a href="classpathplanner_1_1PathfindRamsete.html#a76a0a7032f707e32c93f3d69c7a8f682">pathplanner::PathfindRamsete::PathfindRamsete</a></div><div class="ttdeci">PathfindRamsete(frc::Translation2d targetPosition, PathConstraints constraints, units::meters_per_second_t goalEndVel, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; output, frc2::Requirements requirements)</div><div class="ttdef"><b>Definition:</b> PathfindRamsete.h:96</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathfindingCommand_html"><div class="ttname"><a href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a></div><div class="ttdef"><b>Definition:</b> PathfindingCommand.h:23</div></div>
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+  <div class="headertitle"><div class="title">PathfindThenFollowPathHolonomic.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;frc2/command/SequentialCommandGroup.h&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &quot;pathplanner/lib/commands/FollowPathHolonomic.h&quot;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &quot;pathplanner/lib/commands/PathfindHolonomic.h&quot;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &quot;pathplanner/lib/commands/FollowPathWithEvents.h&quot;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="keyword">namespace </span>pathplanner {</div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathfindThenFollowPathHolonomic.html">    9</a></span><span class="keyword">class </span><a class="code hl_class" href="classpathplanner_1_1PathfindThenFollowPathHolonomic.html">PathfindThenFollowPathHolonomic</a>: <span class="keyword">public</span> frc2::SequentialCommandGroup {</div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathfindThenFollowPathHolonomic.html#ab4962b3998abfc86a5b8ea2c81d2fe59">   25</a></span>    <a class="code hl_function" href="classpathplanner_1_1PathfindThenFollowPathHolonomic.html#ab4962b3998abfc86a5b8ea2c81d2fe59">PathfindThenFollowPathHolonomic</a>(std::shared_ptr&lt;PathPlannerPath&gt; goalPath,</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>            <a class="code hl_class" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> pathfindingConstraints,</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>            std::function&lt;frc::Pose2d()&gt; poseSupplier,</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>            std::function&lt;frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds,</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>            std::function&lt;<span class="keywordtype">void</span>(frc::ChassisSpeeds)&gt; robotRelativeOutput,</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>            <a class="code hl_class" href="classpathplanner_1_1HolonomicPathFollowerConfig.html">HolonomicPathFollowerConfig</a> config, frc2::Requirements requirements,</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>            units::meter_t rotationDelayDistance = 0_m) {</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>        AddCommands(</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>                <a class="code hl_class" href="classpathplanner_1_1PathfindHolonomic.html">PathfindHolonomic</a>(goalPath, pathfindingConstraints,</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>                        poseSupplier, currentRobotRelativeSpeeds,</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>                        robotRelativeOutput, config, requirements,</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>                        rotationDelayDistance),</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>                <a class="code hl_class" href="classpathplanner_1_1FollowPathWithEvents.html">FollowPathWithEvents</a>(</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>                        <a class="code hl_class" href="classpathplanner_1_1FollowPathHolonomic.html">FollowPathHolonomic</a>(goalPath, poseSupplier,</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>                                currentRobotRelativeSpeeds, robotRelativeOutput,</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>                                config, requirements).ToPtr().Unwrap(),</div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>                        goalPath, poseSupplier));</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>    }</div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>};</div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>}</div>
+<div class="ttc" id="aclasspathplanner_1_1FollowPathHolonomic_html"><div class="ttname"><a href="classpathplanner_1_1FollowPathHolonomic.html">pathplanner::FollowPathHolonomic</a></div><div class="ttdef"><b>Definition:</b> FollowPathHolonomic.h:9</div></div>
+<div class="ttc" id="aclasspathplanner_1_1FollowPathWithEvents_html"><div class="ttname"><a href="classpathplanner_1_1FollowPathWithEvents.html">pathplanner::FollowPathWithEvents</a></div><div class="ttdef"><b>Definition:</b> FollowPathWithEvents.h:13</div></div>
+<div class="ttc" id="aclasspathplanner_1_1HolonomicPathFollowerConfig_html"><div class="ttname"><a href="classpathplanner_1_1HolonomicPathFollowerConfig.html">pathplanner::HolonomicPathFollowerConfig</a></div><div class="ttdef"><b>Definition:</b> HolonomicPathFollowerConfig.h:10</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathConstraints_html"><div class="ttname"><a href="classpathplanner_1_1PathConstraints.html">pathplanner::PathConstraints</a></div><div class="ttdef"><b>Definition:</b> PathConstraints.h:10</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathfindHolonomic_html"><div class="ttname"><a href="classpathplanner_1_1PathfindHolonomic.html">pathplanner::PathfindHolonomic</a></div><div class="ttdef"><b>Definition:</b> PathfindHolonomic.h:7</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathfindThenFollowPathHolonomic_html"><div class="ttname"><a href="classpathplanner_1_1PathfindThenFollowPathHolonomic.html">pathplanner::PathfindThenFollowPathHolonomic</a></div><div class="ttdef"><b>Definition:</b> PathfindThenFollowPathHolonomic.h:9</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathfindThenFollowPathHolonomic_html_ab4962b3998abfc86a5b8ea2c81d2fe59"><div class="ttname"><a href="classpathplanner_1_1PathfindThenFollowPathHolonomic.html#ab4962b3998abfc86a5b8ea2c81d2fe59">pathplanner::PathfindThenFollowPathHolonomic::PathfindThenFollowPathHolonomic</a></div><div class="ttdeci">PathfindThenFollowPathHolonomic(std::shared_ptr&lt; PathPlannerPath &gt; goalPath, PathConstraints pathfindingConstraints, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; robotRelativeOutput, HolonomicPathFollowerConfig config, frc2::Requirements requirements, units::meter_t rotationDelayDistance=0_m)</div><div class="ttdef"><b>Definition:</b> PathfindThenFollowPathHolonomic.h:25</div></div>
+</div><!-- fragment --></div><!-- contents -->
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+  <div class="headertitle"><div class="title">PathfindThenFollowPathLTV.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;frc2/command/SequentialCommandGroup.h&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &quot;pathplanner/lib/commands/FollowPathLTV.h&quot;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &quot;pathplanner/lib/commands/PathfindLTV.h&quot;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &quot;pathplanner/lib/commands/FollowPathWithEvents.h&quot;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="keyword">namespace </span>pathplanner {</div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathfindThenFollowPathLTV.html">    9</a></span><span class="keyword">class </span><a class="code hl_class" href="classpathplanner_1_1PathfindThenFollowPathLTV.html">PathfindThenFollowPathLTV</a>: <span class="keyword">public</span> frc2::SequentialCommandGroup {</div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathfindThenFollowPathLTV.html#ae764104c64f9451b6b82c10dbf01bab1">   25</a></span>    <a class="code hl_function" href="classpathplanner_1_1PathfindThenFollowPathLTV.html#ae764104c64f9451b6b82c10dbf01bab1">PathfindThenFollowPathLTV</a>(std::shared_ptr&lt;PathPlannerPath&gt; goalPath,</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>            <a class="code hl_class" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> pathfindingConstraints,</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>            std::function&lt;frc::Pose2d()&gt; poseSupplier,</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>            std::function&lt;frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds,</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>            std::function&lt;<span class="keywordtype">void</span>(frc::ChassisSpeeds)&gt; robotRelativeOutput,</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>            <span class="keyword">const</span> wpi::array&lt;double, 3&gt; &amp;Qelems,</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>            <span class="keyword">const</span> wpi::array&lt;double, 2&gt; &amp;Relems, units::second_t dt,</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>            <a class="code hl_class" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a> replanningConfig,</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>            frc2::Requirements requirements) {</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>        AddCommands(</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>                <a class="code hl_class" href="classpathplanner_1_1PathfindLTV.html">PathfindLTV</a>(goalPath, pathfindingConstraints, poseSupplier,</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>                        currentRobotRelativeSpeeds, robotRelativeOutput, Qelems,</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>                        Relems, dt, requirements),</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>                <a class="code hl_class" href="classpathplanner_1_1FollowPathWithEvents.html">FollowPathWithEvents</a>(</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>                        <a class="code hl_class" href="classpathplanner_1_1FollowPathLTV.html">FollowPathLTV</a>(goalPath, poseSupplier,</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>                                currentRobotRelativeSpeeds, robotRelativeOutput,</div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>                                Qelems, Relems, dt, replanningConfig,</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>                                requirements).ToPtr().Unwrap(), goalPath,</div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>                        poseSupplier));</div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>    }</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span> </div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathfindThenFollowPathLTV.html#ac6f0774fce7316b1b1b0ec0c44f24040">   58</a></span>    <a class="code hl_function" href="classpathplanner_1_1PathfindThenFollowPathLTV.html#ac6f0774fce7316b1b1b0ec0c44f24040">PathfindThenFollowPathLTV</a>(std::shared_ptr&lt;PathPlannerPath&gt; goalPath,</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>            <a class="code hl_class" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> pathfindingConstraints,</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>            std::function&lt;frc::Pose2d()&gt; poseSupplier,</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>            std::function&lt;frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds,</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>            std::function&lt;<span class="keywordtype">void</span>(frc::ChassisSpeeds)&gt; robotRelativeOutput,</div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>            units::second_t dt, <a class="code hl_class" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a> replanningConfig,</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>            frc2::Requirements requirements) {</div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>        AddCommands(</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>                <a class="code hl_class" href="classpathplanner_1_1PathfindLTV.html">PathfindLTV</a>(goalPath, pathfindingConstraints, poseSupplier,</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>                        currentRobotRelativeSpeeds, robotRelativeOutput, dt,</div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>                        requirements),</div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>                <a class="code hl_class" href="classpathplanner_1_1FollowPathWithEvents.html">FollowPathWithEvents</a>(</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>                        <a class="code hl_class" href="classpathplanner_1_1FollowPathLTV.html">FollowPathLTV</a>(goalPath, poseSupplier,</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>                                currentRobotRelativeSpeeds, robotRelativeOutput,</div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>                                dt, replanningConfig, requirements).ToPtr().Unwrap(),</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>                        goalPath, poseSupplier));</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>    }</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>};</div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>}</div>
+<div class="ttc" id="aclasspathplanner_1_1FollowPathLTV_html"><div class="ttname"><a href="classpathplanner_1_1FollowPathLTV.html">pathplanner::FollowPathLTV</a></div><div class="ttdef"><b>Definition:</b> FollowPathLTV.h:7</div></div>
+<div class="ttc" id="aclasspathplanner_1_1FollowPathWithEvents_html"><div class="ttname"><a href="classpathplanner_1_1FollowPathWithEvents.html">pathplanner::FollowPathWithEvents</a></div><div class="ttdef"><b>Definition:</b> FollowPathWithEvents.h:13</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathConstraints_html"><div class="ttname"><a href="classpathplanner_1_1PathConstraints.html">pathplanner::PathConstraints</a></div><div class="ttdef"><b>Definition:</b> PathConstraints.h:10</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathfindLTV_html"><div class="ttname"><a href="classpathplanner_1_1PathfindLTV.html">pathplanner::PathfindLTV</a></div><div class="ttdef"><b>Definition:</b> PathfindLTV.h:7</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathfindThenFollowPathLTV_html"><div class="ttname"><a href="classpathplanner_1_1PathfindThenFollowPathLTV.html">pathplanner::PathfindThenFollowPathLTV</a></div><div class="ttdef"><b>Definition:</b> PathfindThenFollowPathLTV.h:9</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathfindThenFollowPathLTV_html_ac6f0774fce7316b1b1b0ec0c44f24040"><div class="ttname"><a href="classpathplanner_1_1PathfindThenFollowPathLTV.html#ac6f0774fce7316b1b1b0ec0c44f24040">pathplanner::PathfindThenFollowPathLTV::PathfindThenFollowPathLTV</a></div><div class="ttdeci">PathfindThenFollowPathLTV(std::shared_ptr&lt; PathPlannerPath &gt; goalPath, PathConstraints pathfindingConstraints, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; robotRelativeOutput, units::second_t dt, ReplanningConfig replanningConfig, frc2::Requirements requirements)</div><div class="ttdef"><b>Definition:</b> PathfindThenFollowPathLTV.h:58</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathfindThenFollowPathLTV_html_ae764104c64f9451b6b82c10dbf01bab1"><div class="ttname"><a href="classpathplanner_1_1PathfindThenFollowPathLTV.html#ae764104c64f9451b6b82c10dbf01bab1">pathplanner::PathfindThenFollowPathLTV::PathfindThenFollowPathLTV</a></div><div class="ttdeci">PathfindThenFollowPathLTV(std::shared_ptr&lt; PathPlannerPath &gt; goalPath, PathConstraints pathfindingConstraints, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; robotRelativeOutput, const wpi::array&lt; double, 3 &gt; &amp;Qelems, const wpi::array&lt; double, 2 &gt; &amp;Relems, units::second_t dt, ReplanningConfig replanningConfig, frc2::Requirements requirements)</div><div class="ttdef"><b>Definition:</b> PathfindThenFollowPathLTV.h:25</div></div>
+<div class="ttc" id="aclasspathplanner_1_1ReplanningConfig_html"><div class="ttname"><a href="classpathplanner_1_1ReplanningConfig.html">pathplanner::ReplanningConfig</a></div><div class="ttdef"><b>Definition:</b> ReplanningConfig.h:6</div></div>
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diff --git a/docs/cpp/PathfindThenFollowPathRamsete_8h_source.html b/docs/cpp/PathfindThenFollowPathRamsete_8h_source.html
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+  <div class="headertitle"><div class="title">PathfindThenFollowPathRamsete.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;frc2/command/SequentialCommandGroup.h&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &quot;pathplanner/lib/commands/FollowPathRamsete.h&quot;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &quot;pathplanner/lib/commands/PathfindRamsete.h&quot;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &quot;pathplanner/lib/commands/FollowPathWithEvents.h&quot;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="keyword">namespace </span>pathplanner {</div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathfindThenFollowPathRamsete.html">    9</a></span><span class="keyword">class </span><a class="code hl_class" href="classpathplanner_1_1PathfindThenFollowPathRamsete.html">PathfindThenFollowPathRamsete</a>: <span class="keyword">public</span> frc2::SequentialCommandGroup {</div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathfindThenFollowPathRamsete.html#a6e990c923afe1f476f639642be6689d4">   26</a></span>    <a class="code hl_function" href="classpathplanner_1_1PathfindThenFollowPathRamsete.html#a6e990c923afe1f476f639642be6689d4">PathfindThenFollowPathRamsete</a>(std::shared_ptr&lt;PathPlannerPath&gt; goalPath,</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>            <a class="code hl_class" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> pathfindingConstraints,</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>            std::function&lt;frc::Pose2d()&gt; poseSupplier,</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>            std::function&lt;frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds,</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>            std::function&lt;<span class="keywordtype">void</span>(frc::ChassisSpeeds)&gt; robotRelativeOutput,</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>            units::unit_t&lt;frc::RamseteController::b_unit&gt; b,</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>            units::unit_t&lt;frc::RamseteController::zeta_unit&gt; zeta,</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>            <a class="code hl_class" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a> replanningConfig,</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>            frc2::Requirements requirements) {</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>        AddCommands(</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>                <a class="code hl_class" href="classpathplanner_1_1PathfindRamsete.html">PathfindRamsete</a>(goalPath, pathfindingConstraints, poseSupplier,</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>                        currentRobotRelativeSpeeds, robotRelativeOutput, b,</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>                        zeta, requirements),</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>                <a class="code hl_class" href="classpathplanner_1_1FollowPathWithEvents.html">FollowPathWithEvents</a>(</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>                        <a class="code hl_class" href="classpathplanner_1_1FollowPathRamsete.html">FollowPathRamsete</a>(goalPath, poseSupplier,</div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>                                currentRobotRelativeSpeeds, robotRelativeOutput,</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>                                b, zeta, replanningConfig, requirements).ToPtr().Unwrap(),</div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>                        goalPath, poseSupplier));</div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>    }</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span> </div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathfindThenFollowPathRamsete.html#a82c9caeab120d204142803b4664317b1">   57</a></span>    <a class="code hl_function" href="classpathplanner_1_1PathfindThenFollowPathRamsete.html#a82c9caeab120d204142803b4664317b1">PathfindThenFollowPathRamsete</a>(std::shared_ptr&lt;PathPlannerPath&gt; goalPath,</div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>            <a class="code hl_class" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> pathfindingConstraints,</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>            std::function&lt;frc::Pose2d()&gt; poseSupplier,</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>            std::function&lt;frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds,</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>            std::function&lt;<span class="keywordtype">void</span>(frc::ChassisSpeeds)&gt; robotRelativeOutput,</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>            <a class="code hl_class" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a> replanningConfig,</div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>            frc2::Requirements requirements) {</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>        AddCommands(</div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>                <a class="code hl_class" href="classpathplanner_1_1PathfindRamsete.html">PathfindRamsete</a>(goalPath, pathfindingConstraints, poseSupplier,</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>                        currentRobotRelativeSpeeds, robotRelativeOutput,</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>                        requirements),</div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>                <a class="code hl_class" href="classpathplanner_1_1FollowPathWithEvents.html">FollowPathWithEvents</a>(</div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>                        <a class="code hl_class" href="classpathplanner_1_1FollowPathRamsete.html">FollowPathRamsete</a>(goalPath, poseSupplier,</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>                                currentRobotRelativeSpeeds, robotRelativeOutput,</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>                                replanningConfig, requirements).ToPtr().Unwrap(),</div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>                        goalPath, poseSupplier));</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>    }</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>};</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>}</div>
+<div class="ttc" id="aclasspathplanner_1_1FollowPathRamsete_html"><div class="ttname"><a href="classpathplanner_1_1FollowPathRamsete.html">pathplanner::FollowPathRamsete</a></div><div class="ttdef"><b>Definition:</b> FollowPathRamsete.h:7</div></div>
+<div class="ttc" id="aclasspathplanner_1_1FollowPathWithEvents_html"><div class="ttname"><a href="classpathplanner_1_1FollowPathWithEvents.html">pathplanner::FollowPathWithEvents</a></div><div class="ttdef"><b>Definition:</b> FollowPathWithEvents.h:13</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathConstraints_html"><div class="ttname"><a href="classpathplanner_1_1PathConstraints.html">pathplanner::PathConstraints</a></div><div class="ttdef"><b>Definition:</b> PathConstraints.h:10</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathfindRamsete_html"><div class="ttname"><a href="classpathplanner_1_1PathfindRamsete.html">pathplanner::PathfindRamsete</a></div><div class="ttdef"><b>Definition:</b> PathfindRamsete.h:7</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathfindThenFollowPathRamsete_html"><div class="ttname"><a href="classpathplanner_1_1PathfindThenFollowPathRamsete.html">pathplanner::PathfindThenFollowPathRamsete</a></div><div class="ttdef"><b>Definition:</b> PathfindThenFollowPathRamsete.h:9</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathfindThenFollowPathRamsete_html_a6e990c923afe1f476f639642be6689d4"><div class="ttname"><a href="classpathplanner_1_1PathfindThenFollowPathRamsete.html#a6e990c923afe1f476f639642be6689d4">pathplanner::PathfindThenFollowPathRamsete::PathfindThenFollowPathRamsete</a></div><div class="ttdeci">PathfindThenFollowPathRamsete(std::shared_ptr&lt; PathPlannerPath &gt; goalPath, PathConstraints pathfindingConstraints, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; robotRelativeOutput, units::unit_t&lt; frc::RamseteController::b_unit &gt; b, units::unit_t&lt; frc::RamseteController::zeta_unit &gt; zeta, ReplanningConfig replanningConfig, frc2::Requirements requirements)</div><div class="ttdef"><b>Definition:</b> PathfindThenFollowPathRamsete.h:26</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathfindThenFollowPathRamsete_html_a82c9caeab120d204142803b4664317b1"><div class="ttname"><a href="classpathplanner_1_1PathfindThenFollowPathRamsete.html#a82c9caeab120d204142803b4664317b1">pathplanner::PathfindThenFollowPathRamsete::PathfindThenFollowPathRamsete</a></div><div class="ttdeci">PathfindThenFollowPathRamsete(std::shared_ptr&lt; PathPlannerPath &gt; goalPath, PathConstraints pathfindingConstraints, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; robotRelativeOutput, ReplanningConfig replanningConfig, frc2::Requirements requirements)</div><div class="ttdef"><b>Definition:</b> PathfindThenFollowPathRamsete.h:57</div></div>
+<div class="ttc" id="aclasspathplanner_1_1ReplanningConfig_html"><div class="ttname"><a href="classpathplanner_1_1ReplanningConfig.html">pathplanner::ReplanningConfig</a></div><div class="ttdef"><b>Definition:</b> ReplanningConfig.h:6</div></div>
+</div><!-- fragment --></div><!-- contents -->
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diff --git a/docs/cpp/PathfindingCommand_8h_source.html b/docs/cpp/PathfindingCommand_8h_source.html
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+  <div class="headertitle"><div class="title">PathfindingCommand.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;frc2/command/Command.h&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;frc2/command/CommandHelper.h&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;frc2/command/Requirements.h&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;memory&gt;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;functional&gt;</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;frc/geometry/Pose2d.h&gt;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &lt;frc/kinematics/ChassisSpeeds.h&gt;</span></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#include &lt;frc/Timer.h&gt;</span></div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="preprocessor">#include &lt;units/velocity.h&gt;</span></div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="preprocessor">#include &lt;units/length.h&gt;</span></div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="preprocessor">#include &lt;units/time.h&gt;</span></div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="preprocessor">#include &quot;pathplanner/lib/path/PathPlannerPath.h&quot;</span></div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="preprocessor">#include &quot;pathplanner/lib/path/PathPlannerTrajectory.h&quot;</span></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="preprocessor">#include &quot;pathplanner/lib/controllers/PathFollowingController.h&quot;</span></div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="preprocessor">#include &quot;pathplanner/lib/util/ReplanningConfig.h&quot;</span></div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="preprocessor">#include &quot;pathplanner/lib/util/PathPlannerLogging.h&quot;</span></div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span><span class="preprocessor">#include &quot;pathplanner/lib/util/PPLibTelemetry.h&quot;</span></div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span> </div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span><span class="keyword">namespace </span>pathplanner {</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"><a class="line" href="classpathplanner_1_1PathfindingCommand.html">   22</a></span><span class="keyword">class </span><a class="code hl_class" href="classpathplanner_1_1PathfindingCommand.html">PathfindingCommand</a>: <span class="keyword">public</span> frc2::CommandHelper&lt;frc2::Command,</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>        PathfindingCommand&gt; {</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>    <a class="code hl_class" href="classpathplanner_1_1PathfindingCommand.html">PathfindingCommand</a>(std::shared_ptr&lt;PathPlannerPath&gt; targetPath,</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>            <a class="code hl_class" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> constraints,</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>            std::function&lt;frc::Pose2d()&gt; poseSupplier,</div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>            std::function&lt;frc::ChassisSpeeds()&gt; speedsSupplier,</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>            std::function&lt;<span class="keywordtype">void</span>(frc::ChassisSpeeds)&gt; output,</div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>            std::unique_ptr&lt;PathFollowingController&gt; controller,</div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>            units::meter_t rotationDelayDistance,</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>            frc2::Requirements requirements);</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span> </div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    <a class="code hl_class" href="classpathplanner_1_1PathfindingCommand.html">PathfindingCommand</a>(frc::Pose2d targetPose, <a class="code hl_class" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> constraints,</div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>            units::meters_per_second_t goalEndVel,</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>            std::function&lt;frc::Pose2d()&gt; poseSupplier,</div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>            std::function&lt;frc::ChassisSpeeds()&gt; speedsSupplier,</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>            std::function&lt;<span class="keywordtype">void</span>(frc::ChassisSpeeds)&gt; output,</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>            std::unique_ptr&lt;PathFollowingController&gt; controller,</div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>            units::meter_t rotationDelayDistance,</div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>            frc2::Requirements requirements);</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span> </div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>    <span class="keywordtype">void</span> Initialize() <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span> </div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>    <span class="keywordtype">void</span> Execute() <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span> </div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>    <span class="keywordtype">bool</span> IsFinished() <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span> </div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    <span class="keywordtype">void</span> End(<span class="keywordtype">bool</span> interrupted) <span class="keyword">override</span>;</div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span> </div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span><span class="keyword">private</span>:</div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    frc::Timer m_timer;</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>    std::shared_ptr&lt;PathPlannerPath&gt; m_targetPath;</div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>    frc::Pose2d m_targetPose;</div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>    <a class="code hl_class" href="classpathplanner_1_1GoalEndState.html">GoalEndState</a> m_goalEndState;</div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>    <a class="code hl_class" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> m_constraints;</div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>    std::function&lt;frc::Pose2d()&gt; m_poseSupplier;</div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>    std::function&lt;frc::ChassisSpeeds()&gt; m_speedsSupplier;</div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>    std::function&lt;void(frc::ChassisSpeeds)&gt; m_output;</div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>    std::unique_ptr&lt;PathFollowingController&gt; m_controller;</div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>    units::meter_t m_rotationDelayDistance;</div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span> </div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    <a class="code hl_class" href="classpathplanner_1_1PathPlannerTrajectory.html">PathPlannerTrajectory</a> m_currentTrajectory;</div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>    frc::Pose2d m_startingPose;</div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>};</div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>}</div>
+<div class="ttc" id="aclasspathplanner_1_1GoalEndState_html"><div class="ttname"><a href="classpathplanner_1_1GoalEndState.html">pathplanner::GoalEndState</a></div><div class="ttdef"><b>Definition:</b> GoalEndState.h:9</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathConstraints_html"><div class="ttname"><a href="classpathplanner_1_1PathConstraints.html">pathplanner::PathConstraints</a></div><div class="ttdef"><b>Definition:</b> PathConstraints.h:10</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathPlannerTrajectory_html"><div class="ttname"><a href="classpathplanner_1_1PathPlannerTrajectory.html">pathplanner::PathPlannerTrajectory</a></div><div class="ttdef"><b>Definition:</b> PathPlannerTrajectory.h:21</div></div>
+<div class="ttc" id="aclasspathplanner_1_1PathfindingCommand_html"><div class="ttname"><a href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a></div><div class="ttdef"><b>Definition:</b> PathfindingCommand.h:23</div></div>
+</div><!-- fragment --></div><!-- contents -->
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diff --git a/docs/cpp/ReplanningConfig_8h_source.html b/docs/cpp/ReplanningConfig_8h_source.html
new file mode 100644
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--- /dev/null
+++ b/docs/cpp/ReplanningConfig_8h_source.html
@@ -0,0 +1,131 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+  <div class="headertitle"><div class="title">ReplanningConfig.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;units/length.h&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span> </div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="keyword">namespace </span>pathplanner {</div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"><a class="line" href="classpathplanner_1_1ReplanningConfig.html">    6</a></span><span class="keyword">class </span><a class="code hl_class" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a> {</div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span>    <span class="keyword">const</span> <span class="keywordtype">bool</span> enableInitialReplanning;</div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span>    <span class="keyword">const</span> <span class="keywordtype">bool</span> enableDynamicReplanning;</div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span>    <span class="keyword">const</span> units::meter_t dynamicReplanningTotalErrorThreshold;</div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span>    <span class="keyword">const</span> units::meter_t dynamicReplanningErrorSpikeThreshold;</div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span> </div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"><a class="line" href="classpathplanner_1_1ReplanningConfig.html#a5f8377d6273c244227088744922d697d">   25</a></span>    <span class="keyword">constexpr</span> <a class="code hl_function" href="classpathplanner_1_1ReplanningConfig.html#a5f8377d6273c244227088744922d697d">ReplanningConfig</a>(<span class="keyword">const</span> <span class="keywordtype">bool</span> enableInitialReplanning = <span class="keyword">true</span>,</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>            <span class="keyword">const</span> <span class="keywordtype">bool</span> enableDynamicReplanning = <span class="keyword">false</span>,</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>            <span class="keyword">const</span> units::meter_t dynamicReplanningTotalErrorThreshold = 1_m,</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>            <span class="keyword">const</span> units::meter_t dynamicReplanningErrorSpikeThreshold = 0.25_m) : enableInitialReplanning(</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>            enableInitialReplanning), enableDynamicReplanning(</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>            enableDynamicReplanning), dynamicReplanningTotalErrorThreshold(</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>            dynamicReplanningTotalErrorThreshold), dynamicReplanningErrorSpikeThreshold(</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>            dynamicReplanningErrorSpikeThreshold) {</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>    }</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>};</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>}</div>
+<div class="ttc" id="aclasspathplanner_1_1ReplanningConfig_html"><div class="ttname"><a href="classpathplanner_1_1ReplanningConfig.html">pathplanner::ReplanningConfig</a></div><div class="ttdef"><b>Definition:</b> ReplanningConfig.h:6</div></div>
+<div class="ttc" id="aclasspathplanner_1_1ReplanningConfig_html_a5f8377d6273c244227088744922d697d"><div class="ttname"><a href="classpathplanner_1_1ReplanningConfig.html#a5f8377d6273c244227088744922d697d">pathplanner::ReplanningConfig::ReplanningConfig</a></div><div class="ttdeci">constexpr ReplanningConfig(const bool enableInitialReplanning=true, const bool enableDynamicReplanning=false, const units::meter_t dynamicReplanningTotalErrorThreshold=1_m, const units::meter_t dynamicReplanningErrorSpikeThreshold=0.25_m)</div><div class="ttdef"><b>Definition:</b> ReplanningConfig.h:25</div></div>
+</div><!-- fragment --></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
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diff --git a/docs/cpp/RotationTarget_8h_source.html b/docs/cpp/RotationTarget_8h_source.html
new file mode 100644
index 00000000..42ab2cff
--- /dev/null
+++ b/docs/cpp/RotationTarget_8h_source.html
@@ -0,0 +1,149 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>PathPlannerLib: src/main/native/include/pathplanner/lib/path/RotationTarget.h Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
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+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
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+<!-- end header part -->
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+<div class="header">
+  <div class="headertitle"><div class="title">RotationTarget.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;frc/geometry/Rotation2d.h&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;wpi/json.h&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="keyword">namespace </span>pathplanner {</div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"><a class="line" href="classpathplanner_1_1RotationTarget.html">    7</a></span><span class="keyword">class </span><a class="code hl_class" href="classpathplanner_1_1RotationTarget.html">RotationTarget</a> {</div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="classpathplanner_1_1RotationTarget.html#a724f9de278dd2031cc359b4fd7de9051">   15</a></span>    <span class="keyword">constexpr</span> <a class="code hl_function" href="classpathplanner_1_1RotationTarget.html#a724f9de278dd2031cc359b4fd7de9051">RotationTarget</a>(<span class="keywordtype">double</span> waypointRelativePosition,</div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>            frc::Rotation2d target) : m_position(waypointRelativePosition), m_target(</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>            target) {</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>    }</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span> </div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>    <span class="keyword">static</span> <a class="code hl_class" href="classpathplanner_1_1RotationTarget.html">RotationTarget</a> <a class="code hl_function" href="classpathplanner_1_1RotationTarget.html#a4ac06eeca87852f80e8f1a9d9faf6d7f">fromJson</a>(<span class="keyword">const</span> wpi::json &amp;json);</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span> </div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"><a class="line" href="classpathplanner_1_1RotationTarget.html#aed4869b96c97dcb69a0f6f14bf7754d5">   33</a></span>    <span class="keyword">constexpr</span> <span class="keywordtype">double</span> <a class="code hl_function" href="classpathplanner_1_1RotationTarget.html#aed4869b96c97dcb69a0f6f14bf7754d5">getPosition</a>()<span class="keyword"> const </span>{</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>        <span class="keywordflow">return</span> m_position;</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>    }</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span> </div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"><a class="line" href="classpathplanner_1_1RotationTarget.html#a96eb0a2f814fea43193e4df30bb6679c">   42</a></span>    <span class="keyword">constexpr</span> <span class="keyword">const</span> frc::Rotation2d&amp; <a class="code hl_function" href="classpathplanner_1_1RotationTarget.html#a96eb0a2f814fea43193e4df30bb6679c">getTarget</a>()<span class="keyword"> const </span>{</div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>        <span class="keywordflow">return</span> m_target;</div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>    }</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span> </div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"><a class="line" href="classpathplanner_1_1RotationTarget.html#af71868d38344ce0b4ab46f7382015686">   54</a></span>    <span class="keyword">constexpr</span> <a class="code hl_class" href="classpathplanner_1_1RotationTarget.html">RotationTarget</a> <a class="code hl_function" href="classpathplanner_1_1RotationTarget.html#af71868d38344ce0b4ab46f7382015686">forSegmentIndex</a>(<span class="keywordtype">int</span> segmentIndex)<span class="keyword"> const </span>{</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>        <span class="keywordflow">return</span> <a class="code hl_class" href="classpathplanner_1_1RotationTarget.html">RotationTarget</a>(m_position - segmentIndex, m_target);</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>    }</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span> </div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>    <span class="keyword">inline</span> <span class="keywordtype">bool</span> operator==(<span class="keyword">const</span> <a class="code hl_class" href="classpathplanner_1_1RotationTarget.html">RotationTarget</a> &amp;other)<span class="keyword"> const </span>{</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>        <span class="keywordflow">return</span> std::abs(m_position - other.m_position) &lt; 1E-9</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>                &amp;&amp; m_target == other.m_target;</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>    }</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span> </div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span><span class="keyword">private</span>:</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>    <span class="keywordtype">double</span> m_position;</div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>    frc::Rotation2d m_target;</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>};</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>}</div>
+<div class="ttc" id="aclasspathplanner_1_1RotationTarget_html"><div class="ttname"><a href="classpathplanner_1_1RotationTarget.html">pathplanner::RotationTarget</a></div><div class="ttdef"><b>Definition:</b> RotationTarget.h:7</div></div>
+<div class="ttc" id="aclasspathplanner_1_1RotationTarget_html_a4ac06eeca87852f80e8f1a9d9faf6d7f"><div class="ttname"><a href="classpathplanner_1_1RotationTarget.html#a4ac06eeca87852f80e8f1a9d9faf6d7f">pathplanner::RotationTarget::fromJson</a></div><div class="ttdeci">static RotationTarget fromJson(const wpi::json &amp;json)</div><div class="ttdef"><b>Definition:</b> RotationTarget.cpp:6</div></div>
+<div class="ttc" id="aclasspathplanner_1_1RotationTarget_html_a724f9de278dd2031cc359b4fd7de9051"><div class="ttname"><a href="classpathplanner_1_1RotationTarget.html#a724f9de278dd2031cc359b4fd7de9051">pathplanner::RotationTarget::RotationTarget</a></div><div class="ttdeci">constexpr RotationTarget(double waypointRelativePosition, frc::Rotation2d target)</div><div class="ttdef"><b>Definition:</b> RotationTarget.h:15</div></div>
+<div class="ttc" id="aclasspathplanner_1_1RotationTarget_html_a96eb0a2f814fea43193e4df30bb6679c"><div class="ttname"><a href="classpathplanner_1_1RotationTarget.html#a96eb0a2f814fea43193e4df30bb6679c">pathplanner::RotationTarget::getTarget</a></div><div class="ttdeci">constexpr const frc::Rotation2d &amp; getTarget() const</div><div class="ttdef"><b>Definition:</b> RotationTarget.h:42</div></div>
+<div class="ttc" id="aclasspathplanner_1_1RotationTarget_html_aed4869b96c97dcb69a0f6f14bf7754d5"><div class="ttname"><a href="classpathplanner_1_1RotationTarget.html#aed4869b96c97dcb69a0f6f14bf7754d5">pathplanner::RotationTarget::getPosition</a></div><div class="ttdeci">constexpr double getPosition() const</div><div class="ttdef"><b>Definition:</b> RotationTarget.h:33</div></div>
+<div class="ttc" id="aclasspathplanner_1_1RotationTarget_html_af71868d38344ce0b4ab46f7382015686"><div class="ttname"><a href="classpathplanner_1_1RotationTarget.html#af71868d38344ce0b4ab46f7382015686">pathplanner::RotationTarget::forSegmentIndex</a></div><div class="ttdeci">constexpr RotationTarget forSegmentIndex(int segmentIndex) const</div><div class="ttdef"><b>Definition:</b> RotationTarget.h:54</div></div>
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+  <div class="headertitle"><div class="title">Class List</div></div>
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+<div class="contents">
+<div class="textblock">Here are the classes, structs, unions and interfaces with brief descriptions:</div><div class="directory">
+<div class="levels">[detail level <span onclick="javascript:toggleLevel(1);">1</span><span onclick="javascript:toggleLevel(2);">2</span><span onclick="javascript:toggleLevel(3);">3</span>]</div><table class="directory">
+<tr id="row_0_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_0_" class="arrow" onclick="toggleFolder('0_')">&#9660;</span><span class="icona"><span class="icon">N</span></span><b>pathplanner</b></td><td class="desc"></td></tr>
+<tr id="row_0_0_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_0_0_" class="arrow" onclick="toggleFolder('0_0_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1ADStar.html" target="_self">ADStar</a></td><td class="desc"></td></tr>
+<tr id="row_0_0_0_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1ADStar_1_1GridPosition.html" target="_self">GridPosition</a></td><td class="desc"></td></tr>
+<tr id="row_0_1_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1AutoBuilder.html" target="_self">AutoBuilder</a></td><td class="desc"></td></tr>
+<tr id="row_0_2_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1ChassisSpeedsRateLimiter.html" target="_self">ChassisSpeedsRateLimiter</a></td><td class="desc"></td></tr>
+<tr id="row_0_3_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1CommandUtil.html" target="_self">CommandUtil</a></td><td class="desc"></td></tr>
+<tr id="row_0_4_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1ConstraintsZone.html" target="_self">ConstraintsZone</a></td><td class="desc"></td></tr>
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+<tr id="row_0_26_0_" class="odd"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html" target="_self">State</a></td><td class="desc"></td></tr>
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+<tr id="row_0_29_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1PIDConstants.html" target="_self">PIDConstants</a></td><td class="desc"></td></tr>
+<tr id="row_0_30_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1PPHolonomicDriveController.html" target="_self">PPHolonomicDriveController</a></td><td class="desc"></td></tr>
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+<tr id="row_0_32_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1PPLTVController.html" target="_self">PPLTVController</a></td><td class="desc"></td></tr>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>PathPlannerLib: Member List</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<div id="doc-content">
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+</div>
+</div>
+</div>
+</div>
+
+<div class="header">
+  <div class="headertitle"><div class="title">pathplanner::ADStar Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpathplanner_1_1ADStar.html">pathplanner::ADStar</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>ensureInitialized</b>() (defined in <a class="el" href="classpathplanner_1_1ADStar.html">pathplanner::ADStar</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1ADStar.html">pathplanner::ADStar</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>getCurrentPath</b>() (defined in <a class="el" href="classpathplanner_1_1ADStar.html">pathplanner::ADStar</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1ADStar.html">pathplanner::ADStar</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>getGridPos</b>(const frc::Translation2d &amp;pos) (defined in <a class="el" href="classpathplanner_1_1ADStar.html">pathplanner::ADStar</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1ADStar.html">pathplanner::ADStar</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>isNewPathAvailable</b>() (defined in <a class="el" href="classpathplanner_1_1ADStar.html">pathplanner::ADStar</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1ADStar.html">pathplanner::ADStar</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>setDynamicObstacles</b>(const std::vector&lt; std::pair&lt; frc::Translation2d, frc::Translation2d &gt; &gt; &amp;obs, const frc::Translation2d &amp;currentRobotPos) (defined in <a class="el" href="classpathplanner_1_1ADStar.html">pathplanner::ADStar</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1ADStar.html">pathplanner::ADStar</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>setGoalPos</b>(const frc::Translation2d &amp;goal) (defined in <a class="el" href="classpathplanner_1_1ADStar.html">pathplanner::ADStar</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1ADStar.html">pathplanner::ADStar</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>setStartPos</b>(const frc::Translation2d &amp;start) (defined in <a class="el" href="classpathplanner_1_1ADStar.html">pathplanner::ADStar</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1ADStar.html">pathplanner::ADStar</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
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+<title>PathPlannerLib: pathplanner::ADStar Class Reference</title>
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+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classpathplanner_1_1ADStar-members.html">List of all members</a>  </div>
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+static std::vector&lt; frc::Translation2d &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>getCurrentPath</b> ()</td></tr>
+<tr class="separator:a0a3a7c02b2696a9c455be0b35ef34531"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+static void&#160;</td><td class="memItemRight" valign="bottom"><b>setStartPos</b> (const frc::Translation2d &amp;start)</td></tr>
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+static void&#160;</td><td class="memItemRight" valign="bottom"><b>setGoalPos</b> (const frc::Translation2d &amp;goal)</td></tr>
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+static void&#160;</td><td class="memItemRight" valign="bottom"><b>setDynamicObstacles</b> (const std::vector&lt; std::pair&lt; frc::Translation2d, frc::Translation2d &gt; &gt; &amp;obs, const frc::Translation2d &amp;currentRobotPos)</td></tr>
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+static <a class="el" href="classpathplanner_1_1ADStar_1_1GridPosition.html">GridPosition</a>&#160;</td><td class="memItemRight" valign="bottom"><b>getGridPos</b> (const frc::Translation2d &amp;pos)</td></tr>
+<tr class="separator:a60908c1c203db224c3e78abf19195ee9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>src/main/native/include/pathplanner/lib/pathfinding/<a class="el" href="ADStar_8h_source.html">ADStar.h</a></li>
+<li>src/main/native/cpp/pathplanner/lib/pathfinding/ADStar.cpp</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><b>pathplanner</b></li><li class="navelem"><a class="el" href="classpathplanner_1_1ADStar.html">ADStar</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
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diff --git a/docs/cpp/classpathplanner_1_1ADStar.js b/docs/cpp/classpathplanner_1_1ADStar.js
new file mode 100644
index 00000000..0e437786
--- /dev/null
+++ b/docs/cpp/classpathplanner_1_1ADStar.js
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>PathPlannerLib: Member List</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
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+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
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+</table>
+</div>
+<!-- end header part -->
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+<script type="text/javascript">
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+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
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+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('classpathplanner_1_1ADStar_1_1GridPosition.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
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+<!-- iframe showing the search results (closed by default) -->
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+<div class="SRStatus" id="Loading">Loading...</div>
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="header">
+  <div class="headertitle"><div class="title">pathplanner::ADStar::GridPosition Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpathplanner_1_1ADStar_1_1GridPosition.html">pathplanner::ADStar::GridPosition</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>GridPosition</b>() (defined in <a class="el" href="classpathplanner_1_1ADStar_1_1GridPosition.html">pathplanner::ADStar::GridPosition</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1ADStar_1_1GridPosition.html">pathplanner::ADStar::GridPosition</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>GridPosition</b>(const int xPos, const int yPos) (defined in <a class="el" href="classpathplanner_1_1ADStar_1_1GridPosition.html">pathplanner::ADStar::GridPosition</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1ADStar_1_1GridPosition.html">pathplanner::ADStar::GridPosition</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>operator==</b>(const GridPosition &amp;other) const (defined in <a class="el" href="classpathplanner_1_1ADStar_1_1GridPosition.html">pathplanner::ADStar::GridPosition</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1ADStar_1_1GridPosition.html">pathplanner::ADStar::GridPosition</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>x</b> (defined in <a class="el" href="classpathplanner_1_1ADStar_1_1GridPosition.html">pathplanner::ADStar::GridPosition</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1ADStar_1_1GridPosition.html">pathplanner::ADStar::GridPosition</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>y</b> (defined in <a class="el" href="classpathplanner_1_1ADStar_1_1GridPosition.html">pathplanner::ADStar::GridPosition</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1ADStar_1_1GridPosition.html">pathplanner::ADStar::GridPosition</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/docs/cpp/classpathplanner_1_1ADStar_1_1GridPosition.html b/docs/cpp/classpathplanner_1_1ADStar_1_1GridPosition.html
new file mode 100644
index 00000000..737c6d42
--- /dev/null
+++ b/docs/cpp/classpathplanner_1_1ADStar_1_1GridPosition.html
@@ -0,0 +1,132 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>PathPlannerLib: pathplanner::ADStar::GridPosition Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
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+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
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+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
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+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('classpathplanner_1_1ADStar_1_1GridPosition.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
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+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpathplanner_1_1ADStar_1_1GridPosition-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">pathplanner::ADStar::GridPosition Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a4b57b77526f3790f6c8c8d3de2e0b71f"><td class="memItemLeft" align="right" valign="top"><a id="a4b57b77526f3790f6c8c8d3de2e0b71f" name="a4b57b77526f3790f6c8c8d3de2e0b71f"></a>
+constexpr&#160;</td><td class="memItemRight" valign="bottom"><b>GridPosition</b> (const int xPos, const int yPos)</td></tr>
+<tr class="separator:a4b57b77526f3790f6c8c8d3de2e0b71f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af2126577869cff8d6b4d182fe09300bc"><td class="memItemLeft" align="right" valign="top"><a id="af2126577869cff8d6b4d182fe09300bc" name="af2126577869cff8d6b4d182fe09300bc"></a>
+constexpr bool&#160;</td><td class="memItemRight" valign="bottom"><b>operator==</b> (const <a class="el" href="classpathplanner_1_1ADStar_1_1GridPosition.html">GridPosition</a> &amp;other) const</td></tr>
+<tr class="separator:af2126577869cff8d6b4d182fe09300bc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a322b7ddb3c39798df58657af608897a0"><td class="memItemLeft" align="right" valign="top"><a id="a322b7ddb3c39798df58657af608897a0" name="a322b7ddb3c39798df58657af608897a0"></a>
+int&#160;</td><td class="memItemRight" valign="bottom"><b>x</b></td></tr>
+<tr class="separator:a322b7ddb3c39798df58657af608897a0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a03eda6dbea95b996390a6fc5d556dcb7"><td class="memItemLeft" align="right" valign="top"><a id="a03eda6dbea95b996390a6fc5d556dcb7" name="a03eda6dbea95b996390a6fc5d556dcb7"></a>
+int&#160;</td><td class="memItemRight" valign="bottom"><b>y</b></td></tr>
+<tr class="separator:a03eda6dbea95b996390a6fc5d556dcb7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>src/main/native/include/pathplanner/lib/pathfinding/<a class="el" href="ADStar_8h_source.html">ADStar.h</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><b>pathplanner</b></li><li class="navelem"><a class="el" href="classpathplanner_1_1ADStar.html">ADStar</a></li><li class="navelem"><a class="el" href="classpathplanner_1_1ADStar_1_1GridPosition.html">GridPosition</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/docs/cpp/classpathplanner_1_1AutoBuilder-members.html b/docs/cpp/classpathplanner_1_1AutoBuilder-members.html
new file mode 100644
index 00000000..2182ceb0
--- /dev/null
+++ b/docs/cpp/classpathplanner_1_1AutoBuilder-members.html
@@ -0,0 +1,121 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>PathPlannerLib: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('classpathplanner_1_1AutoBuilder.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="header">
+  <div class="headertitle"><div class="title">pathplanner::AutoBuilder Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpathplanner_1_1AutoBuilder.html">pathplanner::AutoBuilder</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1AutoBuilder.html#abb4e30e93dea6d7c23fa122c6f8d7531">buildAuto</a>(std::string autoName)</td><td class="entry"><a class="el" href="classpathplanner_1_1AutoBuilder.html">pathplanner::AutoBuilder</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1AutoBuilder.html#aa9d4e8bc410906d4f7113f3783b04e49">configureCustom</a>(std::function&lt; frc2::CommandPtr(std::shared_ptr&lt; PathPlannerPath &gt;)&gt; pathFollowingCommandBuilder, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; void(frc::Pose2d)&gt; resetPose)</td><td class="entry"><a class="el" href="classpathplanner_1_1AutoBuilder.html">pathplanner::AutoBuilder</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1AutoBuilder.html#a35a1d44dd44756f2f008996967f49007">configureHolonomic</a>(std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; void(frc::Pose2d)&gt; resetPose, std::function&lt; frc::ChassisSpeeds()&gt; robotRelativeSpeedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; robotRelativeOutput, HolonomicPathFollowerConfig config, frc2::Subsystem *driveSubsystem)</td><td class="entry"><a class="el" href="classpathplanner_1_1AutoBuilder.html">pathplanner::AutoBuilder</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1AutoBuilder.html#ae42e2c7770c7cfee1c178323ce17b9aa">configureLTV</a>(std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; void(frc::Pose2d)&gt; resetPose, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, const wpi::array&lt; double, 3 &gt; &amp;Qelms, const wpi::array&lt; double, 2 &gt; &amp;Relms, units::second_t dt, ReplanningConfig replanningConfig, frc2::Subsystem *driveSubsystem)</td><td class="entry"><a class="el" href="classpathplanner_1_1AutoBuilder.html">pathplanner::AutoBuilder</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1AutoBuilder.html#a2f220f60d6727d1f898d000fe5999b61">configureLTV</a>(std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; void(frc::Pose2d)&gt; resetPose, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, units::second_t dt, ReplanningConfig replanningConfig, frc2::Subsystem *driveSubsystem)</td><td class="entry"><a class="el" href="classpathplanner_1_1AutoBuilder.html">pathplanner::AutoBuilder</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1AutoBuilder.html#a27cddae7eee06a064a2fee83637ef458">configureRamsete</a>(std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; void(frc::Pose2d)&gt; resetPose, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, ReplanningConfig replanningConfig, frc2::Subsystem *driveSubsystem)</td><td class="entry"><a class="el" href="classpathplanner_1_1AutoBuilder.html">pathplanner::AutoBuilder</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1AutoBuilder.html#ac8e2cf9cdbcfa544eda94705454ee408">configureRamsete</a>(std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; void(frc::Pose2d)&gt; resetPose, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, units::unit_t&lt; frc::RamseteController::b_unit &gt; b, units::unit_t&lt; frc::RamseteController::zeta_unit &gt; zeta, ReplanningConfig replanningConfig, frc2::Subsystem *driveSubsystem)</td><td class="entry"><a class="el" href="classpathplanner_1_1AutoBuilder.html">pathplanner::AutoBuilder</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1AutoBuilder.html#a017b1eba314f2b6e525f3c3f0abed96b">followPathWithEvents</a>(std::shared_ptr&lt; PathPlannerPath &gt; path)</td><td class="entry"><a class="el" href="classpathplanner_1_1AutoBuilder.html">pathplanner::AutoBuilder</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1AutoBuilder.html#a50592a28e0dd6768c12b6bba9abd8cef">getAutoCommandFromJson</a>(const wpi::json &amp;json)</td><td class="entry"><a class="el" href="classpathplanner_1_1AutoBuilder.html">pathplanner::AutoBuilder</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>getStartingPoseFromJson</b>(const wpi::json &amp;json) (defined in <a class="el" href="classpathplanner_1_1AutoBuilder.html">pathplanner::AutoBuilder</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1AutoBuilder.html">pathplanner::AutoBuilder</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1AutoBuilder.html#ac447d58765d6ac127f13301291245caf">isConfigured</a>()</td><td class="entry"><a class="el" href="classpathplanner_1_1AutoBuilder.html">pathplanner::AutoBuilder</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1AutoBuilder.html#ad6bcd5c3fa107143b10d94cc1a2f7063">pathfindThenFollowPath</a>(std::shared_ptr&lt; PathPlannerPath &gt; goalPath, PathConstraints pathfindingConstraints, units::meter_t rotationDelayDistance=0_m)</td><td class="entry"><a class="el" href="classpathplanner_1_1AutoBuilder.html">pathplanner::AutoBuilder</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1AutoBuilder.html#a51d6009e360d8017ab7268edf3d69236">pathfindToPose</a>(frc::Pose2d pose, PathConstraints constraints, units::meters_per_second_t goalEndVel=0_mps, units::meter_t rotationDelayDistance=0_m)</td><td class="entry"><a class="el" href="classpathplanner_1_1AutoBuilder.html">pathplanner::AutoBuilder</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/docs/cpp/classpathplanner_1_1AutoBuilder.html b/docs/cpp/classpathplanner_1_1AutoBuilder.html
new file mode 100644
index 00000000..fd3b08a8
--- /dev/null
+++ b/docs/cpp/classpathplanner_1_1AutoBuilder.html
@@ -0,0 +1,838 @@
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+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
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+<div class="header">
+  <div class="summary">
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classpathplanner_1_1AutoBuilder-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">pathplanner::AutoBuilder Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a35a1d44dd44756f2f008996967f49007"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1AutoBuilder.html#a35a1d44dd44756f2f008996967f49007">configureHolonomic</a> (std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; void(frc::Pose2d)&gt; resetPose, std::function&lt; frc::ChassisSpeeds()&gt; robotRelativeSpeedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; robotRelativeOutput, <a class="el" href="classpathplanner_1_1HolonomicPathFollowerConfig.html">HolonomicPathFollowerConfig</a> config, frc2::Subsystem *driveSubsystem)</td></tr>
+<tr class="separator:a35a1d44dd44756f2f008996967f49007"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a27cddae7eee06a064a2fee83637ef458"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1AutoBuilder.html#a27cddae7eee06a064a2fee83637ef458">configureRamsete</a> (std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; void(frc::Pose2d)&gt; resetPose, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, <a class="el" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a> replanningConfig, frc2::Subsystem *driveSubsystem)</td></tr>
+<tr class="separator:a27cddae7eee06a064a2fee83637ef458"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac8e2cf9cdbcfa544eda94705454ee408"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1AutoBuilder.html#ac8e2cf9cdbcfa544eda94705454ee408">configureRamsete</a> (std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; void(frc::Pose2d)&gt; resetPose, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, units::unit_t&lt; frc::RamseteController::b_unit &gt; b, units::unit_t&lt; frc::RamseteController::zeta_unit &gt; zeta, <a class="el" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a> replanningConfig, frc2::Subsystem *driveSubsystem)</td></tr>
+<tr class="separator:ac8e2cf9cdbcfa544eda94705454ee408"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae42e2c7770c7cfee1c178323ce17b9aa"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1AutoBuilder.html#ae42e2c7770c7cfee1c178323ce17b9aa">configureLTV</a> (std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; void(frc::Pose2d)&gt; resetPose, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, const wpi::array&lt; double, 3 &gt; &amp;Qelms, const wpi::array&lt; double, 2 &gt; &amp;Relms, units::second_t dt, <a class="el" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a> replanningConfig, frc2::Subsystem *driveSubsystem)</td></tr>
+<tr class="separator:ae42e2c7770c7cfee1c178323ce17b9aa"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2f220f60d6727d1f898d000fe5999b61"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1AutoBuilder.html#a2f220f60d6727d1f898d000fe5999b61">configureLTV</a> (std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; void(frc::Pose2d)&gt; resetPose, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, units::second_t dt, <a class="el" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a> replanningConfig, frc2::Subsystem *driveSubsystem)</td></tr>
+<tr class="separator:a2f220f60d6727d1f898d000fe5999b61"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa9d4e8bc410906d4f7113f3783b04e49"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1AutoBuilder.html#aa9d4e8bc410906d4f7113f3783b04e49">configureCustom</a> (std::function&lt; frc2::CommandPtr(std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt;)&gt; pathFollowingCommandBuilder, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; void(frc::Pose2d)&gt; resetPose)</td></tr>
+<tr class="separator:aa9d4e8bc410906d4f7113f3783b04e49"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac447d58765d6ac127f13301291245caf"><td class="memItemLeft" align="right" valign="top">static bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1AutoBuilder.html#ac447d58765d6ac127f13301291245caf">isConfigured</a> ()</td></tr>
+<tr class="separator:ac447d58765d6ac127f13301291245caf"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a017b1eba314f2b6e525f3c3f0abed96b"><td class="memItemLeft" align="right" valign="top">static frc2::CommandPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1AutoBuilder.html#a017b1eba314f2b6e525f3c3f0abed96b">followPathWithEvents</a> (std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt; path)</td></tr>
+<tr class="separator:a017b1eba314f2b6e525f3c3f0abed96b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abb4e30e93dea6d7c23fa122c6f8d7531"><td class="memItemLeft" align="right" valign="top">static frc2::CommandPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1AutoBuilder.html#abb4e30e93dea6d7c23fa122c6f8d7531">buildAuto</a> (std::string autoName)</td></tr>
+<tr class="separator:abb4e30e93dea6d7c23fa122c6f8d7531"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a50592a28e0dd6768c12b6bba9abd8cef"><td class="memItemLeft" align="right" valign="top">static frc2::CommandPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1AutoBuilder.html#a50592a28e0dd6768c12b6bba9abd8cef">getAutoCommandFromJson</a> (const wpi::json &amp;json)</td></tr>
+<tr class="separator:a50592a28e0dd6768c12b6bba9abd8cef"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a77ec65a8ad735267f6f5cf7a9ca12130"><td class="memItemLeft" align="right" valign="top"><a id="a77ec65a8ad735267f6f5cf7a9ca12130" name="a77ec65a8ad735267f6f5cf7a9ca12130"></a>
+static frc::Pose2d&#160;</td><td class="memItemRight" valign="bottom"><b>getStartingPoseFromJson</b> (const wpi::json &amp;json)</td></tr>
+<tr class="separator:a77ec65a8ad735267f6f5cf7a9ca12130"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a51d6009e360d8017ab7268edf3d69236"><td class="memItemLeft" align="right" valign="top">static frc2::CommandPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1AutoBuilder.html#a51d6009e360d8017ab7268edf3d69236">pathfindToPose</a> (frc::Pose2d pose, <a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> constraints, units::meters_per_second_t goalEndVel=0_mps, units::meter_t rotationDelayDistance=0_m)</td></tr>
+<tr class="separator:a51d6009e360d8017ab7268edf3d69236"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad6bcd5c3fa107143b10d94cc1a2f7063"><td class="memItemLeft" align="right" valign="top">static frc2::CommandPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1AutoBuilder.html#ad6bcd5c3fa107143b10d94cc1a2f7063">pathfindThenFollowPath</a> (std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt; goalPath, <a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> pathfindingConstraints, units::meter_t rotationDelayDistance=0_m)</td></tr>
+<tr class="separator:ad6bcd5c3fa107143b10d94cc1a2f7063"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="abb4e30e93dea6d7c23fa122c6f8d7531" name="abb4e30e93dea6d7c23fa122c6f8d7531"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abb4e30e93dea6d7c23fa122c6f8d7531">&#9670;&#160;</a></span>buildAuto()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">frc2::CommandPtr AutoBuilder::buildAuto </td>
+          <td>(</td>
+          <td class="paramtype">std::string&#160;</td>
+          <td class="paramname"><em>autoName</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Builds an auto command for the given auto name.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">autoName</td><td>the name of the auto to build </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>an auto command for the given auto name </dd></dl>
+
+</div>
+</div>
+<a id="aa9d4e8bc410906d4f7113f3783b04e49" name="aa9d4e8bc410906d4f7113f3783b04e49"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa9d4e8bc410906d4f7113f3783b04e49">&#9670;&#160;</a></span>configureCustom()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void AutoBuilder::configureCustom </td>
+          <td>(</td>
+          <td class="paramtype">std::function&lt; frc2::CommandPtr(std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt;)&gt;&#160;</td>
+          <td class="paramname"><em>pathFollowingCommandBuilder</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::Pose2d()&gt;&#160;</td>
+          <td class="paramname"><em>poseSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; void(frc::Pose2d)&gt;&#160;</td>
+          <td class="paramname"><em>resetPose</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Configures the <a class="el" href="classpathplanner_1_1AutoBuilder.html">AutoBuilder</a> with custom path following command builder. Building pathfinding commands is not supported when using a custom path following command builder.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">pathFollowingCommandBuilder</td><td>a function that builds a command to follow a given path </td></tr>
+    <tr><td class="paramname">poseSupplier</td><td>a function that returns the robot's current pose </td></tr>
+    <tr><td class="paramname">resetPose</td><td>a function for resetting the robot's pose </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a35a1d44dd44756f2f008996967f49007" name="a35a1d44dd44756f2f008996967f49007"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a35a1d44dd44756f2f008996967f49007">&#9670;&#160;</a></span>configureHolonomic()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void AutoBuilder::configureHolonomic </td>
+          <td>(</td>
+          <td class="paramtype">std::function&lt; frc::Pose2d()&gt;&#160;</td>
+          <td class="paramname"><em>poseSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; void(frc::Pose2d)&gt;&#160;</td>
+          <td class="paramname"><em>resetPose</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::ChassisSpeeds()&gt;&#160;</td>
+          <td class="paramname"><em>robotRelativeSpeedsSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; void(frc::ChassisSpeeds)&gt;&#160;</td>
+          <td class="paramname"><em>robotRelativeOutput</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1HolonomicPathFollowerConfig.html">HolonomicPathFollowerConfig</a>&#160;</td>
+          <td class="paramname"><em>config</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">frc2::Subsystem *&#160;</td>
+          <td class="paramname"><em>driveSubsystem</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Configures the <a class="el" href="classpathplanner_1_1AutoBuilder.html">AutoBuilder</a> for a holonomic drivetrain.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">poseSupplier</td><td>a function that returns the robot's current pose </td></tr>
+    <tr><td class="paramname">resetPose</td><td>a function used for resetting the robot's pose </td></tr>
+    <tr><td class="paramname">robotRelativeSpeedsSupplier</td><td>a function that returns the robot's current robot relative chassis speeds </td></tr>
+    <tr><td class="paramname">robotRelativeOutput</td><td>a function for setting the robot's field-relative chassis speeds </td></tr>
+    <tr><td class="paramname">config</td><td><a class="el" href="classpathplanner_1_1HolonomicPathFollowerConfig.html">HolonomicPathFollowerConfig</a> for configuring the path following commands </td></tr>
+    <tr><td class="paramname">driveSubsystem</td><td>a pointer to the subsystem for the robot's drive </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ae42e2c7770c7cfee1c178323ce17b9aa" name="ae42e2c7770c7cfee1c178323ce17b9aa"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae42e2c7770c7cfee1c178323ce17b9aa">&#9670;&#160;</a></span>configureLTV() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void AutoBuilder::configureLTV </td>
+          <td>(</td>
+          <td class="paramtype">std::function&lt; frc::Pose2d()&gt;&#160;</td>
+          <td class="paramname"><em>poseSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; void(frc::Pose2d)&gt;&#160;</td>
+          <td class="paramname"><em>resetPose</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::ChassisSpeeds()&gt;&#160;</td>
+          <td class="paramname"><em>speedsSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; void(frc::ChassisSpeeds)&gt;&#160;</td>
+          <td class="paramname"><em>output</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const wpi::array&lt; double, 3 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>Qelms</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const wpi::array&lt; double, 2 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>Relms</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::second_t&#160;</td>
+          <td class="paramname"><em>dt</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a>&#160;</td>
+          <td class="paramname"><em>replanningConfig</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">frc2::Subsystem *&#160;</td>
+          <td class="paramname"><em>driveSubsystem</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Configures the <a class="el" href="classpathplanner_1_1AutoBuilder.html">AutoBuilder</a> for a differential drivetrain using a LTVUnicycleController path follower.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">poseSupplier</td><td>a supplier for the robot's current pose </td></tr>
+    <tr><td class="paramname">resetPose</td><td>a consumer for resetting the robot's pose </td></tr>
+    <tr><td class="paramname">speedsSupplier</td><td>a supplier for the robot's current chassis speeds </td></tr>
+    <tr><td class="paramname">output</td><td>a consumer for setting the robot's chassis speeds </td></tr>
+    <tr><td class="paramname">qelems</td><td>The maximum desired error tolerance for each state. </td></tr>
+    <tr><td class="paramname">relems</td><td>The maximum desired control effort for each input. </td></tr>
+    <tr><td class="paramname">dt</td><td>Period of the robot control loop in seconds (default 0.02) </td></tr>
+    <tr><td class="paramname">replanningConfig</td><td>Path replanning configuration </td></tr>
+    <tr><td class="paramname">driveSubsystem</td><td>the subsystem for the robot's drive </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a2f220f60d6727d1f898d000fe5999b61" name="a2f220f60d6727d1f898d000fe5999b61"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2f220f60d6727d1f898d000fe5999b61">&#9670;&#160;</a></span>configureLTV() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void AutoBuilder::configureLTV </td>
+          <td>(</td>
+          <td class="paramtype">std::function&lt; frc::Pose2d()&gt;&#160;</td>
+          <td class="paramname"><em>poseSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; void(frc::Pose2d)&gt;&#160;</td>
+          <td class="paramname"><em>resetPose</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::ChassisSpeeds()&gt;&#160;</td>
+          <td class="paramname"><em>speedsSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; void(frc::ChassisSpeeds)&gt;&#160;</td>
+          <td class="paramname"><em>output</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::second_t&#160;</td>
+          <td class="paramname"><em>dt</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a>&#160;</td>
+          <td class="paramname"><em>replanningConfig</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">frc2::Subsystem *&#160;</td>
+          <td class="paramname"><em>driveSubsystem</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Configures the <a class="el" href="classpathplanner_1_1AutoBuilder.html">AutoBuilder</a> for a differential drivetrain using a LTVUnicycleController path follower.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">poseSupplier</td><td>a supplier for the robot's current pose </td></tr>
+    <tr><td class="paramname">resetPose</td><td>a consumer for resetting the robot's pose </td></tr>
+    <tr><td class="paramname">speedsSupplier</td><td>a supplier for the robot's current chassis speeds </td></tr>
+    <tr><td class="paramname">output</td><td>a consumer for setting the robot's chassis speeds </td></tr>
+    <tr><td class="paramname">dt</td><td>Period of the robot control loop in seconds (default 0.02) </td></tr>
+    <tr><td class="paramname">replanningConfig</td><td>Path replanning configuration </td></tr>
+    <tr><td class="paramname">driveSubsystem</td><td>the subsystem for the robot's drive </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a27cddae7eee06a064a2fee83637ef458" name="a27cddae7eee06a064a2fee83637ef458"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a27cddae7eee06a064a2fee83637ef458">&#9670;&#160;</a></span>configureRamsete() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void AutoBuilder::configureRamsete </td>
+          <td>(</td>
+          <td class="paramtype">std::function&lt; frc::Pose2d()&gt;&#160;</td>
+          <td class="paramname"><em>poseSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; void(frc::Pose2d)&gt;&#160;</td>
+          <td class="paramname"><em>resetPose</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::ChassisSpeeds()&gt;&#160;</td>
+          <td class="paramname"><em>speedsSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; void(frc::ChassisSpeeds)&gt;&#160;</td>
+          <td class="paramname"><em>output</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a>&#160;</td>
+          <td class="paramname"><em>replanningConfig</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">frc2::Subsystem *&#160;</td>
+          <td class="paramname"><em>driveSubsystem</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Configures the <a class="el" href="classpathplanner_1_1AutoBuilder.html">AutoBuilder</a> for a differential drivetrain using a RAMSETE path follower.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">poseSupplier</td><td>a supplier for the robot's current pose </td></tr>
+    <tr><td class="paramname">resetPose</td><td>a consumer for resetting the robot's pose </td></tr>
+    <tr><td class="paramname">speedsSupplier</td><td>a supplier for the robot's current chassis speeds </td></tr>
+    <tr><td class="paramname">output</td><td>a consumer for setting the robot's chassis speeds </td></tr>
+    <tr><td class="paramname">replanningConfig</td><td>Path replanning configuration </td></tr>
+    <tr><td class="paramname">driveSubsystem</td><td>the subsystem for the robot's drive </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ac8e2cf9cdbcfa544eda94705454ee408" name="ac8e2cf9cdbcfa544eda94705454ee408"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac8e2cf9cdbcfa544eda94705454ee408">&#9670;&#160;</a></span>configureRamsete() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void AutoBuilder::configureRamsete </td>
+          <td>(</td>
+          <td class="paramtype">std::function&lt; frc::Pose2d()&gt;&#160;</td>
+          <td class="paramname"><em>poseSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; void(frc::Pose2d)&gt;&#160;</td>
+          <td class="paramname"><em>resetPose</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::ChassisSpeeds()&gt;&#160;</td>
+          <td class="paramname"><em>speedsSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; void(frc::ChassisSpeeds)&gt;&#160;</td>
+          <td class="paramname"><em>output</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::unit_t&lt; frc::RamseteController::b_unit &gt;&#160;</td>
+          <td class="paramname"><em>b</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::unit_t&lt; frc::RamseteController::zeta_unit &gt;&#160;</td>
+          <td class="paramname"><em>zeta</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a>&#160;</td>
+          <td class="paramname"><em>replanningConfig</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">frc2::Subsystem *&#160;</td>
+          <td class="paramname"><em>driveSubsystem</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Configures the <a class="el" href="classpathplanner_1_1AutoBuilder.html">AutoBuilder</a> for a differential drivetrain using a RAMSETE path follower.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">poseSupplier</td><td>a supplier for the robot's current pose </td></tr>
+    <tr><td class="paramname">resetPose</td><td>a consumer for resetting the robot's pose </td></tr>
+    <tr><td class="paramname">speedsSupplier</td><td>a supplier for the robot's current chassis speeds </td></tr>
+    <tr><td class="paramname">output</td><td>a consumer for setting the robot's chassis speeds </td></tr>
+    <tr><td class="paramname">b</td><td>Tuning parameter (b &gt; 0 rad^2/m^2) for which larger values make convergence more aggressive like a proportional term. </td></tr>
+    <tr><td class="paramname">zeta</td><td>Tuning parameter (0 rad^-1 &lt; zeta &lt; 1 rad^-1) for which larger values provide more damping in response. </td></tr>
+    <tr><td class="paramname">replanningConfig</td><td>Path replanning configuration </td></tr>
+    <tr><td class="paramname">driveSubsystem</td><td>the subsystem for the robot's drive </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a017b1eba314f2b6e525f3c3f0abed96b" name="a017b1eba314f2b6e525f3c3f0abed96b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a017b1eba314f2b6e525f3c3f0abed96b">&#9670;&#160;</a></span>followPathWithEvents()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">frc2::CommandPtr AutoBuilder::followPathWithEvents </td>
+          <td>(</td>
+          <td class="paramtype">std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt;&#160;</td>
+          <td class="paramname"><em>path</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Builds a command to follow a path with event markers.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">path</td><td>the path to follow </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>a path following command with events for the given path </dd></dl>
+
+</div>
+</div>
+<a id="a50592a28e0dd6768c12b6bba9abd8cef" name="a50592a28e0dd6768c12b6bba9abd8cef"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a50592a28e0dd6768c12b6bba9abd8cef">&#9670;&#160;</a></span>getAutoCommandFromJson()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">frc2::CommandPtr AutoBuilder::getAutoCommandFromJson </td>
+          <td>(</td>
+          <td class="paramtype">const wpi::json &amp;&#160;</td>
+          <td class="paramname"><em>json</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Builds an auto command from the given JSON.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">json</td><td>the JSON to build the command from </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>an auto command built from the JSON </dd></dl>
+
+</div>
+</div>
+<a id="ac447d58765d6ac127f13301291245caf" name="ac447d58765d6ac127f13301291245caf"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac447d58765d6ac127f13301291245caf">&#9670;&#160;</a></span>isConfigured()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static bool pathplanner::AutoBuilder::isConfigured </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Returns whether the <a class="el" href="classpathplanner_1_1AutoBuilder.html">AutoBuilder</a> has been configured.</p>
+<dl class="section return"><dt>Returns</dt><dd>true if the <a class="el" href="classpathplanner_1_1AutoBuilder.html">AutoBuilder</a> has been configured, false otherwise </dd></dl>
+
+</div>
+</div>
+<a id="ad6bcd5c3fa107143b10d94cc1a2f7063" name="ad6bcd5c3fa107143b10d94cc1a2f7063"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad6bcd5c3fa107143b10d94cc1a2f7063">&#9670;&#160;</a></span>pathfindThenFollowPath()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">frc2::CommandPtr AutoBuilder::pathfindThenFollowPath </td>
+          <td>(</td>
+          <td class="paramtype">std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt;&#160;</td>
+          <td class="paramname"><em>goalPath</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a>&#160;</td>
+          <td class="paramname"><em>pathfindingConstraints</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::meter_t&#160;</td>
+          <td class="paramname"><em>rotationDelayDistance</em> = <code>0_m</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Build a command to pathfind to a given path, then follow that path. If not using a holonomic drivetrain, the pose rotation delay distance will have no effect.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">goalPath</td><td>The path to pathfind to, then follow </td></tr>
+    <tr><td class="paramname">pathfindingConstraints</td><td>The constraints to use while pathfinding </td></tr>
+    <tr><td class="paramname">rotationDelayDistance</td><td>The distance the robot should move from the start position before attempting to rotate to the final rotation </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>A command to pathfind to a given path, then follow the path </dd></dl>
+
+</div>
+</div>
+<a id="a51d6009e360d8017ab7268edf3d69236" name="a51d6009e360d8017ab7268edf3d69236"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a51d6009e360d8017ab7268edf3d69236">&#9670;&#160;</a></span>pathfindToPose()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">frc2::CommandPtr AutoBuilder::pathfindToPose </td>
+          <td>(</td>
+          <td class="paramtype">frc::Pose2d&#160;</td>
+          <td class="paramname"><em>pose</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a>&#160;</td>
+          <td class="paramname"><em>constraints</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::meters_per_second_t&#160;</td>
+          <td class="paramname"><em>goalEndVel</em> = <code>0_mps</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::meter_t&#160;</td>
+          <td class="paramname"><em>rotationDelayDistance</em> = <code>0_m</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Build a command to pathfind to a given pose. If not using a holonomic drivetrain, the pose rotation and rotation delay distance will have no effect.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">pose</td><td>The pose to pathfind to </td></tr>
+    <tr><td class="paramname">constraints</td><td>The constraints to use while pathfinding </td></tr>
+    <tr><td class="paramname">goalEndVelocity</td><td>The goal end velocity of the robot when reaching the target pose </td></tr>
+    <tr><td class="paramname">rotationDelayDistance</td><td>The distance the robot should move from the start position before attempting to rotate to the final rotation </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>A command to pathfind to a given pose </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>src/main/native/include/pathplanner/lib/auto/<a class="el" href="AutoBuilder_8h_source.html">AutoBuilder.h</a></li>
+<li>src/main/native/cpp/pathplanner/lib/auto/AutoBuilder.cpp</li>
+</ul>
+</div><!-- contents -->
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
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diff --git a/docs/cpp/classpathplanner_1_1ChassisSpeedsRateLimiter-members.html b/docs/cpp/classpathplanner_1_1ChassisSpeedsRateLimiter-members.html
new file mode 100644
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+++ b/docs/cpp/classpathplanner_1_1ChassisSpeedsRateLimiter-members.html
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+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
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+/* @license-end */
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+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
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+</div>
+</div>
+</div>
+
+<div class="header">
+  <div class="headertitle"><div class="title">pathplanner::ChassisSpeedsRateLimiter Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpathplanner_1_1ChassisSpeedsRateLimiter.html">pathplanner::ChassisSpeedsRateLimiter</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1ChassisSpeedsRateLimiter.html#ab2c8f08687c34f87039a2344a89ca6a4">calculate</a>(const frc::ChassisSpeeds &amp;input)</td><td class="entry"><a class="el" href="classpathplanner_1_1ChassisSpeedsRateLimiter.html">pathplanner::ChassisSpeedsRateLimiter</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1ChassisSpeedsRateLimiter.html#a0f07f44ebfc281da3c862b832ab53826">ChassisSpeedsRateLimiter</a>(units::meters_per_second_squared_t translationRateLimit, units::radians_per_second_squared_t rotationRateLimit, frc::ChassisSpeeds initialValue=frc::ChassisSpeeds { })</td><td class="entry"><a class="el" href="classpathplanner_1_1ChassisSpeedsRateLimiter.html">pathplanner::ChassisSpeedsRateLimiter</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1ChassisSpeedsRateLimiter.html#ac7efd541000522662cda915a3e46011d">reset</a>(frc::ChassisSpeeds value)</td><td class="entry"><a class="el" href="classpathplanner_1_1ChassisSpeedsRateLimiter.html">pathplanner::ChassisSpeedsRateLimiter</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1ChassisSpeedsRateLimiter.html#a16c38975d1ce985e50cdf90b54863577">setRateLimits</a>(units::meters_per_second_squared_t translationRateLimit, units::radians_per_second_squared_t rotationRateLimit)</td><td class="entry"><a class="el" href="classpathplanner_1_1ChassisSpeedsRateLimiter.html">pathplanner::ChassisSpeedsRateLimiter</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
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+  </ul>
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+</html>
diff --git a/docs/cpp/classpathplanner_1_1ChassisSpeedsRateLimiter.html b/docs/cpp/classpathplanner_1_1ChassisSpeedsRateLimiter.html
new file mode 100644
index 00000000..09b669c8
--- /dev/null
+++ b/docs/cpp/classpathplanner_1_1ChassisSpeedsRateLimiter.html
@@ -0,0 +1,279 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
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+<meta name="generator" content="Doxygen 1.9.5"/>
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+<title>PathPlannerLib: pathplanner::ChassisSpeedsRateLimiter Class Reference</title>
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
+  </td>
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+</table>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
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+/* @license-end */
+</script>
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+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classpathplanner_1_1ChassisSpeedsRateLimiter-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">pathplanner::ChassisSpeedsRateLimiter Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="ChassisSpeedsRateLimiter_8h_source.html">ChassisSpeedsRateLimiter.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a0f07f44ebfc281da3c862b832ab53826"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1ChassisSpeedsRateLimiter.html#a0f07f44ebfc281da3c862b832ab53826">ChassisSpeedsRateLimiter</a> (units::meters_per_second_squared_t translationRateLimit, units::radians_per_second_squared_t rotationRateLimit, frc::ChassisSpeeds initialValue=frc::ChassisSpeeds { })</td></tr>
+<tr class="separator:a0f07f44ebfc281da3c862b832ab53826"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac7efd541000522662cda915a3e46011d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1ChassisSpeedsRateLimiter.html#ac7efd541000522662cda915a3e46011d">reset</a> (frc::ChassisSpeeds value)</td></tr>
+<tr class="separator:ac7efd541000522662cda915a3e46011d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a16c38975d1ce985e50cdf90b54863577"><td class="memItemLeft" align="right" valign="top">constexpr void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1ChassisSpeedsRateLimiter.html#a16c38975d1ce985e50cdf90b54863577">setRateLimits</a> (units::meters_per_second_squared_t translationRateLimit, units::radians_per_second_squared_t rotationRateLimit)</td></tr>
+<tr class="separator:a16c38975d1ce985e50cdf90b54863577"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab2c8f08687c34f87039a2344a89ca6a4"><td class="memItemLeft" align="right" valign="top">frc::ChassisSpeeds&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1ChassisSpeedsRateLimiter.html#ab2c8f08687c34f87039a2344a89ca6a4">calculate</a> (const frc::ChassisSpeeds &amp;input)</td></tr>
+<tr class="separator:ab2c8f08687c34f87039a2344a89ca6a4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p >Essentially a slew rate limiter for chassis speeds</p>
+<p >This will properly apply a linear acceleration limit to the chassis speeds instead of applying it separately with 2 X/Y slew rate limiters </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a0f07f44ebfc281da3c862b832ab53826" name="a0f07f44ebfc281da3c862b832ab53826"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0f07f44ebfc281da3c862b832ab53826">&#9670;&#160;</a></span>ChassisSpeedsRateLimiter()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">pathplanner::ChassisSpeedsRateLimiter::ChassisSpeedsRateLimiter </td>
+          <td>(</td>
+          <td class="paramtype">units::meters_per_second_squared_t&#160;</td>
+          <td class="paramname"><em>translationRateLimit</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::radians_per_second_squared_t&#160;</td>
+          <td class="paramname"><em>rotationRateLimit</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">frc::ChassisSpeeds&#160;</td>
+          <td class="paramname"><em>initialValue</em> = <code>frc::ChassisSpeeds&#160;{&#160;}</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Create a new chassis speeds limiter</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">translationRateLimit</td><td>The linear acceleration limit </td></tr>
+    <tr><td class="paramname">rotationRateLimit</td><td>The angular acceleration limit </td></tr>
+    <tr><td class="paramname">initialValue</td><td>The initial chassis speeds value </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ab2c8f08687c34f87039a2344a89ca6a4" name="ab2c8f08687c34f87039a2344a89ca6a4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab2c8f08687c34f87039a2344a89ca6a4">&#9670;&#160;</a></span>calculate()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">frc::ChassisSpeeds ChassisSpeedsRateLimiter::calculate </td>
+          <td>(</td>
+          <td class="paramtype">const frc::ChassisSpeeds &amp;&#160;</td>
+          <td class="paramname"><em>input</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p >Calculate the limited chassis speeds for a given input</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">input</td><td>The target chassis speeds </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The limited chassis speeds </dd></dl>
+
+</div>
+</div>
+<a id="ac7efd541000522662cda915a3e46011d" name="ac7efd541000522662cda915a3e46011d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac7efd541000522662cda915a3e46011d">&#9670;&#160;</a></span>reset()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void ChassisSpeedsRateLimiter::reset </td>
+          <td>(</td>
+          <td class="paramtype">frc::ChassisSpeeds&#160;</td>
+          <td class="paramname"><em>value</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p >Reset the limiter</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">value</td><td>The chassis speeds to reset with </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a16c38975d1ce985e50cdf90b54863577" name="a16c38975d1ce985e50cdf90b54863577"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a16c38975d1ce985e50cdf90b54863577">&#9670;&#160;</a></span>setRateLimits()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr void pathplanner::ChassisSpeedsRateLimiter::setRateLimits </td>
+          <td>(</td>
+          <td class="paramtype">units::meters_per_second_squared_t&#160;</td>
+          <td class="paramname"><em>translationRateLimit</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::radians_per_second_squared_t&#160;</td>
+          <td class="paramname"><em>rotationRateLimit</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Set the acceleration limits</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">translationRateLimit</td><td>Linear acceleration limit </td></tr>
+    <tr><td class="paramname">rotationRateLimit</td><td>Angular acceleration limit </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>src/main/native/include/pathplanner/lib/util/<a class="el" href="ChassisSpeedsRateLimiter_8h_source.html">ChassisSpeedsRateLimiter.h</a></li>
+<li>src/main/native/cpp/pathplanner/lib/util/ChassisSpeedsRateLimiter.cpp</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><b>pathplanner</b></li><li class="navelem"><a class="el" href="classpathplanner_1_1ChassisSpeedsRateLimiter.html">ChassisSpeedsRateLimiter</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/docs/cpp/classpathplanner_1_1ChassisSpeedsRateLimiter.js b/docs/cpp/classpathplanner_1_1ChassisSpeedsRateLimiter.js
new file mode 100644
index 00000000..e645f0ff
--- /dev/null
+++ b/docs/cpp/classpathplanner_1_1ChassisSpeedsRateLimiter.js
@@ -0,0 +1,7 @@
+var classpathplanner_1_1ChassisSpeedsRateLimiter =
+[
+    [ "ChassisSpeedsRateLimiter", "classpathplanner_1_1ChassisSpeedsRateLimiter.html#a0f07f44ebfc281da3c862b832ab53826", null ],
+    [ "calculate", "classpathplanner_1_1ChassisSpeedsRateLimiter.html#ab2c8f08687c34f87039a2344a89ca6a4", null ],
+    [ "reset", "classpathplanner_1_1ChassisSpeedsRateLimiter.html#ac7efd541000522662cda915a3e46011d", null ],
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+<div class="header">
+  <div class="headertitle"><div class="title">pathplanner::CommandUtil Member List</div></div>
+</div><!--header-->
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+
+<p>This is the complete list of members for <a class="el" href="classpathplanner_1_1CommandUtil.html">pathplanner::CommandUtil</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1CommandUtil.html#a1242839afe67a5c778da2d905818b2f4">commandFromJson</a>(const wpi::json &amp;json)</td><td class="entry"><a class="el" href="classpathplanner_1_1CommandUtil.html">pathplanner::CommandUtil</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1CommandUtil.html#a084caee4b421f3596d4a9d0e8bc6b82e">wrappedEventCommand</a>(std::shared_ptr&lt; frc2::Command &gt; command)</td><td class="entry"><a class="el" href="classpathplanner_1_1CommandUtil.html">pathplanner::CommandUtil</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
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new file mode 100644
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+<div class="header">
+  <div class="summary">
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classpathplanner_1_1CommandUtil-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">pathplanner::CommandUtil Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a084caee4b421f3596d4a9d0e8bc6b82e"><td class="memItemLeft" align="right" valign="top">static frc2::CommandPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1CommandUtil.html#a084caee4b421f3596d4a9d0e8bc6b82e">wrappedEventCommand</a> (std::shared_ptr&lt; frc2::Command &gt; command)</td></tr>
+<tr class="separator:a084caee4b421f3596d4a9d0e8bc6b82e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1242839afe67a5c778da2d905818b2f4"><td class="memItemLeft" align="right" valign="top">static frc2::CommandPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1CommandUtil.html#a1242839afe67a5c778da2d905818b2f4">commandFromJson</a> (const wpi::json &amp;json)</td></tr>
+<tr class="separator:a1242839afe67a5c778da2d905818b2f4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a1242839afe67a5c778da2d905818b2f4" name="a1242839afe67a5c778da2d905818b2f4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1242839afe67a5c778da2d905818b2f4">&#9670;&#160;</a></span>commandFromJson()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">frc2::CommandPtr CommandUtil::commandFromJson </td>
+          <td>(</td>
+          <td class="paramtype">const wpi::json &amp;&#160;</td>
+          <td class="paramname"><em>json</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Builds a command from the given JSON.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">commandJson</td><td>the JSON to build the command from </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>a command built from the JSON </dd></dl>
+
+</div>
+</div>
+<a id="a084caee4b421f3596d4a9d0e8bc6b82e" name="a084caee4b421f3596d4a9d0e8bc6b82e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a084caee4b421f3596d4a9d0e8bc6b82e">&#9670;&#160;</a></span>wrappedEventCommand()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">frc2::CommandPtr CommandUtil::wrappedEventCommand </td>
+          <td>(</td>
+          <td class="paramtype">std::shared_ptr&lt; frc2::Command &gt;&#160;</td>
+          <td class="paramname"><em>command</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Wraps a command with a functional command that calls the command's initialize, execute, end, and isFinished methods. This allows a command in the event map to be reused multiple times in different command groups</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">command</td><td>shared pointer to the command to wrap </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>a functional command that wraps the given command </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>src/main/native/include/pathplanner/lib/auto/<a class="el" href="CommandUtil_8h_source.html">CommandUtil.h</a></li>
+<li>src/main/native/cpp/pathplanner/lib/auto/CommandUtil.cpp</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><b>pathplanner</b></li><li class="navelem"><a class="el" href="classpathplanner_1_1CommandUtil.html">CommandUtil</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
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diff --git a/docs/cpp/classpathplanner_1_1ConstraintsZone-members.html b/docs/cpp/classpathplanner_1_1ConstraintsZone-members.html
new file mode 100644
index 00000000..b6c349d3
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+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
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+<script type="text/javascript" src="dynsections.js"></script>
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
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+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
+<script type="text/javascript">
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+$(function() {
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+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
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+  <div id="nav-tree">
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+      <div id="nav-sync" class="sync"></div>
+    </div>
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+       class="ui-resizable-handle">
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+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+<!-- iframe showing the search results (closed by default) -->
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+<div class="SRStatus" id="NoMatches">No Matches</div>
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+
+<div class="header">
+  <div class="headertitle"><div class="title">pathplanner::ConstraintsZone Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpathplanner_1_1ConstraintsZone.html">pathplanner::ConstraintsZone</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1ConstraintsZone.html#a257d618ea261f5e19e7bf8674e0fc8d7">ConstraintsZone</a>(double minWaypointRelativePos, double maxWaypointRelativePos, PathConstraints constraints)</td><td class="entry"><a class="el" href="classpathplanner_1_1ConstraintsZone.html">pathplanner::ConstraintsZone</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1ConstraintsZone.html#a5479868c4125fafcfb4b7f651e5fa535">forSegmentIndex</a>(int segmentIndex) const</td><td class="entry"><a class="el" href="classpathplanner_1_1ConstraintsZone.html">pathplanner::ConstraintsZone</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1ConstraintsZone.html#a4a29eeff4f7f38af89ad6b89dbf9570b">fromJson</a>(const wpi::json &amp;json)</td><td class="entry"><a class="el" href="classpathplanner_1_1ConstraintsZone.html">pathplanner::ConstraintsZone</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1ConstraintsZone.html#a51f771e5addb6dbe00e907f68da48b6d">getConstraints</a>() const</td><td class="entry"><a class="el" href="classpathplanner_1_1ConstraintsZone.html">pathplanner::ConstraintsZone</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1ConstraintsZone.html#acf6c9117b71f5a740985790388092b6e">getMaxWaypointRelativePos</a>() const</td><td class="entry"><a class="el" href="classpathplanner_1_1ConstraintsZone.html">pathplanner::ConstraintsZone</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1ConstraintsZone.html#a1ddacd3bd0b2d590acbfa93b0f0ddaec">getMinWaypointRelativePos</a>() const</td><td class="entry"><a class="el" href="classpathplanner_1_1ConstraintsZone.html">pathplanner::ConstraintsZone</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1ConstraintsZone.html#af1860116d986465f83e666cf302849a3">isWithinZone</a>(double t) const</td><td class="entry"><a class="el" href="classpathplanner_1_1ConstraintsZone.html">pathplanner::ConstraintsZone</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>operator==</b>(const ConstraintsZone &amp;other) const (defined in <a class="el" href="classpathplanner_1_1ConstraintsZone.html">pathplanner::ConstraintsZone</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1ConstraintsZone.html">pathplanner::ConstraintsZone</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1ConstraintsZone.html#a2fcf8a1f73da55eef874f8a283abe2f3">overlapsRange</a>(double minPos, double maxPos) const</td><td class="entry"><a class="el" href="classpathplanner_1_1ConstraintsZone.html">pathplanner::ConstraintsZone</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
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diff --git a/docs/cpp/classpathplanner_1_1ConstraintsZone.html b/docs/cpp/classpathplanner_1_1ConstraintsZone.html
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+/* @license-end */
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classpathplanner_1_1ConstraintsZone-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">pathplanner::ConstraintsZone Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a257d618ea261f5e19e7bf8674e0fc8d7"><td class="memItemLeft" align="right" valign="top">constexpr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1ConstraintsZone.html#a257d618ea261f5e19e7bf8674e0fc8d7">ConstraintsZone</a> (double minWaypointRelativePos, double maxWaypointRelativePos, <a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> constraints)</td></tr>
+<tr class="separator:a257d618ea261f5e19e7bf8674e0fc8d7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1ddacd3bd0b2d590acbfa93b0f0ddaec"><td class="memItemLeft" align="right" valign="top">constexpr double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1ConstraintsZone.html#a1ddacd3bd0b2d590acbfa93b0f0ddaec">getMinWaypointRelativePos</a> () const</td></tr>
+<tr class="separator:a1ddacd3bd0b2d590acbfa93b0f0ddaec"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acf6c9117b71f5a740985790388092b6e"><td class="memItemLeft" align="right" valign="top">constexpr double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1ConstraintsZone.html#acf6c9117b71f5a740985790388092b6e">getMaxWaypointRelativePos</a> () const</td></tr>
+<tr class="separator:acf6c9117b71f5a740985790388092b6e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a51f771e5addb6dbe00e907f68da48b6d"><td class="memItemLeft" align="right" valign="top">constexpr const <a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1ConstraintsZone.html#a51f771e5addb6dbe00e907f68da48b6d">getConstraints</a> () const</td></tr>
+<tr class="separator:a51f771e5addb6dbe00e907f68da48b6d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af1860116d986465f83e666cf302849a3"><td class="memItemLeft" align="right" valign="top">constexpr bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1ConstraintsZone.html#af1860116d986465f83e666cf302849a3">isWithinZone</a> (double t) const</td></tr>
+<tr class="separator:af1860116d986465f83e666cf302849a3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2fcf8a1f73da55eef874f8a283abe2f3"><td class="memItemLeft" align="right" valign="top">constexpr bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1ConstraintsZone.html#a2fcf8a1f73da55eef874f8a283abe2f3">overlapsRange</a> (double minPos, double maxPos) const</td></tr>
+<tr class="separator:a2fcf8a1f73da55eef874f8a283abe2f3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5479868c4125fafcfb4b7f651e5fa535"><td class="memItemLeft" align="right" valign="top">constexpr <a class="el" href="classpathplanner_1_1ConstraintsZone.html">ConstraintsZone</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1ConstraintsZone.html#a5479868c4125fafcfb4b7f651e5fa535">forSegmentIndex</a> (int segmentIndex) const</td></tr>
+<tr class="separator:a5479868c4125fafcfb4b7f651e5fa535"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aae86db6477789dfc1f3fe1ba23293777"><td class="memItemLeft" align="right" valign="top"><a id="aae86db6477789dfc1f3fe1ba23293777" name="aae86db6477789dfc1f3fe1ba23293777"></a>
+bool&#160;</td><td class="memItemRight" valign="bottom"><b>operator==</b> (const <a class="el" href="classpathplanner_1_1ConstraintsZone.html">ConstraintsZone</a> &amp;other) const</td></tr>
+<tr class="separator:aae86db6477789dfc1f3fe1ba23293777"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a4a29eeff4f7f38af89ad6b89dbf9570b"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classpathplanner_1_1ConstraintsZone.html">ConstraintsZone</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1ConstraintsZone.html#a4a29eeff4f7f38af89ad6b89dbf9570b">fromJson</a> (const wpi::json &amp;json)</td></tr>
+<tr class="separator:a4a29eeff4f7f38af89ad6b89dbf9570b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a257d618ea261f5e19e7bf8674e0fc8d7" name="a257d618ea261f5e19e7bf8674e0fc8d7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a257d618ea261f5e19e7bf8674e0fc8d7">&#9670;&#160;</a></span>ConstraintsZone()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr pathplanner::ConstraintsZone::ConstraintsZone </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>minWaypointRelativePos</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>maxWaypointRelativePos</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a>&#160;</td>
+          <td class="paramname"><em>constraints</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Create a new constraints zone</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">minWaypointRelativePos</td><td>Starting position of the zone </td></tr>
+    <tr><td class="paramname">maxWaypointRelativePos</td><td>End position of the zone </td></tr>
+    <tr><td class="paramname">constraints</td><td>The constraints to apply within the zone </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a5479868c4125fafcfb4b7f651e5fa535" name="a5479868c4125fafcfb4b7f651e5fa535"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5479868c4125fafcfb4b7f651e5fa535">&#9670;&#160;</a></span>forSegmentIndex()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr <a class="el" href="classpathplanner_1_1ConstraintsZone.html">ConstraintsZone</a> pathplanner::ConstraintsZone::forSegmentIndex </td>
+          <td>(</td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>segmentIndex</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Transform the positions of this zone for a given segment number.</p>
+<p >For example, a zone from [1.5, 2.0] for the segment 1 will have the positions [0.5, 1.0]</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">segmentIndex</td><td>The segment index to transform positions for </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The transformed zone </dd></dl>
+
+</div>
+</div>
+<a id="a4a29eeff4f7f38af89ad6b89dbf9570b" name="a4a29eeff4f7f38af89ad6b89dbf9570b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4a29eeff4f7f38af89ad6b89dbf9570b">&#9670;&#160;</a></span>fromJson()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classpathplanner_1_1ConstraintsZone.html">ConstraintsZone</a> ConstraintsZone::fromJson </td>
+          <td>(</td>
+          <td class="paramtype">const wpi::json &amp;&#160;</td>
+          <td class="paramname"><em>json</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Create a constraints zone from json</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">json</td><td>A json reference representing a constraints zone </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The constraints zone defined by the given json object </dd></dl>
+
+</div>
+</div>
+<a id="a51f771e5addb6dbe00e907f68da48b6d" name="a51f771e5addb6dbe00e907f68da48b6d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a51f771e5addb6dbe00e907f68da48b6d">&#9670;&#160;</a></span>getConstraints()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr const <a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> &amp; pathplanner::ConstraintsZone::getConstraints </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Get the constraints for this zone</p>
+<dl class="section return"><dt>Returns</dt><dd>The constraints for this zone </dd></dl>
+
+</div>
+</div>
+<a id="acf6c9117b71f5a740985790388092b6e" name="acf6c9117b71f5a740985790388092b6e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acf6c9117b71f5a740985790388092b6e">&#9670;&#160;</a></span>getMaxWaypointRelativePos()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr double pathplanner::ConstraintsZone::getMaxWaypointRelativePos </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Get the end position of the zone</p>
+<dl class="section return"><dt>Returns</dt><dd>Waypoint relative end position </dd></dl>
+
+</div>
+</div>
+<a id="a1ddacd3bd0b2d590acbfa93b0f0ddaec" name="a1ddacd3bd0b2d590acbfa93b0f0ddaec"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1ddacd3bd0b2d590acbfa93b0f0ddaec">&#9670;&#160;</a></span>getMinWaypointRelativePos()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr double pathplanner::ConstraintsZone::getMinWaypointRelativePos </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Get the starting position of the zone</p>
+<dl class="section return"><dt>Returns</dt><dd>Waypoint relative starting position </dd></dl>
+
+</div>
+</div>
+<a id="af1860116d986465f83e666cf302849a3" name="af1860116d986465f83e666cf302849a3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af1860116d986465f83e666cf302849a3">&#9670;&#160;</a></span>isWithinZone()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr bool pathplanner::ConstraintsZone::isWithinZone </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>t</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Get if a given waypoint relative position is within this zone</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">t</td><td>Waypoint relative position </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if given position is within this zone </dd></dl>
+
+</div>
+</div>
+<a id="a2fcf8a1f73da55eef874f8a283abe2f3" name="a2fcf8a1f73da55eef874f8a283abe2f3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2fcf8a1f73da55eef874f8a283abe2f3">&#9670;&#160;</a></span>overlapsRange()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr bool pathplanner::ConstraintsZone::overlapsRange </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>minPos</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>maxPos</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Get if this zone overlaps a given range</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">minPos</td><td>The minimum waypoint relative position of the range </td></tr>
+    <tr><td class="paramname">maxPos</td><td>The maximum waypoint relative position of the range </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if any part of this zone is within the given range </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>src/main/native/include/pathplanner/lib/path/<a class="el" href="ConstraintsZone_8h_source.html">ConstraintsZone.h</a></li>
+<li>src/main/native/cpp/pathplanner/lib/path/ConstraintsZone.cpp</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><b>pathplanner</b></li><li class="navelem"><a class="el" href="classpathplanner_1_1ConstraintsZone.html">ConstraintsZone</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/docs/cpp/classpathplanner_1_1ConstraintsZone.js b/docs/cpp/classpathplanner_1_1ConstraintsZone.js
new file mode 100644
index 00000000..2484db6e
--- /dev/null
+++ b/docs/cpp/classpathplanner_1_1ConstraintsZone.js
@@ -0,0 +1,10 @@
+var classpathplanner_1_1ConstraintsZone =
+[
+    [ "ConstraintsZone", "classpathplanner_1_1ConstraintsZone.html#a257d618ea261f5e19e7bf8674e0fc8d7", null ],
+    [ "forSegmentIndex", "classpathplanner_1_1ConstraintsZone.html#a5479868c4125fafcfb4b7f651e5fa535", null ],
+    [ "getConstraints", "classpathplanner_1_1ConstraintsZone.html#a51f771e5addb6dbe00e907f68da48b6d", null ],
+    [ "getMaxWaypointRelativePos", "classpathplanner_1_1ConstraintsZone.html#acf6c9117b71f5a740985790388092b6e", null ],
+    [ "getMinWaypointRelativePos", "classpathplanner_1_1ConstraintsZone.html#a1ddacd3bd0b2d590acbfa93b0f0ddaec", null ],
+    [ "isWithinZone", "classpathplanner_1_1ConstraintsZone.html#af1860116d986465f83e666cf302849a3", null ],
+    [ "overlapsRange", "classpathplanner_1_1ConstraintsZone.html#a2fcf8a1f73da55eef874f8a283abe2f3", null ]
+];
\ No newline at end of file
diff --git a/docs/cpp/classpathplanner_1_1EventMarker-members.html b/docs/cpp/classpathplanner_1_1EventMarker-members.html
new file mode 100644
index 00000000..482c6267
--- /dev/null
+++ b/docs/cpp/classpathplanner_1_1EventMarker-members.html
@@ -0,0 +1,117 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>PathPlannerLib: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
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+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
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+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('classpathplanner_1_1EventMarker.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
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+</div>
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+</div>
+
+<div class="header">
+  <div class="headertitle"><div class="title">pathplanner::EventMarker Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpathplanner_1_1EventMarker.html">pathplanner::EventMarker</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1EventMarker.html#a12e800aa86657c34b19e61c4d828a46d">EventMarker</a>(double waypointRelativePos, frc2::CommandPtr &amp;&amp;command, units::meter_t minimumTriggerDistance=0.5_m)</td><td class="entry"><a class="el" href="classpathplanner_1_1EventMarker.html">pathplanner::EventMarker</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1EventMarker.html#acdc27eba3b17ab1402a6d31549f24a66">EventMarker</a>(double waypointRelativePos, std::shared_ptr&lt; frc2::Command &gt; command, units::meter_t minimumTriggerDistance=0.5_m)</td><td class="entry"><a class="el" href="classpathplanner_1_1EventMarker.html">pathplanner::EventMarker</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1EventMarker.html#a693c6484e415b5c3365c3adc88b99506">fromJson</a>(const wpi::json &amp;json)</td><td class="entry"><a class="el" href="classpathplanner_1_1EventMarker.html">pathplanner::EventMarker</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1EventMarker.html#a558e9cc79c680d08268b880ecb53087a">getCommand</a>() const</td><td class="entry"><a class="el" href="classpathplanner_1_1EventMarker.html">pathplanner::EventMarker</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1EventMarker.html#a6ec068726b35bc1ebd3770a83a59219d">getMinimumTriggerDistance</a>() const</td><td class="entry"><a class="el" href="classpathplanner_1_1EventMarker.html">pathplanner::EventMarker</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1EventMarker.html#a6cb6d47109992bd120f3ede6410960aa">getWaypointRelativePos</a>() const</td><td class="entry"><a class="el" href="classpathplanner_1_1EventMarker.html">pathplanner::EventMarker</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1EventMarker.html#ad27d886428a8e07857defae973f41acb">reset</a>(frc::Pose2d robotPose)</td><td class="entry"><a class="el" href="classpathplanner_1_1EventMarker.html">pathplanner::EventMarker</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1EventMarker.html#a328b5edeb7af5f88f7a54a945ba2f683">setMarkerPosition</a>(frc::Translation2d fieldPosition)</td><td class="entry"><a class="el" href="classpathplanner_1_1EventMarker.html">pathplanner::EventMarker</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1EventMarker.html#a0c027f6fdcf0f364a89565a1ccd35090">shouldTrigger</a>(frc::Pose2d robotPose)</td><td class="entry"><a class="el" href="classpathplanner_1_1EventMarker.html">pathplanner::EventMarker</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/docs/cpp/classpathplanner_1_1EventMarker.html b/docs/cpp/classpathplanner_1_1EventMarker.html
new file mode 100644
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+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
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+<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>PathPlannerLib: pathplanner::EventMarker Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+<script type="text/javascript" src="dynsections.js"></script>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+       class="ui-resizable-handle">
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+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+<!-- iframe showing the search results (closed by default) -->
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classpathplanner_1_1EventMarker-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">pathplanner::EventMarker Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a12e800aa86657c34b19e61c4d828a46d"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1EventMarker.html#a12e800aa86657c34b19e61c4d828a46d">EventMarker</a> (double waypointRelativePos, frc2::CommandPtr &amp;&amp;command, units::meter_t minimumTriggerDistance=0.5_m)</td></tr>
+<tr class="separator:a12e800aa86657c34b19e61c4d828a46d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acdc27eba3b17ab1402a6d31549f24a66"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1EventMarker.html#acdc27eba3b17ab1402a6d31549f24a66">EventMarker</a> (double waypointRelativePos, std::shared_ptr&lt; frc2::Command &gt; command, units::meter_t minimumTriggerDistance=0.5_m)</td></tr>
+<tr class="separator:acdc27eba3b17ab1402a6d31549f24a66"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad27d886428a8e07857defae973f41acb"><td class="memItemLeft" align="right" valign="top">constexpr void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1EventMarker.html#ad27d886428a8e07857defae973f41acb">reset</a> (frc::Pose2d robotPose)</td></tr>
+<tr class="separator:ad27d886428a8e07857defae973f41acb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0c027f6fdcf0f364a89565a1ccd35090"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1EventMarker.html#a0c027f6fdcf0f364a89565a1ccd35090">shouldTrigger</a> (frc::Pose2d robotPose)</td></tr>
+<tr class="separator:a0c027f6fdcf0f364a89565a1ccd35090"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a558e9cc79c680d08268b880ecb53087a"><td class="memItemLeft" align="right" valign="top">std::shared_ptr&lt; frc2::Command &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1EventMarker.html#a558e9cc79c680d08268b880ecb53087a">getCommand</a> () const</td></tr>
+<tr class="separator:a558e9cc79c680d08268b880ecb53087a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6cb6d47109992bd120f3ede6410960aa"><td class="memItemLeft" align="right" valign="top">constexpr double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1EventMarker.html#a6cb6d47109992bd120f3ede6410960aa">getWaypointRelativePos</a> () const</td></tr>
+<tr class="separator:a6cb6d47109992bd120f3ede6410960aa"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a328b5edeb7af5f88f7a54a945ba2f683"><td class="memItemLeft" align="right" valign="top">constexpr void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1EventMarker.html#a328b5edeb7af5f88f7a54a945ba2f683">setMarkerPosition</a> (frc::Translation2d fieldPosition)</td></tr>
+<tr class="separator:a328b5edeb7af5f88f7a54a945ba2f683"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6ec068726b35bc1ebd3770a83a59219d"><td class="memItemLeft" align="right" valign="top">constexpr units::meter_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1EventMarker.html#a6ec068726b35bc1ebd3770a83a59219d">getMinimumTriggerDistance</a> () const</td></tr>
+<tr class="separator:a6ec068726b35bc1ebd3770a83a59219d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a693c6484e415b5c3365c3adc88b99506"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classpathplanner_1_1EventMarker.html">EventMarker</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1EventMarker.html#a693c6484e415b5c3365c3adc88b99506">fromJson</a> (const wpi::json &amp;json)</td></tr>
+<tr class="separator:a693c6484e415b5c3365c3adc88b99506"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a12e800aa86657c34b19e61c4d828a46d" name="a12e800aa86657c34b19e61c4d828a46d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a12e800aa86657c34b19e61c4d828a46d">&#9670;&#160;</a></span>EventMarker() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">pathplanner::EventMarker::EventMarker </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>waypointRelativePos</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">frc2::CommandPtr &amp;&amp;&#160;</td>
+          <td class="paramname"><em>command</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::meter_t&#160;</td>
+          <td class="paramname"><em>minimumTriggerDistance</em> = <code>0.5_m</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Create a new event marker</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">waypointRelativePos</td><td>The waypoint relative position of the marker </td></tr>
+    <tr><td class="paramname">command</td><td>The command that should be triggered at this marker </td></tr>
+    <tr><td class="paramname">minimumTriggerDistance</td><td>The minimum distance the robot must be within for this marker to be triggered </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="acdc27eba3b17ab1402a6d31549f24a66" name="acdc27eba3b17ab1402a6d31549f24a66"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acdc27eba3b17ab1402a6d31549f24a66">&#9670;&#160;</a></span>EventMarker() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">pathplanner::EventMarker::EventMarker </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>waypointRelativePos</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::shared_ptr&lt; frc2::Command &gt;&#160;</td>
+          <td class="paramname"><em>command</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::meter_t&#160;</td>
+          <td class="paramname"><em>minimumTriggerDistance</em> = <code>0.5_m</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Create a new event marker</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">waypointRelativePos</td><td>The waypoint relative position of the marker </td></tr>
+    <tr><td class="paramname">command</td><td>The command that should be triggered at this marker </td></tr>
+    <tr><td class="paramname">minimumTriggerDistance</td><td>The minimum distance the robot must be within for this marker to be triggered </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a693c6484e415b5c3365c3adc88b99506" name="a693c6484e415b5c3365c3adc88b99506"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a693c6484e415b5c3365c3adc88b99506">&#9670;&#160;</a></span>fromJson()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classpathplanner_1_1EventMarker.html">EventMarker</a> EventMarker::fromJson </td>
+          <td>(</td>
+          <td class="paramtype">const wpi::json &amp;&#160;</td>
+          <td class="paramname"><em>json</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Create an event marker from json</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">json</td><td>json reference representing an event marker </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The event marker defined by the given json object </dd></dl>
+
+</div>
+</div>
+<a id="a558e9cc79c680d08268b880ecb53087a" name="a558e9cc79c680d08268b880ecb53087a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a558e9cc79c680d08268b880ecb53087a">&#9670;&#160;</a></span>getCommand()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::shared_ptr&lt; frc2::Command &gt; pathplanner::EventMarker::getCommand </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Get the command associated with this marker</p>
+<dl class="section return"><dt>Returns</dt><dd>Command for this marker </dd></dl>
+
+</div>
+</div>
+<a id="a6ec068726b35bc1ebd3770a83a59219d" name="a6ec068726b35bc1ebd3770a83a59219d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6ec068726b35bc1ebd3770a83a59219d">&#9670;&#160;</a></span>getMinimumTriggerDistance()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr units::meter_t pathplanner::EventMarker::getMinimumTriggerDistance </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Get the minimum trigger distance for this marker</p>
+<dl class="section return"><dt>Returns</dt><dd>The minimum trigger distance in meters </dd></dl>
+
+</div>
+</div>
+<a id="a6cb6d47109992bd120f3ede6410960aa" name="a6cb6d47109992bd120f3ede6410960aa"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6cb6d47109992bd120f3ede6410960aa">&#9670;&#160;</a></span>getWaypointRelativePos()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr double pathplanner::EventMarker::getWaypointRelativePos </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Get the waypoint relative position of this marker</p>
+<dl class="section return"><dt>Returns</dt><dd>Waypoint relative position of this marker </dd></dl>
+
+</div>
+</div>
+<a id="ad27d886428a8e07857defae973f41acb" name="ad27d886428a8e07857defae973f41acb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad27d886428a8e07857defae973f41acb">&#9670;&#160;</a></span>reset()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr void pathplanner::EventMarker::reset </td>
+          <td>(</td>
+          <td class="paramtype">frc::Pose2d&#160;</td>
+          <td class="paramname"><em>robotPose</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Reset the current robot position</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">robotPose</td><td>The current pose of the robot </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a328b5edeb7af5f88f7a54a945ba2f683" name="a328b5edeb7af5f88f7a54a945ba2f683"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a328b5edeb7af5f88f7a54a945ba2f683">&#9670;&#160;</a></span>setMarkerPosition()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr void pathplanner::EventMarker::setMarkerPosition </td>
+          <td>(</td>
+          <td class="paramtype">frc::Translation2d&#160;</td>
+          <td class="paramname"><em>fieldPosition</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Set the field position of this event marker. This is used internally during path creation and should likely not be used by an end user</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">fieldPosition</td><td>Position of the marker on the field </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a0c027f6fdcf0f364a89565a1ccd35090" name="a0c027f6fdcf0f364a89565a1ccd35090"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0c027f6fdcf0f364a89565a1ccd35090">&#9670;&#160;</a></span>shouldTrigger()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool EventMarker::shouldTrigger </td>
+          <td>(</td>
+          <td class="paramtype">frc::Pose2d&#160;</td>
+          <td class="paramname"><em>robotPose</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p >Get if this event marker should be triggered</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">robotPose</td><td>Current pose of the robot </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>True if this marker should be triggered </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>src/main/native/include/pathplanner/lib/path/<a class="el" href="EventMarker_8h_source.html">EventMarker.h</a></li>
+<li>src/main/native/cpp/pathplanner/lib/path/EventMarker.cpp</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><b>pathplanner</b></li><li class="navelem"><a class="el" href="classpathplanner_1_1EventMarker.html">EventMarker</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/docs/cpp/classpathplanner_1_1EventMarker.js b/docs/cpp/classpathplanner_1_1EventMarker.js
new file mode 100644
index 00000000..a0b8a7d0
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+++ b/docs/cpp/classpathplanner_1_1EventMarker.js
@@ -0,0 +1,11 @@
+var classpathplanner_1_1EventMarker =
+[
+    [ "EventMarker", "classpathplanner_1_1EventMarker.html#a12e800aa86657c34b19e61c4d828a46d", null ],
+    [ "EventMarker", "classpathplanner_1_1EventMarker.html#acdc27eba3b17ab1402a6d31549f24a66", null ],
+    [ "getCommand", "classpathplanner_1_1EventMarker.html#a558e9cc79c680d08268b880ecb53087a", null ],
+    [ "getMinimumTriggerDistance", "classpathplanner_1_1EventMarker.html#a6ec068726b35bc1ebd3770a83a59219d", null ],
+    [ "getWaypointRelativePos", "classpathplanner_1_1EventMarker.html#a6cb6d47109992bd120f3ede6410960aa", null ],
+    [ "reset", "classpathplanner_1_1EventMarker.html#ad27d886428a8e07857defae973f41acb", null ],
+    [ "setMarkerPosition", "classpathplanner_1_1EventMarker.html#a328b5edeb7af5f88f7a54a945ba2f683", null ],
+    [ "shouldTrigger", "classpathplanner_1_1EventMarker.html#a0c027f6fdcf0f364a89565a1ccd35090", null ]
+];
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diff --git a/docs/cpp/classpathplanner_1_1FollowPathCommand-members.html b/docs/cpp/classpathplanner_1_1FollowPathCommand-members.html
new file mode 100644
index 00000000..ecd2cf6f
--- /dev/null
+++ b/docs/cpp/classpathplanner_1_1FollowPathCommand-members.html
@@ -0,0 +1,113 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>PathPlannerLib: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<script type="text/javascript" src="navtreedata.js"></script>
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+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
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+  </div>
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+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('classpathplanner_1_1FollowPathCommand.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="header">
+  <div class="headertitle"><div class="title">pathplanner::FollowPathCommand Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>End</b>(bool interrupted) override (defined in <a class="el" href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>Execute</b>() override (defined in <a class="el" href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1FollowPathCommand.html#a6b078e9fe384cabed1c3ac7083d11a65">FollowPathCommand</a>(std::shared_ptr&lt; PathPlannerPath &gt; path, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, std::unique_ptr&lt; PathFollowingController &gt; controller, ReplanningConfig replanningConfig, frc2::Requirements requirements)</td><td class="entry"><a class="el" href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>Initialize</b>() override (defined in <a class="el" href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>IsFinished</b>() override (defined in <a class="el" href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/docs/cpp/classpathplanner_1_1FollowPathCommand.html b/docs/cpp/classpathplanner_1_1FollowPathCommand.html
new file mode 100644
index 00000000..f7fb7966
--- /dev/null
+++ b/docs/cpp/classpathplanner_1_1FollowPathCommand.html
@@ -0,0 +1,214 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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+<meta name="generator" content="Doxygen 1.9.5"/>
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+<title>PathPlannerLib: pathplanner::FollowPathCommand Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
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+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classpathplanner_1_1FollowPathCommand-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">pathplanner::FollowPathCommand Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for pathplanner::FollowPathCommand:</div>
+<div class="dyncontent">
+ <div class="center">
+  <img src="classpathplanner_1_1FollowPathCommand.png" usemap="#pathplanner::FollowPathCommand_map" alt=""/>
+  <map id="pathplanner::FollowPathCommand_map" name="pathplanner::FollowPathCommand_map">
+<area href="classpathplanner_1_1FollowPathHolonomic.html" alt="pathplanner::FollowPathHolonomic" shape="rect" coords="0,112,368,136"/>
+<area href="classpathplanner_1_1FollowPathLTV.html" alt="pathplanner::FollowPathLTV" shape="rect" coords="378,112,746,136"/>
+<area href="classpathplanner_1_1FollowPathRamsete.html" alt="pathplanner::FollowPathRamsete" shape="rect" coords="756,112,1124,136"/>
+  </map>
+</div></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a6b078e9fe384cabed1c3ac7083d11a65"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1FollowPathCommand.html#a6b078e9fe384cabed1c3ac7083d11a65">FollowPathCommand</a> (std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt; path, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, std::unique_ptr&lt; <a class="el" href="classpathplanner_1_1PathFollowingController.html">PathFollowingController</a> &gt; controller, <a class="el" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a> replanningConfig, frc2::Requirements requirements)</td></tr>
+<tr class="separator:a6b078e9fe384cabed1c3ac7083d11a65"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a662c4548dab6d609635e7047579119e6"><td class="memItemLeft" align="right" valign="top"><a id="a662c4548dab6d609635e7047579119e6" name="a662c4548dab6d609635e7047579119e6"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>Initialize</b> () override</td></tr>
+<tr class="separator:a662c4548dab6d609635e7047579119e6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2f27077ebdefc4cb08defe9663ed6371"><td class="memItemLeft" align="right" valign="top"><a id="a2f27077ebdefc4cb08defe9663ed6371" name="a2f27077ebdefc4cb08defe9663ed6371"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>Execute</b> () override</td></tr>
+<tr class="separator:a2f27077ebdefc4cb08defe9663ed6371"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae7e3624bba7625f157e2945decd733fb"><td class="memItemLeft" align="right" valign="top"><a id="ae7e3624bba7625f157e2945decd733fb" name="ae7e3624bba7625f157e2945decd733fb"></a>
+bool&#160;</td><td class="memItemRight" valign="bottom"><b>IsFinished</b> () override</td></tr>
+<tr class="separator:ae7e3624bba7625f157e2945decd733fb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac8ddcd92ebbdf2949c41e37a3f5b6aaa"><td class="memItemLeft" align="right" valign="top"><a id="ac8ddcd92ebbdf2949c41e37a3f5b6aaa" name="ac8ddcd92ebbdf2949c41e37a3f5b6aaa"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>End</b> (bool interrupted) override</td></tr>
+<tr class="separator:ac8ddcd92ebbdf2949c41e37a3f5b6aaa"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a6b078e9fe384cabed1c3ac7083d11a65" name="a6b078e9fe384cabed1c3ac7083d11a65"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6b078e9fe384cabed1c3ac7083d11a65">&#9670;&#160;</a></span>FollowPathCommand()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">FollowPathCommand::FollowPathCommand </td>
+          <td>(</td>
+          <td class="paramtype">std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt;&#160;</td>
+          <td class="paramname"><em>path</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::Pose2d()&gt;&#160;</td>
+          <td class="paramname"><em>poseSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::ChassisSpeeds()&gt;&#160;</td>
+          <td class="paramname"><em>speedsSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; void(frc::ChassisSpeeds)&gt;&#160;</td>
+          <td class="paramname"><em>output</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::unique_ptr&lt; <a class="el" href="classpathplanner_1_1PathFollowingController.html">PathFollowingController</a> &gt;&#160;</td>
+          <td class="paramname"><em>controller</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a>&#160;</td>
+          <td class="paramname"><em>replanningConfig</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">frc2::Requirements&#160;</td>
+          <td class="paramname"><em>requirements</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p >Construct a base path following command</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">path</td><td>The path to follow </td></tr>
+    <tr><td class="paramname">poseSupplier</td><td>Function that supplies the current field-relative pose of the robot </td></tr>
+    <tr><td class="paramname">speedsSupplier</td><td>Function that supplies the current robot-relative chassis speeds </td></tr>
+    <tr><td class="paramname">output</td><td>Function that will apply the robot-relative output speeds of this command </td></tr>
+    <tr><td class="paramname">controller</td><td>Path following controller that will be used to follow the path </td></tr>
+    <tr><td class="paramname">replanningConfig</td><td>Path replanning configuration </td></tr>
+    <tr><td class="paramname">requirements</td><td>Subsystems required by this command, usually just the drive subsystem </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>src/main/native/include/pathplanner/lib/commands/<a class="el" href="FollowPathCommand_8h_source.html">FollowPathCommand.h</a></li>
+<li>src/main/native/cpp/pathplanner/lib/commands/FollowPathCommand.cpp</li>
+</ul>
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+    <li class="navelem"><b>pathplanner</b></li><li class="navelem"><a class="el" href="classpathplanner_1_1FollowPathCommand.html">FollowPathCommand</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
+</div>
+</body>
+</html>
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+  <div class="headertitle"><div class="title">pathplanner::FollowPathHolonomic Member List</div></div>
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+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpathplanner_1_1FollowPathHolonomic.html">pathplanner::FollowPathHolonomic</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>End</b>(bool interrupted) override (defined in <a class="el" href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>Execute</b>() override (defined in <a class="el" href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1FollowPathCommand.html#a6b078e9fe384cabed1c3ac7083d11a65">FollowPathCommand</a>(std::shared_ptr&lt; PathPlannerPath &gt; path, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, std::unique_ptr&lt; PathFollowingController &gt; controller, ReplanningConfig replanningConfig, frc2::Requirements requirements)</td><td class="entry"><a class="el" href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1FollowPathHolonomic.html#a5ed966701059b6f740f0f351fb106f24">FollowPathHolonomic</a>(std::shared_ptr&lt; PathPlannerPath &gt; path, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, PIDConstants translationConstants, PIDConstants rotationConstants, units::meters_per_second_t maxModuleSpeed, units::meter_t driveBaseRadius, ReplanningConfig replanningConfig, frc2::Requirements requirements, units::second_t period=0.02_s)</td><td class="entry"><a class="el" href="classpathplanner_1_1FollowPathHolonomic.html">pathplanner::FollowPathHolonomic</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1FollowPathHolonomic.html#a0105d698a3b57612b241cde73beaf9f8">FollowPathHolonomic</a>(std::shared_ptr&lt; PathPlannerPath &gt; path, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, HolonomicPathFollowerConfig config, frc2::Requirements requirements)</td><td class="entry"><a class="el" href="classpathplanner_1_1FollowPathHolonomic.html">pathplanner::FollowPathHolonomic</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>Initialize</b>() override (defined in <a class="el" href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>IsFinished</b>() override (defined in <a class="el" href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
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diff --git a/docs/cpp/classpathplanner_1_1FollowPathHolonomic.html b/docs/cpp/classpathplanner_1_1FollowPathHolonomic.html
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+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classpathplanner_1_1FollowPathHolonomic-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">pathplanner::FollowPathHolonomic Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for pathplanner::FollowPathHolonomic:</div>
+<div class="dyncontent">
+ <div class="center">
+  <img src="classpathplanner_1_1FollowPathHolonomic.png" usemap="#pathplanner::FollowPathHolonomic_map" alt=""/>
+  <map id="pathplanner::FollowPathHolonomic_map" name="pathplanner::FollowPathHolonomic_map">
+<area href="classpathplanner_1_1FollowPathCommand.html" alt="pathplanner::FollowPathCommand" shape="rect" coords="0,56,368,80"/>
+  </map>
+</div></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a5ed966701059b6f740f0f351fb106f24"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1FollowPathHolonomic.html#a5ed966701059b6f740f0f351fb106f24">FollowPathHolonomic</a> (std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt; path, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, <a class="el" href="classpathplanner_1_1PIDConstants.html">PIDConstants</a> translationConstants, <a class="el" href="classpathplanner_1_1PIDConstants.html">PIDConstants</a> rotationConstants, units::meters_per_second_t maxModuleSpeed, units::meter_t driveBaseRadius, <a class="el" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a> replanningConfig, frc2::Requirements requirements, units::second_t period=0.02_s)</td></tr>
+<tr class="separator:a5ed966701059b6f740f0f351fb106f24"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0105d698a3b57612b241cde73beaf9f8"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1FollowPathHolonomic.html#a0105d698a3b57612b241cde73beaf9f8">FollowPathHolonomic</a> (std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt; path, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, <a class="el" href="classpathplanner_1_1HolonomicPathFollowerConfig.html">HolonomicPathFollowerConfig</a> config, frc2::Requirements requirements)</td></tr>
+<tr class="separator:a0105d698a3b57612b241cde73beaf9f8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classpathplanner_1_1FollowPathCommand"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpathplanner_1_1FollowPathCommand')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a></td></tr>
+<tr class="memitem:a6b078e9fe384cabed1c3ac7083d11a65 inherit pub_methods_classpathplanner_1_1FollowPathCommand"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1FollowPathCommand.html#a6b078e9fe384cabed1c3ac7083d11a65">FollowPathCommand</a> (std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt; path, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, std::unique_ptr&lt; <a class="el" href="classpathplanner_1_1PathFollowingController.html">PathFollowingController</a> &gt; controller, <a class="el" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a> replanningConfig, frc2::Requirements requirements)</td></tr>
+<tr class="separator:a6b078e9fe384cabed1c3ac7083d11a65 inherit pub_methods_classpathplanner_1_1FollowPathCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a662c4548dab6d609635e7047579119e6 inherit pub_methods_classpathplanner_1_1FollowPathCommand"><td class="memItemLeft" align="right" valign="top"><a id="a662c4548dab6d609635e7047579119e6" name="a662c4548dab6d609635e7047579119e6"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>Initialize</b> () override</td></tr>
+<tr class="separator:a662c4548dab6d609635e7047579119e6 inherit pub_methods_classpathplanner_1_1FollowPathCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2f27077ebdefc4cb08defe9663ed6371 inherit pub_methods_classpathplanner_1_1FollowPathCommand"><td class="memItemLeft" align="right" valign="top"><a id="a2f27077ebdefc4cb08defe9663ed6371" name="a2f27077ebdefc4cb08defe9663ed6371"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>Execute</b> () override</td></tr>
+<tr class="separator:a2f27077ebdefc4cb08defe9663ed6371 inherit pub_methods_classpathplanner_1_1FollowPathCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae7e3624bba7625f157e2945decd733fb inherit pub_methods_classpathplanner_1_1FollowPathCommand"><td class="memItemLeft" align="right" valign="top"><a id="ae7e3624bba7625f157e2945decd733fb" name="ae7e3624bba7625f157e2945decd733fb"></a>
+bool&#160;</td><td class="memItemRight" valign="bottom"><b>IsFinished</b> () override</td></tr>
+<tr class="separator:ae7e3624bba7625f157e2945decd733fb inherit pub_methods_classpathplanner_1_1FollowPathCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac8ddcd92ebbdf2949c41e37a3f5b6aaa inherit pub_methods_classpathplanner_1_1FollowPathCommand"><td class="memItemLeft" align="right" valign="top"><a id="ac8ddcd92ebbdf2949c41e37a3f5b6aaa" name="ac8ddcd92ebbdf2949c41e37a3f5b6aaa"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>End</b> (bool interrupted) override</td></tr>
+<tr class="separator:ac8ddcd92ebbdf2949c41e37a3f5b6aaa inherit pub_methods_classpathplanner_1_1FollowPathCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a5ed966701059b6f740f0f351fb106f24" name="a5ed966701059b6f740f0f351fb106f24"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5ed966701059b6f740f0f351fb106f24">&#9670;&#160;</a></span>FollowPathHolonomic() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">pathplanner::FollowPathHolonomic::FollowPathHolonomic </td>
+          <td>(</td>
+          <td class="paramtype">std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt;&#160;</td>
+          <td class="paramname"><em>path</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::Pose2d()&gt;&#160;</td>
+          <td class="paramname"><em>poseSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::ChassisSpeeds()&gt;&#160;</td>
+          <td class="paramname"><em>speedsSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; void(frc::ChassisSpeeds)&gt;&#160;</td>
+          <td class="paramname"><em>output</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1PIDConstants.html">PIDConstants</a>&#160;</td>
+          <td class="paramname"><em>translationConstants</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1PIDConstants.html">PIDConstants</a>&#160;</td>
+          <td class="paramname"><em>rotationConstants</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::meters_per_second_t&#160;</td>
+          <td class="paramname"><em>maxModuleSpeed</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::meter_t&#160;</td>
+          <td class="paramname"><em>driveBaseRadius</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a>&#160;</td>
+          <td class="paramname"><em>replanningConfig</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">frc2::Requirements&#160;</td>
+          <td class="paramname"><em>requirements</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::second_t&#160;</td>
+          <td class="paramname"><em>period</em> = <code>0.02_s</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Construct a path following command that will use a holonomic drive controller for holonomic drive trains</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">path</td><td>The path to follow </td></tr>
+    <tr><td class="paramname">poseSupplier</td><td>Function that supplies the current field-relative pose of the robot </td></tr>
+    <tr><td class="paramname">speedsSupplier</td><td>Function that supplies the current robot-relative chassis speeds </td></tr>
+    <tr><td class="paramname">output</td><td>Function that will apply the robot-relative output speeds of this command </td></tr>
+    <tr><td class="paramname">translationConstants</td><td>PID constants for the translation PID controllers </td></tr>
+    <tr><td class="paramname">rotationConstants</td><td>PID constants for the rotation controller </td></tr>
+    <tr><td class="paramname">maxModuleSpeed</td><td>The max speed of a drive module in meters/sec </td></tr>
+    <tr><td class="paramname">driveBaseRadius</td><td>The radius of the drive base in meters. For swerve drive, this is the distance from the center of the robot to the furthest module. For mecanum, this is the drive base width / 2 </td></tr>
+    <tr><td class="paramname">replanningConfig</td><td>Path replanning configuration </td></tr>
+    <tr><td class="paramname">requirements</td><td>Subsystems required by this command, usually just the drive subsystem </td></tr>
+    <tr><td class="paramname">period</td><td>Period of the control loop in seconds, default is 0.02s </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a0105d698a3b57612b241cde73beaf9f8" name="a0105d698a3b57612b241cde73beaf9f8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0105d698a3b57612b241cde73beaf9f8">&#9670;&#160;</a></span>FollowPathHolonomic() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">pathplanner::FollowPathHolonomic::FollowPathHolonomic </td>
+          <td>(</td>
+          <td class="paramtype">std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt;&#160;</td>
+          <td class="paramname"><em>path</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::Pose2d()&gt;&#160;</td>
+          <td class="paramname"><em>poseSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::ChassisSpeeds()&gt;&#160;</td>
+          <td class="paramname"><em>speedsSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; void(frc::ChassisSpeeds)&gt;&#160;</td>
+          <td class="paramname"><em>output</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1HolonomicPathFollowerConfig.html">HolonomicPathFollowerConfig</a>&#160;</td>
+          <td class="paramname"><em>config</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">frc2::Requirements&#160;</td>
+          <td class="paramname"><em>requirements</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Construct a path following command that will use a holonomic drive controller for holonomic drive trains</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">path</td><td>The path to follow </td></tr>
+    <tr><td class="paramname">poseSupplier</td><td>Function that supplies the current field-relative pose of the robot </td></tr>
+    <tr><td class="paramname">speedsSupplier</td><td>Function that supplies the current robot-relative chassis speeds </td></tr>
+    <tr><td class="paramname">output</td><td>Function that will apply the robot-relative output speeds of this command </td></tr>
+    <tr><td class="paramname">config</td><td>Holonomic path follower configuration </td></tr>
+    <tr><td class="paramname">requirements</td><td>Subsystems required by this command, usually just the drive subsystem </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>src/main/native/include/pathplanner/lib/commands/<a class="el" href="FollowPathHolonomic_8h_source.html">FollowPathHolonomic.h</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><b>pathplanner</b></li><li class="navelem"><a class="el" href="classpathplanner_1_1FollowPathHolonomic.html">FollowPathHolonomic</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
+</div>
+</body>
+</html>
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+var classpathplanner_1_1FollowPathHolonomic =
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+];
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+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>PathPlannerLib: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="header">
+  <div class="headertitle"><div class="title">pathplanner::FollowPathLTV Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpathplanner_1_1FollowPathLTV.html">pathplanner::FollowPathLTV</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>End</b>(bool interrupted) override (defined in <a class="el" href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>Execute</b>() override (defined in <a class="el" href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1FollowPathCommand.html#a6b078e9fe384cabed1c3ac7083d11a65">FollowPathCommand</a>(std::shared_ptr&lt; PathPlannerPath &gt; path, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, std::unique_ptr&lt; PathFollowingController &gt; controller, ReplanningConfig replanningConfig, frc2::Requirements requirements)</td><td class="entry"><a class="el" href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1FollowPathLTV.html#a2fae1ff62b4fab22042c328dcd69af07">FollowPathLTV</a>(std::shared_ptr&lt; PathPlannerPath &gt; path, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, const wpi::array&lt; double, 3 &gt; &amp;Qelms, const wpi::array&lt; double, 2 &gt; &amp;Relms, units::second_t dt, ReplanningConfig replanningConfig, frc2::Requirements requirements)</td><td class="entry"><a class="el" href="classpathplanner_1_1FollowPathLTV.html">pathplanner::FollowPathLTV</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1FollowPathLTV.html#ac6333230362e621c1cd8afbc0c2f8b7a">FollowPathLTV</a>(std::shared_ptr&lt; PathPlannerPath &gt; path, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, units::second_t dt, ReplanningConfig replanningConfig, frc2::Requirements requirements)</td><td class="entry"><a class="el" href="classpathplanner_1_1FollowPathLTV.html">pathplanner::FollowPathLTV</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>Initialize</b>() override (defined in <a class="el" href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>IsFinished</b>() override (defined in <a class="el" href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
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+</html>
diff --git a/docs/cpp/classpathplanner_1_1FollowPathLTV.html b/docs/cpp/classpathplanner_1_1FollowPathLTV.html
new file mode 100644
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+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>PathPlannerLib: pathplanner::FollowPathLTV Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
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+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
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+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
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+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
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+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('classpathplanner_1_1FollowPathLTV.html',''); initResizable(); });
+/* @license-end */
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+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
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+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classpathplanner_1_1FollowPathLTV-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">pathplanner::FollowPathLTV Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for pathplanner::FollowPathLTV:</div>
+<div class="dyncontent">
+ <div class="center">
+  <img src="classpathplanner_1_1FollowPathLTV.png" usemap="#pathplanner::FollowPathLTV_map" alt=""/>
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+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
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+<tr class="memitem:a2fae1ff62b4fab22042c328dcd69af07"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1FollowPathLTV.html#a2fae1ff62b4fab22042c328dcd69af07">FollowPathLTV</a> (std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt; path, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, const wpi::array&lt; double, 3 &gt; &amp;Qelms, const wpi::array&lt; double, 2 &gt; &amp;Relms, units::second_t dt, <a class="el" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a> replanningConfig, frc2::Requirements requirements)</td></tr>
+<tr class="separator:a2fae1ff62b4fab22042c328dcd69af07"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac6333230362e621c1cd8afbc0c2f8b7a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1FollowPathLTV.html#ac6333230362e621c1cd8afbc0c2f8b7a">FollowPathLTV</a> (std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt; path, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, units::second_t dt, <a class="el" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a> replanningConfig, frc2::Requirements requirements)</td></tr>
+<tr class="separator:ac6333230362e621c1cd8afbc0c2f8b7a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classpathplanner_1_1FollowPathCommand"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpathplanner_1_1FollowPathCommand')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a></td></tr>
+<tr class="memitem:a6b078e9fe384cabed1c3ac7083d11a65 inherit pub_methods_classpathplanner_1_1FollowPathCommand"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1FollowPathCommand.html#a6b078e9fe384cabed1c3ac7083d11a65">FollowPathCommand</a> (std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt; path, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, std::unique_ptr&lt; <a class="el" href="classpathplanner_1_1PathFollowingController.html">PathFollowingController</a> &gt; controller, <a class="el" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a> replanningConfig, frc2::Requirements requirements)</td></tr>
+<tr class="separator:a6b078e9fe384cabed1c3ac7083d11a65 inherit pub_methods_classpathplanner_1_1FollowPathCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a662c4548dab6d609635e7047579119e6 inherit pub_methods_classpathplanner_1_1FollowPathCommand"><td class="memItemLeft" align="right" valign="top"><a id="a662c4548dab6d609635e7047579119e6" name="a662c4548dab6d609635e7047579119e6"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>Initialize</b> () override</td></tr>
+<tr class="separator:a662c4548dab6d609635e7047579119e6 inherit pub_methods_classpathplanner_1_1FollowPathCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2f27077ebdefc4cb08defe9663ed6371 inherit pub_methods_classpathplanner_1_1FollowPathCommand"><td class="memItemLeft" align="right" valign="top"><a id="a2f27077ebdefc4cb08defe9663ed6371" name="a2f27077ebdefc4cb08defe9663ed6371"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>Execute</b> () override</td></tr>
+<tr class="separator:a2f27077ebdefc4cb08defe9663ed6371 inherit pub_methods_classpathplanner_1_1FollowPathCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae7e3624bba7625f157e2945decd733fb inherit pub_methods_classpathplanner_1_1FollowPathCommand"><td class="memItemLeft" align="right" valign="top"><a id="ae7e3624bba7625f157e2945decd733fb" name="ae7e3624bba7625f157e2945decd733fb"></a>
+bool&#160;</td><td class="memItemRight" valign="bottom"><b>IsFinished</b> () override</td></tr>
+<tr class="separator:ae7e3624bba7625f157e2945decd733fb inherit pub_methods_classpathplanner_1_1FollowPathCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac8ddcd92ebbdf2949c41e37a3f5b6aaa inherit pub_methods_classpathplanner_1_1FollowPathCommand"><td class="memItemLeft" align="right" valign="top"><a id="ac8ddcd92ebbdf2949c41e37a3f5b6aaa" name="ac8ddcd92ebbdf2949c41e37a3f5b6aaa"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>End</b> (bool interrupted) override</td></tr>
+<tr class="separator:ac8ddcd92ebbdf2949c41e37a3f5b6aaa inherit pub_methods_classpathplanner_1_1FollowPathCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a2fae1ff62b4fab22042c328dcd69af07" name="a2fae1ff62b4fab22042c328dcd69af07"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2fae1ff62b4fab22042c328dcd69af07">&#9670;&#160;</a></span>FollowPathLTV() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">pathplanner::FollowPathLTV::FollowPathLTV </td>
+          <td>(</td>
+          <td class="paramtype">std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt;&#160;</td>
+          <td class="paramname"><em>path</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::Pose2d()&gt;&#160;</td>
+          <td class="paramname"><em>poseSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::ChassisSpeeds()&gt;&#160;</td>
+          <td class="paramname"><em>speedsSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; void(frc::ChassisSpeeds)&gt;&#160;</td>
+          <td class="paramname"><em>output</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const wpi::array&lt; double, 3 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>Qelms</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const wpi::array&lt; double, 2 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>Relms</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::second_t&#160;</td>
+          <td class="paramname"><em>dt</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a>&#160;</td>
+          <td class="paramname"><em>replanningConfig</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">frc2::Requirements&#160;</td>
+          <td class="paramname"><em>requirements</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Create a path following command that will use an LTV unicycle controller for differential drive trains</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">path</td><td>The path to follow </td></tr>
+    <tr><td class="paramname">poseSupplier</td><td>Function that supplies the current field-relative pose of the robot </td></tr>
+    <tr><td class="paramname">speedsSupplier</td><td>Function that supplies the current robot-relative chassis speeds </td></tr>
+    <tr><td class="paramname">output</td><td>Function that will apply the robot-relative output speeds of this command </td></tr>
+    <tr><td class="paramname">Qelems</td><td>The maximum desired error tolerance for each state. </td></tr>
+    <tr><td class="paramname">Relems</td><td>The maximum desired control effort for each input. </td></tr>
+    <tr><td class="paramname">dt</td><td>The amount of time between each robot control loop, default is 0.02s </td></tr>
+    <tr><td class="paramname">replanningConfig</td><td>Path replanning configuration </td></tr>
+    <tr><td class="paramname">requirements</td><td>Subsystems required by this command, usually just the drive subsystem </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ac6333230362e621c1cd8afbc0c2f8b7a" name="ac6333230362e621c1cd8afbc0c2f8b7a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac6333230362e621c1cd8afbc0c2f8b7a">&#9670;&#160;</a></span>FollowPathLTV() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">pathplanner::FollowPathLTV::FollowPathLTV </td>
+          <td>(</td>
+          <td class="paramtype">std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt;&#160;</td>
+          <td class="paramname"><em>path</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::Pose2d()&gt;&#160;</td>
+          <td class="paramname"><em>poseSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::ChassisSpeeds()&gt;&#160;</td>
+          <td class="paramname"><em>speedsSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; void(frc::ChassisSpeeds)&gt;&#160;</td>
+          <td class="paramname"><em>output</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::second_t&#160;</td>
+          <td class="paramname"><em>dt</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a>&#160;</td>
+          <td class="paramname"><em>replanningConfig</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">frc2::Requirements&#160;</td>
+          <td class="paramname"><em>requirements</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Create a path following command that will use an LTV unicycle controller for differential drive trains</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">path</td><td>The path to follow </td></tr>
+    <tr><td class="paramname">poseSupplier</td><td>Function that supplies the current field-relative pose of the robot </td></tr>
+    <tr><td class="paramname">speedsSupplier</td><td>Function that supplies the current robot-relative chassis speeds </td></tr>
+    <tr><td class="paramname">output</td><td>Function that will apply the robot-relative output speeds of this command </td></tr>
+    <tr><td class="paramname">dt</td><td>The amount of time between each robot control loop, default is 0.02s </td></tr>
+    <tr><td class="paramname">replanningConfig</td><td>Path replanning configuration </td></tr>
+    <tr><td class="paramname">requirements</td><td>Subsystems required by this command, usually just the drive subsystem </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>src/main/native/include/pathplanner/lib/commands/<a class="el" href="FollowPathLTV_8h_source.html">FollowPathLTV.h</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
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+  <ul>
+    <li class="navelem"><b>pathplanner</b></li><li class="navelem"><a class="el" href="classpathplanner_1_1FollowPathLTV.html">FollowPathLTV</a></li>
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+  </ul>
+</div>
+</body>
+</html>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>PathPlannerLib: Member List</title>
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
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+<div class="header">
+  <div class="headertitle"><div class="title">pathplanner::FollowPathRamsete Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpathplanner_1_1FollowPathRamsete.html">pathplanner::FollowPathRamsete</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>End</b>(bool interrupted) override (defined in <a class="el" href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>Execute</b>() override (defined in <a class="el" href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1FollowPathCommand.html#a6b078e9fe384cabed1c3ac7083d11a65">FollowPathCommand</a>(std::shared_ptr&lt; PathPlannerPath &gt; path, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, std::unique_ptr&lt; PathFollowingController &gt; controller, ReplanningConfig replanningConfig, frc2::Requirements requirements)</td><td class="entry"><a class="el" href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1FollowPathRamsete.html#a71fb0c88a78904e3b0b81c7dec82a225">FollowPathRamsete</a>(std::shared_ptr&lt; PathPlannerPath &gt; path, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, units::unit_t&lt; frc::RamseteController::b_unit &gt; b, units::unit_t&lt; frc::RamseteController::zeta_unit &gt; zeta, ReplanningConfig replanningConfig, frc2::Requirements requirements)</td><td class="entry"><a class="el" href="classpathplanner_1_1FollowPathRamsete.html">pathplanner::FollowPathRamsete</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1FollowPathRamsete.html#a30639dcdb783b7b37697a211cb20c4b9">FollowPathRamsete</a>(std::shared_ptr&lt; PathPlannerPath &gt; path, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, ReplanningConfig replanningConfig, frc2::Requirements requirements)</td><td class="entry"><a class="el" href="classpathplanner_1_1FollowPathRamsete.html">pathplanner::FollowPathRamsete</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>Initialize</b>() override (defined in <a class="el" href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>IsFinished</b>() override (defined in <a class="el" href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
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+</html>
diff --git a/docs/cpp/classpathplanner_1_1FollowPathRamsete.html b/docs/cpp/classpathplanner_1_1FollowPathRamsete.html
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+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classpathplanner_1_1FollowPathRamsete-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">pathplanner::FollowPathRamsete Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for pathplanner::FollowPathRamsete:</div>
+<div class="dyncontent">
+ <div class="center">
+  <img src="classpathplanner_1_1FollowPathRamsete.png" usemap="#pathplanner::FollowPathRamsete_map" alt=""/>
+  <map id="pathplanner::FollowPathRamsete_map" name="pathplanner::FollowPathRamsete_map">
+<area href="classpathplanner_1_1FollowPathCommand.html" alt="pathplanner::FollowPathCommand" shape="rect" coords="0,56,368,80"/>
+  </map>
+</div></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a71fb0c88a78904e3b0b81c7dec82a225"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1FollowPathRamsete.html#a71fb0c88a78904e3b0b81c7dec82a225">FollowPathRamsete</a> (std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt; path, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, units::unit_t&lt; frc::RamseteController::b_unit &gt; b, units::unit_t&lt; frc::RamseteController::zeta_unit &gt; zeta, <a class="el" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a> replanningConfig, frc2::Requirements requirements)</td></tr>
+<tr class="separator:a71fb0c88a78904e3b0b81c7dec82a225"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a30639dcdb783b7b37697a211cb20c4b9"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1FollowPathRamsete.html#a30639dcdb783b7b37697a211cb20c4b9">FollowPathRamsete</a> (std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt; path, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, <a class="el" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a> replanningConfig, frc2::Requirements requirements)</td></tr>
+<tr class="separator:a30639dcdb783b7b37697a211cb20c4b9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classpathplanner_1_1FollowPathCommand"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpathplanner_1_1FollowPathCommand')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpathplanner_1_1FollowPathCommand.html">pathplanner::FollowPathCommand</a></td></tr>
+<tr class="memitem:a6b078e9fe384cabed1c3ac7083d11a65 inherit pub_methods_classpathplanner_1_1FollowPathCommand"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1FollowPathCommand.html#a6b078e9fe384cabed1c3ac7083d11a65">FollowPathCommand</a> (std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt; path, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, std::unique_ptr&lt; <a class="el" href="classpathplanner_1_1PathFollowingController.html">PathFollowingController</a> &gt; controller, <a class="el" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a> replanningConfig, frc2::Requirements requirements)</td></tr>
+<tr class="separator:a6b078e9fe384cabed1c3ac7083d11a65 inherit pub_methods_classpathplanner_1_1FollowPathCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a662c4548dab6d609635e7047579119e6 inherit pub_methods_classpathplanner_1_1FollowPathCommand"><td class="memItemLeft" align="right" valign="top"><a id="a662c4548dab6d609635e7047579119e6" name="a662c4548dab6d609635e7047579119e6"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>Initialize</b> () override</td></tr>
+<tr class="separator:a662c4548dab6d609635e7047579119e6 inherit pub_methods_classpathplanner_1_1FollowPathCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2f27077ebdefc4cb08defe9663ed6371 inherit pub_methods_classpathplanner_1_1FollowPathCommand"><td class="memItemLeft" align="right" valign="top"><a id="a2f27077ebdefc4cb08defe9663ed6371" name="a2f27077ebdefc4cb08defe9663ed6371"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>Execute</b> () override</td></tr>
+<tr class="separator:a2f27077ebdefc4cb08defe9663ed6371 inherit pub_methods_classpathplanner_1_1FollowPathCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae7e3624bba7625f157e2945decd733fb inherit pub_methods_classpathplanner_1_1FollowPathCommand"><td class="memItemLeft" align="right" valign="top"><a id="ae7e3624bba7625f157e2945decd733fb" name="ae7e3624bba7625f157e2945decd733fb"></a>
+bool&#160;</td><td class="memItemRight" valign="bottom"><b>IsFinished</b> () override</td></tr>
+<tr class="separator:ae7e3624bba7625f157e2945decd733fb inherit pub_methods_classpathplanner_1_1FollowPathCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac8ddcd92ebbdf2949c41e37a3f5b6aaa inherit pub_methods_classpathplanner_1_1FollowPathCommand"><td class="memItemLeft" align="right" valign="top"><a id="ac8ddcd92ebbdf2949c41e37a3f5b6aaa" name="ac8ddcd92ebbdf2949c41e37a3f5b6aaa"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>End</b> (bool interrupted) override</td></tr>
+<tr class="separator:ac8ddcd92ebbdf2949c41e37a3f5b6aaa inherit pub_methods_classpathplanner_1_1FollowPathCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a71fb0c88a78904e3b0b81c7dec82a225" name="a71fb0c88a78904e3b0b81c7dec82a225"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a71fb0c88a78904e3b0b81c7dec82a225">&#9670;&#160;</a></span>FollowPathRamsete() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">pathplanner::FollowPathRamsete::FollowPathRamsete </td>
+          <td>(</td>
+          <td class="paramtype">std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt;&#160;</td>
+          <td class="paramname"><em>path</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::Pose2d()&gt;&#160;</td>
+          <td class="paramname"><em>poseSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::ChassisSpeeds()&gt;&#160;</td>
+          <td class="paramname"><em>speedsSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; void(frc::ChassisSpeeds)&gt;&#160;</td>
+          <td class="paramname"><em>output</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::unit_t&lt; frc::RamseteController::b_unit &gt;&#160;</td>
+          <td class="paramname"><em>b</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::unit_t&lt; frc::RamseteController::zeta_unit &gt;&#160;</td>
+          <td class="paramname"><em>zeta</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a>&#160;</td>
+          <td class="paramname"><em>replanningConfig</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">frc2::Requirements&#160;</td>
+          <td class="paramname"><em>requirements</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Construct a path following command that will use a Ramsete path following controller for differential drive trains</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">path</td><td>The path to follow </td></tr>
+    <tr><td class="paramname">poseSupplier</td><td>Function that supplies the current field-relative pose of the robot </td></tr>
+    <tr><td class="paramname">speedsSupplier</td><td>Function that supplies the current robot-relative chassis speeds </td></tr>
+    <tr><td class="paramname">output</td><td>Function that will apply the robot-relative output speeds of this command </td></tr>
+    <tr><td class="paramname">b</td><td>Tuning parameter (b &gt; 0 rad^2/m^2) for which larger values make convergence more aggressive like a proportional term. </td></tr>
+    <tr><td class="paramname">zeta</td><td>Tuning parameter (0 rad^-1 &lt; zeta &lt; 1 rad^-1) for which larger values provide more damping in response. </td></tr>
+    <tr><td class="paramname">replanningConfig</td><td>Path replanning configuration </td></tr>
+    <tr><td class="paramname">requirements</td><td>Subsystems required by this command, usually just the drive subsystem </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a30639dcdb783b7b37697a211cb20c4b9" name="a30639dcdb783b7b37697a211cb20c4b9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a30639dcdb783b7b37697a211cb20c4b9">&#9670;&#160;</a></span>FollowPathRamsete() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">pathplanner::FollowPathRamsete::FollowPathRamsete </td>
+          <td>(</td>
+          <td class="paramtype">std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt;&#160;</td>
+          <td class="paramname"><em>path</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::Pose2d()&gt;&#160;</td>
+          <td class="paramname"><em>poseSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::ChassisSpeeds()&gt;&#160;</td>
+          <td class="paramname"><em>speedsSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; void(frc::ChassisSpeeds)&gt;&#160;</td>
+          <td class="paramname"><em>output</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a>&#160;</td>
+          <td class="paramname"><em>replanningConfig</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">frc2::Requirements&#160;</td>
+          <td class="paramname"><em>requirements</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Construct a path following command that will use a Ramsete path following controller for differential drive trains</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">path</td><td>The path to follow </td></tr>
+    <tr><td class="paramname">poseSupplier</td><td>Function that supplies the current field-relative pose of the robot </td></tr>
+    <tr><td class="paramname">speedsSupplier</td><td>Function that supplies the current robot-relative chassis speeds </td></tr>
+    <tr><td class="paramname">output</td><td>Function that will apply the robot-relative output speeds of this command </td></tr>
+    <tr><td class="paramname">replanningConfig</td><td>Path replanning configuration </td></tr>
+    <tr><td class="paramname">requirements</td><td>Subsystems required by this command, usually just the drive subsystem </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>src/main/native/include/pathplanner/lib/commands/<a class="el" href="FollowPathRamsete_8h_source.html">FollowPathRamsete.h</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><b>pathplanner</b></li><li class="navelem"><a class="el" href="classpathplanner_1_1FollowPathRamsete.html">FollowPathRamsete</a></li>
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>PathPlannerLib: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
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+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('classpathplanner_1_1FollowPathWithEvents.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
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+
+<div class="header">
+  <div class="headertitle"><div class="title">pathplanner::FollowPathWithEvents Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpathplanner_1_1FollowPathWithEvents.html">pathplanner::FollowPathWithEvents</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>End</b>(bool interrupted) override (defined in <a class="el" href="classpathplanner_1_1FollowPathWithEvents.html">pathplanner::FollowPathWithEvents</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1FollowPathWithEvents.html">pathplanner::FollowPathWithEvents</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>Execute</b>() override (defined in <a class="el" href="classpathplanner_1_1FollowPathWithEvents.html">pathplanner::FollowPathWithEvents</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1FollowPathWithEvents.html">pathplanner::FollowPathWithEvents</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1FollowPathWithEvents.html#a050013584a669405f6913426a9e1d05a">FollowPathWithEvents</a>(std::unique_ptr&lt; frc2::Command &gt; &amp;&amp;pathFollowingCommand, std::shared_ptr&lt; PathPlannerPath &gt; path, std::function&lt; frc::Pose2d()&gt; poseSupplier)</td><td class="entry"><a class="el" href="classpathplanner_1_1FollowPathWithEvents.html">pathplanner::FollowPathWithEvents</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>Initialize</b>() override (defined in <a class="el" href="classpathplanner_1_1FollowPathWithEvents.html">pathplanner::FollowPathWithEvents</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1FollowPathWithEvents.html">pathplanner::FollowPathWithEvents</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>IsFinished</b>() override (defined in <a class="el" href="classpathplanner_1_1FollowPathWithEvents.html">pathplanner::FollowPathWithEvents</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1FollowPathWithEvents.html">pathplanner::FollowPathWithEvents</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
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diff --git a/docs/cpp/classpathplanner_1_1FollowPathWithEvents.html b/docs/cpp/classpathplanner_1_1FollowPathWithEvents.html
new file mode 100644
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+<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>PathPlannerLib: pathplanner::FollowPathWithEvents Class Reference</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+/* @license-end */
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+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
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+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
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+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('classpathplanner_1_1FollowPathWithEvents.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
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+</div>
+</div>
+</div>
+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classpathplanner_1_1FollowPathWithEvents-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">pathplanner::FollowPathWithEvents Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for pathplanner::FollowPathWithEvents:</div>
+<div class="dyncontent">
+ <div class="center">
+  <img src="classpathplanner_1_1FollowPathWithEvents.png" alt=""/>
+ </div></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a050013584a669405f6913426a9e1d05a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1FollowPathWithEvents.html#a050013584a669405f6913426a9e1d05a">FollowPathWithEvents</a> (std::unique_ptr&lt; frc2::Command &gt; &amp;&amp;pathFollowingCommand, std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt; path, std::function&lt; frc::Pose2d()&gt; poseSupplier)</td></tr>
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+void&#160;</td><td class="memItemRight" valign="bottom"><b>Initialize</b> () override</td></tr>
+<tr class="separator:a83e0498594ab6a8948baca9f9e280e20"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa409a66b323d54d5b0d50253841d563e"><td class="memItemLeft" align="right" valign="top"><a id="aa409a66b323d54d5b0d50253841d563e" name="aa409a66b323d54d5b0d50253841d563e"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>Execute</b> () override</td></tr>
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+<tr class="memitem:a00c9b29a22c4d6e190cf0e7b4d0989a4"><td class="memItemLeft" align="right" valign="top"><a id="a00c9b29a22c4d6e190cf0e7b4d0989a4" name="a00c9b29a22c4d6e190cf0e7b4d0989a4"></a>
+bool&#160;</td><td class="memItemRight" valign="bottom"><b>IsFinished</b> () override</td></tr>
+<tr class="separator:a00c9b29a22c4d6e190cf0e7b4d0989a4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab90e63653253c9dd4fca139ede2ea909"><td class="memItemLeft" align="right" valign="top"><a id="ab90e63653253c9dd4fca139ede2ea909" name="ab90e63653253c9dd4fca139ede2ea909"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>End</b> (bool interrupted) override</td></tr>
+<tr class="separator:ab90e63653253c9dd4fca139ede2ea909"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a050013584a669405f6913426a9e1d05a" name="a050013584a669405f6913426a9e1d05a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a050013584a669405f6913426a9e1d05a">&#9670;&#160;</a></span>FollowPathWithEvents()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">FollowPathWithEvents::FollowPathWithEvents </td>
+          <td>(</td>
+          <td class="paramtype">std::unique_ptr&lt; frc2::Command &gt; &amp;&amp;&#160;</td>
+          <td class="paramname"><em>pathFollowingCommand</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt;&#160;</td>
+          <td class="paramname"><em>path</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::Pose2d()&gt;&#160;</td>
+          <td class="paramname"><em>poseSupplier</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p >Constructs a new <a class="el" href="classpathplanner_1_1FollowPathWithEvents.html">FollowPathWithEvents</a> command.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">pathFollowingCommand</td><td>the command to follow the path </td></tr>
+    <tr><td class="paramname">path</td><td>the path to follow </td></tr>
+    <tr><td class="paramname">poseSupplier</td><td>a supplier for the robot's current pose </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>src/main/native/include/pathplanner/lib/commands/<a class="el" href="FollowPathWithEvents_8h_source.html">FollowPathWithEvents.h</a></li>
+<li>src/main/native/cpp/pathplanner/lib/commands/FollowPathWithEvents.cpp</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
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+<div class="header">
+  <div class="headertitle"><div class="title">pathplanner::GoalEndState Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpathplanner_1_1GoalEndState.html">pathplanner::GoalEndState</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1GoalEndState.html#a1ee3edd41014345b954082fc43ccde34">fromJson</a>(const wpi::json &amp;json)</td><td class="entry"><a class="el" href="classpathplanner_1_1GoalEndState.html">pathplanner::GoalEndState</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1GoalEndState.html#a7dbe48e50285bda3e39881d07b471586">getRotation</a>() const</td><td class="entry"><a class="el" href="classpathplanner_1_1GoalEndState.html">pathplanner::GoalEndState</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1GoalEndState.html#a3f201f1b301f46ae3359e0e4ed305839">getVelocity</a>() const</td><td class="entry"><a class="el" href="classpathplanner_1_1GoalEndState.html">pathplanner::GoalEndState</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1GoalEndState.html#a41dfd9669b9d9eaf81655e26377bee2a">GoalEndState</a>(units::meters_per_second_t velocity, frc::Rotation2d rotation)</td><td class="entry"><a class="el" href="classpathplanner_1_1GoalEndState.html">pathplanner::GoalEndState</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>operator==</b>(const GoalEndState &amp;other) const (defined in <a class="el" href="classpathplanner_1_1GoalEndState.html">pathplanner::GoalEndState</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1GoalEndState.html">pathplanner::GoalEndState</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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+ <tr id="projectrow">
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+   </div>
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+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('classpathplanner_1_1GoalEndState.html',''); initResizable(); });
+/* @license-end */
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+<div id="doc-content">
+<!-- window showing the filter options -->
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+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classpathplanner_1_1GoalEndState-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">pathplanner::GoalEndState Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a41dfd9669b9d9eaf81655e26377bee2a"><td class="memItemLeft" align="right" valign="top">constexpr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1GoalEndState.html#a41dfd9669b9d9eaf81655e26377bee2a">GoalEndState</a> (units::meters_per_second_t velocity, frc::Rotation2d rotation)</td></tr>
+<tr class="separator:a41dfd9669b9d9eaf81655e26377bee2a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3f201f1b301f46ae3359e0e4ed305839"><td class="memItemLeft" align="right" valign="top">constexpr units::meters_per_second_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1GoalEndState.html#a3f201f1b301f46ae3359e0e4ed305839">getVelocity</a> () const</td></tr>
+<tr class="separator:a3f201f1b301f46ae3359e0e4ed305839"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7dbe48e50285bda3e39881d07b471586"><td class="memItemLeft" align="right" valign="top">constexpr const frc::Rotation2d &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1GoalEndState.html#a7dbe48e50285bda3e39881d07b471586">getRotation</a> () const</td></tr>
+<tr class="separator:a7dbe48e50285bda3e39881d07b471586"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6fe29c7ce1dc80dcd3f90f229023b57a"><td class="memItemLeft" align="right" valign="top"><a id="a6fe29c7ce1dc80dcd3f90f229023b57a" name="a6fe29c7ce1dc80dcd3f90f229023b57a"></a>
+bool&#160;</td><td class="memItemRight" valign="bottom"><b>operator==</b> (const <a class="el" href="classpathplanner_1_1GoalEndState.html">GoalEndState</a> &amp;other) const</td></tr>
+<tr class="separator:a6fe29c7ce1dc80dcd3f90f229023b57a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a1ee3edd41014345b954082fc43ccde34"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classpathplanner_1_1GoalEndState.html">GoalEndState</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1GoalEndState.html#a1ee3edd41014345b954082fc43ccde34">fromJson</a> (const wpi::json &amp;json)</td></tr>
+<tr class="separator:a1ee3edd41014345b954082fc43ccde34"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a41dfd9669b9d9eaf81655e26377bee2a" name="a41dfd9669b9d9eaf81655e26377bee2a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a41dfd9669b9d9eaf81655e26377bee2a">&#9670;&#160;</a></span>GoalEndState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr pathplanner::GoalEndState::GoalEndState </td>
+          <td>(</td>
+          <td class="paramtype">units::meters_per_second_t&#160;</td>
+          <td class="paramname"><em>velocity</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">frc::Rotation2d&#160;</td>
+          <td class="paramname"><em>rotation</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Create a new goal end state</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">velocity</td><td>The goal end velocity (M/S) </td></tr>
+    <tr><td class="paramname">rotation</td><td>The goal rotation </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a1ee3edd41014345b954082fc43ccde34" name="a1ee3edd41014345b954082fc43ccde34"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1ee3edd41014345b954082fc43ccde34">&#9670;&#160;</a></span>fromJson()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classpathplanner_1_1GoalEndState.html">GoalEndState</a> GoalEndState::fromJson </td>
+          <td>(</td>
+          <td class="paramtype">const wpi::json &amp;&#160;</td>
+          <td class="paramname"><em>json</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Create a goal end state from json</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">json</td><td>json reference representing a goal end state </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The goal end state defined by the given json </dd></dl>
+
+</div>
+</div>
+<a id="a7dbe48e50285bda3e39881d07b471586" name="a7dbe48e50285bda3e39881d07b471586"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7dbe48e50285bda3e39881d07b471586">&#9670;&#160;</a></span>getRotation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr const frc::Rotation2d &amp; pathplanner::GoalEndState::getRotation </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Get the goal end rotation</p>
+<dl class="section return"><dt>Returns</dt><dd>Goal rotation </dd></dl>
+
+</div>
+</div>
+<a id="a3f201f1b301f46ae3359e0e4ed305839" name="a3f201f1b301f46ae3359e0e4ed305839"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3f201f1b301f46ae3359e0e4ed305839">&#9670;&#160;</a></span>getVelocity()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr units::meters_per_second_t pathplanner::GoalEndState::getVelocity </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Get the goal end velocity</p>
+<dl class="section return"><dt>Returns</dt><dd>Goal end velocity (M/S) </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>src/main/native/include/pathplanner/lib/path/<a class="el" href="GoalEndState_8h_source.html">GoalEndState.h</a></li>
+<li>src/main/native/cpp/pathplanner/lib/path/GoalEndState.cpp</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><b>pathplanner</b></li><li class="navelem"><a class="el" href="classpathplanner_1_1GoalEndState.html">GoalEndState</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/docs/cpp/classpathplanner_1_1GoalEndState.js b/docs/cpp/classpathplanner_1_1GoalEndState.js
new file mode 100644
index 00000000..ee1ccb42
--- /dev/null
+++ b/docs/cpp/classpathplanner_1_1GoalEndState.js
@@ -0,0 +1,6 @@
+var classpathplanner_1_1GoalEndState =
+[
+    [ "GoalEndState", "classpathplanner_1_1GoalEndState.html#a41dfd9669b9d9eaf81655e26377bee2a", null ],
+    [ "getRotation", "classpathplanner_1_1GoalEndState.html#a7dbe48e50285bda3e39881d07b471586", null ],
+    [ "getVelocity", "classpathplanner_1_1GoalEndState.html#a3f201f1b301f46ae3359e0e4ed305839", null ]
+];
\ No newline at end of file
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+<meta name="generator" content="Doxygen 1.9.5"/>
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+<title>PathPlannerLib: Member List</title>
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+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
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+/* @license-end */
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+<div id="side-nav" class="ui-resizable side-nav-resizable">
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+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
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+
+<div class="header">
+  <div class="headertitle"><div class="title">pathplanner::HolonomicPathFollowerConfig Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpathplanner_1_1HolonomicPathFollowerConfig.html">pathplanner::HolonomicPathFollowerConfig</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>driveBaseRadius</b> (defined in <a class="el" href="classpathplanner_1_1HolonomicPathFollowerConfig.html">pathplanner::HolonomicPathFollowerConfig</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1HolonomicPathFollowerConfig.html">pathplanner::HolonomicPathFollowerConfig</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1HolonomicPathFollowerConfig.html#aedf6d65cc87f908ae0b87a1b55b03dd4">HolonomicPathFollowerConfig</a>(const PIDConstants translationConstants, const PIDConstants rotationConstants, const units::meters_per_second_t maxModuleSpeed, const units::meter_t driveBaseRadius, const ReplanningConfig replanningConfig, const units::second_t period=0.02_s)</td><td class="entry"><a class="el" href="classpathplanner_1_1HolonomicPathFollowerConfig.html">pathplanner::HolonomicPathFollowerConfig</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1HolonomicPathFollowerConfig.html#a7c8e885bacedff2a21f95399b7c7f37f">HolonomicPathFollowerConfig</a>(const units::meters_per_second_t maxModuleSpeed, const units::meter_t driveBaseRadius, const ReplanningConfig replanningConfig, const units::second_t period=0.02_s)</td><td class="entry"><a class="el" href="classpathplanner_1_1HolonomicPathFollowerConfig.html">pathplanner::HolonomicPathFollowerConfig</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>maxModuleSpeed</b> (defined in <a class="el" href="classpathplanner_1_1HolonomicPathFollowerConfig.html">pathplanner::HolonomicPathFollowerConfig</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1HolonomicPathFollowerConfig.html">pathplanner::HolonomicPathFollowerConfig</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>period</b> (defined in <a class="el" href="classpathplanner_1_1HolonomicPathFollowerConfig.html">pathplanner::HolonomicPathFollowerConfig</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1HolonomicPathFollowerConfig.html">pathplanner::HolonomicPathFollowerConfig</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>replanningConfig</b> (defined in <a class="el" href="classpathplanner_1_1HolonomicPathFollowerConfig.html">pathplanner::HolonomicPathFollowerConfig</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1HolonomicPathFollowerConfig.html">pathplanner::HolonomicPathFollowerConfig</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>rotationConstants</b> (defined in <a class="el" href="classpathplanner_1_1HolonomicPathFollowerConfig.html">pathplanner::HolonomicPathFollowerConfig</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1HolonomicPathFollowerConfig.html">pathplanner::HolonomicPathFollowerConfig</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>translationConstants</b> (defined in <a class="el" href="classpathplanner_1_1HolonomicPathFollowerConfig.html">pathplanner::HolonomicPathFollowerConfig</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1HolonomicPathFollowerConfig.html">pathplanner::HolonomicPathFollowerConfig</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/docs/cpp/classpathplanner_1_1HolonomicPathFollowerConfig.html b/docs/cpp/classpathplanner_1_1HolonomicPathFollowerConfig.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>PathPlannerLib: pathplanner::HolonomicPathFollowerConfig Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+/* @license-end */
+</script>
+<div id="doc-content">
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+<div class="SRStatus" id="NoMatches">No Matches</div>
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+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpathplanner_1_1HolonomicPathFollowerConfig-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">pathplanner::HolonomicPathFollowerConfig Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:aedf6d65cc87f908ae0b87a1b55b03dd4"><td class="memItemLeft" align="right" valign="top">constexpr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1HolonomicPathFollowerConfig.html#aedf6d65cc87f908ae0b87a1b55b03dd4">HolonomicPathFollowerConfig</a> (const <a class="el" href="classpathplanner_1_1PIDConstants.html">PIDConstants</a> translationConstants, const <a class="el" href="classpathplanner_1_1PIDConstants.html">PIDConstants</a> rotationConstants, const units::meters_per_second_t maxModuleSpeed, const units::meter_t driveBaseRadius, const <a class="el" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a> replanningConfig, const units::second_t period=0.02_s)</td></tr>
+<tr class="separator:aedf6d65cc87f908ae0b87a1b55b03dd4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7c8e885bacedff2a21f95399b7c7f37f"><td class="memItemLeft" align="right" valign="top">constexpr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1HolonomicPathFollowerConfig.html#a7c8e885bacedff2a21f95399b7c7f37f">HolonomicPathFollowerConfig</a> (const units::meters_per_second_t maxModuleSpeed, const units::meter_t driveBaseRadius, const <a class="el" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a> replanningConfig, const units::second_t period=0.02_s)</td></tr>
+<tr class="separator:a7c8e885bacedff2a21f95399b7c7f37f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
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+Public Attributes</h2></td></tr>
+<tr class="memitem:acc5642867365043338b8393e7e678a36"><td class="memItemLeft" align="right" valign="top"><a id="acc5642867365043338b8393e7e678a36" name="acc5642867365043338b8393e7e678a36"></a>
+const <a class="el" href="classpathplanner_1_1PIDConstants.html">PIDConstants</a>&#160;</td><td class="memItemRight" valign="bottom"><b>translationConstants</b></td></tr>
+<tr class="separator:acc5642867365043338b8393e7e678a36"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1f09c0ddbe83bf0b5e4d5dc2ac7bf3b2"><td class="memItemLeft" align="right" valign="top"><a id="a1f09c0ddbe83bf0b5e4d5dc2ac7bf3b2" name="a1f09c0ddbe83bf0b5e4d5dc2ac7bf3b2"></a>
+const <a class="el" href="classpathplanner_1_1PIDConstants.html">PIDConstants</a>&#160;</td><td class="memItemRight" valign="bottom"><b>rotationConstants</b></td></tr>
+<tr class="separator:a1f09c0ddbe83bf0b5e4d5dc2ac7bf3b2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a09b5816b4486f49c81113a1dea46600c"><td class="memItemLeft" align="right" valign="top"><a id="a09b5816b4486f49c81113a1dea46600c" name="a09b5816b4486f49c81113a1dea46600c"></a>
+const units::meters_per_second_t&#160;</td><td class="memItemRight" valign="bottom"><b>maxModuleSpeed</b></td></tr>
+<tr class="separator:a09b5816b4486f49c81113a1dea46600c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afa3ef84c16c8e709fe4cf8f982dc8a76"><td class="memItemLeft" align="right" valign="top"><a id="afa3ef84c16c8e709fe4cf8f982dc8a76" name="afa3ef84c16c8e709fe4cf8f982dc8a76"></a>
+const units::meter_t&#160;</td><td class="memItemRight" valign="bottom"><b>driveBaseRadius</b></td></tr>
+<tr class="separator:afa3ef84c16c8e709fe4cf8f982dc8a76"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab3bdb0f9a45c4420db1bd57bd3515b07"><td class="memItemLeft" align="right" valign="top"><a id="ab3bdb0f9a45c4420db1bd57bd3515b07" name="ab3bdb0f9a45c4420db1bd57bd3515b07"></a>
+const <a class="el" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a>&#160;</td><td class="memItemRight" valign="bottom"><b>replanningConfig</b></td></tr>
+<tr class="separator:ab3bdb0f9a45c4420db1bd57bd3515b07"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aac8ef43fa1e2f6f101b6fddc1d631682"><td class="memItemLeft" align="right" valign="top"><a id="aac8ef43fa1e2f6f101b6fddc1d631682" name="aac8ef43fa1e2f6f101b6fddc1d631682"></a>
+const units::second_t&#160;</td><td class="memItemRight" valign="bottom"><b>period</b></td></tr>
+<tr class="separator:aac8ef43fa1e2f6f101b6fddc1d631682"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="aedf6d65cc87f908ae0b87a1b55b03dd4" name="aedf6d65cc87f908ae0b87a1b55b03dd4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aedf6d65cc87f908ae0b87a1b55b03dd4">&#9670;&#160;</a></span>HolonomicPathFollowerConfig() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr pathplanner::HolonomicPathFollowerConfig::HolonomicPathFollowerConfig </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classpathplanner_1_1PIDConstants.html">PIDConstants</a>&#160;</td>
+          <td class="paramname"><em>translationConstants</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classpathplanner_1_1PIDConstants.html">PIDConstants</a>&#160;</td>
+          <td class="paramname"><em>rotationConstants</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const units::meters_per_second_t&#160;</td>
+          <td class="paramname"><em>maxModuleSpeed</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const units::meter_t&#160;</td>
+          <td class="paramname"><em>driveBaseRadius</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a>&#160;</td>
+          <td class="paramname"><em>replanningConfig</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const units::second_t&#160;</td>
+          <td class="paramname"><em>period</em> = <code>0.02_s</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Create a new holonomic path follower config</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">translationConstants</td><td><code><a class="el" href="">com.pathplanner.lib.util.PIDConstants</a></code> used for creating the translation PID controllers </td></tr>
+    <tr><td class="paramname">rotationConstants</td><td><code><a class="el" href="">com.pathplanner.lib.util.PIDConstants</a></code> used for creating the rotation PID controller </td></tr>
+    <tr><td class="paramname">maxModuleSpeed</td><td>Max speed of an individual drive module in meters/sec </td></tr>
+    <tr><td class="paramname">driveBaseRadius</td><td>The radius of the drive base in meters. For swerve drive, this is the distance from the center of the robot to the furthest module. For mecanum, this is the drive base width / 2 </td></tr>
+    <tr><td class="paramname">replanningConfig</td><td>Path replanning configuration </td></tr>
+    <tr><td class="paramname">period</td><td>Control loop period in seconds (Default = 0.02) </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a7c8e885bacedff2a21f95399b7c7f37f" name="a7c8e885bacedff2a21f95399b7c7f37f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7c8e885bacedff2a21f95399b7c7f37f">&#9670;&#160;</a></span>HolonomicPathFollowerConfig() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr pathplanner::HolonomicPathFollowerConfig::HolonomicPathFollowerConfig </td>
+          <td>(</td>
+          <td class="paramtype">const units::meters_per_second_t&#160;</td>
+          <td class="paramname"><em>maxModuleSpeed</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const units::meter_t&#160;</td>
+          <td class="paramname"><em>driveBaseRadius</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a>&#160;</td>
+          <td class="paramname"><em>replanningConfig</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const units::second_t&#160;</td>
+          <td class="paramname"><em>period</em> = <code>0.02_s</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Create a new holonomic path follower config</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">maxModuleSpeed</td><td>Max speed of an individual drive module in meters/sec </td></tr>
+    <tr><td class="paramname">driveBaseRadius</td><td>The radius of the drive base in meters. For swerve drive, this is the distance from the center of the robot to the furthest module. For mecanum, this is the drive base width / 2 </td></tr>
+    <tr><td class="paramname">replanningConfig</td><td>Path replanning configuration </td></tr>
+    <tr><td class="paramname">period</td><td>Control loop period in seconds (Default = 0.02) </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>src/main/native/include/pathplanner/lib/util/<a class="el" href="HolonomicPathFollowerConfig_8h_source.html">HolonomicPathFollowerConfig.h</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><b>pathplanner</b></li><li class="navelem"><a class="el" href="classpathplanner_1_1HolonomicPathFollowerConfig.html">HolonomicPathFollowerConfig</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/docs/cpp/classpathplanner_1_1HolonomicPathFollowerConfig.js b/docs/cpp/classpathplanner_1_1HolonomicPathFollowerConfig.js
new file mode 100644
index 00000000..89af244f
--- /dev/null
+++ b/docs/cpp/classpathplanner_1_1HolonomicPathFollowerConfig.js
@@ -0,0 +1,5 @@
+var classpathplanner_1_1HolonomicPathFollowerConfig =
+[
+    [ "HolonomicPathFollowerConfig", "classpathplanner_1_1HolonomicPathFollowerConfig.html#aedf6d65cc87f908ae0b87a1b55b03dd4", null ],
+    [ "HolonomicPathFollowerConfig", "classpathplanner_1_1HolonomicPathFollowerConfig.html#a7c8e885bacedff2a21f95399b7c7f37f", null ]
+];
\ No newline at end of file
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new file mode 100644
index 00000000..618eec93
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.5"/>
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+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
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+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
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+      <div id="nav-sync" class="sync"></div>
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+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('classpathplanner_1_1NamedCommands.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
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+
+<div class="header">
+  <div class="headertitle"><div class="title">pathplanner::NamedCommands Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpathplanner_1_1NamedCommands.html">pathplanner::NamedCommands</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1NamedCommands.html#a11a1c7f01d6adaf9c02f58c675054eae">getCommand</a>(std::string name)</td><td class="entry"><a class="el" href="classpathplanner_1_1NamedCommands.html">pathplanner::NamedCommands</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1NamedCommands.html#ae7db5c097d0da8bfc546f74ae6595833">hasCommand</a>(std::string name)</td><td class="entry"><a class="el" href="classpathplanner_1_1NamedCommands.html">pathplanner::NamedCommands</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1NamedCommands.html#addaa0c15860d2b6d150471eb7fd83200">registerCommand</a>(std::string name, std::shared_ptr&lt; frc2::Command &gt; command)</td><td class="entry"><a class="el" href="classpathplanner_1_1NamedCommands.html">pathplanner::NamedCommands</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>registerCommand</b>(std::string name, frc2::CommandPtr &amp;&amp;command) (defined in <a class="el" href="classpathplanner_1_1NamedCommands.html">pathplanner::NamedCommands</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1NamedCommands.html">pathplanner::NamedCommands</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/docs/cpp/classpathplanner_1_1NamedCommands.html b/docs/cpp/classpathplanner_1_1NamedCommands.html
new file mode 100644
index 00000000..14fb4935
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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+<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>PathPlannerLib: pathplanner::NamedCommands Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+/* @license-end */
+</script>
+<div id="doc-content">
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+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+
+<div class="header">
+  <div class="summary">
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classpathplanner_1_1NamedCommands-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">pathplanner::NamedCommands Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:addaa0c15860d2b6d150471eb7fd83200"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1NamedCommands.html#addaa0c15860d2b6d150471eb7fd83200">registerCommand</a> (std::string name, std::shared_ptr&lt; frc2::Command &gt; command)</td></tr>
+<tr class="separator:addaa0c15860d2b6d150471eb7fd83200"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a44ff7aadae1105a4bdf7b5ad8525c6a4"><td class="memItemLeft" align="right" valign="top"><a id="a44ff7aadae1105a4bdf7b5ad8525c6a4" name="a44ff7aadae1105a4bdf7b5ad8525c6a4"></a>
+static void&#160;</td><td class="memItemRight" valign="bottom"><b>registerCommand</b> (std::string name, frc2::CommandPtr &amp;&amp;command)</td></tr>
+<tr class="separator:a44ff7aadae1105a4bdf7b5ad8525c6a4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae7db5c097d0da8bfc546f74ae6595833"><td class="memItemLeft" align="right" valign="top">static bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1NamedCommands.html#ae7db5c097d0da8bfc546f74ae6595833">hasCommand</a> (std::string name)</td></tr>
+<tr class="separator:ae7db5c097d0da8bfc546f74ae6595833"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a11a1c7f01d6adaf9c02f58c675054eae"><td class="memItemLeft" align="right" valign="top">static frc2::CommandPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1NamedCommands.html#a11a1c7f01d6adaf9c02f58c675054eae">getCommand</a> (std::string name)</td></tr>
+<tr class="separator:a11a1c7f01d6adaf9c02f58c675054eae"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a11a1c7f01d6adaf9c02f58c675054eae" name="a11a1c7f01d6adaf9c02f58c675054eae"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a11a1c7f01d6adaf9c02f58c675054eae">&#9670;&#160;</a></span>getCommand()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">frc2::CommandPtr NamedCommands::getCommand </td>
+          <td>(</td>
+          <td class="paramtype">std::string&#160;</td>
+          <td class="paramname"><em>name</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Returns the command with the given name.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">name</td><td>the name of the command to get </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>the command with the given name, wrapped in a functional command, or a none command if it has not been registered </dd></dl>
+
+</div>
+</div>
+<a id="ae7db5c097d0da8bfc546f74ae6595833" name="ae7db5c097d0da8bfc546f74ae6595833"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae7db5c097d0da8bfc546f74ae6595833">&#9670;&#160;</a></span>hasCommand()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static bool pathplanner::NamedCommands::hasCommand </td>
+          <td>(</td>
+          <td class="paramtype">std::string&#160;</td>
+          <td class="paramname"><em>name</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Returns whether a command with the given name has been registered.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">name</td><td>the name of the command to check </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true if a command with the given name has been registered, false otherwise </dd></dl>
+
+</div>
+</div>
+<a id="addaa0c15860d2b6d150471eb7fd83200" name="addaa0c15860d2b6d150471eb7fd83200"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#addaa0c15860d2b6d150471eb7fd83200">&#9670;&#160;</a></span>registerCommand()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static void pathplanner::NamedCommands::registerCommand </td>
+          <td>(</td>
+          <td class="paramtype">std::string&#160;</td>
+          <td class="paramname"><em>name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::shared_ptr&lt; frc2::Command &gt;&#160;</td>
+          <td class="paramname"><em>command</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Registers a command with the given name.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">name</td><td>the name of the command </td></tr>
+    <tr><td class="paramname">command</td><td>shared pointer to the command to register </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>src/main/native/include/pathplanner/lib/auto/<a class="el" href="NamedCommands_8h_source.html">NamedCommands.h</a></li>
+<li>src/main/native/cpp/pathplanner/lib/auto/NamedCommands.cpp</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><b>pathplanner</b></li><li class="navelem"><a class="el" href="classpathplanner_1_1NamedCommands.html">NamedCommands</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
+</div>
+</body>
+</html>
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+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
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+  $(document).ready(function() { init_search(); });
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+<div class="header">
+  <div class="headertitle"><div class="title">pathplanner::PIDConstants Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpathplanner_1_1PIDConstants.html">pathplanner::PIDConstants</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>iZone</b> (defined in <a class="el" href="classpathplanner_1_1PIDConstants.html">pathplanner::PIDConstants</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PIDConstants.html">pathplanner::PIDConstants</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>kD</b> (defined in <a class="el" href="classpathplanner_1_1PIDConstants.html">pathplanner::PIDConstants</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PIDConstants.html">pathplanner::PIDConstants</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>kI</b> (defined in <a class="el" href="classpathplanner_1_1PIDConstants.html">pathplanner::PIDConstants</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PIDConstants.html">pathplanner::PIDConstants</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>kP</b> (defined in <a class="el" href="classpathplanner_1_1PIDConstants.html">pathplanner::PIDConstants</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PIDConstants.html">pathplanner::PIDConstants</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PIDConstants.html#a69565033153bfeeefa60d89be3301bfc">PIDConstants</a>(const double kP, const double kI, const double kD, const double iZone=1.0)</td><td class="entry"><a class="el" href="classpathplanner_1_1PIDConstants.html">pathplanner::PIDConstants</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1PIDConstants.html#abbcfd68aace480e7c89996ad9579fcbe">PIDConstants</a>(const double kP, const double kD)</td><td class="entry"><a class="el" href="classpathplanner_1_1PIDConstants.html">pathplanner::PIDConstants</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PIDConstants.html#aac976a1eba85cc9017c663812c9ebe38">PIDConstants</a>(const double kP)</td><td class="entry"><a class="el" href="classpathplanner_1_1PIDConstants.html">pathplanner::PIDConstants</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/docs/cpp/classpathplanner_1_1PIDConstants.html b/docs/cpp/classpathplanner_1_1PIDConstants.html
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+<title>PathPlannerLib: pathplanner::PIDConstants Class Reference</title>
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+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpathplanner_1_1PIDConstants-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">pathplanner::PIDConstants Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a69565033153bfeeefa60d89be3301bfc"><td class="memItemLeft" align="right" valign="top">constexpr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PIDConstants.html#a69565033153bfeeefa60d89be3301bfc">PIDConstants</a> (const double kP, const double kI, const double kD, const double iZone=1.0)</td></tr>
+<tr class="separator:a69565033153bfeeefa60d89be3301bfc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abbcfd68aace480e7c89996ad9579fcbe"><td class="memItemLeft" align="right" valign="top">constexpr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PIDConstants.html#abbcfd68aace480e7c89996ad9579fcbe">PIDConstants</a> (const double kP, const double kD)</td></tr>
+<tr class="separator:abbcfd68aace480e7c89996ad9579fcbe"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aac976a1eba85cc9017c663812c9ebe38"><td class="memItemLeft" align="right" valign="top">constexpr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PIDConstants.html#aac976a1eba85cc9017c663812c9ebe38">PIDConstants</a> (const double kP)</td></tr>
+<tr class="separator:aac976a1eba85cc9017c663812c9ebe38"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a7de56c5236bc518509b47214d258f9cc"><td class="memItemLeft" align="right" valign="top"><a id="a7de56c5236bc518509b47214d258f9cc" name="a7de56c5236bc518509b47214d258f9cc"></a>
+const double&#160;</td><td class="memItemRight" valign="bottom"><b>kP</b></td></tr>
+<tr class="separator:a7de56c5236bc518509b47214d258f9cc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa5a1744a509de8271c457fb44e90762a"><td class="memItemLeft" align="right" valign="top"><a id="aa5a1744a509de8271c457fb44e90762a" name="aa5a1744a509de8271c457fb44e90762a"></a>
+const double&#160;</td><td class="memItemRight" valign="bottom"><b>kI</b></td></tr>
+<tr class="separator:aa5a1744a509de8271c457fb44e90762a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab992ea1bfa8b34f6553a38152f970bf9"><td class="memItemLeft" align="right" valign="top"><a id="ab992ea1bfa8b34f6553a38152f970bf9" name="ab992ea1bfa8b34f6553a38152f970bf9"></a>
+const double&#160;</td><td class="memItemRight" valign="bottom"><b>kD</b></td></tr>
+<tr class="separator:ab992ea1bfa8b34f6553a38152f970bf9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a78d42a577d802abe658b570ed49fff1a"><td class="memItemLeft" align="right" valign="top"><a id="a78d42a577d802abe658b570ed49fff1a" name="a78d42a577d802abe658b570ed49fff1a"></a>
+const double&#160;</td><td class="memItemRight" valign="bottom"><b>iZone</b></td></tr>
+<tr class="separator:a78d42a577d802abe658b570ed49fff1a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a69565033153bfeeefa60d89be3301bfc" name="a69565033153bfeeefa60d89be3301bfc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a69565033153bfeeefa60d89be3301bfc">&#9670;&#160;</a></span>PIDConstants() <span class="overload">[1/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr pathplanner::PIDConstants::PIDConstants </td>
+          <td>(</td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>kP</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>kI</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>kD</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>iZone</em> = <code>1.0</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Create a new <a class="el" href="classpathplanner_1_1PIDConstants.html">PIDConstants</a> object</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">kP</td><td>P </td></tr>
+    <tr><td class="paramname">kI</td><td>I </td></tr>
+    <tr><td class="paramname">kD</td><td>D </td></tr>
+    <tr><td class="paramname">iZone</td><td>Integral range </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="abbcfd68aace480e7c89996ad9579fcbe" name="abbcfd68aace480e7c89996ad9579fcbe"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abbcfd68aace480e7c89996ad9579fcbe">&#9670;&#160;</a></span>PIDConstants() <span class="overload">[2/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr pathplanner::PIDConstants::PIDConstants </td>
+          <td>(</td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>kP</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>kD</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Create a new <a class="el" href="classpathplanner_1_1PIDConstants.html">PIDConstants</a> object</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">kP</td><td>P </td></tr>
+    <tr><td class="paramname">kD</td><td>D </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="aac976a1eba85cc9017c663812c9ebe38" name="aac976a1eba85cc9017c663812c9ebe38"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aac976a1eba85cc9017c663812c9ebe38">&#9670;&#160;</a></span>PIDConstants() <span class="overload">[3/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr pathplanner::PIDConstants::PIDConstants </td>
+          <td>(</td>
+          <td class="paramtype">const double&#160;</td>
+          <td class="paramname"><em>kP</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Create a new <a class="el" href="classpathplanner_1_1PIDConstants.html">PIDConstants</a> object</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">kP</td><td>P </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>src/main/native/include/pathplanner/lib/util/<a class="el" href="PIDConstants_8h_source.html">PIDConstants.h</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><b>pathplanner</b></li><li class="navelem"><a class="el" href="classpathplanner_1_1PIDConstants.html">PIDConstants</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/docs/cpp/classpathplanner_1_1PIDConstants.js b/docs/cpp/classpathplanner_1_1PIDConstants.js
new file mode 100644
index 00000000..3444b948
--- /dev/null
+++ b/docs/cpp/classpathplanner_1_1PIDConstants.js
@@ -0,0 +1,6 @@
+var classpathplanner_1_1PIDConstants =
+[
+    [ "PIDConstants", "classpathplanner_1_1PIDConstants.html#a69565033153bfeeefa60d89be3301bfc", null ],
+    [ "PIDConstants", "classpathplanner_1_1PIDConstants.html#abbcfd68aace480e7c89996ad9579fcbe", null ],
+    [ "PIDConstants", "classpathplanner_1_1PIDConstants.html#aac976a1eba85cc9017c663812c9ebe38", null ]
+];
\ No newline at end of file
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+<table cellspacing="0" cellpadding="0">
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+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
+<script type="text/javascript">
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+/* @license-end */
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+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<!-- iframe showing the search results (closed by default) -->
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+  <div class="headertitle"><div class="title">pathplanner::PPHolonomicDriveController Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpathplanner_1_1PPHolonomicDriveController.html">pathplanner::PPHolonomicDriveController</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PPHolonomicDriveController.html#af7ea70afb7857680b3656f9c106e43db">calculateRobotRelativeSpeeds</a>(const frc::Pose2d &amp;currentPose, const PathPlannerTrajectory::State &amp;referenceState) override</td><td class="entry"><a class="el" href="classpathplanner_1_1PPHolonomicDriveController.html">pathplanner::PPHolonomicDriveController</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1PPHolonomicDriveController.html#a664a6866463393f42cdbebff5c74154b">getPositionalError</a>() override</td><td class="entry"><a class="el" href="classpathplanner_1_1PPHolonomicDriveController.html">pathplanner::PPHolonomicDriveController</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PPHolonomicDriveController.html#ab4e50cbe9e11bedfb7c9837bf1093e4d">isHolonomic</a>() override</td><td class="entry"><a class="el" href="classpathplanner_1_1PPHolonomicDriveController.html">pathplanner::PPHolonomicDriveController</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1PPHolonomicDriveController.html#a337977d00fde477e8eb49208d4d441a7">PPHolonomicDriveController</a>(PIDConstants translationConstants, PIDConstants rotationConstants, units::meters_per_second_t maxModuleSpeed, units::meter_t driveBaseRadius, units::second_t period=0.02_s)</td><td class="entry"><a class="el" href="classpathplanner_1_1PPHolonomicDriveController.html">pathplanner::PPHolonomicDriveController</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PPHolonomicDriveController.html#a0b9ad901c14364666b7d9aff7f1db6fa">reset</a>(const frc::Pose2d &amp;currentPose, const frc::ChassisSpeeds &amp;currentSpeeds) override</td><td class="entry"><a class="el" href="classpathplanner_1_1PPHolonomicDriveController.html">pathplanner::PPHolonomicDriveController</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1PPHolonomicDriveController.html#ae3da3b9e5ef33855f01d8653ccc11ef7">setEnabled</a>(bool enabled)</td><td class="entry"><a class="el" href="classpathplanner_1_1PPHolonomicDriveController.html">pathplanner::PPHolonomicDriveController</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~PathFollowingController</b>() (defined in <a class="el" href="classpathplanner_1_1PathFollowingController.html">pathplanner::PathFollowingController</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathFollowingController.html">pathplanner::PathFollowingController</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+</table></div><!-- contents -->
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/docs/cpp/classpathplanner_1_1PPHolonomicDriveController.html b/docs/cpp/classpathplanner_1_1PPHolonomicDriveController.html
new file mode 100644
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+   </div>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
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+/* @license-end */
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+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classpathplanner_1_1PPHolonomicDriveController-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">pathplanner::PPHolonomicDriveController Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for pathplanner::PPHolonomicDriveController:</div>
+<div class="dyncontent">
+ <div class="center">
+  <img src="classpathplanner_1_1PPHolonomicDriveController.png" usemap="#pathplanner::PPHolonomicDriveController_map" alt=""/>
+  <map id="pathplanner::PPHolonomicDriveController_map" name="pathplanner::PPHolonomicDriveController_map">
+<area href="classpathplanner_1_1PathFollowingController.html" alt="pathplanner::PathFollowingController" shape="rect" coords="0,0,247,24"/>
+  </map>
+</div></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a337977d00fde477e8eb49208d4d441a7"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PPHolonomicDriveController.html#a337977d00fde477e8eb49208d4d441a7">PPHolonomicDriveController</a> (<a class="el" href="classpathplanner_1_1PIDConstants.html">PIDConstants</a> translationConstants, <a class="el" href="classpathplanner_1_1PIDConstants.html">PIDConstants</a> rotationConstants, units::meters_per_second_t maxModuleSpeed, units::meter_t driveBaseRadius, units::second_t period=0.02_s)</td></tr>
+<tr class="separator:a337977d00fde477e8eb49208d4d441a7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae3da3b9e5ef33855f01d8653ccc11ef7"><td class="memItemLeft" align="right" valign="top">constexpr void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PPHolonomicDriveController.html#ae3da3b9e5ef33855f01d8653ccc11ef7">setEnabled</a> (bool enabled)</td></tr>
+<tr class="separator:ae3da3b9e5ef33855f01d8653ccc11ef7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0b9ad901c14364666b7d9aff7f1db6fa"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PPHolonomicDriveController.html#a0b9ad901c14364666b7d9aff7f1db6fa">reset</a> (const frc::Pose2d &amp;currentPose, const frc::ChassisSpeeds &amp;currentSpeeds) override</td></tr>
+<tr class="separator:a0b9ad901c14364666b7d9aff7f1db6fa"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a664a6866463393f42cdbebff5c74154b"><td class="memItemLeft" align="right" valign="top">units::meter_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PPHolonomicDriveController.html#a664a6866463393f42cdbebff5c74154b">getPositionalError</a> () override</td></tr>
+<tr class="separator:a664a6866463393f42cdbebff5c74154b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af7ea70afb7857680b3656f9c106e43db"><td class="memItemLeft" align="right" valign="top">frc::ChassisSpeeds&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PPHolonomicDriveController.html#af7ea70afb7857680b3656f9c106e43db">calculateRobotRelativeSpeeds</a> (const frc::Pose2d &amp;currentPose, const <a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">PathPlannerTrajectory::State</a> &amp;referenceState) override</td></tr>
+<tr class="separator:af7ea70afb7857680b3656f9c106e43db"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab4e50cbe9e11bedfb7c9837bf1093e4d"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PPHolonomicDriveController.html#ab4e50cbe9e11bedfb7c9837bf1093e4d">isHolonomic</a> () override</td></tr>
+<tr class="separator:ab4e50cbe9e11bedfb7c9837bf1093e4d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a606f820cf7c0b607dad35518da99f459"><td class="memItemLeft" align="right" valign="top">virtual frc::ChassisSpeeds&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathFollowingController.html#a606f820cf7c0b607dad35518da99f459">calculateRobotRelativeSpeeds</a> (const frc::Pose2d &amp;currentPose, const <a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">PathPlannerTrajectory::State</a> &amp;targetState)=0</td></tr>
+<tr class="separator:a606f820cf7c0b607dad35518da99f459"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab0877961e6f6db0209990fa9d1288d42"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathFollowingController.html#ab0877961e6f6db0209990fa9d1288d42">reset</a> (const frc::Pose2d &amp;currentPose, const frc::ChassisSpeeds &amp;currentSpeeds)=0</td></tr>
+<tr class="separator:ab0877961e6f6db0209990fa9d1288d42"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aec75b4c43026780f9d3f57ddc081fe0f"><td class="memItemLeft" align="right" valign="top">virtual units::meter_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathFollowingController.html#aec75b4c43026780f9d3f57ddc081fe0f">getPositionalError</a> ()=0</td></tr>
+<tr class="separator:aec75b4c43026780f9d3f57ddc081fe0f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae323fa07e8d2a8af8325d460e3cb1352"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathFollowingController.html#ae323fa07e8d2a8af8325d460e3cb1352">isHolonomic</a> ()=0</td></tr>
+<tr class="separator:ae323fa07e8d2a8af8325d460e3cb1352"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a337977d00fde477e8eb49208d4d441a7" name="a337977d00fde477e8eb49208d4d441a7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a337977d00fde477e8eb49208d4d441a7">&#9670;&#160;</a></span>PPHolonomicDriveController()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">PPHolonomicDriveController::PPHolonomicDriveController </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1PIDConstants.html">PIDConstants</a>&#160;</td>
+          <td class="paramname"><em>translationConstants</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1PIDConstants.html">PIDConstants</a>&#160;</td>
+          <td class="paramname"><em>rotationConstants</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::meters_per_second_t&#160;</td>
+          <td class="paramname"><em>maxModuleSpeed</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::meter_t&#160;</td>
+          <td class="paramname"><em>driveBaseRadius</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::second_t&#160;</td>
+          <td class="paramname"><em>period</em> = <code>0.02_s</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p >Constructs a <a class="el" href="classpathplanner_1_1PPHolonomicDriveController.html">PPHolonomicDriveController</a></p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">translationConstants</td><td>PID constants for the translation PID controllers </td></tr>
+    <tr><td class="paramname">rotationConstants</td><td>PID constants for the rotation controller </td></tr>
+    <tr><td class="paramname">maxModuleSpeed</td><td>The max speed of a drive module in meters/sec </td></tr>
+    <tr><td class="paramname">driveBaseRadius</td><td>The radius of the drive base in meters. For swerve drive, this is the distance from the center of the robot to the furthest module. For mecanum, this is the drive base width / 2 </td></tr>
+    <tr><td class="paramname">period</td><td>Period of the control loop in seconds </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="af7ea70afb7857680b3656f9c106e43db" name="af7ea70afb7857680b3656f9c106e43db"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af7ea70afb7857680b3656f9c106e43db">&#9670;&#160;</a></span>calculateRobotRelativeSpeeds()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">frc::ChassisSpeeds PPHolonomicDriveController::calculateRobotRelativeSpeeds </td>
+          <td>(</td>
+          <td class="paramtype">const frc::Pose2d &amp;&#160;</td>
+          <td class="paramname"><em>currentPose</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">PathPlannerTrajectory::State</a> &amp;&#160;</td>
+          <td class="paramname"><em>referenceState</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Calculates the next output of the holonomic drive controller</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">currentPose</td><td>The current pose </td></tr>
+    <tr><td class="paramname">referenceState</td><td>The desired trajectory state </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The next output of the holonomic drive controller (robot relative) </dd></dl>
+
+<p>Implements <a class="el" href="classpathplanner_1_1PathFollowingController.html#a606f820cf7c0b607dad35518da99f459">pathplanner::PathFollowingController</a>.</p>
+
+</div>
+</div>
+<a id="a664a6866463393f42cdbebff5c74154b" name="a664a6866463393f42cdbebff5c74154b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a664a6866463393f42cdbebff5c74154b">&#9670;&#160;</a></span>getPositionalError()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">units::meter_t pathplanner::PPHolonomicDriveController::getPositionalError </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Get the last positional error of the controller</p>
+<dl class="section return"><dt>Returns</dt><dd>Positional error, in meters </dd></dl>
+
+<p>Implements <a class="el" href="classpathplanner_1_1PathFollowingController.html#aec75b4c43026780f9d3f57ddc081fe0f">pathplanner::PathFollowingController</a>.</p>
+
+</div>
+</div>
+<a id="ab4e50cbe9e11bedfb7c9837bf1093e4d" name="ab4e50cbe9e11bedfb7c9837bf1093e4d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab4e50cbe9e11bedfb7c9837bf1093e4d">&#9670;&#160;</a></span>isHolonomic()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool pathplanner::PPHolonomicDriveController::isHolonomic </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Is this controller for holonomic drivetrains? Used to handle some differences in functionality in the path following command.</p>
+<dl class="section return"><dt>Returns</dt><dd>True if this controller is for a holonomic drive train </dd></dl>
+
+<p>Implements <a class="el" href="classpathplanner_1_1PathFollowingController.html#ae323fa07e8d2a8af8325d460e3cb1352">pathplanner::PathFollowingController</a>.</p>
+
+</div>
+</div>
+<a id="a0b9ad901c14364666b7d9aff7f1db6fa" name="a0b9ad901c14364666b7d9aff7f1db6fa"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0b9ad901c14364666b7d9aff7f1db6fa">&#9670;&#160;</a></span>reset()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void pathplanner::PPHolonomicDriveController::reset </td>
+          <td>(</td>
+          <td class="paramtype">const frc::Pose2d &amp;&#160;</td>
+          <td class="paramname"><em>currentPose</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const frc::ChassisSpeeds &amp;&#160;</td>
+          <td class="paramname"><em>currentSpeeds</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Resets the controller based on the current state of the robot</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">currentPose</td><td>Current robot pose </td></tr>
+    <tr><td class="paramname">currentSpeeds</td><td>Current robot relative chassis speeds </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implements <a class="el" href="classpathplanner_1_1PathFollowingController.html#ab0877961e6f6db0209990fa9d1288d42">pathplanner::PathFollowingController</a>.</p>
+
+</div>
+</div>
+<a id="ae3da3b9e5ef33855f01d8653ccc11ef7" name="ae3da3b9e5ef33855f01d8653ccc11ef7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae3da3b9e5ef33855f01d8653ccc11ef7">&#9670;&#160;</a></span>setEnabled()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr void pathplanner::PPHolonomicDriveController::setEnabled </td>
+          <td>(</td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>enabled</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Enables and disables the controller for troubleshooting. When calculate() is called on a disabled controller, only feedforward values are returned.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">enabled</td><td>If the controller is enabled or not </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>src/main/native/include/pathplanner/lib/controllers/<a class="el" href="PPHolonomicDriveController_8h_source.html">PPHolonomicDriveController.h</a></li>
+<li>src/main/native/cpp/pathplanner/lib/controllers/PPHolonomicDriveController.cpp</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><b>pathplanner</b></li><li class="navelem"><a class="el" href="classpathplanner_1_1PPHolonomicDriveController.html">PPHolonomicDriveController</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
+</div>
+</body>
+</html>
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+    [ "calculateRobotRelativeSpeeds", "classpathplanner_1_1PPHolonomicDriveController.html#af7ea70afb7857680b3656f9c106e43db", null ],
+    [ "getPositionalError", "classpathplanner_1_1PPHolonomicDriveController.html#a664a6866463393f42cdbebff5c74154b", null ],
+    [ "isHolonomic", "classpathplanner_1_1PPHolonomicDriveController.html#ab4e50cbe9e11bedfb7c9837bf1093e4d", null ],
+    [ "reset", "classpathplanner_1_1PPHolonomicDriveController.html#a0b9ad901c14364666b7d9aff7f1db6fa", null ],
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>PathPlannerLib: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
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+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
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+/* @license-end */
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+<div id="main-nav"></div>
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+<div id="side-nav" class="ui-resizable side-nav-resizable">
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+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('classpathplanner_1_1PPLTVController.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+</div>
+</div>
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+
+<div class="header">
+  <div class="headertitle"><div class="title">pathplanner::PPLTVController Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpathplanner_1_1PPLTVController.html">pathplanner::PPLTVController</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PPLTVController.html#aa935fe0ee3c2e1e2c795c983cae7c931">calculateRobotRelativeSpeeds</a>(const frc::Pose2d &amp;currentPose, const PathPlannerTrajectory::State &amp;targetState) override</td><td class="entry"><a class="el" href="classpathplanner_1_1PPLTVController.html">pathplanner::PPLTVController</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1PPLTVController.html#a79a37bf3eb7539baedee3cfd9698f20a">getPositionalError</a>() override</td><td class="entry"><a class="el" href="classpathplanner_1_1PPLTVController.html">pathplanner::PPLTVController</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PPLTVController.html#a7df93fcd85a218b11afc26403f86905a">isHolonomic</a>() override</td><td class="entry"><a class="el" href="classpathplanner_1_1PPLTVController.html">pathplanner::PPLTVController</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1PPLTVController.html#a4929bd9baa23f1b7b089a8add0609ab4">PPLTVController</a>(units::second_t dt, units::velocity::meters_per_second_t maxVelocity=9_mps)</td><td class="entry"><a class="el" href="classpathplanner_1_1PPLTVController.html">pathplanner::PPLTVController</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PPLTVController.html#a971f88ddcccba7653b5be2b02dff79bf">PPLTVController</a>(const wpi::array&lt; double, 3 &gt; &amp;Qelems, const wpi::array&lt; double, 2 &gt; &amp;Relems, units::second_t dt, units::meters_per_second_t maxVelocity=9_mps)</td><td class="entry"><a class="el" href="classpathplanner_1_1PPLTVController.html">pathplanner::PPLTVController</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1PPLTVController.html#aa821f72877dde70bb8cd167378ad411e">reset</a>(const frc::Pose2d &amp;currentPose, const frc::ChassisSpeeds &amp;currentSpeeds) override</td><td class="entry"><a class="el" href="classpathplanner_1_1PPLTVController.html">pathplanner::PPLTVController</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~PathFollowingController</b>() (defined in <a class="el" href="classpathplanner_1_1PathFollowingController.html">pathplanner::PathFollowingController</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathFollowingController.html">pathplanner::PathFollowingController</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
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diff --git a/docs/cpp/classpathplanner_1_1PPLTVController.html b/docs/cpp/classpathplanner_1_1PPLTVController.html
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+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classpathplanner_1_1PPLTVController-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">pathplanner::PPLTVController Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for pathplanner::PPLTVController:</div>
+<div class="dyncontent">
+ <div class="center">
+  <img src="classpathplanner_1_1PPLTVController.png" usemap="#pathplanner::PPLTVController_map" alt=""/>
+  <map id="pathplanner::PPLTVController_map" name="pathplanner::PPLTVController_map">
+<area href="classpathplanner_1_1PathFollowingController.html" alt="pathplanner::PathFollowingController" shape="rect" coords="230,0,450,24"/>
+  </map>
+</div></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a4929bd9baa23f1b7b089a8add0609ab4"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PPLTVController.html#a4929bd9baa23f1b7b089a8add0609ab4">PPLTVController</a> (units::second_t dt, units::velocity::meters_per_second_t maxVelocity=9_mps)</td></tr>
+<tr class="separator:a4929bd9baa23f1b7b089a8add0609ab4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a971f88ddcccba7653b5be2b02dff79bf"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PPLTVController.html#a971f88ddcccba7653b5be2b02dff79bf">PPLTVController</a> (const wpi::array&lt; double, 3 &gt; &amp;Qelems, const wpi::array&lt; double, 2 &gt; &amp;Relems, units::second_t dt, units::meters_per_second_t maxVelocity=9_mps)</td></tr>
+<tr class="separator:a971f88ddcccba7653b5be2b02dff79bf"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa935fe0ee3c2e1e2c795c983cae7c931"><td class="memItemLeft" align="right" valign="top">frc::ChassisSpeeds&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PPLTVController.html#aa935fe0ee3c2e1e2c795c983cae7c931">calculateRobotRelativeSpeeds</a> (const frc::Pose2d &amp;currentPose, const <a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">PathPlannerTrajectory::State</a> &amp;targetState) override</td></tr>
+<tr class="separator:aa935fe0ee3c2e1e2c795c983cae7c931"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa821f72877dde70bb8cd167378ad411e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PPLTVController.html#aa821f72877dde70bb8cd167378ad411e">reset</a> (const frc::Pose2d &amp;currentPose, const frc::ChassisSpeeds &amp;currentSpeeds) override</td></tr>
+<tr class="separator:aa821f72877dde70bb8cd167378ad411e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a79a37bf3eb7539baedee3cfd9698f20a"><td class="memItemLeft" align="right" valign="top">units::meter_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PPLTVController.html#a79a37bf3eb7539baedee3cfd9698f20a">getPositionalError</a> () override</td></tr>
+<tr class="separator:a79a37bf3eb7539baedee3cfd9698f20a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7df93fcd85a218b11afc26403f86905a"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PPLTVController.html#a7df93fcd85a218b11afc26403f86905a">isHolonomic</a> () override</td></tr>
+<tr class="separator:a7df93fcd85a218b11afc26403f86905a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a606f820cf7c0b607dad35518da99f459"><td class="memItemLeft" align="right" valign="top">virtual frc::ChassisSpeeds&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathFollowingController.html#a606f820cf7c0b607dad35518da99f459">calculateRobotRelativeSpeeds</a> (const frc::Pose2d &amp;currentPose, const <a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">PathPlannerTrajectory::State</a> &amp;targetState)=0</td></tr>
+<tr class="separator:a606f820cf7c0b607dad35518da99f459"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab0877961e6f6db0209990fa9d1288d42"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathFollowingController.html#ab0877961e6f6db0209990fa9d1288d42">reset</a> (const frc::Pose2d &amp;currentPose, const frc::ChassisSpeeds &amp;currentSpeeds)=0</td></tr>
+<tr class="separator:ab0877961e6f6db0209990fa9d1288d42"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aec75b4c43026780f9d3f57ddc081fe0f"><td class="memItemLeft" align="right" valign="top">virtual units::meter_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathFollowingController.html#aec75b4c43026780f9d3f57ddc081fe0f">getPositionalError</a> ()=0</td></tr>
+<tr class="separator:aec75b4c43026780f9d3f57ddc081fe0f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae323fa07e8d2a8af8325d460e3cb1352"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathFollowingController.html#ae323fa07e8d2a8af8325d460e3cb1352">isHolonomic</a> ()=0</td></tr>
+<tr class="separator:ae323fa07e8d2a8af8325d460e3cb1352"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a4929bd9baa23f1b7b089a8add0609ab4" name="a4929bd9baa23f1b7b089a8add0609ab4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4929bd9baa23f1b7b089a8add0609ab4">&#9670;&#160;</a></span>PPLTVController() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">pathplanner::PPLTVController::PPLTVController </td>
+          <td>(</td>
+          <td class="paramtype">units::second_t&#160;</td>
+          <td class="paramname"><em>dt</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::velocity::meters_per_second_t&#160;</td>
+          <td class="paramname"><em>maxVelocity</em> = <code>9_mps</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Constructs a linear time-varying unicycle controller with default maximum desired error tolerances of (0.0625 m, 0.125 m, 2 rad) and default maximum desired control effort of (1 m/s, 2 rad/s).</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">dt</td><td>Discretization timestep in seconds. </td></tr>
+    <tr><td class="paramname">maxVelocity</td><td>The maximum velocity in meters per second for the controller gain lookup table. The default is 9 m/s. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a971f88ddcccba7653b5be2b02dff79bf" name="a971f88ddcccba7653b5be2b02dff79bf"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a971f88ddcccba7653b5be2b02dff79bf">&#9670;&#160;</a></span>PPLTVController() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">pathplanner::PPLTVController::PPLTVController </td>
+          <td>(</td>
+          <td class="paramtype">const wpi::array&lt; double, 3 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>Qelems</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const wpi::array&lt; double, 2 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>Relems</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::second_t&#160;</td>
+          <td class="paramname"><em>dt</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::meters_per_second_t&#160;</td>
+          <td class="paramname"><em>maxVelocity</em> = <code>9_mps</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Constructs a linear time-varying unicycle controller.</p>
+<p >See <a href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning">https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning</a> for how to select the tolerances.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">Qelems</td><td>The maximum desired error tolerance for each state. </td></tr>
+    <tr><td class="paramname">Relems</td><td>The maximum desired control effort for each input. </td></tr>
+    <tr><td class="paramname">dt</td><td>Discretization timestep in seconds. </td></tr>
+    <tr><td class="paramname">maxVelocity</td><td>The maximum velocity in meters per second for the controller gain lookup table. The default is 9 m/s. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname">IllegalArgumentException</td><td>if maxVelocity &lt;= 0 m/s or &gt;= 15 m/s. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="aa935fe0ee3c2e1e2c795c983cae7c931" name="aa935fe0ee3c2e1e2c795c983cae7c931"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa935fe0ee3c2e1e2c795c983cae7c931">&#9670;&#160;</a></span>calculateRobotRelativeSpeeds()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">frc::ChassisSpeeds pathplanner::PPLTVController::calculateRobotRelativeSpeeds </td>
+          <td>(</td>
+          <td class="paramtype">const frc::Pose2d &amp;&#160;</td>
+          <td class="paramname"><em>currentPose</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">PathPlannerTrajectory::State</a> &amp;&#160;</td>
+          <td class="paramname"><em>targetState</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Calculates the next output of the path following controller</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">currentPose</td><td>The current robot pose </td></tr>
+    <tr><td class="paramname">targetState</td><td>The desired trajectory state </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The next robot relative output of the path following controller </dd></dl>
+
+<p>Implements <a class="el" href="classpathplanner_1_1PathFollowingController.html#a606f820cf7c0b607dad35518da99f459">pathplanner::PathFollowingController</a>.</p>
+
+</div>
+</div>
+<a id="a79a37bf3eb7539baedee3cfd9698f20a" name="a79a37bf3eb7539baedee3cfd9698f20a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a79a37bf3eb7539baedee3cfd9698f20a">&#9670;&#160;</a></span>getPositionalError()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">units::meter_t pathplanner::PPLTVController::getPositionalError </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Get the current positional error between the robot's actual and target positions</p>
+<dl class="section return"><dt>Returns</dt><dd>Positional error, in meters </dd></dl>
+
+<p>Implements <a class="el" href="classpathplanner_1_1PathFollowingController.html#aec75b4c43026780f9d3f57ddc081fe0f">pathplanner::PathFollowingController</a>.</p>
+
+</div>
+</div>
+<a id="a7df93fcd85a218b11afc26403f86905a" name="a7df93fcd85a218b11afc26403f86905a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7df93fcd85a218b11afc26403f86905a">&#9670;&#160;</a></span>isHolonomic()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool pathplanner::PPLTVController::isHolonomic </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Is this controller for holonomic drivetrains? Used to handle some differences in functionality in the path following command.</p>
+<dl class="section return"><dt>Returns</dt><dd>True if this controller is for a holonomic drive train </dd></dl>
+
+<p>Implements <a class="el" href="classpathplanner_1_1PathFollowingController.html#ae323fa07e8d2a8af8325d460e3cb1352">pathplanner::PathFollowingController</a>.</p>
+
+</div>
+</div>
+<a id="aa821f72877dde70bb8cd167378ad411e" name="aa821f72877dde70bb8cd167378ad411e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa821f72877dde70bb8cd167378ad411e">&#9670;&#160;</a></span>reset()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void pathplanner::PPLTVController::reset </td>
+          <td>(</td>
+          <td class="paramtype">const frc::Pose2d &amp;&#160;</td>
+          <td class="paramname"><em>currentPose</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const frc::ChassisSpeeds &amp;&#160;</td>
+          <td class="paramname"><em>currentSpeeds</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Resets the controller based on the current state of the robot</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">currentPose</td><td>Current robot pose </td></tr>
+    <tr><td class="paramname">currentSpeeds</td><td>Current robot relative chassis speeds </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implements <a class="el" href="classpathplanner_1_1PathFollowingController.html#ab0877961e6f6db0209990fa9d1288d42">pathplanner::PathFollowingController</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>src/main/native/include/pathplanner/lib/controllers/<a class="el" href="PPLTVController_8h_source.html">PPLTVController.h</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><b>pathplanner</b></li><li class="navelem"><a class="el" href="classpathplanner_1_1PPLTVController.html">PPLTVController</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/docs/cpp/classpathplanner_1_1PPLTVController.js b/docs/cpp/classpathplanner_1_1PPLTVController.js
new file mode 100644
index 00000000..1e9b0b8b
--- /dev/null
+++ b/docs/cpp/classpathplanner_1_1PPLTVController.js
@@ -0,0 +1,9 @@
+var classpathplanner_1_1PPLTVController =
+[
+    [ "PPLTVController", "classpathplanner_1_1PPLTVController.html#a4929bd9baa23f1b7b089a8add0609ab4", null ],
+    [ "PPLTVController", "classpathplanner_1_1PPLTVController.html#a971f88ddcccba7653b5be2b02dff79bf", null ],
+    [ "calculateRobotRelativeSpeeds", "classpathplanner_1_1PPLTVController.html#aa935fe0ee3c2e1e2c795c983cae7c931", null ],
+    [ "getPositionalError", "classpathplanner_1_1PPLTVController.html#a79a37bf3eb7539baedee3cfd9698f20a", null ],
+    [ "isHolonomic", "classpathplanner_1_1PPLTVController.html#a7df93fcd85a218b11afc26403f86905a", null ],
+    [ "reset", "classpathplanner_1_1PPLTVController.html#aa821f72877dde70bb8cd167378ad411e", null ]
+];
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diff --git a/docs/cpp/classpathplanner_1_1PPLibTelemetry-members.html b/docs/cpp/classpathplanner_1_1PPLibTelemetry-members.html
new file mode 100644
index 00000000..e64f7d0f
--- /dev/null
+++ b/docs/cpp/classpathplanner_1_1PPLibTelemetry-members.html
@@ -0,0 +1,115 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>PathPlannerLib: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('classpathplanner_1_1PPLibTelemetry.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="header">
+  <div class="headertitle"><div class="title">pathplanner::PPLibTelemetry Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpathplanner_1_1PPLibTelemetry.html">pathplanner::PPLibTelemetry</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>enableCompetitionMode</b>() (defined in <a class="el" href="classpathplanner_1_1PPLibTelemetry.html">pathplanner::PPLibTelemetry</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PPLibTelemetry.html">pathplanner::PPLibTelemetry</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>registerHotReloadPath</b>(std::string pathName, std::shared_ptr&lt; PathPlannerPath &gt; path) (defined in <a class="el" href="classpathplanner_1_1PPLibTelemetry.html">pathplanner::PPLibTelemetry</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PPLibTelemetry.html">pathplanner::PPLibTelemetry</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>setCurrentPath</b>(std::shared_ptr&lt; PathPlannerPath &gt; path) (defined in <a class="el" href="classpathplanner_1_1PPLibTelemetry.html">pathplanner::PPLibTelemetry</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PPLibTelemetry.html">pathplanner::PPLibTelemetry</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>setCurrentPose</b>(frc::Pose2d pose) (defined in <a class="el" href="classpathplanner_1_1PPLibTelemetry.html">pathplanner::PPLibTelemetry</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PPLibTelemetry.html">pathplanner::PPLibTelemetry</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>setPathInaccuracy</b>(units::meter_t inaccuracy) (defined in <a class="el" href="classpathplanner_1_1PPLibTelemetry.html">pathplanner::PPLibTelemetry</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PPLibTelemetry.html">pathplanner::PPLibTelemetry</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>setTargetPose</b>(frc::Pose2d targetPose) (defined in <a class="el" href="classpathplanner_1_1PPLibTelemetry.html">pathplanner::PPLibTelemetry</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PPLibTelemetry.html">pathplanner::PPLibTelemetry</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>setVelocities</b>(units::meters_per_second_t actualVel, units::meters_per_second_t commandedVel, units::degrees_per_second_t actualAngVel, units::degrees_per_second_t commandedAngVel) (defined in <a class="el" href="classpathplanner_1_1PPLibTelemetry.html">pathplanner::PPLibTelemetry</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PPLibTelemetry.html">pathplanner::PPLibTelemetry</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/docs/cpp/classpathplanner_1_1PPLibTelemetry.html b/docs/cpp/classpathplanner_1_1PPLibTelemetry.html
new file mode 100644
index 00000000..81bbed23
--- /dev/null
+++ b/docs/cpp/classpathplanner_1_1PPLibTelemetry.html
@@ -0,0 +1,138 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>PathPlannerLib: pathplanner::PPLibTelemetry Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('classpathplanner_1_1PPLibTelemetry.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classpathplanner_1_1PPLibTelemetry-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">pathplanner::PPLibTelemetry Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a88417222a6a90c27c82f2eaaa20630ab"><td class="memItemLeft" align="right" valign="top"><a id="a88417222a6a90c27c82f2eaaa20630ab" name="a88417222a6a90c27c82f2eaaa20630ab"></a>
+static void&#160;</td><td class="memItemRight" valign="bottom"><b>enableCompetitionMode</b> ()</td></tr>
+<tr class="separator:a88417222a6a90c27c82f2eaaa20630ab"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6c110eff3ada021d8eb7059f6cf160c4"><td class="memItemLeft" align="right" valign="top"><a id="a6c110eff3ada021d8eb7059f6cf160c4" name="a6c110eff3ada021d8eb7059f6cf160c4"></a>
+static void&#160;</td><td class="memItemRight" valign="bottom"><b>setVelocities</b> (units::meters_per_second_t actualVel, units::meters_per_second_t commandedVel, units::degrees_per_second_t actualAngVel, units::degrees_per_second_t commandedAngVel)</td></tr>
+<tr class="separator:a6c110eff3ada021d8eb7059f6cf160c4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a36c649ced54bf7a9efae2585f4f2ff04"><td class="memItemLeft" align="right" valign="top"><a id="a36c649ced54bf7a9efae2585f4f2ff04" name="a36c649ced54bf7a9efae2585f4f2ff04"></a>
+static void&#160;</td><td class="memItemRight" valign="bottom"><b>setPathInaccuracy</b> (units::meter_t inaccuracy)</td></tr>
+<tr class="separator:a36c649ced54bf7a9efae2585f4f2ff04"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1ffad3ef6f77a46cbff7f8530d6477e1"><td class="memItemLeft" align="right" valign="top"><a id="a1ffad3ef6f77a46cbff7f8530d6477e1" name="a1ffad3ef6f77a46cbff7f8530d6477e1"></a>
+static void&#160;</td><td class="memItemRight" valign="bottom"><b>setCurrentPose</b> (frc::Pose2d pose)</td></tr>
+<tr class="separator:a1ffad3ef6f77a46cbff7f8530d6477e1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aff8db9016039fd84ce525a8b4bea670a"><td class="memItemLeft" align="right" valign="top"><a id="aff8db9016039fd84ce525a8b4bea670a" name="aff8db9016039fd84ce525a8b4bea670a"></a>
+static void&#160;</td><td class="memItemRight" valign="bottom"><b>setCurrentPath</b> (std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt; path)</td></tr>
+<tr class="separator:aff8db9016039fd84ce525a8b4bea670a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a810f443d46d4a80f6c38b87e3df223f6"><td class="memItemLeft" align="right" valign="top"><a id="a810f443d46d4a80f6c38b87e3df223f6" name="a810f443d46d4a80f6c38b87e3df223f6"></a>
+static void&#160;</td><td class="memItemRight" valign="bottom"><b>setTargetPose</b> (frc::Pose2d targetPose)</td></tr>
+<tr class="separator:a810f443d46d4a80f6c38b87e3df223f6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3aed5873f0ba2604eaca7f43cff491b5"><td class="memItemLeft" align="right" valign="top"><a id="a3aed5873f0ba2604eaca7f43cff491b5" name="a3aed5873f0ba2604eaca7f43cff491b5"></a>
+static void&#160;</td><td class="memItemRight" valign="bottom"><b>registerHotReloadPath</b> (std::string pathName, std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt; path)</td></tr>
+<tr class="separator:a3aed5873f0ba2604eaca7f43cff491b5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>src/main/native/include/pathplanner/lib/util/<a class="el" href="PPLibTelemetry_8h_source.html">PPLibTelemetry.h</a></li>
+<li>src/main/native/cpp/pathplanner/lib/util/PPLibTelemetry.cpp</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><b>pathplanner</b></li><li class="navelem"><a class="el" href="classpathplanner_1_1PPLibTelemetry.html">PPLibTelemetry</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/docs/cpp/classpathplanner_1_1PPRamseteController-members.html b/docs/cpp/classpathplanner_1_1PPRamseteController-members.html
new file mode 100644
index 00000000..2e35acfe
--- /dev/null
+++ b/docs/cpp/classpathplanner_1_1PPRamseteController-members.html
@@ -0,0 +1,115 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>PathPlannerLib: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
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+<script type="text/javascript" src="navtreedata.js"></script>
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+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('classpathplanner_1_1PPRamseteController.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
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+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="header">
+  <div class="headertitle"><div class="title">pathplanner::PPRamseteController Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpathplanner_1_1PPRamseteController.html">pathplanner::PPRamseteController</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PPRamseteController.html#a8d14ffb80c95770055f8ced1394d17d0">calculateRobotRelativeSpeeds</a>(const frc::Pose2d &amp;currentPose, const PathPlannerTrajectory::State &amp;targetState) override</td><td class="entry"><a class="el" href="classpathplanner_1_1PPRamseteController.html">pathplanner::PPRamseteController</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1PPRamseteController.html#aecf94d68ee9953199141042a2fadbcaf">getPositionalError</a>() override</td><td class="entry"><a class="el" href="classpathplanner_1_1PPRamseteController.html">pathplanner::PPRamseteController</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PPRamseteController.html#a05c5a148faaff8d5e93bdc3dce2a7a49">isHolonomic</a>() override</td><td class="entry"><a class="el" href="classpathplanner_1_1PPRamseteController.html">pathplanner::PPRamseteController</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1PPRamseteController.html#ae5772a7c13a3ec8f527085ba0367b188">PPRamseteController</a>(units::unit_t&lt; b_unit &gt; b, units::unit_t&lt; zeta_unit &gt; zeta)</td><td class="entry"><a class="el" href="classpathplanner_1_1PPRamseteController.html">pathplanner::PPRamseteController</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PPRamseteController.html#a610fd96e6e5fa74d3a8e3a8f17b8eb0c">PPRamseteController</a>()</td><td class="entry"><a class="el" href="classpathplanner_1_1PPRamseteController.html">pathplanner::PPRamseteController</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1PPRamseteController.html#ae4e0a1e37d71614a75576bb7ea8e4e50">reset</a>(const frc::Pose2d &amp;currentPose, const frc::ChassisSpeeds &amp;currentSpeeds) override</td><td class="entry"><a class="el" href="classpathplanner_1_1PPRamseteController.html">pathplanner::PPRamseteController</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~PathFollowingController</b>() (defined in <a class="el" href="classpathplanner_1_1PathFollowingController.html">pathplanner::PathFollowingController</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathFollowingController.html">pathplanner::PathFollowingController</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/docs/cpp/classpathplanner_1_1PPRamseteController.html b/docs/cpp/classpathplanner_1_1PPRamseteController.html
new file mode 100644
index 00000000..532ff8de
--- /dev/null
+++ b/docs/cpp/classpathplanner_1_1PPRamseteController.html
@@ -0,0 +1,368 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>PathPlannerLib: pathplanner::PPRamseteController Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
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+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('classpathplanner_1_1PPRamseteController.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classpathplanner_1_1PPRamseteController-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">pathplanner::PPRamseteController Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for pathplanner::PPRamseteController:</div>
+<div class="dyncontent">
+ <div class="center">
+  <img src="classpathplanner_1_1PPRamseteController.png" usemap="#pathplanner::PPRamseteController_map" alt=""/>
+  <map id="pathplanner::PPRamseteController_map" name="pathplanner::PPRamseteController_map">
+<area href="classpathplanner_1_1PathFollowingController.html" alt="pathplanner::PathFollowingController" shape="rect" coords="230,0,450,24"/>
+  </map>
+</div></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:ae5772a7c13a3ec8f527085ba0367b188"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PPRamseteController.html#ae5772a7c13a3ec8f527085ba0367b188">PPRamseteController</a> (units::unit_t&lt; b_unit &gt; b, units::unit_t&lt; zeta_unit &gt; zeta)</td></tr>
+<tr class="separator:ae5772a7c13a3ec8f527085ba0367b188"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a610fd96e6e5fa74d3a8e3a8f17b8eb0c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PPRamseteController.html#a610fd96e6e5fa74d3a8e3a8f17b8eb0c">PPRamseteController</a> ()</td></tr>
+<tr class="separator:a610fd96e6e5fa74d3a8e3a8f17b8eb0c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8d14ffb80c95770055f8ced1394d17d0"><td class="memItemLeft" align="right" valign="top">frc::ChassisSpeeds&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PPRamseteController.html#a8d14ffb80c95770055f8ced1394d17d0">calculateRobotRelativeSpeeds</a> (const frc::Pose2d &amp;currentPose, const <a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">PathPlannerTrajectory::State</a> &amp;targetState) override</td></tr>
+<tr class="separator:a8d14ffb80c95770055f8ced1394d17d0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae4e0a1e37d71614a75576bb7ea8e4e50"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PPRamseteController.html#ae4e0a1e37d71614a75576bb7ea8e4e50">reset</a> (const frc::Pose2d &amp;currentPose, const frc::ChassisSpeeds &amp;currentSpeeds) override</td></tr>
+<tr class="separator:ae4e0a1e37d71614a75576bb7ea8e4e50"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aecf94d68ee9953199141042a2fadbcaf"><td class="memItemLeft" align="right" valign="top">units::meter_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PPRamseteController.html#aecf94d68ee9953199141042a2fadbcaf">getPositionalError</a> () override</td></tr>
+<tr class="separator:aecf94d68ee9953199141042a2fadbcaf"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a05c5a148faaff8d5e93bdc3dce2a7a49"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PPRamseteController.html#a05c5a148faaff8d5e93bdc3dce2a7a49">isHolonomic</a> () override</td></tr>
+<tr class="separator:a05c5a148faaff8d5e93bdc3dce2a7a49"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a606f820cf7c0b607dad35518da99f459"><td class="memItemLeft" align="right" valign="top">virtual frc::ChassisSpeeds&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathFollowingController.html#a606f820cf7c0b607dad35518da99f459">calculateRobotRelativeSpeeds</a> (const frc::Pose2d &amp;currentPose, const <a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">PathPlannerTrajectory::State</a> &amp;targetState)=0</td></tr>
+<tr class="separator:a606f820cf7c0b607dad35518da99f459"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab0877961e6f6db0209990fa9d1288d42"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathFollowingController.html#ab0877961e6f6db0209990fa9d1288d42">reset</a> (const frc::Pose2d &amp;currentPose, const frc::ChassisSpeeds &amp;currentSpeeds)=0</td></tr>
+<tr class="separator:ab0877961e6f6db0209990fa9d1288d42"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aec75b4c43026780f9d3f57ddc081fe0f"><td class="memItemLeft" align="right" valign="top">virtual units::meter_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathFollowingController.html#aec75b4c43026780f9d3f57ddc081fe0f">getPositionalError</a> ()=0</td></tr>
+<tr class="separator:aec75b4c43026780f9d3f57ddc081fe0f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae323fa07e8d2a8af8325d460e3cb1352"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathFollowingController.html#ae323fa07e8d2a8af8325d460e3cb1352">isHolonomic</a> ()=0</td></tr>
+<tr class="separator:ae323fa07e8d2a8af8325d460e3cb1352"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ae5772a7c13a3ec8f527085ba0367b188" name="ae5772a7c13a3ec8f527085ba0367b188"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae5772a7c13a3ec8f527085ba0367b188">&#9670;&#160;</a></span>PPRamseteController() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">pathplanner::PPRamseteController::PPRamseteController </td>
+          <td>(</td>
+          <td class="paramtype">units::unit_t&lt; b_unit &gt;&#160;</td>
+          <td class="paramname"><em>b</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::unit_t&lt; zeta_unit &gt;&#160;</td>
+          <td class="paramname"><em>zeta</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Construct a Ramsete unicycle controller.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">b</td><td>Tuning parameter (b &gt; 0 rad^2/m^2) for which larger values make convergence more aggressive like a proportional term. </td></tr>
+    <tr><td class="paramname">zeta</td><td>Tuning parameter (0 rad^-1 &lt; zeta &lt; 1 rad^-1) for which larger values provide more damping in response. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a610fd96e6e5fa74d3a8e3a8f17b8eb0c" name="a610fd96e6e5fa74d3a8e3a8f17b8eb0c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a610fd96e6e5fa74d3a8e3a8f17b8eb0c">&#9670;&#160;</a></span>PPRamseteController() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">pathplanner::PPRamseteController::PPRamseteController </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Construct a Ramsete unicycle controller. The default arguments for b and zeta of 2.0 rad^2/m^2 and 0.7 rad^-1 have been well-tested to produce desirable results. </p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a8d14ffb80c95770055f8ced1394d17d0" name="a8d14ffb80c95770055f8ced1394d17d0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8d14ffb80c95770055f8ced1394d17d0">&#9670;&#160;</a></span>calculateRobotRelativeSpeeds()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">frc::ChassisSpeeds pathplanner::PPRamseteController::calculateRobotRelativeSpeeds </td>
+          <td>(</td>
+          <td class="paramtype">const frc::Pose2d &amp;&#160;</td>
+          <td class="paramname"><em>currentPose</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">PathPlannerTrajectory::State</a> &amp;&#160;</td>
+          <td class="paramname"><em>targetState</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Calculates the next output of the path following controller</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">currentPose</td><td>The current robot pose </td></tr>
+    <tr><td class="paramname">targetState</td><td>The desired trajectory state </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The next robot relative output of the path following controller </dd></dl>
+
+<p>Implements <a class="el" href="classpathplanner_1_1PathFollowingController.html#a606f820cf7c0b607dad35518da99f459">pathplanner::PathFollowingController</a>.</p>
+
+</div>
+</div>
+<a id="aecf94d68ee9953199141042a2fadbcaf" name="aecf94d68ee9953199141042a2fadbcaf"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aecf94d68ee9953199141042a2fadbcaf">&#9670;&#160;</a></span>getPositionalError()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">units::meter_t pathplanner::PPRamseteController::getPositionalError </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Get the current positional error between the robot's actual and target positions</p>
+<dl class="section return"><dt>Returns</dt><dd>Positional error, in meters </dd></dl>
+
+<p>Implements <a class="el" href="classpathplanner_1_1PathFollowingController.html#aec75b4c43026780f9d3f57ddc081fe0f">pathplanner::PathFollowingController</a>.</p>
+
+</div>
+</div>
+<a id="a05c5a148faaff8d5e93bdc3dce2a7a49" name="a05c5a148faaff8d5e93bdc3dce2a7a49"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a05c5a148faaff8d5e93bdc3dce2a7a49">&#9670;&#160;</a></span>isHolonomic()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool pathplanner::PPRamseteController::isHolonomic </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Is this controller for holonomic drivetrains? Used to handle some differences in functionality in the path following command.</p>
+<dl class="section return"><dt>Returns</dt><dd>True if this controller is for a holonomic drive train </dd></dl>
+
+<p>Implements <a class="el" href="classpathplanner_1_1PathFollowingController.html#ae323fa07e8d2a8af8325d460e3cb1352">pathplanner::PathFollowingController</a>.</p>
+
+</div>
+</div>
+<a id="ae4e0a1e37d71614a75576bb7ea8e4e50" name="ae4e0a1e37d71614a75576bb7ea8e4e50"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae4e0a1e37d71614a75576bb7ea8e4e50">&#9670;&#160;</a></span>reset()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void pathplanner::PPRamseteController::reset </td>
+          <td>(</td>
+          <td class="paramtype">const frc::Pose2d &amp;&#160;</td>
+          <td class="paramname"><em>currentPose</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const frc::ChassisSpeeds &amp;&#160;</td>
+          <td class="paramname"><em>currentSpeeds</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Resets the controller based on the current state of the robot</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">currentPose</td><td>Current robot pose </td></tr>
+    <tr><td class="paramname">currentSpeeds</td><td>Current robot relative chassis speeds </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implements <a class="el" href="classpathplanner_1_1PathFollowingController.html#ab0877961e6f6db0209990fa9d1288d42">pathplanner::PathFollowingController</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>src/main/native/include/pathplanner/lib/controllers/<a class="el" href="PPRamseteController_8h_source.html">PPRamseteController.h</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><b>pathplanner</b></li><li class="navelem"><a class="el" href="classpathplanner_1_1PPRamseteController.html">PPRamseteController</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
+</div>
+</body>
+</html>
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+    [ "PPRamseteController", "classpathplanner_1_1PPRamseteController.html#a610fd96e6e5fa74d3a8e3a8f17b8eb0c", null ],
+    [ "calculateRobotRelativeSpeeds", "classpathplanner_1_1PPRamseteController.html#a8d14ffb80c95770055f8ced1394d17d0", null ],
+    [ "getPositionalError", "classpathplanner_1_1PPRamseteController.html#aecf94d68ee9953199141042a2fadbcaf", null ],
+    [ "isHolonomic", "classpathplanner_1_1PPRamseteController.html#a05c5a148faaff8d5e93bdc3dce2a7a49", null ],
+    [ "reset", "classpathplanner_1_1PPRamseteController.html#ae4e0a1e37d71614a75576bb7ea8e4e50", null ]
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
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+<div class="header">
+  <div class="headertitle"><div class="title">pathplanner::PathConstraints Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpathplanner_1_1PathConstraints.html">pathplanner::PathConstraints</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PathConstraints.html#a9963568da951044f73765de376337269">fromJson</a>(const wpi::json &amp;json)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathConstraints.html">pathplanner::PathConstraints</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1PathConstraints.html#ad48ea4771018e336fc20d69bf32c468d">getMaxAcceleration</a>() const</td><td class="entry"><a class="el" href="classpathplanner_1_1PathConstraints.html">pathplanner::PathConstraints</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PathConstraints.html#aae61e0f700e7e40b7841803cc0da85fd">getMaxAngularAcceleration</a>() const</td><td class="entry"><a class="el" href="classpathplanner_1_1PathConstraints.html">pathplanner::PathConstraints</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1PathConstraints.html#ac2f8dc7ece4f0e8652494bf14a4a6bab">getMaxAngularVelocity</a>() const</td><td class="entry"><a class="el" href="classpathplanner_1_1PathConstraints.html">pathplanner::PathConstraints</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PathConstraints.html#a3e55a90b65cf31d313e9f5fd6e5d7988">getMaxVelocity</a>() const</td><td class="entry"><a class="el" href="classpathplanner_1_1PathConstraints.html">pathplanner::PathConstraints</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>operator==</b>(const PathConstraints &amp;other) const (defined in <a class="el" href="classpathplanner_1_1PathConstraints.html">pathplanner::PathConstraints</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathConstraints.html">pathplanner::PathConstraints</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PathConstraints.html#afd5ff7d50f81933f628b7e119123897c">PathConstraints</a>(units::meters_per_second_t maxVel, units::meters_per_second_squared_t maxAccel, units::radians_per_second_t maxAngularVel, units::radians_per_second_squared_t maxAngularAccel)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathConstraints.html">pathplanner::PathConstraints</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
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+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classpathplanner_1_1PathConstraints-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">pathplanner::PathConstraints Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:afd5ff7d50f81933f628b7e119123897c"><td class="memItemLeft" align="right" valign="top">constexpr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathConstraints.html#afd5ff7d50f81933f628b7e119123897c">PathConstraints</a> (units::meters_per_second_t maxVel, units::meters_per_second_squared_t maxAccel, units::radians_per_second_t maxAngularVel, units::radians_per_second_squared_t maxAngularAccel)</td></tr>
+<tr class="separator:afd5ff7d50f81933f628b7e119123897c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3e55a90b65cf31d313e9f5fd6e5d7988"><td class="memItemLeft" align="right" valign="top">constexpr units::meters_per_second_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathConstraints.html#a3e55a90b65cf31d313e9f5fd6e5d7988">getMaxVelocity</a> () const</td></tr>
+<tr class="separator:a3e55a90b65cf31d313e9f5fd6e5d7988"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad48ea4771018e336fc20d69bf32c468d"><td class="memItemLeft" align="right" valign="top">constexpr units::meters_per_second_squared_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathConstraints.html#ad48ea4771018e336fc20d69bf32c468d">getMaxAcceleration</a> () const</td></tr>
+<tr class="separator:ad48ea4771018e336fc20d69bf32c468d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac2f8dc7ece4f0e8652494bf14a4a6bab"><td class="memItemLeft" align="right" valign="top">constexpr units::radians_per_second_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathConstraints.html#ac2f8dc7ece4f0e8652494bf14a4a6bab">getMaxAngularVelocity</a> () const</td></tr>
+<tr class="separator:ac2f8dc7ece4f0e8652494bf14a4a6bab"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aae61e0f700e7e40b7841803cc0da85fd"><td class="memItemLeft" align="right" valign="top">constexpr units::radians_per_second_squared_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathConstraints.html#aae61e0f700e7e40b7841803cc0da85fd">getMaxAngularAcceleration</a> () const</td></tr>
+<tr class="separator:aae61e0f700e7e40b7841803cc0da85fd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3591a86aa03c96be56bbb23d6744a608"><td class="memItemLeft" align="right" valign="top"><a id="a3591a86aa03c96be56bbb23d6744a608" name="a3591a86aa03c96be56bbb23d6744a608"></a>
+bool&#160;</td><td class="memItemRight" valign="bottom"><b>operator==</b> (const <a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> &amp;other) const</td></tr>
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+<tr class="memitem:a9963568da951044f73765de376337269"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathConstraints.html#a9963568da951044f73765de376337269">fromJson</a> (const wpi::json &amp;json)</td></tr>
+<tr class="separator:a9963568da951044f73765de376337269"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="afd5ff7d50f81933f628b7e119123897c" name="afd5ff7d50f81933f628b7e119123897c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afd5ff7d50f81933f628b7e119123897c">&#9670;&#160;</a></span>PathConstraints()</h2>
+
+<div class="memitem">
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+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr pathplanner::PathConstraints::PathConstraints </td>
+          <td>(</td>
+          <td class="paramtype">units::meters_per_second_t&#160;</td>
+          <td class="paramname"><em>maxVel</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::meters_per_second_squared_t&#160;</td>
+          <td class="paramname"><em>maxAccel</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::radians_per_second_t&#160;</td>
+          <td class="paramname"><em>maxAngularVel</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::radians_per_second_squared_t&#160;</td>
+          <td class="paramname"><em>maxAngularAccel</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Create a new path constraints object</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">maxVel</td><td>Max linear velocity (M/S) </td></tr>
+    <tr><td class="paramname">maxAccel</td><td>Max linear acceleration (M/S^2) </td></tr>
+    <tr><td class="paramname">maxAngularVel</td><td>Max angular velocity (Deg/S) </td></tr>
+    <tr><td class="paramname">maxAngularAccel</td><td>Max angular acceleration (Deg/S^2) </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a9963568da951044f73765de376337269" name="a9963568da951044f73765de376337269"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9963568da951044f73765de376337269">&#9670;&#160;</a></span>fromJson()</h2>
+
+<div class="memitem">
+<div class="memproto">
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+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> PathConstraints::fromJson </td>
+          <td>(</td>
+          <td class="paramtype">const wpi::json &amp;&#160;</td>
+          <td class="paramname"><em>json</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Create a path constraints object from json</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">json</td><td>json reference representing a path constraints object </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The path constraints defined by the given json </dd></dl>
+
+</div>
+</div>
+<a id="ad48ea4771018e336fc20d69bf32c468d" name="ad48ea4771018e336fc20d69bf32c468d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad48ea4771018e336fc20d69bf32c468d">&#9670;&#160;</a></span>getMaxAcceleration()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr units::meters_per_second_squared_t pathplanner::PathConstraints::getMaxAcceleration </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Get the max linear acceleration</p>
+<dl class="section return"><dt>Returns</dt><dd>Max linear acceleration (M/S^2) </dd></dl>
+
+</div>
+</div>
+<a id="aae61e0f700e7e40b7841803cc0da85fd" name="aae61e0f700e7e40b7841803cc0da85fd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aae61e0f700e7e40b7841803cc0da85fd">&#9670;&#160;</a></span>getMaxAngularAcceleration()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr units::radians_per_second_squared_t pathplanner::PathConstraints::getMaxAngularAcceleration </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Get the max angular acceleration</p>
+<dl class="section return"><dt>Returns</dt><dd>Max angular acceleration (Rad/S^2) </dd></dl>
+
+</div>
+</div>
+<a id="ac2f8dc7ece4f0e8652494bf14a4a6bab" name="ac2f8dc7ece4f0e8652494bf14a4a6bab"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac2f8dc7ece4f0e8652494bf14a4a6bab">&#9670;&#160;</a></span>getMaxAngularVelocity()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr units::radians_per_second_t pathplanner::PathConstraints::getMaxAngularVelocity </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
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+</div><div class="memdoc">
+<p >Get the max angular velocity</p>
+<dl class="section return"><dt>Returns</dt><dd>Max angular velocity (Rad/S) </dd></dl>
+
+</div>
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a3e55a90b65cf31d313e9f5fd6e5d7988">&#9670;&#160;</a></span>getMaxVelocity()</h2>
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+  <tr>
+  <td class="mlabels-left">
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+          <td class="memname">constexpr units::meters_per_second_t pathplanner::PathConstraints::getMaxVelocity </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Get the max linear velocity</p>
+<dl class="section return"><dt>Returns</dt><dd>Max linear velocity (M/S) </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>src/main/native/include/pathplanner/lib/path/<a class="el" href="PathConstraints_8h_source.html">PathConstraints.h</a></li>
+<li>src/main/native/cpp/pathplanner/lib/path/PathConstraints.cpp</li>
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+  <ul>
+    <li class="navelem"><b>pathplanner</b></li><li class="navelem"><a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a></li>
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+       class="ui-resizable-handle">
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+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('classpathplanner_1_1PathFollowingController.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="header">
+  <div class="headertitle"><div class="title">pathplanner::PathFollowingController Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpathplanner_1_1PathFollowingController.html">pathplanner::PathFollowingController</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PathFollowingController.html#a606f820cf7c0b607dad35518da99f459">calculateRobotRelativeSpeeds</a>(const frc::Pose2d &amp;currentPose, const PathPlannerTrajectory::State &amp;targetState)=0</td><td class="entry"><a class="el" href="classpathplanner_1_1PathFollowingController.html">pathplanner::PathFollowingController</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1PathFollowingController.html#aec75b4c43026780f9d3f57ddc081fe0f">getPositionalError</a>()=0</td><td class="entry"><a class="el" href="classpathplanner_1_1PathFollowingController.html">pathplanner::PathFollowingController</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PathFollowingController.html#ae323fa07e8d2a8af8325d460e3cb1352">isHolonomic</a>()=0</td><td class="entry"><a class="el" href="classpathplanner_1_1PathFollowingController.html">pathplanner::PathFollowingController</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1PathFollowingController.html#ab0877961e6f6db0209990fa9d1288d42">reset</a>(const frc::Pose2d &amp;currentPose, const frc::ChassisSpeeds &amp;currentSpeeds)=0</td><td class="entry"><a class="el" href="classpathplanner_1_1PathFollowingController.html">pathplanner::PathFollowingController</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~PathFollowingController</b>() (defined in <a class="el" href="classpathplanner_1_1PathFollowingController.html">pathplanner::PathFollowingController</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathFollowingController.html">pathplanner::PathFollowingController</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/docs/cpp/classpathplanner_1_1PathFollowingController.html b/docs/cpp/classpathplanner_1_1PathFollowingController.html
new file mode 100644
index 00000000..97c6197b
--- /dev/null
+++ b/docs/cpp/classpathplanner_1_1PathFollowingController.html
@@ -0,0 +1,287 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>PathPlannerLib: pathplanner::PathFollowingController Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('classpathplanner_1_1PathFollowingController.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classpathplanner_1_1PathFollowingController-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">pathplanner::PathFollowingController Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div></div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for pathplanner::PathFollowingController:</div>
+<div class="dyncontent">
+ <div class="center">
+  <img src="classpathplanner_1_1PathFollowingController.png" usemap="#pathplanner::PathFollowingController_map" alt=""/>
+  <map id="pathplanner::PathFollowingController_map" name="pathplanner::PathFollowingController_map">
+<area href="classpathplanner_1_1PPHolonomicDriveController.html" alt="pathplanner::PPHolonomicDriveController" shape="rect" coords="0,56,247,80"/>
+<area href="classpathplanner_1_1PPLTVController.html" alt="pathplanner::PPLTVController" shape="rect" coords="257,56,504,80"/>
+<area href="classpathplanner_1_1PPRamseteController.html" alt="pathplanner::PPRamseteController" shape="rect" coords="514,56,761,80"/>
+  </map>
+</div></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a606f820cf7c0b607dad35518da99f459"><td class="memItemLeft" align="right" valign="top">virtual frc::ChassisSpeeds&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathFollowingController.html#a606f820cf7c0b607dad35518da99f459">calculateRobotRelativeSpeeds</a> (const frc::Pose2d &amp;currentPose, const <a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">PathPlannerTrajectory::State</a> &amp;targetState)=0</td></tr>
+<tr class="separator:a606f820cf7c0b607dad35518da99f459"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab0877961e6f6db0209990fa9d1288d42"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathFollowingController.html#ab0877961e6f6db0209990fa9d1288d42">reset</a> (const frc::Pose2d &amp;currentPose, const frc::ChassisSpeeds &amp;currentSpeeds)=0</td></tr>
+<tr class="separator:ab0877961e6f6db0209990fa9d1288d42"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aec75b4c43026780f9d3f57ddc081fe0f"><td class="memItemLeft" align="right" valign="top">virtual units::meter_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathFollowingController.html#aec75b4c43026780f9d3f57ddc081fe0f">getPositionalError</a> ()=0</td></tr>
+<tr class="separator:aec75b4c43026780f9d3f57ddc081fe0f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae323fa07e8d2a8af8325d460e3cb1352"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathFollowingController.html#ae323fa07e8d2a8af8325d460e3cb1352">isHolonomic</a> ()=0</td></tr>
+<tr class="separator:ae323fa07e8d2a8af8325d460e3cb1352"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a606f820cf7c0b607dad35518da99f459" name="a606f820cf7c0b607dad35518da99f459"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a606f820cf7c0b607dad35518da99f459">&#9670;&#160;</a></span>calculateRobotRelativeSpeeds()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual frc::ChassisSpeeds pathplanner::PathFollowingController::calculateRobotRelativeSpeeds </td>
+          <td>(</td>
+          <td class="paramtype">const frc::Pose2d &amp;&#160;</td>
+          <td class="paramname"><em>currentPose</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">PathPlannerTrajectory::State</a> &amp;&#160;</td>
+          <td class="paramname"><em>targetState</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Calculates the next output of the path following controller</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">currentPose</td><td>The current robot pose </td></tr>
+    <tr><td class="paramname">targetState</td><td>The desired trajectory state </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The next robot relative output of the path following controller </dd></dl>
+
+<p>Implemented in <a class="el" href="classpathplanner_1_1PPHolonomicDriveController.html#af7ea70afb7857680b3656f9c106e43db">pathplanner::PPHolonomicDriveController</a>, <a class="el" href="classpathplanner_1_1PPLTVController.html#aa935fe0ee3c2e1e2c795c983cae7c931">pathplanner::PPLTVController</a>, and <a class="el" href="classpathplanner_1_1PPRamseteController.html#a8d14ffb80c95770055f8ced1394d17d0">pathplanner::PPRamseteController</a>.</p>
+
+</div>
+</div>
+<a id="aec75b4c43026780f9d3f57ddc081fe0f" name="aec75b4c43026780f9d3f57ddc081fe0f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aec75b4c43026780f9d3f57ddc081fe0f">&#9670;&#160;</a></span>getPositionalError()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual units::meter_t pathplanner::PathFollowingController::getPositionalError </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Get the current positional error between the robot's actual and target positions</p>
+<dl class="section return"><dt>Returns</dt><dd>Positional error, in meters </dd></dl>
+
+<p>Implemented in <a class="el" href="classpathplanner_1_1PPHolonomicDriveController.html#a664a6866463393f42cdbebff5c74154b">pathplanner::PPHolonomicDriveController</a>, <a class="el" href="classpathplanner_1_1PPLTVController.html#a79a37bf3eb7539baedee3cfd9698f20a">pathplanner::PPLTVController</a>, and <a class="el" href="classpathplanner_1_1PPRamseteController.html#aecf94d68ee9953199141042a2fadbcaf">pathplanner::PPRamseteController</a>.</p>
+
+</div>
+</div>
+<a id="ae323fa07e8d2a8af8325d460e3cb1352" name="ae323fa07e8d2a8af8325d460e3cb1352"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae323fa07e8d2a8af8325d460e3cb1352">&#9670;&#160;</a></span>isHolonomic()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual bool pathplanner::PathFollowingController::isHolonomic </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Is this controller for holonomic drivetrains? Used to handle some differences in functionality in the path following command.</p>
+<dl class="section return"><dt>Returns</dt><dd>True if this controller is for a holonomic drive train </dd></dl>
+
+<p>Implemented in <a class="el" href="classpathplanner_1_1PPHolonomicDriveController.html#ab4e50cbe9e11bedfb7c9837bf1093e4d">pathplanner::PPHolonomicDriveController</a>, <a class="el" href="classpathplanner_1_1PPLTVController.html#a7df93fcd85a218b11afc26403f86905a">pathplanner::PPLTVController</a>, and <a class="el" href="classpathplanner_1_1PPRamseteController.html#a05c5a148faaff8d5e93bdc3dce2a7a49">pathplanner::PPRamseteController</a>.</p>
+
+</div>
+</div>
+<a id="ab0877961e6f6db0209990fa9d1288d42" name="ab0877961e6f6db0209990fa9d1288d42"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab0877961e6f6db0209990fa9d1288d42">&#9670;&#160;</a></span>reset()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void pathplanner::PathFollowingController::reset </td>
+          <td>(</td>
+          <td class="paramtype">const frc::Pose2d &amp;&#160;</td>
+          <td class="paramname"><em>currentPose</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const frc::ChassisSpeeds &amp;&#160;</td>
+          <td class="paramname"><em>currentSpeeds</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Resets the controller based on the current state of the robot</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">currentPose</td><td>Current robot pose </td></tr>
+    <tr><td class="paramname">currentSpeeds</td><td>Current robot relative chassis speeds </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implemented in <a class="el" href="classpathplanner_1_1PPHolonomicDriveController.html#a0b9ad901c14364666b7d9aff7f1db6fa">pathplanner::PPHolonomicDriveController</a>, <a class="el" href="classpathplanner_1_1PPLTVController.html#aa821f72877dde70bb8cd167378ad411e">pathplanner::PPLTVController</a>, and <a class="el" href="classpathplanner_1_1PPRamseteController.html#ae4e0a1e37d71614a75576bb7ea8e4e50">pathplanner::PPRamseteController</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>src/main/native/include/pathplanner/lib/controllers/<a class="el" href="PathFollowingController_8h_source.html">PathFollowingController.h</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><b>pathplanner</b></li><li class="navelem"><a class="el" href="classpathplanner_1_1PathFollowingController.html">PathFollowingController</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/docs/cpp/classpathplanner_1_1PathFollowingController.js b/docs/cpp/classpathplanner_1_1PathFollowingController.js
new file mode 100644
index 00000000..24bbc9d8
--- /dev/null
+++ b/docs/cpp/classpathplanner_1_1PathFollowingController.js
@@ -0,0 +1,7 @@
+var classpathplanner_1_1PathFollowingController =
+[
+    [ "calculateRobotRelativeSpeeds", "classpathplanner_1_1PathFollowingController.html#a606f820cf7c0b607dad35518da99f459", null ],
+    [ "getPositionalError", "classpathplanner_1_1PathFollowingController.html#aec75b4c43026780f9d3f57ddc081fe0f", null ],
+    [ "isHolonomic", "classpathplanner_1_1PathFollowingController.html#ae323fa07e8d2a8af8325d460e3cb1352", null ],
+    [ "reset", "classpathplanner_1_1PathFollowingController.html#ab0877961e6f6db0209990fa9d1288d42", null ]
+];
\ No newline at end of file
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diff --git a/docs/cpp/classpathplanner_1_1PathPlannerAuto-members.html b/docs/cpp/classpathplanner_1_1PathPlannerAuto-members.html
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+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>PathPlannerLib: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
+<script type="text/javascript">
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+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
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+/* @license-end */
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+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
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+      <div id="nav-sync" class="sync"></div>
+    </div>
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+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('classpathplanner_1_1PathPlannerAuto.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
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+<div id="MSearchResults">
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="header">
+  <div class="headertitle"><div class="title">pathplanner::PathPlannerAuto Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpathplanner_1_1PathPlannerAuto.html">pathplanner::PathPlannerAuto</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>End</b>(bool interrupted) override (defined in <a class="el" href="classpathplanner_1_1PathPlannerAuto.html">pathplanner::PathPlannerAuto</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerAuto.html">pathplanner::PathPlannerAuto</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>Execute</b>() override (defined in <a class="el" href="classpathplanner_1_1PathPlannerAuto.html">pathplanner::PathPlannerAuto</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerAuto.html">pathplanner::PathPlannerAuto</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerAuto.html#a2df5ff0fd686dfdca1e4091999939f84">getPathGroupFromAutoFile</a>(std::string autoName)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerAuto.html">pathplanner::PathPlannerAuto</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerAuto.html#a8a789e029ae0f4dd1802eb1453eb1606">getStartingPoseFromAutoFile</a>(std::string autoName)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerAuto.html">pathplanner::PathPlannerAuto</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Initialize</b>() override (defined in <a class="el" href="classpathplanner_1_1PathPlannerAuto.html">pathplanner::PathPlannerAuto</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerAuto.html">pathplanner::PathPlannerAuto</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>IsFinished</b>() override (defined in <a class="el" href="classpathplanner_1_1PathPlannerAuto.html">pathplanner::PathPlannerAuto</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerAuto.html">pathplanner::PathPlannerAuto</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerAuto.html#af9e38c4f29761113f5689d1b21da6c40">PathPlannerAuto</a>(std::string autoName)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerAuto.html">pathplanner::PathPlannerAuto</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
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diff --git a/docs/cpp/classpathplanner_1_1PathPlannerAuto.html b/docs/cpp/classpathplanner_1_1PathPlannerAuto.html
new file mode 100644
index 00000000..bd6cef5c
--- /dev/null
+++ b/docs/cpp/classpathplanner_1_1PathPlannerAuto.html
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+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>PathPlannerLib: pathplanner::PathPlannerAuto Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
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+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
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+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('classpathplanner_1_1PathPlannerAuto.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<!-- iframe showing the search results (closed by default) -->
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+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classpathplanner_1_1PathPlannerAuto-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">pathplanner::PathPlannerAuto Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="PathPlannerAuto_8h_source.html">PathPlannerAuto.h</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for pathplanner::PathPlannerAuto:</div>
+<div class="dyncontent">
+ <div class="center">
+  <img src="classpathplanner_1_1PathPlannerAuto.png" alt=""/>
+ </div></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:af9e38c4f29761113f5689d1b21da6c40"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathPlannerAuto.html#af9e38c4f29761113f5689d1b21da6c40">PathPlannerAuto</a> (std::string autoName)</td></tr>
+<tr class="separator:af9e38c4f29761113f5689d1b21da6c40"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6d422545f1648bf318eee14391e83902"><td class="memItemLeft" align="right" valign="top"><a id="a6d422545f1648bf318eee14391e83902" name="a6d422545f1648bf318eee14391e83902"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>Initialize</b> () override</td></tr>
+<tr class="separator:a6d422545f1648bf318eee14391e83902"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a67c8b8de2d8405a06f1b57d603320be4"><td class="memItemLeft" align="right" valign="top"><a id="a67c8b8de2d8405a06f1b57d603320be4" name="a67c8b8de2d8405a06f1b57d603320be4"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>Execute</b> () override</td></tr>
+<tr class="separator:a67c8b8de2d8405a06f1b57d603320be4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8fb92c0f2574365c6b5aca1000800fd4"><td class="memItemLeft" align="right" valign="top"><a id="a8fb92c0f2574365c6b5aca1000800fd4" name="a8fb92c0f2574365c6b5aca1000800fd4"></a>
+bool&#160;</td><td class="memItemRight" valign="bottom"><b>IsFinished</b> () override</td></tr>
+<tr class="separator:a8fb92c0f2574365c6b5aca1000800fd4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a224ff0f3b26ccfacc1429b5d08db9bc7"><td class="memItemLeft" align="right" valign="top"><a id="a224ff0f3b26ccfacc1429b5d08db9bc7" name="a224ff0f3b26ccfacc1429b5d08db9bc7"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>End</b> (bool interrupted) override</td></tr>
+<tr class="separator:a224ff0f3b26ccfacc1429b5d08db9bc7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a2df5ff0fd686dfdca1e4091999939f84"><td class="memItemLeft" align="right" valign="top">static std::vector&lt; std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathPlannerAuto.html#a2df5ff0fd686dfdca1e4091999939f84">getPathGroupFromAutoFile</a> (std::string autoName)</td></tr>
+<tr class="separator:a2df5ff0fd686dfdca1e4091999939f84"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8a789e029ae0f4dd1802eb1453eb1606"><td class="memItemLeft" align="right" valign="top">static frc::Pose2d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathPlannerAuto.html#a8a789e029ae0f4dd1802eb1453eb1606">getStartingPoseFromAutoFile</a> (std::string autoName)</td></tr>
+<tr class="separator:a8a789e029ae0f4dd1802eb1453eb1606"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p >A command that loads and runs an autonomous routine built using PathPlanner. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="af9e38c4f29761113f5689d1b21da6c40" name="af9e38c4f29761113f5689d1b21da6c40"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af9e38c4f29761113f5689d1b21da6c40">&#9670;&#160;</a></span>PathPlannerAuto()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">PathPlannerAuto::PathPlannerAuto </td>
+          <td>(</td>
+          <td class="paramtype">std::string&#160;</td>
+          <td class="paramname"><em>autoName</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p >Constructs a new <a class="el" href="classpathplanner_1_1PathPlannerAuto.html">PathPlannerAuto</a> command.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">autoName</td><td>the name of the autonomous routine to load and run </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a2df5ff0fd686dfdca1e4091999939f84" name="a2df5ff0fd686dfdca1e4091999939f84"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2df5ff0fd686dfdca1e4091999939f84">&#9670;&#160;</a></span>getPathGroupFromAutoFile()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::vector&lt; std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt; &gt; PathPlannerAuto::getPathGroupFromAutoFile </td>
+          <td>(</td>
+          <td class="paramtype">std::string&#160;</td>
+          <td class="paramname"><em>autoName</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Get a vector of every path in the given auto (depth first)</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">autoName</td><td>Name of the auto to get the path group from </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Vector of paths in the auto </dd></dl>
+
+</div>
+</div>
+<a id="a8a789e029ae0f4dd1802eb1453eb1606" name="a8a789e029ae0f4dd1802eb1453eb1606"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8a789e029ae0f4dd1802eb1453eb1606">&#9670;&#160;</a></span>getStartingPoseFromAutoFile()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">frc::Pose2d PathPlannerAuto::getStartingPoseFromAutoFile </td>
+          <td>(</td>
+          <td class="paramtype">std::string&#160;</td>
+          <td class="paramname"><em>autoName</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Get the starting pose from the given auto file</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">autoName</td><td>Name of the auto to get the pose from </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Starting pose from the given auto </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>src/main/native/include/pathplanner/lib/commands/<a class="el" href="PathPlannerAuto_8h_source.html">PathPlannerAuto.h</a></li>
+<li>src/main/native/cpp/pathplanner/lib/commands/PathPlannerAuto.cpp</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><b>pathplanner</b></li><li class="navelem"><a class="el" href="classpathplanner_1_1PathPlannerAuto.html">PathPlannerAuto</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
+</div>
+</body>
+</html>
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+[
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>PathPlannerLib: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
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+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
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+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
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+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
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+$(document).ready(function(){initNavTree('classpathplanner_1_1PathPlannerLogging.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
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+<div class="SRStatus" id="NoMatches">No Matches</div>
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+</div>
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+</div>
+
+<div class="header">
+  <div class="headertitle"><div class="title">pathplanner::PathPlannerLogging Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpathplanner_1_1PathPlannerLogging.html">pathplanner::PathPlannerLogging</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>logActivePath</b>(std::shared_ptr&lt; PathPlannerPath &gt; path) (defined in <a class="el" href="classpathplanner_1_1PathPlannerLogging.html">pathplanner::PathPlannerLogging</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerLogging.html">pathplanner::PathPlannerLogging</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>logCurrentPose</b>(frc::Pose2d pose) (defined in <a class="el" href="classpathplanner_1_1PathPlannerLogging.html">pathplanner::PathPlannerLogging</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerLogging.html">pathplanner::PathPlannerLogging</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>logTargetPose</b>(frc::Pose2d targetPose) (defined in <a class="el" href="classpathplanner_1_1PathPlannerLogging.html">pathplanner::PathPlannerLogging</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerLogging.html">pathplanner::PathPlannerLogging</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>setLogActivePathCallback</b>(std::function&lt; void(std::vector&lt; frc::Pose2d &gt;)&gt; logActivePath) (defined in <a class="el" href="classpathplanner_1_1PathPlannerLogging.html">pathplanner::PathPlannerLogging</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerLogging.html">pathplanner::PathPlannerLogging</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>setLogCurrentPoseCallback</b>(std::function&lt; void(frc::Pose2d)&gt; logCurrentPose) (defined in <a class="el" href="classpathplanner_1_1PathPlannerLogging.html">pathplanner::PathPlannerLogging</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerLogging.html">pathplanner::PathPlannerLogging</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>setLogTargetPoseCallback</b>(std::function&lt; void(frc::Pose2d)&gt; logTargetPose) (defined in <a class="el" href="classpathplanner_1_1PathPlannerLogging.html">pathplanner::PathPlannerLogging</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerLogging.html">pathplanner::PathPlannerLogging</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+</table></div><!-- contents -->
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
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+<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>PathPlannerLib: pathplanner::PathPlannerLogging Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
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+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
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+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('classpathplanner_1_1PathPlannerLogging.html',''); initResizable(); });
+/* @license-end */
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+<div id="doc-content">
+<!-- window showing the filter options -->
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classpathplanner_1_1PathPlannerLogging-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">pathplanner::PathPlannerLogging Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
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+<tr class="memitem:af543aaaa8abc89d889cb5ed68ffebf5e"><td class="memItemLeft" align="right" valign="top"><a id="af543aaaa8abc89d889cb5ed68ffebf5e" name="af543aaaa8abc89d889cb5ed68ffebf5e"></a>
+static void&#160;</td><td class="memItemRight" valign="bottom"><b>setLogCurrentPoseCallback</b> (std::function&lt; void(frc::Pose2d)&gt; logCurrentPose)</td></tr>
+<tr class="separator:af543aaaa8abc89d889cb5ed68ffebf5e"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+static void&#160;</td><td class="memItemRight" valign="bottom"><b>setLogTargetPoseCallback</b> (std::function&lt; void(frc::Pose2d)&gt; logTargetPose)</td></tr>
+<tr class="separator:ad45cfc12c51e92ce71d1e4101858c922"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+static void&#160;</td><td class="memItemRight" valign="bottom"><b>setLogActivePathCallback</b> (std::function&lt; void(std::vector&lt; frc::Pose2d &gt;)&gt; logActivePath)</td></tr>
+<tr class="separator:a6d3518f8cdd551339e2fc5621b944ce8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a31c09928091f3b588821f5de2edf6ac0"><td class="memItemLeft" align="right" valign="top"><a id="a31c09928091f3b588821f5de2edf6ac0" name="a31c09928091f3b588821f5de2edf6ac0"></a>
+static void&#160;</td><td class="memItemRight" valign="bottom"><b>logCurrentPose</b> (frc::Pose2d pose)</td></tr>
+<tr class="separator:a31c09928091f3b588821f5de2edf6ac0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a299b519e50eec768601a8025486bdd41"><td class="memItemLeft" align="right" valign="top"><a id="a299b519e50eec768601a8025486bdd41" name="a299b519e50eec768601a8025486bdd41"></a>
+static void&#160;</td><td class="memItemRight" valign="bottom"><b>logTargetPose</b> (frc::Pose2d targetPose)</td></tr>
+<tr class="separator:a299b519e50eec768601a8025486bdd41"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adef71fd0ab98c8f9b02ba331ddfd7eea"><td class="memItemLeft" align="right" valign="top"><a id="adef71fd0ab98c8f9b02ba331ddfd7eea" name="adef71fd0ab98c8f9b02ba331ddfd7eea"></a>
+static void&#160;</td><td class="memItemRight" valign="bottom"><b>logActivePath</b> (std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt; path)</td></tr>
+<tr class="separator:adef71fd0ab98c8f9b02ba331ddfd7eea"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>src/main/native/include/pathplanner/lib/util/<a class="el" href="PathPlannerLogging_8h_source.html">PathPlannerLogging.h</a></li>
+<li>src/main/native/cpp/pathplanner/lib/util/PathPlannerLogging.cpp</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><b>pathplanner</b></li><li class="navelem"><a class="el" href="classpathplanner_1_1PathPlannerLogging.html">PathPlannerLogging</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/docs/cpp/classpathplanner_1_1PathPlannerPath-members.html b/docs/cpp/classpathplanner_1_1PathPlannerPath-members.html
new file mode 100644
index 00000000..fffb9d21
--- /dev/null
+++ b/docs/cpp/classpathplanner_1_1PathPlannerPath-members.html
@@ -0,0 +1,124 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
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+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>PathPlannerLib: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
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+  $(document).ready(function() { init_search(); });
+});
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+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
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+    </div>
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+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('classpathplanner_1_1PathPlannerPath.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
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+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="header">
+  <div class="headertitle"><div class="title">pathplanner::PathPlannerPath Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpathplanner_1_1PathPlannerPath.html">pathplanner::PathPlannerPath</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerPath.html#a15ae899cebb2cb4923ba026f2fa62ca2">bezierFromPoses</a>(std::vector&lt; frc::Pose2d &gt; poses)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerPath.html">pathplanner::PathPlannerPath</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerPath.html#af5e83eb181bf6a0221654ea731e8ad48">createPath</a>(std::vector&lt; frc::Translation2d &gt; bezierPoints, std::vector&lt; RotationTarget &gt; holonomicRotations, std::vector&lt; ConstraintsZone &gt; constraintZones)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerPath.html">pathplanner::PathPlannerPath</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerPath.html#a055b88dc374aa0d386de4e854c35ceda">fromPathFile</a>(std::string pathName)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerPath.html">pathplanner::PathPlannerPath</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerPath.html#a702b6f10eefd5edd7c2c9bdcd6d6f89b">fromPathPoints</a>(std::vector&lt; PathPoint &gt; pathPoints, PathConstraints globalConstraints, GoalEndState goalEndState)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerPath.html">pathplanner::PathPlannerPath</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerPath.html#a7d98826cbadfa78a92f6a53069de09ea">getAllPathPoints</a>() const</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerPath.html">pathplanner::PathPlannerPath</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerPath.html#ac62037f69a815a7d7fe26bac400ddc12">getConstraintsForPoint</a>(size_t idx)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerPath.html">pathplanner::PathPlannerPath</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerPath.html#a97c6e010814eb0733af1cd4c13c32b93">getEventMarkers</a>()</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerPath.html">pathplanner::PathPlannerPath</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerPath.html#a8409e0700cf178b6e1da27a92023ac12">getGlobalConstraints</a>() const</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerPath.html">pathplanner::PathPlannerPath</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerPath.html#a78876dc692b0a6a72ebdd3c9917f9826">getGoalEndState</a>() const</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerPath.html">pathplanner::PathPlannerPath</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerPath.html#a3f7ee172e69a9fe3c911d27f9332c624">getPoint</a>(size_t index) const</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerPath.html">pathplanner::PathPlannerPath</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>hotReload</b>(const wpi::json &amp;json) (defined in <a class="el" href="classpathplanner_1_1PathPlannerPath.html">pathplanner::PathPlannerPath</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerPath.html">pathplanner::PathPlannerPath</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerPath.html#a8e5f27c1607a5b68a4f5bf7a7e08cb2f">isReversed</a>() const</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerPath.html">pathplanner::PathPlannerPath</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerPath.html#a986bd8fcd5b02df8786a0381ac86638c">numPoints</a>() const</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerPath.html">pathplanner::PathPlannerPath</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerPath.html#a247e643be6e7f1da959f318d67854b0b">PathPlannerPath</a>(std::vector&lt; frc::Translation2d &gt; bezierPoints, std::vector&lt; RotationTarget &gt; rotationTargets, std::vector&lt; ConstraintsZone &gt; constraintZones, std::vector&lt; EventMarker &gt; eventMarkers, PathConstraints globalConstraints, GoalEndState goalEndState, bool reversed)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerPath.html">pathplanner::PathPlannerPath</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerPath.html#a63cc832264c985fd779a0a71882ae4a2">PathPlannerPath</a>(std::vector&lt; frc::Translation2d &gt; bezierPoints, PathConstraints constraints, GoalEndState goalEndState, bool reversed=false)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerPath.html">pathplanner::PathPlannerPath</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerPath.html#a6adba9071719c8d75ff383504b0d1b61">replan</a>(const frc::Pose2d startingPose, const frc::ChassisSpeeds currentSpeeds) const</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerPath.html">pathplanner::PathPlannerPath</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/docs/cpp/classpathplanner_1_1PathPlannerPath.html b/docs/cpp/classpathplanner_1_1PathPlannerPath.html
new file mode 100644
index 00000000..36627d13
--- /dev/null
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@@ -0,0 +1,707 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>PathPlannerLib: pathplanner::PathPlannerPath Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+<!-- iframe showing the search results (closed by default) -->
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+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classpathplanner_1_1PathPlannerPath-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">pathplanner::PathPlannerPath Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a247e643be6e7f1da959f318d67854b0b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathPlannerPath.html#a247e643be6e7f1da959f318d67854b0b">PathPlannerPath</a> (std::vector&lt; frc::Translation2d &gt; bezierPoints, std::vector&lt; <a class="el" href="classpathplanner_1_1RotationTarget.html">RotationTarget</a> &gt; rotationTargets, std::vector&lt; <a class="el" href="classpathplanner_1_1ConstraintsZone.html">ConstraintsZone</a> &gt; constraintZones, std::vector&lt; <a class="el" href="classpathplanner_1_1EventMarker.html">EventMarker</a> &gt; eventMarkers, <a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> globalConstraints, <a class="el" href="classpathplanner_1_1GoalEndState.html">GoalEndState</a> goalEndState, bool reversed)</td></tr>
+<tr class="separator:a247e643be6e7f1da959f318d67854b0b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a63cc832264c985fd779a0a71882ae4a2"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathPlannerPath.html#a63cc832264c985fd779a0a71882ae4a2">PathPlannerPath</a> (std::vector&lt; frc::Translation2d &gt; bezierPoints, <a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> constraints, <a class="el" href="classpathplanner_1_1GoalEndState.html">GoalEndState</a> goalEndState, bool reversed=false)</td></tr>
+<tr class="separator:a63cc832264c985fd779a0a71882ae4a2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5dfca373f87c1082829857b0b0ec3d6a"><td class="memItemLeft" align="right" valign="top"><a id="a5dfca373f87c1082829857b0b0ec3d6a" name="a5dfca373f87c1082829857b0b0ec3d6a"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>hotReload</b> (const wpi::json &amp;json)</td></tr>
+<tr class="separator:a5dfca373f87c1082829857b0b0ec3d6a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac62037f69a815a7d7fe26bac400ddc12"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathPlannerPath.html#ac62037f69a815a7d7fe26bac400ddc12">getConstraintsForPoint</a> (size_t idx)</td></tr>
+<tr class="separator:ac62037f69a815a7d7fe26bac400ddc12"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7d98826cbadfa78a92f6a53069de09ea"><td class="memItemLeft" align="right" valign="top">constexpr const std::vector&lt; <a class="el" href="classpathplanner_1_1PathPoint.html">PathPoint</a> &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathPlannerPath.html#a7d98826cbadfa78a92f6a53069de09ea">getAllPathPoints</a> () const</td></tr>
+<tr class="separator:a7d98826cbadfa78a92f6a53069de09ea"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a986bd8fcd5b02df8786a0381ac86638c"><td class="memItemLeft" align="right" valign="top">size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathPlannerPath.html#a986bd8fcd5b02df8786a0381ac86638c">numPoints</a> () const</td></tr>
+<tr class="separator:a986bd8fcd5b02df8786a0381ac86638c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3f7ee172e69a9fe3c911d27f9332c624"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classpathplanner_1_1PathPoint.html">PathPoint</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathPlannerPath.html#a3f7ee172e69a9fe3c911d27f9332c624">getPoint</a> (size_t index) const</td></tr>
+<tr class="separator:a3f7ee172e69a9fe3c911d27f9332c624"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8409e0700cf178b6e1da27a92023ac12"><td class="memItemLeft" align="right" valign="top">constexpr const <a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathPlannerPath.html#a8409e0700cf178b6e1da27a92023ac12">getGlobalConstraints</a> () const</td></tr>
+<tr class="separator:a8409e0700cf178b6e1da27a92023ac12"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a78876dc692b0a6a72ebdd3c9917f9826"><td class="memItemLeft" align="right" valign="top">constexpr const <a class="el" href="classpathplanner_1_1GoalEndState.html">GoalEndState</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathPlannerPath.html#a78876dc692b0a6a72ebdd3c9917f9826">getGoalEndState</a> () const</td></tr>
+<tr class="separator:a78876dc692b0a6a72ebdd3c9917f9826"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a97c6e010814eb0733af1cd4c13c32b93"><td class="memItemLeft" align="right" valign="top">constexpr std::vector&lt; <a class="el" href="classpathplanner_1_1EventMarker.html">EventMarker</a> &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathPlannerPath.html#a97c6e010814eb0733af1cd4c13c32b93">getEventMarkers</a> ()</td></tr>
+<tr class="separator:a97c6e010814eb0733af1cd4c13c32b93"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8e5f27c1607a5b68a4f5bf7a7e08cb2f"><td class="memItemLeft" align="right" valign="top">constexpr bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathPlannerPath.html#a8e5f27c1607a5b68a4f5bf7a7e08cb2f">isReversed</a> () const</td></tr>
+<tr class="separator:a8e5f27c1607a5b68a4f5bf7a7e08cb2f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6adba9071719c8d75ff383504b0d1b61"><td class="memItemLeft" align="right" valign="top">std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathPlannerPath.html#a6adba9071719c8d75ff383504b0d1b61">replan</a> (const frc::Pose2d startingPose, const frc::ChassisSpeeds currentSpeeds) const</td></tr>
+<tr class="separator:a6adba9071719c8d75ff383504b0d1b61"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a15ae899cebb2cb4923ba026f2fa62ca2"><td class="memItemLeft" align="right" valign="top">static std::vector&lt; frc::Translation2d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathPlannerPath.html#a15ae899cebb2cb4923ba026f2fa62ca2">bezierFromPoses</a> (std::vector&lt; frc::Pose2d &gt; poses)</td></tr>
+<tr class="separator:a15ae899cebb2cb4923ba026f2fa62ca2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a055b88dc374aa0d386de4e854c35ceda"><td class="memItemLeft" align="right" valign="top">static std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathPlannerPath.html#a055b88dc374aa0d386de4e854c35ceda">fromPathFile</a> (std::string pathName)</td></tr>
+<tr class="separator:a055b88dc374aa0d386de4e854c35ceda"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a702b6f10eefd5edd7c2c9bdcd6d6f89b"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathPlannerPath.html#a702b6f10eefd5edd7c2c9bdcd6d6f89b">fromPathPoints</a> (std::vector&lt; <a class="el" href="classpathplanner_1_1PathPoint.html">PathPoint</a> &gt; pathPoints, <a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> globalConstraints, <a class="el" href="classpathplanner_1_1GoalEndState.html">GoalEndState</a> goalEndState)</td></tr>
+<tr class="separator:a702b6f10eefd5edd7c2c9bdcd6d6f89b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af5e83eb181bf6a0221654ea731e8ad48"><td class="memItemLeft" align="right" valign="top">static std::vector&lt; <a class="el" href="classpathplanner_1_1PathPoint.html">PathPoint</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathPlannerPath.html#af5e83eb181bf6a0221654ea731e8ad48">createPath</a> (std::vector&lt; frc::Translation2d &gt; bezierPoints, std::vector&lt; <a class="el" href="classpathplanner_1_1RotationTarget.html">RotationTarget</a> &gt; holonomicRotations, std::vector&lt; <a class="el" href="classpathplanner_1_1ConstraintsZone.html">ConstraintsZone</a> &gt; constraintZones)</td></tr>
+<tr class="separator:af5e83eb181bf6a0221654ea731e8ad48"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a247e643be6e7f1da959f318d67854b0b" name="a247e643be6e7f1da959f318d67854b0b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a247e643be6e7f1da959f318d67854b0b">&#9670;&#160;</a></span>PathPlannerPath() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">PathPlannerPath::PathPlannerPath </td>
+          <td>(</td>
+          <td class="paramtype">std::vector&lt; frc::Translation2d &gt;&#160;</td>
+          <td class="paramname"><em>bezierPoints</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::vector&lt; <a class="el" href="classpathplanner_1_1RotationTarget.html">RotationTarget</a> &gt;&#160;</td>
+          <td class="paramname"><em>rotationTargets</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::vector&lt; <a class="el" href="classpathplanner_1_1ConstraintsZone.html">ConstraintsZone</a> &gt;&#160;</td>
+          <td class="paramname"><em>constraintZones</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::vector&lt; <a class="el" href="classpathplanner_1_1EventMarker.html">EventMarker</a> &gt;&#160;</td>
+          <td class="paramname"><em>eventMarkers</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a>&#160;</td>
+          <td class="paramname"><em>globalConstraints</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1GoalEndState.html">GoalEndState</a>&#160;</td>
+          <td class="paramname"><em>goalEndState</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>reversed</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p >Create a new path planner path</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">bezierPoints</td><td>List of points representing the cubic Bezier curve of the path </td></tr>
+    <tr><td class="paramname">holonomicRotations</td><td>List of rotation targets along the path </td></tr>
+    <tr><td class="paramname">constraintZones</td><td>List of constraint zones along the path </td></tr>
+    <tr><td class="paramname">eventMarkers</td><td>List of event markers along the path </td></tr>
+    <tr><td class="paramname">globalConstraints</td><td>The global constraints of the path </td></tr>
+    <tr><td class="paramname">goalEndState</td><td>The goal end state of the path </td></tr>
+    <tr><td class="paramname">reversed</td><td>Should the robot follow the path reversed (differential drive only) </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a63cc832264c985fd779a0a71882ae4a2" name="a63cc832264c985fd779a0a71882ae4a2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a63cc832264c985fd779a0a71882ae4a2">&#9670;&#160;</a></span>PathPlannerPath() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">pathplanner::PathPlannerPath::PathPlannerPath </td>
+          <td>(</td>
+          <td class="paramtype">std::vector&lt; frc::Translation2d &gt;&#160;</td>
+          <td class="paramname"><em>bezierPoints</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a>&#160;</td>
+          <td class="paramname"><em>constraints</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1GoalEndState.html">GoalEndState</a>&#160;</td>
+          <td class="paramname"><em>goalEndState</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>reversed</em> = <code>false</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Simplified constructor to create a path with no rotation targets, constraint zones, or event markers.</p>
+<p >You likely want to use bezierFromPoses to create the bezier points.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">bezierPoints</td><td>List of points representing the cubic Bezier curve of the path </td></tr>
+    <tr><td class="paramname">constraints</td><td>The global constraints of the path </td></tr>
+    <tr><td class="paramname">goalEndState</td><td>The goal end state of the path </td></tr>
+    <tr><td class="paramname">reversed</td><td>Should the robot follow the path reversed (differential drive only) </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a15ae899cebb2cb4923ba026f2fa62ca2" name="a15ae899cebb2cb4923ba026f2fa62ca2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a15ae899cebb2cb4923ba026f2fa62ca2">&#9670;&#160;</a></span>bezierFromPoses()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::vector&lt; frc::Translation2d &gt; PathPlannerPath::bezierFromPoses </td>
+          <td>(</td>
+          <td class="paramtype">std::vector&lt; frc::Pose2d &gt;&#160;</td>
+          <td class="paramname"><em>poses</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Create the bezier points necessary to create a path using a list of poses</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">poses</td><td>List of poses. Each pose represents one waypoint. </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Bezier points </dd></dl>
+
+</div>
+</div>
+<a id="af5e83eb181bf6a0221654ea731e8ad48" name="af5e83eb181bf6a0221654ea731e8ad48"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af5e83eb181bf6a0221654ea731e8ad48">&#9670;&#160;</a></span>createPath()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::vector&lt; <a class="el" href="classpathplanner_1_1PathPoint.html">PathPoint</a> &gt; PathPlannerPath::createPath </td>
+          <td>(</td>
+          <td class="paramtype">std::vector&lt; frc::Translation2d &gt;&#160;</td>
+          <td class="paramname"><em>bezierPoints</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::vector&lt; <a class="el" href="classpathplanner_1_1RotationTarget.html">RotationTarget</a> &gt;&#160;</td>
+          <td class="paramname"><em>holonomicRotations</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::vector&lt; <a class="el" href="classpathplanner_1_1ConstraintsZone.html">ConstraintsZone</a> &gt;&#160;</td>
+          <td class="paramname"><em>constraintZones</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Generate path points for a path. This is used internally and should not be used directly. </p>
+
+</div>
+</div>
+<a id="a055b88dc374aa0d386de4e854c35ceda" name="a055b88dc374aa0d386de4e854c35ceda"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a055b88dc374aa0d386de4e854c35ceda">&#9670;&#160;</a></span>fromPathFile()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt; PathPlannerPath::fromPathFile </td>
+          <td>(</td>
+          <td class="paramtype">std::string&#160;</td>
+          <td class="paramname"><em>pathName</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Load a path from a path file in storage</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">pathName</td><td>The name of the path to load </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>shared ptr to the <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> created from the given file name </dd></dl>
+
+</div>
+</div>
+<a id="a702b6f10eefd5edd7c2c9bdcd6d6f89b" name="a702b6f10eefd5edd7c2c9bdcd6d6f89b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a702b6f10eefd5edd7c2c9bdcd6d6f89b">&#9670;&#160;</a></span>fromPathPoints()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> PathPlannerPath::fromPathPoints </td>
+          <td>(</td>
+          <td class="paramtype">std::vector&lt; <a class="el" href="classpathplanner_1_1PathPoint.html">PathPoint</a> &gt;&#160;</td>
+          <td class="paramname"><em>pathPoints</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a>&#160;</td>
+          <td class="paramname"><em>globalConstraints</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1GoalEndState.html">GoalEndState</a>&#160;</td>
+          <td class="paramname"><em>goalEndState</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Create a path planner path from pre-generated path points. This is used internally, and you likely should not use this </p>
+
+</div>
+</div>
+<a id="a7d98826cbadfa78a92f6a53069de09ea" name="a7d98826cbadfa78a92f6a53069de09ea"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7d98826cbadfa78a92f6a53069de09ea">&#9670;&#160;</a></span>getAllPathPoints()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr const std::vector&lt; <a class="el" href="classpathplanner_1_1PathPoint.html">PathPoint</a> &gt; &amp; pathplanner::PathPlannerPath::getAllPathPoints </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Get all the path points in this path</p>
+<dl class="section return"><dt>Returns</dt><dd>Path points in the path </dd></dl>
+
+</div>
+</div>
+<a id="ac62037f69a815a7d7fe26bac400ddc12" name="ac62037f69a815a7d7fe26bac400ddc12"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac62037f69a815a7d7fe26bac400ddc12">&#9670;&#160;</a></span>getConstraintsForPoint()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> pathplanner::PathPlannerPath::getConstraintsForPoint </td>
+          <td>(</td>
+          <td class="paramtype">size_t&#160;</td>
+          <td class="paramname"><em>idx</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Get the constraints for a point along the path</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">idx</td><td>Index of the point to get constraints for </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The constraints that should apply to the point </dd></dl>
+
+</div>
+</div>
+<a id="a97c6e010814eb0733af1cd4c13c32b93" name="a97c6e010814eb0733af1cd4c13c32b93"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a97c6e010814eb0733af1cd4c13c32b93">&#9670;&#160;</a></span>getEventMarkers()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr std::vector&lt; <a class="el" href="classpathplanner_1_1EventMarker.html">EventMarker</a> &gt; &amp; pathplanner::PathPlannerPath::getEventMarkers </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Get all the event markers for this path</p>
+<dl class="section return"><dt>Returns</dt><dd>The event markers for this path </dd></dl>
+
+</div>
+</div>
+<a id="a8409e0700cf178b6e1da27a92023ac12" name="a8409e0700cf178b6e1da27a92023ac12"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8409e0700cf178b6e1da27a92023ac12">&#9670;&#160;</a></span>getGlobalConstraints()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr const <a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> &amp; pathplanner::PathPlannerPath::getGlobalConstraints </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Get the global constraints for this path</p>
+<dl class="section return"><dt>Returns</dt><dd>Global constraints that apply to this path </dd></dl>
+
+</div>
+</div>
+<a id="a78876dc692b0a6a72ebdd3c9917f9826" name="a78876dc692b0a6a72ebdd3c9917f9826"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a78876dc692b0a6a72ebdd3c9917f9826">&#9670;&#160;</a></span>getGoalEndState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr const <a class="el" href="classpathplanner_1_1GoalEndState.html">GoalEndState</a> &amp; pathplanner::PathPlannerPath::getGoalEndState </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Get the goal end state of this path</p>
+<dl class="section return"><dt>Returns</dt><dd>The goal end state </dd></dl>
+
+</div>
+</div>
+<a id="a3f7ee172e69a9fe3c911d27f9332c624" name="a3f7ee172e69a9fe3c911d27f9332c624"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3f7ee172e69a9fe3c911d27f9332c624">&#9670;&#160;</a></span>getPoint()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const <a class="el" href="classpathplanner_1_1PathPoint.html">PathPoint</a> &amp; pathplanner::PathPlannerPath::getPoint </td>
+          <td>(</td>
+          <td class="paramtype">size_t&#160;</td>
+          <td class="paramname"><em>index</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Get a specific point along this path</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">index</td><td>Index of the point to get </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The point at the given index </dd></dl>
+
+</div>
+</div>
+<a id="a8e5f27c1607a5b68a4f5bf7a7e08cb2f" name="a8e5f27c1607a5b68a4f5bf7a7e08cb2f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8e5f27c1607a5b68a4f5bf7a7e08cb2f">&#9670;&#160;</a></span>isReversed()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr bool pathplanner::PathPlannerPath::isReversed </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Should the path be followed reversed (differential drive only)</p>
+<dl class="section return"><dt>Returns</dt><dd>True if reversed </dd></dl>
+
+</div>
+</div>
+<a id="a986bd8fcd5b02df8786a0381ac86638c" name="a986bd8fcd5b02df8786a0381ac86638c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a986bd8fcd5b02df8786a0381ac86638c">&#9670;&#160;</a></span>numPoints()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">size_t pathplanner::PathPlannerPath::numPoints </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Get the number of points in this path</p>
+<dl class="section return"><dt>Returns</dt><dd>Number of points in the path </dd></dl>
+
+</div>
+</div>
+<a id="a6adba9071719c8d75ff383504b0d1b61" name="a6adba9071719c8d75ff383504b0d1b61"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6adba9071719c8d75ff383504b0d1b61">&#9670;&#160;</a></span>replan()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt; PathPlannerPath::replan </td>
+          <td>(</td>
+          <td class="paramtype">const frc::Pose2d&#160;</td>
+          <td class="paramname"><em>startingPose</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const frc::ChassisSpeeds&#160;</td>
+          <td class="paramname"><em>currentSpeeds</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p >Replan this path based on the current robot position and speeds</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">startingPose</td><td>New starting pose for the replanned path </td></tr>
+    <tr><td class="paramname">currentSpeeds</td><td>Current chassis speeds of the robot </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The replanned path </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>src/main/native/include/pathplanner/lib/path/<a class="el" href="PathPlannerPath_8h_source.html">PathPlannerPath.h</a></li>
+<li>src/main/native/cpp/pathplanner/lib/path/PathPlannerPath.cpp</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><b>pathplanner</b></li><li class="navelem"><a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/docs/cpp/classpathplanner_1_1PathPlannerPath.js b/docs/cpp/classpathplanner_1_1PathPlannerPath.js
new file mode 100644
index 00000000..4d761f55
--- /dev/null
+++ b/docs/cpp/classpathplanner_1_1PathPlannerPath.js
@@ -0,0 +1,14 @@
+var classpathplanner_1_1PathPlannerPath =
+[
+    [ "PathPlannerPath", "classpathplanner_1_1PathPlannerPath.html#a247e643be6e7f1da959f318d67854b0b", null ],
+    [ "PathPlannerPath", "classpathplanner_1_1PathPlannerPath.html#a63cc832264c985fd779a0a71882ae4a2", null ],
+    [ "getAllPathPoints", "classpathplanner_1_1PathPlannerPath.html#a7d98826cbadfa78a92f6a53069de09ea", null ],
+    [ "getConstraintsForPoint", "classpathplanner_1_1PathPlannerPath.html#ac62037f69a815a7d7fe26bac400ddc12", null ],
+    [ "getEventMarkers", "classpathplanner_1_1PathPlannerPath.html#a97c6e010814eb0733af1cd4c13c32b93", null ],
+    [ "getGlobalConstraints", "classpathplanner_1_1PathPlannerPath.html#a8409e0700cf178b6e1da27a92023ac12", null ],
+    [ "getGoalEndState", "classpathplanner_1_1PathPlannerPath.html#a78876dc692b0a6a72ebdd3c9917f9826", null ],
+    [ "getPoint", "classpathplanner_1_1PathPlannerPath.html#a3f7ee172e69a9fe3c911d27f9332c624", null ],
+    [ "isReversed", "classpathplanner_1_1PathPlannerPath.html#a8e5f27c1607a5b68a4f5bf7a7e08cb2f", null ],
+    [ "numPoints", "classpathplanner_1_1PathPlannerPath.html#a986bd8fcd5b02df8786a0381ac86638c", null ],
+    [ "replan", "classpathplanner_1_1PathPlannerPath.html#a6adba9071719c8d75ff383504b0d1b61", null ]
+];
\ No newline at end of file
diff --git a/docs/cpp/classpathplanner_1_1PathPlannerTrajectory-members.html b/docs/cpp/classpathplanner_1_1PathPlannerTrajectory-members.html
new file mode 100644
index 00000000..cc5da5ac
--- /dev/null
+++ b/docs/cpp/classpathplanner_1_1PathPlannerTrajectory-members.html
@@ -0,0 +1,118 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>PathPlannerLib: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
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+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('classpathplanner_1_1PathPlannerTrajectory.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
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+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="header">
+  <div class="headertitle"><div class="title">pathplanner::PathPlannerTrajectory Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html">pathplanner::PathPlannerTrajectory</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html#ad9bee7be286923a359d26bed7eefcbd0">getEndState</a>()</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html">pathplanner::PathPlannerTrajectory</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html#acf9de5ca2d759d223405a16357049744">getInitialDifferentialPose</a>()</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html">pathplanner::PathPlannerTrajectory</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html#a03b44fbc085e5a9d899b68d7c68980f2">getInitialState</a>()</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html">pathplanner::PathPlannerTrajectory</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html#a6d8107a32a708c654dd08a2fa7e568e1">getInitialTargetHolonomicPose</a>()</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html">pathplanner::PathPlannerTrajectory</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html#a0a699d6d04d75425d78089115f3eaaaa">getState</a>(size_t index)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html">pathplanner::PathPlannerTrajectory</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html#a6f935d670bfa0d45079ce51661224af9">getStates</a>()</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html">pathplanner::PathPlannerTrajectory</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html#a2329ac90fd3511ac1131ccc3809c4cb0">getTotalTime</a>()</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html">pathplanner::PathPlannerTrajectory</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>PathPlannerTrajectory</b>() (defined in <a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html">pathplanner::PathPlannerTrajectory</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html">pathplanner::PathPlannerTrajectory</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html#a8063217aeeb651633a87e40370cc83a0">PathPlannerTrajectory</a>(std::shared_ptr&lt; PathPlannerPath &gt; path, const frc::ChassisSpeeds &amp;startingSpeeds)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html">pathplanner::PathPlannerTrajectory</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html#a2a6b514d0f95d7890a8e3ed150a2036a">sample</a>(const units::second_t time)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html">pathplanner::PathPlannerTrajectory</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/docs/cpp/classpathplanner_1_1PathPlannerTrajectory.html b/docs/cpp/classpathplanner_1_1PathPlannerTrajectory.html
new file mode 100644
index 00000000..1fed600a
--- /dev/null
+++ b/docs/cpp/classpathplanner_1_1PathPlannerTrajectory.html
@@ -0,0 +1,409 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<meta name="generator" content="Doxygen 1.9.5"/>
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+<title>PathPlannerLib: pathplanner::PathPlannerTrajectory Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+<table cellspacing="0" cellpadding="0">
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+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
+  </td>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
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+     onmouseover="return searchBox.OnSearchSelectShow()"
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+</div>
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+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classpathplanner_1_1PathPlannerTrajectory-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">pathplanner::PathPlannerTrajectory Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="nested-classes" name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">State</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a8063217aeeb651633a87e40370cc83a0"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html#a8063217aeeb651633a87e40370cc83a0">PathPlannerTrajectory</a> (std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt; path, const frc::ChassisSpeeds &amp;startingSpeeds)</td></tr>
+<tr class="separator:a8063217aeeb651633a87e40370cc83a0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2a6b514d0f95d7890a8e3ed150a2036a"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">State</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html#a2a6b514d0f95d7890a8e3ed150a2036a">sample</a> (const units::second_t time)</td></tr>
+<tr class="separator:a2a6b514d0f95d7890a8e3ed150a2036a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6f935d670bfa0d45079ce51661224af9"><td class="memItemLeft" align="right" valign="top">constexpr std::vector&lt; <a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">State</a> &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html#a6f935d670bfa0d45079ce51661224af9">getStates</a> ()</td></tr>
+<tr class="separator:a6f935d670bfa0d45079ce51661224af9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2329ac90fd3511ac1131ccc3809c4cb0"><td class="memItemLeft" align="right" valign="top">units::second_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html#a2329ac90fd3511ac1131ccc3809c4cb0">getTotalTime</a> ()</td></tr>
+<tr class="separator:a2329ac90fd3511ac1131ccc3809c4cb0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0a699d6d04d75425d78089115f3eaaaa"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">State</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html#a0a699d6d04d75425d78089115f3eaaaa">getState</a> (size_t index)</td></tr>
+<tr class="separator:a0a699d6d04d75425d78089115f3eaaaa"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a03b44fbc085e5a9d899b68d7c68980f2"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">State</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html#a03b44fbc085e5a9d899b68d7c68980f2">getInitialState</a> ()</td></tr>
+<tr class="separator:a03b44fbc085e5a9d899b68d7c68980f2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6d8107a32a708c654dd08a2fa7e568e1"><td class="memItemLeft" align="right" valign="top">frc::Pose2d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html#a6d8107a32a708c654dd08a2fa7e568e1">getInitialTargetHolonomicPose</a> ()</td></tr>
+<tr class="separator:a6d8107a32a708c654dd08a2fa7e568e1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acf9de5ca2d759d223405a16357049744"><td class="memItemLeft" align="right" valign="top">frc::Pose2d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html#acf9de5ca2d759d223405a16357049744">getInitialDifferentialPose</a> ()</td></tr>
+<tr class="separator:acf9de5ca2d759d223405a16357049744"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad9bee7be286923a359d26bed7eefcbd0"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">State</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html#ad9bee7be286923a359d26bed7eefcbd0">getEndState</a> ()</td></tr>
+<tr class="separator:ad9bee7be286923a359d26bed7eefcbd0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a8063217aeeb651633a87e40370cc83a0" name="a8063217aeeb651633a87e40370cc83a0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8063217aeeb651633a87e40370cc83a0">&#9670;&#160;</a></span>PathPlannerTrajectory()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">pathplanner::PathPlannerTrajectory::PathPlannerTrajectory </td>
+          <td>(</td>
+          <td class="paramtype">std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt;&#160;</td>
+          <td class="paramname"><em>path</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const frc::ChassisSpeeds &amp;&#160;</td>
+          <td class="paramname"><em>startingSpeeds</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Generate a <a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html">PathPlannerTrajectory</a></p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">path</td><td><a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> to generate the trajectory for </td></tr>
+    <tr><td class="paramname">startingSpeeds</td><td>Starting speeds of the robot when starting the trajectory </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ad9bee7be286923a359d26bed7eefcbd0" name="ad9bee7be286923a359d26bed7eefcbd0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad9bee7be286923a359d26bed7eefcbd0">&#9670;&#160;</a></span>getEndState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">State</a> pathplanner::PathPlannerTrajectory::getEndState </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Get the end state of the trajectory</p>
+<dl class="section return"><dt>Returns</dt><dd>The end state </dd></dl>
+
+</div>
+</div>
+<a id="acf9de5ca2d759d223405a16357049744" name="acf9de5ca2d759d223405a16357049744"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acf9de5ca2d759d223405a16357049744">&#9670;&#160;</a></span>getInitialDifferentialPose()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">frc::Pose2d pathplanner::PathPlannerTrajectory::getInitialDifferentialPose </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Get this initial pose for a differential drivetrain</p>
+<dl class="section return"><dt>Returns</dt><dd>The initial pose </dd></dl>
+
+</div>
+</div>
+<a id="a03b44fbc085e5a9d899b68d7c68980f2" name="a03b44fbc085e5a9d899b68d7c68980f2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a03b44fbc085e5a9d899b68d7c68980f2">&#9670;&#160;</a></span>getInitialState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">State</a> pathplanner::PathPlannerTrajectory::getInitialState </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Get the initial state of the trajectory</p>
+<dl class="section return"><dt>Returns</dt><dd>The initial state </dd></dl>
+
+</div>
+</div>
+<a id="a6d8107a32a708c654dd08a2fa7e568e1" name="a6d8107a32a708c654dd08a2fa7e568e1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6d8107a32a708c654dd08a2fa7e568e1">&#9670;&#160;</a></span>getInitialTargetHolonomicPose()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">frc::Pose2d pathplanner::PathPlannerTrajectory::getInitialTargetHolonomicPose </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Get the initial target pose for a holonomic drivetrain NOTE: This is a "target" pose, meaning the rotation will be the value of the next rotation target along the path, not what the rotation should be at the start of the path</p>
+<dl class="section return"><dt>Returns</dt><dd>The initial target pose </dd></dl>
+
+</div>
+</div>
+<a id="a0a699d6d04d75425d78089115f3eaaaa" name="a0a699d6d04d75425d78089115f3eaaaa"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0a699d6d04d75425d78089115f3eaaaa">&#9670;&#160;</a></span>getState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">State</a> pathplanner::PathPlannerTrajectory::getState </td>
+          <td>(</td>
+          <td class="paramtype">size_t&#160;</td>
+          <td class="paramname"><em>index</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Get the goal state at the given index</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">index</td><td>Index of the state to get </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The state at the given index </dd></dl>
+
+</div>
+</div>
+<a id="a6f935d670bfa0d45079ce51661224af9" name="a6f935d670bfa0d45079ce51661224af9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6f935d670bfa0d45079ce51661224af9">&#9670;&#160;</a></span>getStates()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr std::vector&lt; <a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">State</a> &gt; &amp; pathplanner::PathPlannerTrajectory::getStates </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Get all of the pre-generated states in the trajectory</p>
+<dl class="section return"><dt>Returns</dt><dd>vector of all states </dd></dl>
+
+</div>
+</div>
+<a id="a2329ac90fd3511ac1131ccc3809c4cb0" name="a2329ac90fd3511ac1131ccc3809c4cb0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2329ac90fd3511ac1131ccc3809c4cb0">&#9670;&#160;</a></span>getTotalTime()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">units::second_t pathplanner::PathPlannerTrajectory::getTotalTime </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Get the total run time of the trajectory</p>
+<dl class="section return"><dt>Returns</dt><dd>Total run time in seconds </dd></dl>
+
+</div>
+</div>
+<a id="a2a6b514d0f95d7890a8e3ed150a2036a" name="a2a6b514d0f95d7890a8e3ed150a2036a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a6b514d0f95d7890a8e3ed150a2036a">&#9670;&#160;</a></span>sample()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">PathPlannerTrajectory::State</a> PathPlannerTrajectory::sample </td>
+          <td>(</td>
+          <td class="paramtype">const units::second_t&#160;</td>
+          <td class="paramname"><em>time</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p >Get the target state at the given point in time along the trajectory</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">time</td><td>The time to sample the trajectory at in seconds </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The target state </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>src/main/native/include/pathplanner/lib/path/<a class="el" href="PathPlannerTrajectory_8h_source.html">PathPlannerTrajectory.h</a></li>
+<li>src/main/native/cpp/pathplanner/lib/path/PathPlannerTrajectory.cpp</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><b>pathplanner</b></li><li class="navelem"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html">PathPlannerTrajectory</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
+</div>
+</body>
+</html>
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+[
+    [ "State", "classpathplanner_1_1PathPlannerTrajectory_1_1State.html", "classpathplanner_1_1PathPlannerTrajectory_1_1State" ],
+    [ "PathPlannerTrajectory", "classpathplanner_1_1PathPlannerTrajectory.html#a8063217aeeb651633a87e40370cc83a0", null ],
+    [ "getEndState", "classpathplanner_1_1PathPlannerTrajectory.html#ad9bee7be286923a359d26bed7eefcbd0", null ],
+    [ "getInitialDifferentialPose", "classpathplanner_1_1PathPlannerTrajectory.html#acf9de5ca2d759d223405a16357049744", null ],
+    [ "getInitialState", "classpathplanner_1_1PathPlannerTrajectory.html#a03b44fbc085e5a9d899b68d7c68980f2", null ],
+    [ "getInitialTargetHolonomicPose", "classpathplanner_1_1PathPlannerTrajectory.html#a6d8107a32a708c654dd08a2fa7e568e1", null ],
+    [ "getState", "classpathplanner_1_1PathPlannerTrajectory.html#a0a699d6d04d75425d78089115f3eaaaa", null ],
+    [ "getStates", "classpathplanner_1_1PathPlannerTrajectory.html#a6f935d670bfa0d45079ce51661224af9", null ],
+    [ "getTotalTime", "classpathplanner_1_1PathPlannerTrajectory.html#a2329ac90fd3511ac1131ccc3809c4cb0", null ],
+    [ "sample", "classpathplanner_1_1PathPlannerTrajectory.html#a2a6b514d0f95d7890a8e3ed150a2036a", null ]
+];
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>PathPlannerLib: Member List</title>
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+<div class="header">
+  <div class="headertitle"><div class="title">pathplanner::PathPlannerTrajectory::State Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">pathplanner::PathPlannerTrajectory::State</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>acceleration</b> (defined in <a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">pathplanner::PathPlannerTrajectory::State</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">pathplanner::PathPlannerTrajectory::State</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>constraints</b> (defined in <a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">pathplanner::PathPlannerTrajectory::State</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">pathplanner::PathPlannerTrajectory::State</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>curvature</b> (defined in <a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">pathplanner::PathPlannerTrajectory::State</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">pathplanner::PathPlannerTrajectory::State</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>deltaPos</b> (defined in <a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">pathplanner::PathPlannerTrajectory::State</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">pathplanner::PathPlannerTrajectory::State</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html#ab5d306d4a23a4c4eeb589ac199e6ed08">getDifferentialPose</a>() const</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">pathplanner::PathPlannerTrajectory::State</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html#ac4973e5c1f460c635997af5f50b20d57">getTargetHolonomicPose</a>() const</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">pathplanner::PathPlannerTrajectory::State</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>heading</b> (defined in <a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">pathplanner::PathPlannerTrajectory::State</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">pathplanner::PathPlannerTrajectory::State</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>headingAngularVelocity</b> (defined in <a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">pathplanner::PathPlannerTrajectory::State</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">pathplanner::PathPlannerTrajectory::State</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>interpolate</b>(const State &amp;endValue, double t) const (defined in <a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">pathplanner::PathPlannerTrajectory::State</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">pathplanner::PathPlannerTrajectory::State</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>position</b> (defined in <a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">pathplanner::PathPlannerTrajectory::State</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">pathplanner::PathPlannerTrajectory::State</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html#a3c0e46f74c1b27e38d3416a2f97b678f">reverse</a>() const</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">pathplanner::PathPlannerTrajectory::State</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>State</b>() (defined in <a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">pathplanner::PathPlannerTrajectory::State</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">pathplanner::PathPlannerTrajectory::State</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>targetHolonomicRotation</b> (defined in <a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">pathplanner::PathPlannerTrajectory::State</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">pathplanner::PathPlannerTrajectory::State</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>time</b> (defined in <a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">pathplanner::PathPlannerTrajectory::State</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">pathplanner::PathPlannerTrajectory::State</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>velocity</b> (defined in <a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">pathplanner::PathPlannerTrajectory::State</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">pathplanner::PathPlannerTrajectory::State</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
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diff --git a/docs/cpp/classpathplanner_1_1PathPlannerTrajectory_1_1State.html b/docs/cpp/classpathplanner_1_1PathPlannerTrajectory_1_1State.html
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+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpathplanner_1_1PathPlannerTrajectory_1_1State-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">pathplanner::PathPlannerTrajectory::State Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a06fe6ec5f799d36d921bb72f13210047"><td class="memItemLeft" align="right" valign="top"><a id="a06fe6ec5f799d36d921bb72f13210047" name="a06fe6ec5f799d36d921bb72f13210047"></a>
+constexpr <a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">State</a>&#160;</td><td class="memItemRight" valign="bottom"><b>interpolate</b> (const <a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">State</a> &amp;endValue, double t) const</td></tr>
+<tr class="separator:a06fe6ec5f799d36d921bb72f13210047"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac4973e5c1f460c635997af5f50b20d57"><td class="memItemLeft" align="right" valign="top">constexpr frc::Pose2d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html#ac4973e5c1f460c635997af5f50b20d57">getTargetHolonomicPose</a> () const</td></tr>
+<tr class="separator:ac4973e5c1f460c635997af5f50b20d57"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab5d306d4a23a4c4eeb589ac199e6ed08"><td class="memItemLeft" align="right" valign="top">constexpr frc::Pose2d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html#ab5d306d4a23a4c4eeb589ac199e6ed08">getDifferentialPose</a> () const</td></tr>
+<tr class="separator:ab5d306d4a23a4c4eeb589ac199e6ed08"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3c0e46f74c1b27e38d3416a2f97b678f"><td class="memItemLeft" align="right" valign="top">constexpr <a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">State</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html#a3c0e46f74c1b27e38d3416a2f97b678f">reverse</a> () const</td></tr>
+<tr class="separator:a3c0e46f74c1b27e38d3416a2f97b678f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a57aa7673b8abf89f4e0c2c3fca57aea1"><td class="memItemLeft" align="right" valign="top"><a id="a57aa7673b8abf89f4e0c2c3fca57aea1" name="a57aa7673b8abf89f4e0c2c3fca57aea1"></a>
+units::second_t&#160;</td><td class="memItemRight" valign="bottom"><b>time</b></td></tr>
+<tr class="separator:a57aa7673b8abf89f4e0c2c3fca57aea1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:add770efbaf137a6453920204bd0ac6dd"><td class="memItemLeft" align="right" valign="top"><a id="add770efbaf137a6453920204bd0ac6dd" name="add770efbaf137a6453920204bd0ac6dd"></a>
+units::meters_per_second_t&#160;</td><td class="memItemRight" valign="bottom"><b>velocity</b></td></tr>
+<tr class="separator:add770efbaf137a6453920204bd0ac6dd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7a90323cc78cb79d3640eb3d5a04a250"><td class="memItemLeft" align="right" valign="top"><a id="a7a90323cc78cb79d3640eb3d5a04a250" name="a7a90323cc78cb79d3640eb3d5a04a250"></a>
+units::meters_per_second_squared_t&#160;</td><td class="memItemRight" valign="bottom"><b>acceleration</b></td></tr>
+<tr class="separator:a7a90323cc78cb79d3640eb3d5a04a250"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4c203e2868c465766d892203f0b3defe"><td class="memItemLeft" align="right" valign="top"><a id="a4c203e2868c465766d892203f0b3defe" name="a4c203e2868c465766d892203f0b3defe"></a>
+units::radians_per_second_t&#160;</td><td class="memItemRight" valign="bottom"><b>headingAngularVelocity</b></td></tr>
+<tr class="separator:a4c203e2868c465766d892203f0b3defe"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a595384c477adc1920fbe0d3a5204e533"><td class="memItemLeft" align="right" valign="top"><a id="a595384c477adc1920fbe0d3a5204e533" name="a595384c477adc1920fbe0d3a5204e533"></a>
+frc::Translation2d&#160;</td><td class="memItemRight" valign="bottom"><b>position</b></td></tr>
+<tr class="separator:a595384c477adc1920fbe0d3a5204e533"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9983e770f630733484cd194197e5f236"><td class="memItemLeft" align="right" valign="top"><a id="a9983e770f630733484cd194197e5f236" name="a9983e770f630733484cd194197e5f236"></a>
+frc::Rotation2d&#160;</td><td class="memItemRight" valign="bottom"><b>heading</b></td></tr>
+<tr class="separator:a9983e770f630733484cd194197e5f236"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac09250f8586fca4b062d09a0b0254f02"><td class="memItemLeft" align="right" valign="top"><a id="ac09250f8586fca4b062d09a0b0254f02" name="ac09250f8586fca4b062d09a0b0254f02"></a>
+frc::Rotation2d&#160;</td><td class="memItemRight" valign="bottom"><b>targetHolonomicRotation</b></td></tr>
+<tr class="separator:ac09250f8586fca4b062d09a0b0254f02"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a992a98e53c4848a99b2355e426c9048c"><td class="memItemLeft" align="right" valign="top"><a id="a992a98e53c4848a99b2355e426c9048c" name="a992a98e53c4848a99b2355e426c9048c"></a>
+units::curvature_t&#160;</td><td class="memItemRight" valign="bottom"><b>curvature</b></td></tr>
+<tr class="separator:a992a98e53c4848a99b2355e426c9048c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a941c7432558cf9890ac9adcf041c8a5f"><td class="memItemLeft" align="right" valign="top"><a id="a941c7432558cf9890ac9adcf041c8a5f" name="a941c7432558cf9890ac9adcf041c8a5f"></a>
+<a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a>&#160;</td><td class="memItemRight" valign="bottom"><b>constraints</b></td></tr>
+<tr class="separator:a941c7432558cf9890ac9adcf041c8a5f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac6cb28bf7a0ccfa36a37ae5a884216ed"><td class="memItemLeft" align="right" valign="top"><a id="ac6cb28bf7a0ccfa36a37ae5a884216ed" name="ac6cb28bf7a0ccfa36a37ae5a884216ed"></a>
+units::meter_t&#160;</td><td class="memItemRight" valign="bottom"><b>deltaPos</b></td></tr>
+<tr class="separator:ac6cb28bf7a0ccfa36a37ae5a884216ed"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ab5d306d4a23a4c4eeb589ac199e6ed08" name="ab5d306d4a23a4c4eeb589ac199e6ed08"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab5d306d4a23a4c4eeb589ac199e6ed08">&#9670;&#160;</a></span>getDifferentialPose()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr frc::Pose2d pathplanner::PathPlannerTrajectory::State::getDifferentialPose </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Get this pose for a differential drivetrain</p>
+<dl class="section return"><dt>Returns</dt><dd>The pose </dd></dl>
+
+</div>
+</div>
+<a id="ac4973e5c1f460c635997af5f50b20d57" name="ac4973e5c1f460c635997af5f50b20d57"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac4973e5c1f460c635997af5f50b20d57">&#9670;&#160;</a></span>getTargetHolonomicPose()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr frc::Pose2d pathplanner::PathPlannerTrajectory::State::getTargetHolonomicPose </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Get the target pose for a holonomic drivetrain NOTE: This is a "target" pose, meaning the rotation will be the value of the next rotation target along the path, not what the rotation should be at the start of the path</p>
+<dl class="section return"><dt>Returns</dt><dd>The target pose </dd></dl>
+
+</div>
+</div>
+<a id="a3c0e46f74c1b27e38d3416a2f97b678f" name="a3c0e46f74c1b27e38d3416a2f97b678f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3c0e46f74c1b27e38d3416a2f97b678f">&#9670;&#160;</a></span>reverse()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr <a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">State</a> pathplanner::PathPlannerTrajectory::State::reverse </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Get the state reversed, used for following a trajectory reversed with a differential drivetrain</p>
+<dl class="section return"><dt>Returns</dt><dd>The reversed state </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>src/main/native/include/pathplanner/lib/path/<a class="el" href="PathPlannerTrajectory_8h_source.html">PathPlannerTrajectory.h</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><b>pathplanner</b></li><li class="navelem"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html">PathPlannerTrajectory</a></li><li class="navelem"><a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html">State</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/docs/cpp/classpathplanner_1_1PathPlannerTrajectory_1_1State.js b/docs/cpp/classpathplanner_1_1PathPlannerTrajectory_1_1State.js
new file mode 100644
index 00000000..9fa0acc3
--- /dev/null
+++ b/docs/cpp/classpathplanner_1_1PathPlannerTrajectory_1_1State.js
@@ -0,0 +1,6 @@
+var classpathplanner_1_1PathPlannerTrajectory_1_1State =
+[
+    [ "getDifferentialPose", "classpathplanner_1_1PathPlannerTrajectory_1_1State.html#ab5d306d4a23a4c4eeb589ac199e6ed08", null ],
+    [ "getTargetHolonomicPose", "classpathplanner_1_1PathPlannerTrajectory_1_1State.html#ac4973e5c1f460c635997af5f50b20d57", null ],
+    [ "reverse", "classpathplanner_1_1PathPlannerTrajectory_1_1State.html#a3c0e46f74c1b27e38d3416a2f97b678f", null ]
+];
\ No newline at end of file
diff --git a/docs/cpp/classpathplanner_1_1PathPoint-members.html b/docs/cpp/classpathplanner_1_1PathPoint-members.html
new file mode 100644
index 00000000..ea5c6968
--- /dev/null
+++ b/docs/cpp/classpathplanner_1_1PathPoint-members.html
@@ -0,0 +1,115 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>PathPlannerLib: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('classpathplanner_1_1PathPoint.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="header">
+  <div class="headertitle"><div class="title">pathplanner::PathPoint Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpathplanner_1_1PathPoint.html">pathplanner::PathPoint</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>constraints</b> (defined in <a class="el" href="classpathplanner_1_1PathPoint.html">pathplanner::PathPoint</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPoint.html">pathplanner::PathPoint</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>curveRadius</b> (defined in <a class="el" href="classpathplanner_1_1PathPoint.html">pathplanner::PathPoint</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPoint.html">pathplanner::PathPoint</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>distanceAlongPath</b> (defined in <a class="el" href="classpathplanner_1_1PathPoint.html">pathplanner::PathPoint</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPoint.html">pathplanner::PathPoint</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>holonomicRotation</b> (defined in <a class="el" href="classpathplanner_1_1PathPoint.html">pathplanner::PathPoint</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPoint.html">pathplanner::PathPoint</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>maxV</b> (defined in <a class="el" href="classpathplanner_1_1PathPoint.html">pathplanner::PathPoint</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPoint.html">pathplanner::PathPoint</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>PathPoint</b>(frc::Translation2d pos, std::optional&lt; frc::Rotation2d &gt; rot, std::optional&lt; PathConstraints &gt; pathCostriaints) (defined in <a class="el" href="classpathplanner_1_1PathPoint.html">pathplanner::PathPoint</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPoint.html">pathplanner::PathPoint</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>position</b> (defined in <a class="el" href="classpathplanner_1_1PathPoint.html">pathplanner::PathPoint</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathPoint.html">pathplanner::PathPoint</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/docs/cpp/classpathplanner_1_1PathPoint.html b/docs/cpp/classpathplanner_1_1PathPoint.html
new file mode 100644
index 00000000..e8cc7ebb
--- /dev/null
+++ b/docs/cpp/classpathplanner_1_1PathPoint.html
@@ -0,0 +1,157 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>PathPlannerLib: pathplanner::PathPoint Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+</div>
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
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+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpathplanner_1_1PathPoint-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">pathplanner::PathPoint Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:abf41ab925292068077c953270bc5e01a"><td class="memItemLeft" align="right" valign="top"><a id="abf41ab925292068077c953270bc5e01a" name="abf41ab925292068077c953270bc5e01a"></a>
+constexpr&#160;</td><td class="memItemRight" valign="bottom"><b>PathPoint</b> (frc::Translation2d pos, std::optional&lt; frc::Rotation2d &gt; rot, std::optional&lt; <a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> &gt; pathCostriaints)</td></tr>
+<tr class="separator:abf41ab925292068077c953270bc5e01a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a69119414d8a9d0473cee80468cbbc70a"><td class="memItemLeft" align="right" valign="top"><a id="a69119414d8a9d0473cee80468cbbc70a" name="a69119414d8a9d0473cee80468cbbc70a"></a>
+frc::Translation2d&#160;</td><td class="memItemRight" valign="bottom"><b>position</b></td></tr>
+<tr class="separator:a69119414d8a9d0473cee80468cbbc70a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a042196a72cad79ccc044b1726b90d55e"><td class="memItemLeft" align="right" valign="top"><a id="a042196a72cad79ccc044b1726b90d55e" name="a042196a72cad79ccc044b1726b90d55e"></a>
+units::meter_t&#160;</td><td class="memItemRight" valign="bottom"><b>distanceAlongPath</b> = 0_m</td></tr>
+<tr class="separator:a042196a72cad79ccc044b1726b90d55e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8483d38a6c3dc27ad3114a2f4a26b3e7"><td class="memItemLeft" align="right" valign="top"><a id="a8483d38a6c3dc27ad3114a2f4a26b3e7" name="a8483d38a6c3dc27ad3114a2f4a26b3e7"></a>
+units::meter_t&#160;</td><td class="memItemRight" valign="bottom"><b>curveRadius</b> = 0_m</td></tr>
+<tr class="separator:a8483d38a6c3dc27ad3114a2f4a26b3e7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a75add76a5f04100848acabc34cd5b339"><td class="memItemLeft" align="right" valign="top">units::meters_per_second_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathPoint.html#a75add76a5f04100848acabc34cd5b339">maxV</a></td></tr>
+<tr class="separator:a75add76a5f04100848acabc34cd5b339"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abdadd074d9951426674483565caa57be"><td class="memItemLeft" align="right" valign="top"><a id="abdadd074d9951426674483565caa57be" name="abdadd074d9951426674483565caa57be"></a>
+std::optional&lt; frc::Rotation2d &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>holonomicRotation</b> = std::nullopt</td></tr>
+<tr class="separator:abdadd074d9951426674483565caa57be"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5755e31619904e2660fe77cd51a66ede"><td class="memItemLeft" align="right" valign="top"><a id="a5755e31619904e2660fe77cd51a66ede" name="a5755e31619904e2660fe77cd51a66ede"></a>
+std::optional&lt; <a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>constraints</b> = std::nullopt</td></tr>
+<tr class="separator:a5755e31619904e2660fe77cd51a66ede"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a75add76a5f04100848acabc34cd5b339" name="a75add76a5f04100848acabc34cd5b339"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a75add76a5f04100848acabc34cd5b339">&#9670;&#160;</a></span>maxV</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">units::meters_per_second_t pathplanner::PathPoint::maxV</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line">= units::meters_per_second_t {</div>
+<div class="line">            std::numeric_limits&lt;double&gt;::infinity() }</div>
+</div><!-- fragment -->
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>src/main/native/include/pathplanner/lib/path/<a class="el" href="PathPoint_8h_source.html">PathPoint.h</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><b>pathplanner</b></li><li class="navelem"><a class="el" href="classpathplanner_1_1PathPoint.html">PathPoint</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
+</div>
+</body>
+</html>
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
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+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
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+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
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+<div id="side-nav" class="ui-resizable side-nav-resizable">
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+<script type="text/javascript">
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+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="header">
+  <div class="headertitle"><div class="title">pathplanner::PathSegment Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpathplanner_1_1PathSegment.html">pathplanner::PathSegment</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PathSegment.html#ae29272731c67c2c2d75ba63f31db970d">getSegmentPoints</a>()</td><td class="entry"><a class="el" href="classpathplanner_1_1PathSegment.html">pathplanner::PathSegment</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1PathSegment.html#a86dd03e168b517c3ec71cf778f5cf5df">PathSegment</a>(frc::Translation2d p1, frc::Translation2d p2, frc::Translation2d p3, frc::Translation2d p4, std::vector&lt; RotationTarget &gt; targetHolonomicRotations, std::vector&lt; ConstraintsZone &gt; constraintZones, bool endSegment)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathSegment.html">pathplanner::PathSegment</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PathSegment.html#a212b955e6c46a332fe5eec3ec3f21929">PathSegment</a>(frc::Translation2d p1, frc::Translation2d p2, frc::Translation2d p3, frc::Translation2d p4, bool endSegment)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathSegment.html">pathplanner::PathSegment</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>RESOLUTION</b> (defined in <a class="el" href="classpathplanner_1_1PathSegment.html">pathplanner::PathSegment</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathSegment.html">pathplanner::PathSegment</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
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diff --git a/docs/cpp/classpathplanner_1_1PathSegment.html b/docs/cpp/classpathplanner_1_1PathSegment.html
new file mode 100644
index 00000000..0f7265e1
--- /dev/null
+++ b/docs/cpp/classpathplanner_1_1PathSegment.html
@@ -0,0 +1,295 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>PathPlannerLib: pathplanner::PathSegment Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
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+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
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+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('classpathplanner_1_1PathSegment.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
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+<div class="SRStatus" id="Loading">Loading...</div>
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="classpathplanner_1_1PathSegment-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">pathplanner::PathSegment Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a86dd03e168b517c3ec71cf778f5cf5df"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathSegment.html#a86dd03e168b517c3ec71cf778f5cf5df">PathSegment</a> (frc::Translation2d p1, frc::Translation2d p2, frc::Translation2d p3, frc::Translation2d p4, std::vector&lt; <a class="el" href="classpathplanner_1_1RotationTarget.html">RotationTarget</a> &gt; targetHolonomicRotations, std::vector&lt; <a class="el" href="classpathplanner_1_1ConstraintsZone.html">ConstraintsZone</a> &gt; constraintZones, bool endSegment)</td></tr>
+<tr class="separator:a86dd03e168b517c3ec71cf778f5cf5df"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a212b955e6c46a332fe5eec3ec3f21929"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathSegment.html#a212b955e6c46a332fe5eec3ec3f21929">PathSegment</a> (frc::Translation2d p1, frc::Translation2d p2, frc::Translation2d p3, frc::Translation2d p4, bool endSegment)</td></tr>
+<tr class="separator:a212b955e6c46a332fe5eec3ec3f21929"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae29272731c67c2c2d75ba63f31db970d"><td class="memItemLeft" align="right" valign="top">constexpr std::vector&lt; <a class="el" href="classpathplanner_1_1PathPoint.html">PathPoint</a> &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathSegment.html#ae29272731c67c2c2d75ba63f31db970d">getSegmentPoints</a> ()</td></tr>
+<tr class="separator:ae29272731c67c2c2d75ba63f31db970d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-attribs" name="pub-static-attribs"></a>
+Static Public Attributes</h2></td></tr>
+<tr class="memitem:af4d787419a21f64e040d129ccd7f7079"><td class="memItemLeft" align="right" valign="top"><a id="af4d787419a21f64e040d129ccd7f7079" name="af4d787419a21f64e040d129ccd7f7079"></a>
+static constexpr double&#160;</td><td class="memItemRight" valign="bottom"><b>RESOLUTION</b> = 0.05</td></tr>
+<tr class="separator:af4d787419a21f64e040d129ccd7f7079"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a86dd03e168b517c3ec71cf778f5cf5df" name="a86dd03e168b517c3ec71cf778f5cf5df"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a86dd03e168b517c3ec71cf778f5cf5df">&#9670;&#160;</a></span>PathSegment() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">PathSegment::PathSegment </td>
+          <td>(</td>
+          <td class="paramtype">frc::Translation2d&#160;</td>
+          <td class="paramname"><em>p1</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">frc::Translation2d&#160;</td>
+          <td class="paramname"><em>p2</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">frc::Translation2d&#160;</td>
+          <td class="paramname"><em>p3</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">frc::Translation2d&#160;</td>
+          <td class="paramname"><em>p4</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::vector&lt; <a class="el" href="classpathplanner_1_1RotationTarget.html">RotationTarget</a> &gt;&#160;</td>
+          <td class="paramname"><em>targetHolonomicRotations</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::vector&lt; <a class="el" href="classpathplanner_1_1ConstraintsZone.html">ConstraintsZone</a> &gt;&#160;</td>
+          <td class="paramname"><em>constraintZones</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>endSegment</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p >Generate a new path segment</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">p1</td><td>Start anchor point </td></tr>
+    <tr><td class="paramname">p2</td><td>Start next control </td></tr>
+    <tr><td class="paramname">p3</td><td>End prev control </td></tr>
+    <tr><td class="paramname">p4</td><td>End anchor point </td></tr>
+    <tr><td class="paramname">targetHolonomicRotations</td><td>Rotation targets for within this segment </td></tr>
+    <tr><td class="paramname">constraintZones</td><td>Constraint zones for within this segment </td></tr>
+    <tr><td class="paramname">endSegment</td><td>Is this the last segment in the path </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a212b955e6c46a332fe5eec3ec3f21929" name="a212b955e6c46a332fe5eec3ec3f21929"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a212b955e6c46a332fe5eec3ec3f21929">&#9670;&#160;</a></span>PathSegment() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">pathplanner::PathSegment::PathSegment </td>
+          <td>(</td>
+          <td class="paramtype">frc::Translation2d&#160;</td>
+          <td class="paramname"><em>p1</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">frc::Translation2d&#160;</td>
+          <td class="paramname"><em>p2</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">frc::Translation2d&#160;</td>
+          <td class="paramname"><em>p3</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">frc::Translation2d&#160;</td>
+          <td class="paramname"><em>p4</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>endSegment</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Generate a new path segment without constraint zones or rotation targets</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">p1</td><td>Start anchor point </td></tr>
+    <tr><td class="paramname">p2</td><td>Start next control </td></tr>
+    <tr><td class="paramname">p3</td><td>End prev control </td></tr>
+    <tr><td class="paramname">p4</td><td>End anchor point </td></tr>
+    <tr><td class="paramname">endSegment</td><td>Is this the last segment in the path </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ae29272731c67c2c2d75ba63f31db970d" name="ae29272731c67c2c2d75ba63f31db970d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae29272731c67c2c2d75ba63f31db970d">&#9670;&#160;</a></span>getSegmentPoints()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr std::vector&lt; <a class="el" href="classpathplanner_1_1PathPoint.html">PathPoint</a> &gt; &amp; pathplanner::PathSegment::getSegmentPoints </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Get the path points for this segment</p>
+<dl class="section return"><dt>Returns</dt><dd>Path points for this segment </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>src/main/native/include/pathplanner/lib/path/<a class="el" href="PathSegment_8h_source.html">PathSegment.h</a></li>
+<li>src/main/native/cpp/pathplanner/lib/path/PathSegment.cpp</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><b>pathplanner</b></li><li class="navelem"><a class="el" href="classpathplanner_1_1PathSegment.html">PathSegment</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/docs/cpp/classpathplanner_1_1PathSegment.js b/docs/cpp/classpathplanner_1_1PathSegment.js
new file mode 100644
index 00000000..7d43e512
--- /dev/null
+++ b/docs/cpp/classpathplanner_1_1PathSegment.js
@@ -0,0 +1,6 @@
+var classpathplanner_1_1PathSegment =
+[
+    [ "PathSegment", "classpathplanner_1_1PathSegment.html#a86dd03e168b517c3ec71cf778f5cf5df", null ],
+    [ "PathSegment", "classpathplanner_1_1PathSegment.html#a212b955e6c46a332fe5eec3ec3f21929", null ],
+    [ "getSegmentPoints", "classpathplanner_1_1PathSegment.html#ae29272731c67c2c2d75ba63f31db970d", null ]
+];
\ No newline at end of file
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new file mode 100644
index 00000000..d3713b48
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+   <div id="projectname">PathPlannerLib
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+  <div class="headertitle"><div class="title">pathplanner::PathfindHolonomic Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpathplanner_1_1PathfindHolonomic.html">pathplanner::PathfindHolonomic</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>End</b>(bool interrupted) override (defined in <a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>Execute</b>() override (defined in <a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Initialize</b>() override (defined in <a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>IsFinished</b>() override (defined in <a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PathfindHolonomic.html#a51f352aeb9662256421e25495cba0764">PathfindHolonomic</a>(std::shared_ptr&lt; PathPlannerPath &gt; targetPath, PathConstraints constraints, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; output, HolonomicPathFollowerConfig config, frc2::Requirements requirements, units::meter_t rotationDelayDistance=0_m)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathfindHolonomic.html">pathplanner::PathfindHolonomic</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1PathfindHolonomic.html#af8d4fe139d8c7dc51e7c66a95e3d0606">PathfindHolonomic</a>(frc::Pose2d targetPose, PathConstraints constraints, units::meters_per_second_t goalEndVel, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; output, HolonomicPathFollowerConfig config, frc2::Requirements requirements, units::meter_t rotationDelayDistance=0_m)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathfindHolonomic.html">pathplanner::PathfindHolonomic</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PathfindHolonomic.html#a36345732d29be7a006750d21a619cb33">PathfindHolonomic</a>(frc::Pose2d targetPose, PathConstraints constraints, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; output, HolonomicPathFollowerConfig config, frc2::Requirements requirements, units::meter_t rotationDelayDistance=0_m)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathfindHolonomic.html">pathplanner::PathfindHolonomic</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1PathfindingCommand.html#a5b2774dbe3b76c19c541baa7b64dc4ac">PathfindingCommand</a>(std::shared_ptr&lt; PathPlannerPath &gt; targetPath, PathConstraints constraints, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, std::unique_ptr&lt; PathFollowingController &gt; controller, units::meter_t rotationDelayDistance, frc2::Requirements requirements)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PathfindingCommand.html#a9b15f1ce07efb33228e44d1e1078d7da">PathfindingCommand</a>(frc::Pose2d targetPose, PathConstraints constraints, units::meters_per_second_t goalEndVel, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, std::unique_ptr&lt; PathFollowingController &gt; controller, units::meter_t rotationDelayDistance, frc2::Requirements requirements)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
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diff --git a/docs/cpp/classpathplanner_1_1PathfindHolonomic.html b/docs/cpp/classpathplanner_1_1PathfindHolonomic.html
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@@ -0,0 +1,414 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<title>PathPlannerLib: pathplanner::PathfindHolonomic Class Reference</title>
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+   <div id="projectname">PathPlannerLib
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+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classpathplanner_1_1PathfindHolonomic-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">pathplanner::PathfindHolonomic Class Reference</div></div>
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+Inheritance diagram for pathplanner::PathfindHolonomic:</div>
+<div class="dyncontent">
+ <div class="center">
+  <img src="classpathplanner_1_1PathfindHolonomic.png" usemap="#pathplanner::PathfindHolonomic_map" alt=""/>
+  <map id="pathplanner::PathfindHolonomic_map" name="pathplanner::PathfindHolonomic_map">
+<area href="classpathplanner_1_1PathfindingCommand.html" alt="pathplanner::PathfindingCommand" shape="rect" coords="0,56,369,80"/>
+  </map>
+</div></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a51f352aeb9662256421e25495cba0764"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathfindHolonomic.html#a51f352aeb9662256421e25495cba0764">PathfindHolonomic</a> (std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt; targetPath, <a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> constraints, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; output, <a class="el" href="classpathplanner_1_1HolonomicPathFollowerConfig.html">HolonomicPathFollowerConfig</a> config, frc2::Requirements requirements, units::meter_t rotationDelayDistance=0_m)</td></tr>
+<tr class="separator:a51f352aeb9662256421e25495cba0764"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af8d4fe139d8c7dc51e7c66a95e3d0606"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathfindHolonomic.html#af8d4fe139d8c7dc51e7c66a95e3d0606">PathfindHolonomic</a> (frc::Pose2d targetPose, <a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> constraints, units::meters_per_second_t goalEndVel, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; output, <a class="el" href="classpathplanner_1_1HolonomicPathFollowerConfig.html">HolonomicPathFollowerConfig</a> config, frc2::Requirements requirements, units::meter_t rotationDelayDistance=0_m)</td></tr>
+<tr class="separator:af8d4fe139d8c7dc51e7c66a95e3d0606"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a36345732d29be7a006750d21a619cb33"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathfindHolonomic.html#a36345732d29be7a006750d21a619cb33">PathfindHolonomic</a> (frc::Pose2d targetPose, <a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> constraints, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; output, <a class="el" href="classpathplanner_1_1HolonomicPathFollowerConfig.html">HolonomicPathFollowerConfig</a> config, frc2::Requirements requirements, units::meter_t rotationDelayDistance=0_m)</td></tr>
+<tr class="separator:a36345732d29be7a006750d21a619cb33"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classpathplanner_1_1PathfindingCommand"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpathplanner_1_1PathfindingCommand')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a></td></tr>
+<tr class="memitem:a5b2774dbe3b76c19c541baa7b64dc4ac inherit pub_methods_classpathplanner_1_1PathfindingCommand"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathfindingCommand.html#a5b2774dbe3b76c19c541baa7b64dc4ac">PathfindingCommand</a> (std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt; targetPath, <a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> constraints, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, std::unique_ptr&lt; <a class="el" href="classpathplanner_1_1PathFollowingController.html">PathFollowingController</a> &gt; controller, units::meter_t rotationDelayDistance, frc2::Requirements requirements)</td></tr>
+<tr class="separator:a5b2774dbe3b76c19c541baa7b64dc4ac inherit pub_methods_classpathplanner_1_1PathfindingCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9b15f1ce07efb33228e44d1e1078d7da inherit pub_methods_classpathplanner_1_1PathfindingCommand"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathfindingCommand.html#a9b15f1ce07efb33228e44d1e1078d7da">PathfindingCommand</a> (frc::Pose2d targetPose, <a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> constraints, units::meters_per_second_t goalEndVel, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, std::unique_ptr&lt; <a class="el" href="classpathplanner_1_1PathFollowingController.html">PathFollowingController</a> &gt; controller, units::meter_t rotationDelayDistance, frc2::Requirements requirements)</td></tr>
+<tr class="separator:a9b15f1ce07efb33228e44d1e1078d7da inherit pub_methods_classpathplanner_1_1PathfindingCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af888ee3e3aaf739a5d837a77fb12c7df inherit pub_methods_classpathplanner_1_1PathfindingCommand"><td class="memItemLeft" align="right" valign="top"><a id="af888ee3e3aaf739a5d837a77fb12c7df" name="af888ee3e3aaf739a5d837a77fb12c7df"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>Initialize</b> () override</td></tr>
+<tr class="separator:af888ee3e3aaf739a5d837a77fb12c7df inherit pub_methods_classpathplanner_1_1PathfindingCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+void&#160;</td><td class="memItemRight" valign="bottom"><b>Execute</b> () override</td></tr>
+<tr class="separator:ae55b7c56d5bc5ffd14db02bf855a674c inherit pub_methods_classpathplanner_1_1PathfindingCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a381cd5ca5913fc8907dd6a90be6bcaea inherit pub_methods_classpathplanner_1_1PathfindingCommand"><td class="memItemLeft" align="right" valign="top"><a id="a381cd5ca5913fc8907dd6a90be6bcaea" name="a381cd5ca5913fc8907dd6a90be6bcaea"></a>
+bool&#160;</td><td class="memItemRight" valign="bottom"><b>IsFinished</b> () override</td></tr>
+<tr class="separator:a381cd5ca5913fc8907dd6a90be6bcaea inherit pub_methods_classpathplanner_1_1PathfindingCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a157869cffb2369551af48c899580ac1f inherit pub_methods_classpathplanner_1_1PathfindingCommand"><td class="memItemLeft" align="right" valign="top"><a id="a157869cffb2369551af48c899580ac1f" name="a157869cffb2369551af48c899580ac1f"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>End</b> (bool interrupted) override</td></tr>
+<tr class="separator:a157869cffb2369551af48c899580ac1f inherit pub_methods_classpathplanner_1_1PathfindingCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a51f352aeb9662256421e25495cba0764" name="a51f352aeb9662256421e25495cba0764"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a51f352aeb9662256421e25495cba0764">&#9670;&#160;</a></span>PathfindHolonomic() <span class="overload">[1/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">pathplanner::PathfindHolonomic::PathfindHolonomic </td>
+          <td>(</td>
+          <td class="paramtype">std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt;&#160;</td>
+          <td class="paramname"><em>targetPath</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a>&#160;</td>
+          <td class="paramname"><em>constraints</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::Pose2d()&gt;&#160;</td>
+          <td class="paramname"><em>poseSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::ChassisSpeeds()&gt;&#160;</td>
+          <td class="paramname"><em>currentRobotRelativeSpeeds</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; void(frc::ChassisSpeeds)&gt;&#160;</td>
+          <td class="paramname"><em>output</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1HolonomicPathFollowerConfig.html">HolonomicPathFollowerConfig</a>&#160;</td>
+          <td class="paramname"><em>config</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">frc2::Requirements&#160;</td>
+          <td class="paramname"><em>requirements</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::meter_t&#160;</td>
+          <td class="paramname"><em>rotationDelayDistance</em> = <code>0_m</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Constructs a new <a class="el" href="classpathplanner_1_1PathfindHolonomic.html">PathfindHolonomic</a> command that will generate a path towards the given path.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">targetPath</td><td>the path to pathfind to </td></tr>
+    <tr><td class="paramname">constraints</td><td>the path constraints to use while pathfinding </td></tr>
+    <tr><td class="paramname">poseSupplier</td><td>a supplier for the robot's current pose </td></tr>
+    <tr><td class="paramname">currentRobotRelativeSpeeds</td><td>a supplier for the robot's current robot relative speeds </td></tr>
+    <tr><td class="paramname">output</td><td>a consumer for the output speeds (robot relative) </td></tr>
+    <tr><td class="paramname">config</td><td><a class="el" href="classpathplanner_1_1HolonomicPathFollowerConfig.html">HolonomicPathFollowerConfig</a> object with the configuration parameters for path following </td></tr>
+    <tr><td class="paramname">requirements</td><td>the subsystems required by this command </td></tr>
+    <tr><td class="paramname">rotationDelayDistance</td><td>Distance to delay the target rotation of the robot. This will cause the robot to hold its current rotation until it reaches the given distance along the path. Default = 0 m </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="af8d4fe139d8c7dc51e7c66a95e3d0606" name="af8d4fe139d8c7dc51e7c66a95e3d0606"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af8d4fe139d8c7dc51e7c66a95e3d0606">&#9670;&#160;</a></span>PathfindHolonomic() <span class="overload">[2/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">pathplanner::PathfindHolonomic::PathfindHolonomic </td>
+          <td>(</td>
+          <td class="paramtype">frc::Pose2d&#160;</td>
+          <td class="paramname"><em>targetPose</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a>&#160;</td>
+          <td class="paramname"><em>constraints</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::meters_per_second_t&#160;</td>
+          <td class="paramname"><em>goalEndVel</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::Pose2d()&gt;&#160;</td>
+          <td class="paramname"><em>poseSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::ChassisSpeeds()&gt;&#160;</td>
+          <td class="paramname"><em>currentRobotRelativeSpeeds</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; void(frc::ChassisSpeeds)&gt;&#160;</td>
+          <td class="paramname"><em>output</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1HolonomicPathFollowerConfig.html">HolonomicPathFollowerConfig</a>&#160;</td>
+          <td class="paramname"><em>config</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">frc2::Requirements&#160;</td>
+          <td class="paramname"><em>requirements</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::meter_t&#160;</td>
+          <td class="paramname"><em>rotationDelayDistance</em> = <code>0_m</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Constructs a new <a class="el" href="classpathplanner_1_1PathfindHolonomic.html">PathfindHolonomic</a> command that will generate a path towards the given pose.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">targetPose</td><td>the pose to pathfind to </td></tr>
+    <tr><td class="paramname">constraints</td><td>the path constraints to use while pathfinding </td></tr>
+    <tr><td class="paramname">goalEndVel</td><td>The goal end velocity when reaching the given pose </td></tr>
+    <tr><td class="paramname">poseSupplier</td><td>a supplier for the robot's current pose </td></tr>
+    <tr><td class="paramname">currentRobotRelativeSpeeds</td><td>a supplier for the robot's current robot relative speeds </td></tr>
+    <tr><td class="paramname">output</td><td>a consumer for the output speeds (field relative if holonomic, robot relative if differential) </td></tr>
+    <tr><td class="paramname">config</td><td><a class="el" href="classpathplanner_1_1HolonomicPathFollowerConfig.html">HolonomicPathFollowerConfig</a> object with the configuration parameters for path following </td></tr>
+    <tr><td class="paramname">requirements</td><td>the subsystems required by this command </td></tr>
+    <tr><td class="paramname">rotationDelayDistance</td><td>Distance to delay the target rotation of the robot. This will cause the robot to hold its current rotation until it reaches the given distance along the path. Default = 0 m </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a36345732d29be7a006750d21a619cb33" name="a36345732d29be7a006750d21a619cb33"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a36345732d29be7a006750d21a619cb33">&#9670;&#160;</a></span>PathfindHolonomic() <span class="overload">[3/3]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">pathplanner::PathfindHolonomic::PathfindHolonomic </td>
+          <td>(</td>
+          <td class="paramtype">frc::Pose2d&#160;</td>
+          <td class="paramname"><em>targetPose</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a>&#160;</td>
+          <td class="paramname"><em>constraints</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::Pose2d()&gt;&#160;</td>
+          <td class="paramname"><em>poseSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::ChassisSpeeds()&gt;&#160;</td>
+          <td class="paramname"><em>currentRobotRelativeSpeeds</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; void(frc::ChassisSpeeds)&gt;&#160;</td>
+          <td class="paramname"><em>output</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1HolonomicPathFollowerConfig.html">HolonomicPathFollowerConfig</a>&#160;</td>
+          <td class="paramname"><em>config</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">frc2::Requirements&#160;</td>
+          <td class="paramname"><em>requirements</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::meter_t&#160;</td>
+          <td class="paramname"><em>rotationDelayDistance</em> = <code>0_m</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Constructs a new <a class="el" href="classpathplanner_1_1PathfindHolonomic.html">PathfindHolonomic</a> command that will generate a path towards the given pose.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">targetPose</td><td>the pose to pathfind to </td></tr>
+    <tr><td class="paramname">constraints</td><td>the path constraints to use while pathfinding </td></tr>
+    <tr><td class="paramname">poseSupplier</td><td>a supplier for the robot's current pose </td></tr>
+    <tr><td class="paramname">currentRobotRelativeSpeeds</td><td>a supplier for the robot's current robot relative speeds </td></tr>
+    <tr><td class="paramname">output</td><td>a consumer for the output speeds (field relative if holonomic, robot relative if differential) </td></tr>
+    <tr><td class="paramname">config</td><td><a class="el" href="classpathplanner_1_1HolonomicPathFollowerConfig.html">HolonomicPathFollowerConfig</a> object with the configuration parameters for path following </td></tr>
+    <tr><td class="paramname">requirements</td><td>the subsystems required by this command </td></tr>
+    <tr><td class="paramname">rotationDelayDistance</td><td>Distance to delay the target rotation of the robot. This will cause the robot to hold its current rotation until it reaches the given distance along the path. Default = 0 m </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>src/main/native/include/pathplanner/lib/commands/<a class="el" href="PathfindHolonomic_8h_source.html">PathfindHolonomic.h</a></li>
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+    <li class="navelem"><b>pathplanner</b></li><li class="navelem"><a class="el" href="classpathplanner_1_1PathfindHolonomic.html">PathfindHolonomic</a></li>
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="header">
+  <div class="headertitle"><div class="title">pathplanner::PathfindLTV Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpathplanner_1_1PathfindLTV.html">pathplanner::PathfindLTV</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>End</b>(bool interrupted) override (defined in <a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>Execute</b>() override (defined in <a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Initialize</b>() override (defined in <a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>IsFinished</b>() override (defined in <a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PathfindingCommand.html#a5b2774dbe3b76c19c541baa7b64dc4ac">PathfindingCommand</a>(std::shared_ptr&lt; PathPlannerPath &gt; targetPath, PathConstraints constraints, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, std::unique_ptr&lt; PathFollowingController &gt; controller, units::meter_t rotationDelayDistance, frc2::Requirements requirements)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1PathfindingCommand.html#a9b15f1ce07efb33228e44d1e1078d7da">PathfindingCommand</a>(frc::Pose2d targetPose, PathConstraints constraints, units::meters_per_second_t goalEndVel, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, std::unique_ptr&lt; PathFollowingController &gt; controller, units::meter_t rotationDelayDistance, frc2::Requirements requirements)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PathfindLTV.html#ae47ba3c72dc3814e4aa7292caf326eb8">PathfindLTV</a>(std::shared_ptr&lt; PathPlannerPath &gt; targetPath, PathConstraints constraints, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; output, const wpi::array&lt; double, 3 &gt; &amp;Qelems, const wpi::array&lt; double, 2 &gt; &amp;Relems, units::second_t dt, frc2::Requirements requirements)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathfindLTV.html">pathplanner::PathfindLTV</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1PathfindLTV.html#a8982265d7d797bc0a424428b35f091c6">PathfindLTV</a>(std::shared_ptr&lt; PathPlannerPath &gt; targetPath, PathConstraints constraints, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; output, units::second_t dt, frc2::Requirements requirements)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathfindLTV.html">pathplanner::PathfindLTV</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PathfindLTV.html#a42f76f92050cc6c1f3ee6be109b6ad74">PathfindLTV</a>(frc::Translation2d targetPosition, PathConstraints constraints, units::meters_per_second_t goalEndVel, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; output, const wpi::array&lt; double, 3 &gt; &amp;Qelems, const wpi::array&lt; double, 2 &gt; &amp;Relems, units::second_t dt, frc2::Requirements requirements)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathfindLTV.html">pathplanner::PathfindLTV</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1PathfindLTV.html#a4ca5ff25b6e9a19924c2336980fc1561">PathfindLTV</a>(frc::Translation2d targetPosition, PathConstraints constraints, units::meters_per_second_t goalEndVel, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; output, units::second_t dt, frc2::Requirements requirements)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathfindLTV.html">pathplanner::PathfindLTV</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
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diff --git a/docs/cpp/classpathplanner_1_1PathfindLTV.html b/docs/cpp/classpathplanner_1_1PathfindLTV.html
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+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classpathplanner_1_1PathfindLTV-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">pathplanner::PathfindLTV Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for pathplanner::PathfindLTV:</div>
+<div class="dyncontent">
+ <div class="center">
+  <img src="classpathplanner_1_1PathfindLTV.png" usemap="#pathplanner::PathfindLTV_map" alt=""/>
+  <map id="pathplanner::PathfindLTV_map" name="pathplanner::PathfindLTV_map">
+<area href="classpathplanner_1_1PathfindingCommand.html" alt="pathplanner::PathfindingCommand" shape="rect" coords="0,56,369,80"/>
+  </map>
+</div></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:ae47ba3c72dc3814e4aa7292caf326eb8"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathfindLTV.html#ae47ba3c72dc3814e4aa7292caf326eb8">PathfindLTV</a> (std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt; targetPath, <a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> constraints, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; output, const wpi::array&lt; double, 3 &gt; &amp;Qelems, const wpi::array&lt; double, 2 &gt; &amp;Relems, units::second_t dt, frc2::Requirements requirements)</td></tr>
+<tr class="separator:ae47ba3c72dc3814e4aa7292caf326eb8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8982265d7d797bc0a424428b35f091c6"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathfindLTV.html#a8982265d7d797bc0a424428b35f091c6">PathfindLTV</a> (std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt; targetPath, <a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> constraints, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; output, units::second_t dt, frc2::Requirements requirements)</td></tr>
+<tr class="separator:a8982265d7d797bc0a424428b35f091c6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a42f76f92050cc6c1f3ee6be109b6ad74"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathfindLTV.html#a42f76f92050cc6c1f3ee6be109b6ad74">PathfindLTV</a> (frc::Translation2d targetPosition, <a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> constraints, units::meters_per_second_t goalEndVel, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; output, const wpi::array&lt; double, 3 &gt; &amp;Qelems, const wpi::array&lt; double, 2 &gt; &amp;Relems, units::second_t dt, frc2::Requirements requirements)</td></tr>
+<tr class="separator:a42f76f92050cc6c1f3ee6be109b6ad74"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4ca5ff25b6e9a19924c2336980fc1561"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathfindLTV.html#a4ca5ff25b6e9a19924c2336980fc1561">PathfindLTV</a> (frc::Translation2d targetPosition, <a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> constraints, units::meters_per_second_t goalEndVel, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; output, units::second_t dt, frc2::Requirements requirements)</td></tr>
+<tr class="separator:a4ca5ff25b6e9a19924c2336980fc1561"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classpathplanner_1_1PathfindingCommand"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpathplanner_1_1PathfindingCommand')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a></td></tr>
+<tr class="memitem:a5b2774dbe3b76c19c541baa7b64dc4ac inherit pub_methods_classpathplanner_1_1PathfindingCommand"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathfindingCommand.html#a5b2774dbe3b76c19c541baa7b64dc4ac">PathfindingCommand</a> (std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt; targetPath, <a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> constraints, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, std::unique_ptr&lt; <a class="el" href="classpathplanner_1_1PathFollowingController.html">PathFollowingController</a> &gt; controller, units::meter_t rotationDelayDistance, frc2::Requirements requirements)</td></tr>
+<tr class="separator:a5b2774dbe3b76c19c541baa7b64dc4ac inherit pub_methods_classpathplanner_1_1PathfindingCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9b15f1ce07efb33228e44d1e1078d7da inherit pub_methods_classpathplanner_1_1PathfindingCommand"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathfindingCommand.html#a9b15f1ce07efb33228e44d1e1078d7da">PathfindingCommand</a> (frc::Pose2d targetPose, <a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> constraints, units::meters_per_second_t goalEndVel, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, std::unique_ptr&lt; <a class="el" href="classpathplanner_1_1PathFollowingController.html">PathFollowingController</a> &gt; controller, units::meter_t rotationDelayDistance, frc2::Requirements requirements)</td></tr>
+<tr class="separator:a9b15f1ce07efb33228e44d1e1078d7da inherit pub_methods_classpathplanner_1_1PathfindingCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af888ee3e3aaf739a5d837a77fb12c7df inherit pub_methods_classpathplanner_1_1PathfindingCommand"><td class="memItemLeft" align="right" valign="top"><a id="af888ee3e3aaf739a5d837a77fb12c7df" name="af888ee3e3aaf739a5d837a77fb12c7df"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>Initialize</b> () override</td></tr>
+<tr class="separator:af888ee3e3aaf739a5d837a77fb12c7df inherit pub_methods_classpathplanner_1_1PathfindingCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae55b7c56d5bc5ffd14db02bf855a674c inherit pub_methods_classpathplanner_1_1PathfindingCommand"><td class="memItemLeft" align="right" valign="top"><a id="ae55b7c56d5bc5ffd14db02bf855a674c" name="ae55b7c56d5bc5ffd14db02bf855a674c"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>Execute</b> () override</td></tr>
+<tr class="separator:ae55b7c56d5bc5ffd14db02bf855a674c inherit pub_methods_classpathplanner_1_1PathfindingCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a381cd5ca5913fc8907dd6a90be6bcaea inherit pub_methods_classpathplanner_1_1PathfindingCommand"><td class="memItemLeft" align="right" valign="top"><a id="a381cd5ca5913fc8907dd6a90be6bcaea" name="a381cd5ca5913fc8907dd6a90be6bcaea"></a>
+bool&#160;</td><td class="memItemRight" valign="bottom"><b>IsFinished</b> () override</td></tr>
+<tr class="separator:a381cd5ca5913fc8907dd6a90be6bcaea inherit pub_methods_classpathplanner_1_1PathfindingCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a157869cffb2369551af48c899580ac1f inherit pub_methods_classpathplanner_1_1PathfindingCommand"><td class="memItemLeft" align="right" valign="top"><a id="a157869cffb2369551af48c899580ac1f" name="a157869cffb2369551af48c899580ac1f"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>End</b> (bool interrupted) override</td></tr>
+<tr class="separator:a157869cffb2369551af48c899580ac1f inherit pub_methods_classpathplanner_1_1PathfindingCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ae47ba3c72dc3814e4aa7292caf326eb8" name="ae47ba3c72dc3814e4aa7292caf326eb8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae47ba3c72dc3814e4aa7292caf326eb8">&#9670;&#160;</a></span>PathfindLTV() <span class="overload">[1/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">pathplanner::PathfindLTV::PathfindLTV </td>
+          <td>(</td>
+          <td class="paramtype">std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt;&#160;</td>
+          <td class="paramname"><em>targetPath</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a>&#160;</td>
+          <td class="paramname"><em>constraints</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::Pose2d()&gt;&#160;</td>
+          <td class="paramname"><em>poseSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::ChassisSpeeds()&gt;&#160;</td>
+          <td class="paramname"><em>currentRobotRelativeSpeeds</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; void(frc::ChassisSpeeds)&gt;&#160;</td>
+          <td class="paramname"><em>output</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const wpi::array&lt; double, 3 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>Qelems</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const wpi::array&lt; double, 2 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>Relems</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::second_t&#160;</td>
+          <td class="paramname"><em>dt</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">frc2::Requirements&#160;</td>
+          <td class="paramname"><em>requirements</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Constructs a new <a class="el" href="classpathplanner_1_1PathfindLTV.html">PathfindLTV</a> command that will generate a path towards the given path.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">targetPath</td><td>the path to pathfind to </td></tr>
+    <tr><td class="paramname">constraints</td><td>the path constraints to use while pathfinding </td></tr>
+    <tr><td class="paramname">poseSupplier</td><td>a supplier for the robot's current pose </td></tr>
+    <tr><td class="paramname">currentRobotRelativeSpeeds</td><td>a supplier for the robot's current robot relative speeds </td></tr>
+    <tr><td class="paramname">output</td><td>a consumer for the output speeds (robot relative) </td></tr>
+    <tr><td class="paramname">Qelems</td><td>The maximum desired error tolerance for each state. </td></tr>
+    <tr><td class="paramname">Relems</td><td>The maximum desired control effort for each input. </td></tr>
+    <tr><td class="paramname">dt</td><td>Period of the robot control loop in seconds (default 0.02) </td></tr>
+    <tr><td class="paramname">requirements</td><td>the subsystems required by this command </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a8982265d7d797bc0a424428b35f091c6" name="a8982265d7d797bc0a424428b35f091c6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8982265d7d797bc0a424428b35f091c6">&#9670;&#160;</a></span>PathfindLTV() <span class="overload">[2/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">pathplanner::PathfindLTV::PathfindLTV </td>
+          <td>(</td>
+          <td class="paramtype">std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt;&#160;</td>
+          <td class="paramname"><em>targetPath</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a>&#160;</td>
+          <td class="paramname"><em>constraints</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::Pose2d()&gt;&#160;</td>
+          <td class="paramname"><em>poseSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::ChassisSpeeds()&gt;&#160;</td>
+          <td class="paramname"><em>currentRobotRelativeSpeeds</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; void(frc::ChassisSpeeds)&gt;&#160;</td>
+          <td class="paramname"><em>output</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::second_t&#160;</td>
+          <td class="paramname"><em>dt</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">frc2::Requirements&#160;</td>
+          <td class="paramname"><em>requirements</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Constructs a new <a class="el" href="classpathplanner_1_1PathfindLTV.html">PathfindLTV</a> command that will generate a path towards the given path.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">targetPath</td><td>the path to pathfind to </td></tr>
+    <tr><td class="paramname">constraints</td><td>the path constraints to use while pathfinding </td></tr>
+    <tr><td class="paramname">poseSupplier</td><td>a supplier for the robot's current pose </td></tr>
+    <tr><td class="paramname">currentRobotRelativeSpeeds</td><td>a supplier for the robot's current robot relative speeds </td></tr>
+    <tr><td class="paramname">output</td><td>a consumer for the output speeds (robot relative) </td></tr>
+    <tr><td class="paramname">dt</td><td>Period of the robot control loop in seconds (default 0.02) </td></tr>
+    <tr><td class="paramname">requirements</td><td>the subsystems required by this command </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a42f76f92050cc6c1f3ee6be109b6ad74" name="a42f76f92050cc6c1f3ee6be109b6ad74"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a42f76f92050cc6c1f3ee6be109b6ad74">&#9670;&#160;</a></span>PathfindLTV() <span class="overload">[3/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">pathplanner::PathfindLTV::PathfindLTV </td>
+          <td>(</td>
+          <td class="paramtype">frc::Translation2d&#160;</td>
+          <td class="paramname"><em>targetPosition</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a>&#160;</td>
+          <td class="paramname"><em>constraints</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::meters_per_second_t&#160;</td>
+          <td class="paramname"><em>goalEndVel</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::Pose2d()&gt;&#160;</td>
+          <td class="paramname"><em>poseSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::ChassisSpeeds()&gt;&#160;</td>
+          <td class="paramname"><em>currentRobotRelativeSpeeds</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; void(frc::ChassisSpeeds)&gt;&#160;</td>
+          <td class="paramname"><em>output</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const wpi::array&lt; double, 3 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>Qelems</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const wpi::array&lt; double, 2 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>Relems</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::second_t&#160;</td>
+          <td class="paramname"><em>dt</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">frc2::Requirements&#160;</td>
+          <td class="paramname"><em>requirements</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Constructs a new <a class="el" href="classpathplanner_1_1PathfindLTV.html">PathfindLTV</a> command that will generate a path towards the given position.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">targetPosition</td><td>the position to pathfind to </td></tr>
+    <tr><td class="paramname">constraints</td><td>the path constraints to use while pathfinding </td></tr>
+    <tr><td class="paramname">goalEndVel</td><td>The goal end velocity when reaching the given position </td></tr>
+    <tr><td class="paramname">poseSupplier</td><td>a supplier for the robot's current pose </td></tr>
+    <tr><td class="paramname">currentRobotRelativeSpeeds</td><td>a supplier for the robot's current robot relative speeds </td></tr>
+    <tr><td class="paramname">output</td><td>a consumer for the output speeds (robot relative) </td></tr>
+    <tr><td class="paramname">Qelems</td><td>The maximum desired error tolerance for each state. </td></tr>
+    <tr><td class="paramname">Relems</td><td>The maximum desired control effort for each input. </td></tr>
+    <tr><td class="paramname">dt</td><td>Period of the robot control loop in seconds (default 0.02) </td></tr>
+    <tr><td class="paramname">requirements</td><td>the subsystems required by this command </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a4ca5ff25b6e9a19924c2336980fc1561" name="a4ca5ff25b6e9a19924c2336980fc1561"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4ca5ff25b6e9a19924c2336980fc1561">&#9670;&#160;</a></span>PathfindLTV() <span class="overload">[4/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">pathplanner::PathfindLTV::PathfindLTV </td>
+          <td>(</td>
+          <td class="paramtype">frc::Translation2d&#160;</td>
+          <td class="paramname"><em>targetPosition</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a>&#160;</td>
+          <td class="paramname"><em>constraints</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::meters_per_second_t&#160;</td>
+          <td class="paramname"><em>goalEndVel</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::Pose2d()&gt;&#160;</td>
+          <td class="paramname"><em>poseSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::ChassisSpeeds()&gt;&#160;</td>
+          <td class="paramname"><em>currentRobotRelativeSpeeds</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; void(frc::ChassisSpeeds)&gt;&#160;</td>
+          <td class="paramname"><em>output</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::second_t&#160;</td>
+          <td class="paramname"><em>dt</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">frc2::Requirements&#160;</td>
+          <td class="paramname"><em>requirements</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Constructs a new <a class="el" href="classpathplanner_1_1PathfindLTV.html">PathfindLTV</a> command that will generate a path towards the given position.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">targetPosition</td><td>the position to pathfind to </td></tr>
+    <tr><td class="paramname">constraints</td><td>the path constraints to use while pathfinding </td></tr>
+    <tr><td class="paramname">goalEndVel</td><td>The goal end velocity when reaching the given position </td></tr>
+    <tr><td class="paramname">poseSupplier</td><td>a supplier for the robot's current pose </td></tr>
+    <tr><td class="paramname">currentRobotRelativeSpeeds</td><td>a supplier for the robot's current robot relative speeds </td></tr>
+    <tr><td class="paramname">output</td><td>a consumer for the output speeds (robot relative) </td></tr>
+    <tr><td class="paramname">dt</td><td>Period of the robot control loop in seconds (default 0.02) </td></tr>
+    <tr><td class="paramname">requirements</td><td>the subsystems required by this command </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>src/main/native/include/pathplanner/lib/commands/<a class="el" href="PathfindLTV_8h_source.html">PathfindLTV.h</a></li>
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+  <ul>
+    <li class="navelem"><b>pathplanner</b></li><li class="navelem"><a class="el" href="classpathplanner_1_1PathfindLTV.html">PathfindLTV</a></li>
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+<div class="header">
+  <div class="headertitle"><div class="title">pathplanner::PathfindRamsete Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpathplanner_1_1PathfindRamsete.html">pathplanner::PathfindRamsete</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>End</b>(bool interrupted) override (defined in <a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>Execute</b>() override (defined in <a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Initialize</b>() override (defined in <a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>IsFinished</b>() override (defined in <a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PathfindingCommand.html#a5b2774dbe3b76c19c541baa7b64dc4ac">PathfindingCommand</a>(std::shared_ptr&lt; PathPlannerPath &gt; targetPath, PathConstraints constraints, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, std::unique_ptr&lt; PathFollowingController &gt; controller, units::meter_t rotationDelayDistance, frc2::Requirements requirements)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1PathfindingCommand.html#a9b15f1ce07efb33228e44d1e1078d7da">PathfindingCommand</a>(frc::Pose2d targetPose, PathConstraints constraints, units::meters_per_second_t goalEndVel, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, std::unique_ptr&lt; PathFollowingController &gt; controller, units::meter_t rotationDelayDistance, frc2::Requirements requirements)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PathfindRamsete.html#a2b53a0d2800954213c06118332ee786e">PathfindRamsete</a>(std::shared_ptr&lt; PathPlannerPath &gt; targetPath, PathConstraints constraints, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; output, units::unit_t&lt; PPRamseteController::b_unit &gt; b, units::unit_t&lt; PPRamseteController::zeta_unit &gt; zeta, frc2::Requirements requirements)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathfindRamsete.html">pathplanner::PathfindRamsete</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1PathfindRamsete.html#a423f0d6e6359596851c7529bd8527731">PathfindRamsete</a>(std::shared_ptr&lt; PathPlannerPath &gt; targetPath, PathConstraints constraints, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; output, frc2::Requirements requirements)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathfindRamsete.html">pathplanner::PathfindRamsete</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PathfindRamsete.html#a72a2a36de2458c757a3e202d2c2a1250">PathfindRamsete</a>(frc::Translation2d targetPosition, PathConstraints constraints, units::meters_per_second_t goalEndVel, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; output, units::unit_t&lt; PPRamseteController::b_unit &gt; b, units::unit_t&lt; PPRamseteController::zeta_unit &gt; zeta, frc2::Requirements requirements)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathfindRamsete.html">pathplanner::PathfindRamsete</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1PathfindRamsete.html#a76a0a7032f707e32c93f3d69c7a8f682">PathfindRamsete</a>(frc::Translation2d targetPosition, PathConstraints constraints, units::meters_per_second_t goalEndVel, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; output, frc2::Requirements requirements)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathfindRamsete.html">pathplanner::PathfindRamsete</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
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diff --git a/docs/cpp/classpathplanner_1_1PathfindRamsete.html b/docs/cpp/classpathplanner_1_1PathfindRamsete.html
new file mode 100644
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+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classpathplanner_1_1PathfindRamsete-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">pathplanner::PathfindRamsete Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for pathplanner::PathfindRamsete:</div>
+<div class="dyncontent">
+ <div class="center">
+  <img src="classpathplanner_1_1PathfindRamsete.png" usemap="#pathplanner::PathfindRamsete_map" alt=""/>
+  <map id="pathplanner::PathfindRamsete_map" name="pathplanner::PathfindRamsete_map">
+<area href="classpathplanner_1_1PathfindingCommand.html" alt="pathplanner::PathfindingCommand" shape="rect" coords="0,56,369,80"/>
+  </map>
+</div></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a2b53a0d2800954213c06118332ee786e"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathfindRamsete.html#a2b53a0d2800954213c06118332ee786e">PathfindRamsete</a> (std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt; targetPath, <a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> constraints, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; output, units::unit_t&lt; PPRamseteController::b_unit &gt; b, units::unit_t&lt; PPRamseteController::zeta_unit &gt; zeta, frc2::Requirements requirements)</td></tr>
+<tr class="separator:a2b53a0d2800954213c06118332ee786e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a423f0d6e6359596851c7529bd8527731"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathfindRamsete.html#a423f0d6e6359596851c7529bd8527731">PathfindRamsete</a> (std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt; targetPath, <a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> constraints, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; output, frc2::Requirements requirements)</td></tr>
+<tr class="separator:a423f0d6e6359596851c7529bd8527731"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a72a2a36de2458c757a3e202d2c2a1250"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathfindRamsete.html#a72a2a36de2458c757a3e202d2c2a1250">PathfindRamsete</a> (frc::Translation2d targetPosition, <a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> constraints, units::meters_per_second_t goalEndVel, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; output, units::unit_t&lt; PPRamseteController::b_unit &gt; b, units::unit_t&lt; PPRamseteController::zeta_unit &gt; zeta, frc2::Requirements requirements)</td></tr>
+<tr class="separator:a72a2a36de2458c757a3e202d2c2a1250"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a76a0a7032f707e32c93f3d69c7a8f682"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathfindRamsete.html#a76a0a7032f707e32c93f3d69c7a8f682">PathfindRamsete</a> (frc::Translation2d targetPosition, <a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> constraints, units::meters_per_second_t goalEndVel, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; output, frc2::Requirements requirements)</td></tr>
+<tr class="separator:a76a0a7032f707e32c93f3d69c7a8f682"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classpathplanner_1_1PathfindingCommand"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpathplanner_1_1PathfindingCommand')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a></td></tr>
+<tr class="memitem:a5b2774dbe3b76c19c541baa7b64dc4ac inherit pub_methods_classpathplanner_1_1PathfindingCommand"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathfindingCommand.html#a5b2774dbe3b76c19c541baa7b64dc4ac">PathfindingCommand</a> (std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt; targetPath, <a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> constraints, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, std::unique_ptr&lt; <a class="el" href="classpathplanner_1_1PathFollowingController.html">PathFollowingController</a> &gt; controller, units::meter_t rotationDelayDistance, frc2::Requirements requirements)</td></tr>
+<tr class="separator:a5b2774dbe3b76c19c541baa7b64dc4ac inherit pub_methods_classpathplanner_1_1PathfindingCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9b15f1ce07efb33228e44d1e1078d7da inherit pub_methods_classpathplanner_1_1PathfindingCommand"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathfindingCommand.html#a9b15f1ce07efb33228e44d1e1078d7da">PathfindingCommand</a> (frc::Pose2d targetPose, <a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> constraints, units::meters_per_second_t goalEndVel, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, std::unique_ptr&lt; <a class="el" href="classpathplanner_1_1PathFollowingController.html">PathFollowingController</a> &gt; controller, units::meter_t rotationDelayDistance, frc2::Requirements requirements)</td></tr>
+<tr class="separator:a9b15f1ce07efb33228e44d1e1078d7da inherit pub_methods_classpathplanner_1_1PathfindingCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af888ee3e3aaf739a5d837a77fb12c7df inherit pub_methods_classpathplanner_1_1PathfindingCommand"><td class="memItemLeft" align="right" valign="top"><a id="af888ee3e3aaf739a5d837a77fb12c7df" name="af888ee3e3aaf739a5d837a77fb12c7df"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>Initialize</b> () override</td></tr>
+<tr class="separator:af888ee3e3aaf739a5d837a77fb12c7df inherit pub_methods_classpathplanner_1_1PathfindingCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae55b7c56d5bc5ffd14db02bf855a674c inherit pub_methods_classpathplanner_1_1PathfindingCommand"><td class="memItemLeft" align="right" valign="top"><a id="ae55b7c56d5bc5ffd14db02bf855a674c" name="ae55b7c56d5bc5ffd14db02bf855a674c"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>Execute</b> () override</td></tr>
+<tr class="separator:ae55b7c56d5bc5ffd14db02bf855a674c inherit pub_methods_classpathplanner_1_1PathfindingCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a381cd5ca5913fc8907dd6a90be6bcaea inherit pub_methods_classpathplanner_1_1PathfindingCommand"><td class="memItemLeft" align="right" valign="top"><a id="a381cd5ca5913fc8907dd6a90be6bcaea" name="a381cd5ca5913fc8907dd6a90be6bcaea"></a>
+bool&#160;</td><td class="memItemRight" valign="bottom"><b>IsFinished</b> () override</td></tr>
+<tr class="separator:a381cd5ca5913fc8907dd6a90be6bcaea inherit pub_methods_classpathplanner_1_1PathfindingCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a157869cffb2369551af48c899580ac1f inherit pub_methods_classpathplanner_1_1PathfindingCommand"><td class="memItemLeft" align="right" valign="top"><a id="a157869cffb2369551af48c899580ac1f" name="a157869cffb2369551af48c899580ac1f"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>End</b> (bool interrupted) override</td></tr>
+<tr class="separator:a157869cffb2369551af48c899580ac1f inherit pub_methods_classpathplanner_1_1PathfindingCommand"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a2b53a0d2800954213c06118332ee786e" name="a2b53a0d2800954213c06118332ee786e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2b53a0d2800954213c06118332ee786e">&#9670;&#160;</a></span>PathfindRamsete() <span class="overload">[1/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">pathplanner::PathfindRamsete::PathfindRamsete </td>
+          <td>(</td>
+          <td class="paramtype">std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt;&#160;</td>
+          <td class="paramname"><em>targetPath</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a>&#160;</td>
+          <td class="paramname"><em>constraints</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::Pose2d()&gt;&#160;</td>
+          <td class="paramname"><em>poseSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::ChassisSpeeds()&gt;&#160;</td>
+          <td class="paramname"><em>currentRobotRelativeSpeeds</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; void(frc::ChassisSpeeds)&gt;&#160;</td>
+          <td class="paramname"><em>output</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::unit_t&lt; PPRamseteController::b_unit &gt;&#160;</td>
+          <td class="paramname"><em>b</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::unit_t&lt; PPRamseteController::zeta_unit &gt;&#160;</td>
+          <td class="paramname"><em>zeta</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">frc2::Requirements&#160;</td>
+          <td class="paramname"><em>requirements</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Constructs a new <a class="el" href="classpathplanner_1_1PathfindRamsete.html">PathfindRamsete</a> command that will generate a path towards the given path.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">targetPath</td><td>the path to pathfind to </td></tr>
+    <tr><td class="paramname">constraints</td><td>the path constraints to use while pathfinding </td></tr>
+    <tr><td class="paramname">poseSupplier</td><td>a supplier for the robot's current pose </td></tr>
+    <tr><td class="paramname">currentRobotRelativeSpeeds</td><td>a supplier for the robot's current robot relative speeds </td></tr>
+    <tr><td class="paramname">output</td><td>a consumer for the output speeds (robot relative) </td></tr>
+    <tr><td class="paramname">b</td><td>Tuning parameter (b &gt; 0 rad^2/m^2) for which larger values make convergence more aggressive like a proportional term. </td></tr>
+    <tr><td class="paramname">zeta</td><td>Tuning parameter (0 rad^-1 &lt; zeta &lt; 1 rad^-1) for which larger values provide more damping in response. </td></tr>
+    <tr><td class="paramname">requirements</td><td>the subsystems required by this command </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a423f0d6e6359596851c7529bd8527731" name="a423f0d6e6359596851c7529bd8527731"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a423f0d6e6359596851c7529bd8527731">&#9670;&#160;</a></span>PathfindRamsete() <span class="overload">[2/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">pathplanner::PathfindRamsete::PathfindRamsete </td>
+          <td>(</td>
+          <td class="paramtype">std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt;&#160;</td>
+          <td class="paramname"><em>targetPath</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a>&#160;</td>
+          <td class="paramname"><em>constraints</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::Pose2d()&gt;&#160;</td>
+          <td class="paramname"><em>poseSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::ChassisSpeeds()&gt;&#160;</td>
+          <td class="paramname"><em>currentRobotRelativeSpeeds</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; void(frc::ChassisSpeeds)&gt;&#160;</td>
+          <td class="paramname"><em>output</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">frc2::Requirements&#160;</td>
+          <td class="paramname"><em>requirements</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Constructs a new <a class="el" href="classpathplanner_1_1PathfindRamsete.html">PathfindRamsete</a> command that will generate a path towards the given path.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">targetPath</td><td>the path to pathfind to </td></tr>
+    <tr><td class="paramname">constraints</td><td>the path constraints to use while pathfinding </td></tr>
+    <tr><td class="paramname">poseSupplier</td><td>a supplier for the robot's current pose </td></tr>
+    <tr><td class="paramname">currentRobotRelativeSpeeds</td><td>a supplier for the robot's current robot relative speeds </td></tr>
+    <tr><td class="paramname">output</td><td>a consumer for the output speeds (robot relative) </td></tr>
+    <tr><td class="paramname">requirements</td><td>the subsystems required by this command </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a72a2a36de2458c757a3e202d2c2a1250" name="a72a2a36de2458c757a3e202d2c2a1250"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72a2a36de2458c757a3e202d2c2a1250">&#9670;&#160;</a></span>PathfindRamsete() <span class="overload">[3/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">pathplanner::PathfindRamsete::PathfindRamsete </td>
+          <td>(</td>
+          <td class="paramtype">frc::Translation2d&#160;</td>
+          <td class="paramname"><em>targetPosition</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a>&#160;</td>
+          <td class="paramname"><em>constraints</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::meters_per_second_t&#160;</td>
+          <td class="paramname"><em>goalEndVel</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::Pose2d()&gt;&#160;</td>
+          <td class="paramname"><em>poseSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::ChassisSpeeds()&gt;&#160;</td>
+          <td class="paramname"><em>currentRobotRelativeSpeeds</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; void(frc::ChassisSpeeds)&gt;&#160;</td>
+          <td class="paramname"><em>output</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::unit_t&lt; PPRamseteController::b_unit &gt;&#160;</td>
+          <td class="paramname"><em>b</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::unit_t&lt; PPRamseteController::zeta_unit &gt;&#160;</td>
+          <td class="paramname"><em>zeta</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">frc2::Requirements&#160;</td>
+          <td class="paramname"><em>requirements</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Constructs a new <a class="el" href="classpathplanner_1_1PathfindRamsete.html">PathfindRamsete</a> command that will generate a path towards the given position.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">targetPosition</td><td>the position to pathfind to </td></tr>
+    <tr><td class="paramname">constraints</td><td>the path constraints to use while pathfinding </td></tr>
+    <tr><td class="paramname">goalEndVel</td><td>The goal end velocity when reaching the given position </td></tr>
+    <tr><td class="paramname">poseSupplier</td><td>a supplier for the robot's current pose </td></tr>
+    <tr><td class="paramname">currentRobotRelativeSpeeds</td><td>a supplier for the robot's current robot relative speeds </td></tr>
+    <tr><td class="paramname">output</td><td>a consumer for the output speeds (robot relative) </td></tr>
+    <tr><td class="paramname">b</td><td>Tuning parameter (b &gt; 0 rad^2/m^2) for which larger values make convergence more aggressive like a proportional term. </td></tr>
+    <tr><td class="paramname">zeta</td><td>Tuning parameter (0 rad^-1 &lt; zeta &lt; 1 rad^-1) for which larger values provide more damping in response. </td></tr>
+    <tr><td class="paramname">requirements</td><td>the subsystems required by this command </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a76a0a7032f707e32c93f3d69c7a8f682" name="a76a0a7032f707e32c93f3d69c7a8f682"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a76a0a7032f707e32c93f3d69c7a8f682">&#9670;&#160;</a></span>PathfindRamsete() <span class="overload">[4/4]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">pathplanner::PathfindRamsete::PathfindRamsete </td>
+          <td>(</td>
+          <td class="paramtype">frc::Translation2d&#160;</td>
+          <td class="paramname"><em>targetPosition</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a>&#160;</td>
+          <td class="paramname"><em>constraints</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::meters_per_second_t&#160;</td>
+          <td class="paramname"><em>goalEndVel</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::Pose2d()&gt;&#160;</td>
+          <td class="paramname"><em>poseSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::ChassisSpeeds()&gt;&#160;</td>
+          <td class="paramname"><em>currentRobotRelativeSpeeds</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; void(frc::ChassisSpeeds)&gt;&#160;</td>
+          <td class="paramname"><em>output</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">frc2::Requirements&#160;</td>
+          <td class="paramname"><em>requirements</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Constructs a new <a class="el" href="classpathplanner_1_1PathfindRamsete.html">PathfindRamsete</a> command that will generate a path towards the given position.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">targetPosition</td><td>the position to pathfind to </td></tr>
+    <tr><td class="paramname">constraints</td><td>the path constraints to use while pathfinding </td></tr>
+    <tr><td class="paramname">goalEndVel</td><td>The goal end velocity when reaching the given position </td></tr>
+    <tr><td class="paramname">poseSupplier</td><td>a supplier for the robot's current pose </td></tr>
+    <tr><td class="paramname">currentRobotRelativeSpeeds</td><td>a supplier for the robot's current robot relative speeds </td></tr>
+    <tr><td class="paramname">output</td><td>a consumer for the output speeds (robot relative) </td></tr>
+    <tr><td class="paramname">requirements</td><td>the subsystems required by this command </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>src/main/native/include/pathplanner/lib/commands/<a class="el" href="PathfindRamsete_8h_source.html">PathfindRamsete.h</a></li>
+</ul>
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+  <ul>
+    <li class="navelem"><b>pathplanner</b></li><li class="navelem"><a class="el" href="classpathplanner_1_1PathfindRamsete.html">PathfindRamsete</a></li>
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+</div>
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+
+<div class="header">
+  <div class="headertitle"><div class="title">pathplanner::PathfindThenFollowPathHolonomic Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpathplanner_1_1PathfindThenFollowPathHolonomic.html">pathplanner::PathfindThenFollowPathHolonomic</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PathfindThenFollowPathHolonomic.html#ab4962b3998abfc86a5b8ea2c81d2fe59">PathfindThenFollowPathHolonomic</a>(std::shared_ptr&lt; PathPlannerPath &gt; goalPath, PathConstraints pathfindingConstraints, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; robotRelativeOutput, HolonomicPathFollowerConfig config, frc2::Requirements requirements, units::meter_t rotationDelayDistance=0_m)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathfindThenFollowPathHolonomic.html">pathplanner::PathfindThenFollowPathHolonomic</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
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+<title>PathPlannerLib: pathplanner::PathfindThenFollowPathHolonomic Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+   <div id="projectname">PathPlannerLib
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+  $(document).ready(function() { init_search(); });
+});
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+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classpathplanner_1_1PathfindThenFollowPathHolonomic-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">pathplanner::PathfindThenFollowPathHolonomic Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for pathplanner::PathfindThenFollowPathHolonomic:</div>
+<div class="dyncontent">
+ <div class="center">
+  <img src="classpathplanner_1_1PathfindThenFollowPathHolonomic.png" alt=""/>
+ </div></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:ab4962b3998abfc86a5b8ea2c81d2fe59"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathfindThenFollowPathHolonomic.html#ab4962b3998abfc86a5b8ea2c81d2fe59">PathfindThenFollowPathHolonomic</a> (std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt; goalPath, <a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> pathfindingConstraints, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; robotRelativeOutput, <a class="el" href="classpathplanner_1_1HolonomicPathFollowerConfig.html">HolonomicPathFollowerConfig</a> config, frc2::Requirements requirements, units::meter_t rotationDelayDistance=0_m)</td></tr>
+<tr class="separator:ab4962b3998abfc86a5b8ea2c81d2fe59"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ab4962b3998abfc86a5b8ea2c81d2fe59" name="ab4962b3998abfc86a5b8ea2c81d2fe59"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab4962b3998abfc86a5b8ea2c81d2fe59">&#9670;&#160;</a></span>PathfindThenFollowPathHolonomic()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">pathplanner::PathfindThenFollowPathHolonomic::PathfindThenFollowPathHolonomic </td>
+          <td>(</td>
+          <td class="paramtype">std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt;&#160;</td>
+          <td class="paramname"><em>goalPath</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a>&#160;</td>
+          <td class="paramname"><em>pathfindingConstraints</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::Pose2d()&gt;&#160;</td>
+          <td class="paramname"><em>poseSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::ChassisSpeeds()&gt;&#160;</td>
+          <td class="paramname"><em>currentRobotRelativeSpeeds</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; void(frc::ChassisSpeeds)&gt;&#160;</td>
+          <td class="paramname"><em>robotRelativeOutput</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1HolonomicPathFollowerConfig.html">HolonomicPathFollowerConfig</a>&#160;</td>
+          <td class="paramname"><em>config</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">frc2::Requirements&#160;</td>
+          <td class="paramname"><em>requirements</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::meter_t&#160;</td>
+          <td class="paramname"><em>rotationDelayDistance</em> = <code>0_m</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Constructs a new <a class="el" href="classpathplanner_1_1PathfindThenFollowPathHolonomic.html">PathfindThenFollowPathHolonomic</a> command group.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">goalPath</td><td>the goal path to follow </td></tr>
+    <tr><td class="paramname">pathfindingConstraints</td><td>the path constraints for pathfinding </td></tr>
+    <tr><td class="paramname">poseSupplier</td><td>a supplier for the robot's current pose </td></tr>
+    <tr><td class="paramname">currentRobotRelativeSpeeds</td><td>a supplier for the robot's current robot relative speeds </td></tr>
+    <tr><td class="paramname">robotRelativeOutput</td><td>a consumer for the output speeds (robot relative) </td></tr>
+    <tr><td class="paramname">config</td><td><a class="el" href="classpathplanner_1_1HolonomicPathFollowerConfig.html">HolonomicPathFollowerConfig</a> for configuring the path following commands </td></tr>
+    <tr><td class="paramname">requirements</td><td>the subsystems required by this command (drive subsystem) </td></tr>
+    <tr><td class="paramname">rotationDelayDistance</td><td>Distance to delay the target rotation of the robot. This will cause the robot to hold its current rotation until it reaches the given distance along the path. Default = 0 m </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>src/main/native/include/pathplanner/lib/commands/<a class="el" href="PathfindThenFollowPathHolonomic_8h_source.html">PathfindThenFollowPathHolonomic.h</a></li>
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
+</div>
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+</div>
+
+<div class="header">
+  <div class="headertitle"><div class="title">pathplanner::PathfindThenFollowPathLTV Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpathplanner_1_1PathfindThenFollowPathLTV.html">pathplanner::PathfindThenFollowPathLTV</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PathfindThenFollowPathLTV.html#ae764104c64f9451b6b82c10dbf01bab1">PathfindThenFollowPathLTV</a>(std::shared_ptr&lt; PathPlannerPath &gt; goalPath, PathConstraints pathfindingConstraints, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; robotRelativeOutput, const wpi::array&lt; double, 3 &gt; &amp;Qelems, const wpi::array&lt; double, 2 &gt; &amp;Relems, units::second_t dt, ReplanningConfig replanningConfig, frc2::Requirements requirements)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathfindThenFollowPathLTV.html">pathplanner::PathfindThenFollowPathLTV</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1PathfindThenFollowPathLTV.html#ac6f0774fce7316b1b1b0ec0c44f24040">PathfindThenFollowPathLTV</a>(std::shared_ptr&lt; PathPlannerPath &gt; goalPath, PathConstraints pathfindingConstraints, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; robotRelativeOutput, units::second_t dt, ReplanningConfig replanningConfig, frc2::Requirements requirements)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathfindThenFollowPathLTV.html">pathplanner::PathfindThenFollowPathLTV</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/docs/cpp/classpathplanner_1_1PathfindThenFollowPathLTV.html b/docs/cpp/classpathplanner_1_1PathfindThenFollowPathLTV.html
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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+<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>PathPlannerLib: pathplanner::PathfindThenFollowPathLTV Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
+  </td>
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+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
+<script type="text/javascript">
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+/* @license-end */
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+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
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+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classpathplanner_1_1PathfindThenFollowPathLTV-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">pathplanner::PathfindThenFollowPathLTV Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for pathplanner::PathfindThenFollowPathLTV:</div>
+<div class="dyncontent">
+ <div class="center">
+  <img src="classpathplanner_1_1PathfindThenFollowPathLTV.png" alt=""/>
+ </div></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:ae764104c64f9451b6b82c10dbf01bab1"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathfindThenFollowPathLTV.html#ae764104c64f9451b6b82c10dbf01bab1">PathfindThenFollowPathLTV</a> (std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt; goalPath, <a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> pathfindingConstraints, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; robotRelativeOutput, const wpi::array&lt; double, 3 &gt; &amp;Qelems, const wpi::array&lt; double, 2 &gt; &amp;Relems, units::second_t dt, <a class="el" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a> replanningConfig, frc2::Requirements requirements)</td></tr>
+<tr class="separator:ae764104c64f9451b6b82c10dbf01bab1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac6f0774fce7316b1b1b0ec0c44f24040"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathfindThenFollowPathLTV.html#ac6f0774fce7316b1b1b0ec0c44f24040">PathfindThenFollowPathLTV</a> (std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt; goalPath, <a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> pathfindingConstraints, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; robotRelativeOutput, units::second_t dt, <a class="el" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a> replanningConfig, frc2::Requirements requirements)</td></tr>
+<tr class="separator:ac6f0774fce7316b1b1b0ec0c44f24040"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ae764104c64f9451b6b82c10dbf01bab1" name="ae764104c64f9451b6b82c10dbf01bab1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae764104c64f9451b6b82c10dbf01bab1">&#9670;&#160;</a></span>PathfindThenFollowPathLTV() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">pathplanner::PathfindThenFollowPathLTV::PathfindThenFollowPathLTV </td>
+          <td>(</td>
+          <td class="paramtype">std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt;&#160;</td>
+          <td class="paramname"><em>goalPath</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a>&#160;</td>
+          <td class="paramname"><em>pathfindingConstraints</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::Pose2d()&gt;&#160;</td>
+          <td class="paramname"><em>poseSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::ChassisSpeeds()&gt;&#160;</td>
+          <td class="paramname"><em>currentRobotRelativeSpeeds</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; void(frc::ChassisSpeeds)&gt;&#160;</td>
+          <td class="paramname"><em>robotRelativeOutput</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const wpi::array&lt; double, 3 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>Qelems</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const wpi::array&lt; double, 2 &gt; &amp;&#160;</td>
+          <td class="paramname"><em>Relems</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::second_t&#160;</td>
+          <td class="paramname"><em>dt</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a>&#160;</td>
+          <td class="paramname"><em>replanningConfig</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">frc2::Requirements&#160;</td>
+          <td class="paramname"><em>requirements</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Constructs a new <a class="el" href="classpathplanner_1_1PathfindThenFollowPathLTV.html">PathfindThenFollowPathLTV</a> command group.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">goalPath</td><td>the goal path to follow </td></tr>
+    <tr><td class="paramname">pathfindingConstraints</td><td>the path constraints for pathfinding </td></tr>
+    <tr><td class="paramname">poseSupplier</td><td>a supplier for the robot's current pose </td></tr>
+    <tr><td class="paramname">currentRobotRelativeSpeeds</td><td>a supplier for the robot's current robot relative speeds </td></tr>
+    <tr><td class="paramname">robotRelativeOutput</td><td>a consumer for the output speeds (robot relative) </td></tr>
+    <tr><td class="paramname">qelems</td><td>The maximum desired error tolerance for each state. </td></tr>
+    <tr><td class="paramname">relems</td><td>The maximum desired control effort for each input. </td></tr>
+    <tr><td class="paramname">dt</td><td>Period of the robot control loop in seconds (default 0.02) </td></tr>
+    <tr><td class="paramname">replanningConfig</td><td>Path replanning configuration </td></tr>
+    <tr><td class="paramname">requirements</td><td>the subsystems required by this command (drive subsystem) </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ac6f0774fce7316b1b1b0ec0c44f24040" name="ac6f0774fce7316b1b1b0ec0c44f24040"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac6f0774fce7316b1b1b0ec0c44f24040">&#9670;&#160;</a></span>PathfindThenFollowPathLTV() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">pathplanner::PathfindThenFollowPathLTV::PathfindThenFollowPathLTV </td>
+          <td>(</td>
+          <td class="paramtype">std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt;&#160;</td>
+          <td class="paramname"><em>goalPath</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a>&#160;</td>
+          <td class="paramname"><em>pathfindingConstraints</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::Pose2d()&gt;&#160;</td>
+          <td class="paramname"><em>poseSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::ChassisSpeeds()&gt;&#160;</td>
+          <td class="paramname"><em>currentRobotRelativeSpeeds</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; void(frc::ChassisSpeeds)&gt;&#160;</td>
+          <td class="paramname"><em>robotRelativeOutput</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::second_t&#160;</td>
+          <td class="paramname"><em>dt</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a>&#160;</td>
+          <td class="paramname"><em>replanningConfig</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">frc2::Requirements&#160;</td>
+          <td class="paramname"><em>requirements</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Constructs a new <a class="el" href="classpathplanner_1_1PathfindThenFollowPathLTV.html">PathfindThenFollowPathLTV</a> command group.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">goalPath</td><td>the goal path to follow </td></tr>
+    <tr><td class="paramname">pathfindingConstraints</td><td>the path constraints for pathfinding </td></tr>
+    <tr><td class="paramname">poseSupplier</td><td>a supplier for the robot's current pose </td></tr>
+    <tr><td class="paramname">currentRobotRelativeSpeeds</td><td>a supplier for the robot's current robot relative speeds </td></tr>
+    <tr><td class="paramname">robotRelativeOutput</td><td>a consumer for the output speeds (robot relative) </td></tr>
+    <tr><td class="paramname">dt</td><td>Period of the robot control loop in seconds (default 0.02) </td></tr>
+    <tr><td class="paramname">replanningConfig</td><td>Path replanning configuration </td></tr>
+    <tr><td class="paramname">requirements</td><td>the subsystems required by this command (drive subsystem) </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>src/main/native/include/pathplanner/lib/commands/<a class="el" href="PathfindThenFollowPathLTV_8h_source.html">PathfindThenFollowPathLTV.h</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><b>pathplanner</b></li><li class="navelem"><a class="el" href="classpathplanner_1_1PathfindThenFollowPathLTV.html">PathfindThenFollowPathLTV</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
+</div>
+</body>
+</html>
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+   <div id="projectname">PathPlannerLib
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+
+<div class="header">
+  <div class="headertitle"><div class="title">pathplanner::PathfindThenFollowPathRamsete Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpathplanner_1_1PathfindThenFollowPathRamsete.html">pathplanner::PathfindThenFollowPathRamsete</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PathfindThenFollowPathRamsete.html#a6e990c923afe1f476f639642be6689d4">PathfindThenFollowPathRamsete</a>(std::shared_ptr&lt; PathPlannerPath &gt; goalPath, PathConstraints pathfindingConstraints, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; robotRelativeOutput, units::unit_t&lt; frc::RamseteController::b_unit &gt; b, units::unit_t&lt; frc::RamseteController::zeta_unit &gt; zeta, ReplanningConfig replanningConfig, frc2::Requirements requirements)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathfindThenFollowPathRamsete.html">pathplanner::PathfindThenFollowPathRamsete</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1PathfindThenFollowPathRamsete.html#a82c9caeab120d204142803b4664317b1">PathfindThenFollowPathRamsete</a>(std::shared_ptr&lt; PathPlannerPath &gt; goalPath, PathConstraints pathfindingConstraints, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; robotRelativeOutput, ReplanningConfig replanningConfig, frc2::Requirements requirements)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathfindThenFollowPathRamsete.html">pathplanner::PathfindThenFollowPathRamsete</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
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+  </ul>
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diff --git a/docs/cpp/classpathplanner_1_1PathfindThenFollowPathRamsete.html b/docs/cpp/classpathplanner_1_1PathfindThenFollowPathRamsete.html
new file mode 100644
index 00000000..58a56210
--- /dev/null
+++ b/docs/cpp/classpathplanner_1_1PathfindThenFollowPathRamsete.html
@@ -0,0 +1,299 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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+<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>PathPlannerLib: pathplanner::PathfindThenFollowPathRamsete Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
+<script type="text/javascript">
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+  $(document).ready(function() { init_search(); });
+});
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classpathplanner_1_1PathfindThenFollowPathRamsete-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">pathplanner::PathfindThenFollowPathRamsete Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for pathplanner::PathfindThenFollowPathRamsete:</div>
+<div class="dyncontent">
+ <div class="center">
+  <img src="classpathplanner_1_1PathfindThenFollowPathRamsete.png" alt=""/>
+ </div></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a6e990c923afe1f476f639642be6689d4"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathfindThenFollowPathRamsete.html#a6e990c923afe1f476f639642be6689d4">PathfindThenFollowPathRamsete</a> (std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt; goalPath, <a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> pathfindingConstraints, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; robotRelativeOutput, units::unit_t&lt; frc::RamseteController::b_unit &gt; b, units::unit_t&lt; frc::RamseteController::zeta_unit &gt; zeta, <a class="el" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a> replanningConfig, frc2::Requirements requirements)</td></tr>
+<tr class="separator:a6e990c923afe1f476f639642be6689d4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a82c9caeab120d204142803b4664317b1"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathfindThenFollowPathRamsete.html#a82c9caeab120d204142803b4664317b1">PathfindThenFollowPathRamsete</a> (std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt; goalPath, <a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> pathfindingConstraints, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; currentRobotRelativeSpeeds, std::function&lt; void(frc::ChassisSpeeds)&gt; robotRelativeOutput, <a class="el" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a> replanningConfig, frc2::Requirements requirements)</td></tr>
+<tr class="separator:a82c9caeab120d204142803b4664317b1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a6e990c923afe1f476f639642be6689d4" name="a6e990c923afe1f476f639642be6689d4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6e990c923afe1f476f639642be6689d4">&#9670;&#160;</a></span>PathfindThenFollowPathRamsete() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">pathplanner::PathfindThenFollowPathRamsete::PathfindThenFollowPathRamsete </td>
+          <td>(</td>
+          <td class="paramtype">std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt;&#160;</td>
+          <td class="paramname"><em>goalPath</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a>&#160;</td>
+          <td class="paramname"><em>pathfindingConstraints</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::Pose2d()&gt;&#160;</td>
+          <td class="paramname"><em>poseSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::ChassisSpeeds()&gt;&#160;</td>
+          <td class="paramname"><em>currentRobotRelativeSpeeds</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; void(frc::ChassisSpeeds)&gt;&#160;</td>
+          <td class="paramname"><em>robotRelativeOutput</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::unit_t&lt; frc::RamseteController::b_unit &gt;&#160;</td>
+          <td class="paramname"><em>b</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::unit_t&lt; frc::RamseteController::zeta_unit &gt;&#160;</td>
+          <td class="paramname"><em>zeta</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a>&#160;</td>
+          <td class="paramname"><em>replanningConfig</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">frc2::Requirements&#160;</td>
+          <td class="paramname"><em>requirements</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Constructs a new <a class="el" href="classpathplanner_1_1PathfindThenFollowPathRamsete.html">PathfindThenFollowPathRamsete</a> command group.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">goalPath</td><td>the goal path to follow </td></tr>
+    <tr><td class="paramname">pathfindingConstraints</td><td>the path constraints for pathfinding </td></tr>
+    <tr><td class="paramname">poseSupplier</td><td>a supplier for the robot's current pose </td></tr>
+    <tr><td class="paramname">currentRobotRelativeSpeeds</td><td>a supplier for the robot's current robot relative speeds </td></tr>
+    <tr><td class="paramname">robotRelativeOutput</td><td>a consumer for the output speeds (robot relative) </td></tr>
+    <tr><td class="paramname">b</td><td>Tuning parameter (b &gt; 0 rad^2/m^2) for which larger values make convergence more aggressive like a proportional term. </td></tr>
+    <tr><td class="paramname">zeta</td><td>Tuning parameter (0 rad^-1 &lt; zeta &lt; 1 rad^-1) for which larger values provide more damping in response. </td></tr>
+    <tr><td class="paramname">replanningConfig</td><td>Path replanning configuration </td></tr>
+    <tr><td class="paramname">requirements</td><td>the subsystems required by this command (drive subsystem) </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a82c9caeab120d204142803b4664317b1" name="a82c9caeab120d204142803b4664317b1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a82c9caeab120d204142803b4664317b1">&#9670;&#160;</a></span>PathfindThenFollowPathRamsete() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">pathplanner::PathfindThenFollowPathRamsete::PathfindThenFollowPathRamsete </td>
+          <td>(</td>
+          <td class="paramtype">std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt;&#160;</td>
+          <td class="paramname"><em>goalPath</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a>&#160;</td>
+          <td class="paramname"><em>pathfindingConstraints</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::Pose2d()&gt;&#160;</td>
+          <td class="paramname"><em>poseSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::ChassisSpeeds()&gt;&#160;</td>
+          <td class="paramname"><em>currentRobotRelativeSpeeds</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; void(frc::ChassisSpeeds)&gt;&#160;</td>
+          <td class="paramname"><em>robotRelativeOutput</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a>&#160;</td>
+          <td class="paramname"><em>replanningConfig</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">frc2::Requirements&#160;</td>
+          <td class="paramname"><em>requirements</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Constructs a new <a class="el" href="classpathplanner_1_1PathfindThenFollowPathRamsete.html">PathfindThenFollowPathRamsete</a> command group.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">goalPath</td><td>the goal path to follow </td></tr>
+    <tr><td class="paramname">pathfindingConstraints</td><td>the path constraints for pathfinding </td></tr>
+    <tr><td class="paramname">poseSupplier</td><td>a supplier for the robot's current pose </td></tr>
+    <tr><td class="paramname">currentRobotRelativeSpeeds</td><td>a supplier for the robot's current robot relative speeds </td></tr>
+    <tr><td class="paramname">robotRelativeOutput</td><td>a consumer for the output speeds (robot relative) </td></tr>
+    <tr><td class="paramname">replanningConfig</td><td>Path replanning configuration </td></tr>
+    <tr><td class="paramname">requirements</td><td>the subsystems required by this command (drive subsystem) </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>src/main/native/include/pathplanner/lib/commands/<a class="el" href="PathfindThenFollowPathRamsete_8h_source.html">PathfindThenFollowPathRamsete.h</a></li>
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+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><b>pathplanner</b></li><li class="navelem"><a class="el" href="classpathplanner_1_1PathfindThenFollowPathRamsete.html">PathfindThenFollowPathRamsete</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
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+</html>
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>PathPlannerLib: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+/* @license-end */
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+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+</div>
+</div>
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+</div>
+
+<div class="header">
+  <div class="headertitle"><div class="title">pathplanner::PathfindingCommand Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>End</b>(bool interrupted) override (defined in <a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>Execute</b>() override (defined in <a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Initialize</b>() override (defined in <a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>IsFinished</b>() override (defined in <a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1PathfindingCommand.html#a5b2774dbe3b76c19c541baa7b64dc4ac">PathfindingCommand</a>(std::shared_ptr&lt; PathPlannerPath &gt; targetPath, PathConstraints constraints, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, std::unique_ptr&lt; PathFollowingController &gt; controller, units::meter_t rotationDelayDistance, frc2::Requirements requirements)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1PathfindingCommand.html#a9b15f1ce07efb33228e44d1e1078d7da">PathfindingCommand</a>(frc::Pose2d targetPose, PathConstraints constraints, units::meters_per_second_t goalEndVel, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, std::unique_ptr&lt; PathFollowingController &gt; controller, units::meter_t rotationDelayDistance, frc2::Requirements requirements)</td><td class="entry"><a class="el" href="classpathplanner_1_1PathfindingCommand.html">pathplanner::PathfindingCommand</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
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diff --git a/docs/cpp/classpathplanner_1_1PathfindingCommand.html b/docs/cpp/classpathplanner_1_1PathfindingCommand.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>PathPlannerLib: pathplanner::PathfindingCommand Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
+<script type="text/javascript">
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+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
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+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+</div>
+
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classpathplanner_1_1PathfindingCommand-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">pathplanner::PathfindingCommand Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
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+<tr class="separator:a5b2774dbe3b76c19c541baa7b64dc4ac"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9b15f1ce07efb33228e44d1e1078d7da"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1PathfindingCommand.html#a9b15f1ce07efb33228e44d1e1078d7da">PathfindingCommand</a> (frc::Pose2d targetPose, <a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a> constraints, units::meters_per_second_t goalEndVel, std::function&lt; frc::Pose2d()&gt; poseSupplier, std::function&lt; frc::ChassisSpeeds()&gt; speedsSupplier, std::function&lt; void(frc::ChassisSpeeds)&gt; output, std::unique_ptr&lt; <a class="el" href="classpathplanner_1_1PathFollowingController.html">PathFollowingController</a> &gt; controller, units::meter_t rotationDelayDistance, frc2::Requirements requirements)</td></tr>
+<tr class="separator:a9b15f1ce07efb33228e44d1e1078d7da"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af888ee3e3aaf739a5d837a77fb12c7df"><td class="memItemLeft" align="right" valign="top"><a id="af888ee3e3aaf739a5d837a77fb12c7df" name="af888ee3e3aaf739a5d837a77fb12c7df"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>Initialize</b> () override</td></tr>
+<tr class="separator:af888ee3e3aaf739a5d837a77fb12c7df"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae55b7c56d5bc5ffd14db02bf855a674c"><td class="memItemLeft" align="right" valign="top"><a id="ae55b7c56d5bc5ffd14db02bf855a674c" name="ae55b7c56d5bc5ffd14db02bf855a674c"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>Execute</b> () override</td></tr>
+<tr class="separator:ae55b7c56d5bc5ffd14db02bf855a674c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a381cd5ca5913fc8907dd6a90be6bcaea"><td class="memItemLeft" align="right" valign="top"><a id="a381cd5ca5913fc8907dd6a90be6bcaea" name="a381cd5ca5913fc8907dd6a90be6bcaea"></a>
+bool&#160;</td><td class="memItemRight" valign="bottom"><b>IsFinished</b> () override</td></tr>
+<tr class="separator:a381cd5ca5913fc8907dd6a90be6bcaea"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a157869cffb2369551af48c899580ac1f"><td class="memItemLeft" align="right" valign="top"><a id="a157869cffb2369551af48c899580ac1f" name="a157869cffb2369551af48c899580ac1f"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>End</b> (bool interrupted) override</td></tr>
+<tr class="separator:a157869cffb2369551af48c899580ac1f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a5b2774dbe3b76c19c541baa7b64dc4ac" name="a5b2774dbe3b76c19c541baa7b64dc4ac"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5b2774dbe3b76c19c541baa7b64dc4ac">&#9670;&#160;</a></span>PathfindingCommand() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">PathfindingCommand::PathfindingCommand </td>
+          <td>(</td>
+          <td class="paramtype">std::shared_ptr&lt; <a class="el" href="classpathplanner_1_1PathPlannerPath.html">PathPlannerPath</a> &gt;&#160;</td>
+          <td class="paramname"><em>targetPath</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a>&#160;</td>
+          <td class="paramname"><em>constraints</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::Pose2d()&gt;&#160;</td>
+          <td class="paramname"><em>poseSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::ChassisSpeeds()&gt;&#160;</td>
+          <td class="paramname"><em>speedsSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; void(frc::ChassisSpeeds)&gt;&#160;</td>
+          <td class="paramname"><em>output</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::unique_ptr&lt; <a class="el" href="classpathplanner_1_1PathFollowingController.html">PathFollowingController</a> &gt;&#160;</td>
+          <td class="paramname"><em>controller</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::meter_t&#160;</td>
+          <td class="paramname"><em>rotationDelayDistance</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">frc2::Requirements&#160;</td>
+          <td class="paramname"><em>requirements</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p >Constructs a new base pathfinding command that will generate a path towards the given path.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">targetPath</td><td>the path to pathfind to </td></tr>
+    <tr><td class="paramname">constraints</td><td>the path constraints to use while pathfinding </td></tr>
+    <tr><td class="paramname">poseSupplier</td><td>a supplier for the robot's current pose </td></tr>
+    <tr><td class="paramname">speedsSupplier</td><td>a supplier for the robot's current robot relative speeds </td></tr>
+    <tr><td class="paramname">output</td><td>a consumer for the output speeds (robot relative) </td></tr>
+    <tr><td class="paramname">controller</td><td>Path following controller that will be used to follow the path </td></tr>
+    <tr><td class="paramname">rotationDelayDistance</td><td>How far the robot should travel before attempting to rotate to the final rotation </td></tr>
+    <tr><td class="paramname">requirements</td><td>the subsystems required by this command </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a9b15f1ce07efb33228e44d1e1078d7da" name="a9b15f1ce07efb33228e44d1e1078d7da"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9b15f1ce07efb33228e44d1e1078d7da">&#9670;&#160;</a></span>PathfindingCommand() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">PathfindingCommand::PathfindingCommand </td>
+          <td>(</td>
+          <td class="paramtype">frc::Pose2d&#160;</td>
+          <td class="paramname"><em>targetPose</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpathplanner_1_1PathConstraints.html">PathConstraints</a>&#160;</td>
+          <td class="paramname"><em>constraints</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::meters_per_second_t&#160;</td>
+          <td class="paramname"><em>goalEndVel</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::Pose2d()&gt;&#160;</td>
+          <td class="paramname"><em>poseSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; frc::ChassisSpeeds()&gt;&#160;</td>
+          <td class="paramname"><em>speedsSupplier</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; void(frc::ChassisSpeeds)&gt;&#160;</td>
+          <td class="paramname"><em>output</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::unique_ptr&lt; <a class="el" href="classpathplanner_1_1PathFollowingController.html">PathFollowingController</a> &gt;&#160;</td>
+          <td class="paramname"><em>controller</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">units::meter_t&#160;</td>
+          <td class="paramname"><em>rotationDelayDistance</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">frc2::Requirements&#160;</td>
+          <td class="paramname"><em>requirements</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p >Constructs a new base pathfinding command that will generate a path towards the given pose.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">targetPose</td><td>the pose to pathfind to, the rotation component is only relevant for holonomic drive trains </td></tr>
+    <tr><td class="paramname">constraints</td><td>the path constraints to use while pathfinding </td></tr>
+    <tr><td class="paramname">goalEndVel</td><td>The goal end velocity when reaching the target pose </td></tr>
+    <tr><td class="paramname">poseSupplier</td><td>a supplier for the robot's current pose </td></tr>
+    <tr><td class="paramname">speedsSupplier</td><td>a supplier for the robot's current robot relative speeds </td></tr>
+    <tr><td class="paramname">output</td><td>a consumer for the output speeds (robot relative) </td></tr>
+    <tr><td class="paramname">controller</td><td>Path following controller that will be used to follow the path </td></tr>
+    <tr><td class="paramname">rotationDelayDistance</td><td>How far the robot should travel before attempting to rotate to the final rotation </td></tr>
+    <tr><td class="paramname">requirements</td><td>the subsystems required by this command </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>src/main/native/include/pathplanner/lib/commands/<a class="el" href="PathfindingCommand_8h_source.html">PathfindingCommand.h</a></li>
+<li>src/main/native/cpp/pathplanner/lib/commands/PathfindingCommand.cpp</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><b>pathplanner</b></li><li class="navelem"><a class="el" href="classpathplanner_1_1PathfindingCommand.html">PathfindingCommand</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
+</div>
+</body>
+</html>
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+   <div id="projectname">PathPlannerLib
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+<div class="header">
+  <div class="headertitle"><div class="title">pathplanner::ReplanningConfig Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpathplanner_1_1ReplanningConfig.html">pathplanner::ReplanningConfig</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>dynamicReplanningErrorSpikeThreshold</b> (defined in <a class="el" href="classpathplanner_1_1ReplanningConfig.html">pathplanner::ReplanningConfig</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1ReplanningConfig.html">pathplanner::ReplanningConfig</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>dynamicReplanningTotalErrorThreshold</b> (defined in <a class="el" href="classpathplanner_1_1ReplanningConfig.html">pathplanner::ReplanningConfig</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1ReplanningConfig.html">pathplanner::ReplanningConfig</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>enableDynamicReplanning</b> (defined in <a class="el" href="classpathplanner_1_1ReplanningConfig.html">pathplanner::ReplanningConfig</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1ReplanningConfig.html">pathplanner::ReplanningConfig</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="odd"><td class="entry"><b>enableInitialReplanning</b> (defined in <a class="el" href="classpathplanner_1_1ReplanningConfig.html">pathplanner::ReplanningConfig</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1ReplanningConfig.html">pathplanner::ReplanningConfig</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1ReplanningConfig.html#a5f8377d6273c244227088744922d697d">ReplanningConfig</a>(const bool enableInitialReplanning=true, const bool enableDynamicReplanning=false, const units::meter_t dynamicReplanningTotalErrorThreshold=1_m, const units::meter_t dynamicReplanningErrorSpikeThreshold=0.25_m)</td><td class="entry"><a class="el" href="classpathplanner_1_1ReplanningConfig.html">pathplanner::ReplanningConfig</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
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+  </ul>
+</div>
+</body>
+</html>
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+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpathplanner_1_1ReplanningConfig-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">pathplanner::ReplanningConfig Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a5f8377d6273c244227088744922d697d"><td class="memItemLeft" align="right" valign="top">constexpr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1ReplanningConfig.html#a5f8377d6273c244227088744922d697d">ReplanningConfig</a> (const bool enableInitialReplanning=true, const bool enableDynamicReplanning=false, const units::meter_t dynamicReplanningTotalErrorThreshold=1_m, const units::meter_t dynamicReplanningErrorSpikeThreshold=0.25_m)</td></tr>
+<tr class="separator:a5f8377d6273c244227088744922d697d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a4e636a93fc1510bf68e7e6a3acc4917f"><td class="memItemLeft" align="right" valign="top"><a id="a4e636a93fc1510bf68e7e6a3acc4917f" name="a4e636a93fc1510bf68e7e6a3acc4917f"></a>
+const bool&#160;</td><td class="memItemRight" valign="bottom"><b>enableInitialReplanning</b></td></tr>
+<tr class="separator:a4e636a93fc1510bf68e7e6a3acc4917f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab10a10a7d8592b5b8091044c8db6051a"><td class="memItemLeft" align="right" valign="top"><a id="ab10a10a7d8592b5b8091044c8db6051a" name="ab10a10a7d8592b5b8091044c8db6051a"></a>
+const bool&#160;</td><td class="memItemRight" valign="bottom"><b>enableDynamicReplanning</b></td></tr>
+<tr class="separator:ab10a10a7d8592b5b8091044c8db6051a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a892d79804ad3a47828861f901ffb5a41"><td class="memItemLeft" align="right" valign="top"><a id="a892d79804ad3a47828861f901ffb5a41" name="a892d79804ad3a47828861f901ffb5a41"></a>
+const units::meter_t&#160;</td><td class="memItemRight" valign="bottom"><b>dynamicReplanningTotalErrorThreshold</b></td></tr>
+<tr class="separator:a892d79804ad3a47828861f901ffb5a41"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa6201d9115a887cb5b0631dd2a210eb7"><td class="memItemLeft" align="right" valign="top"><a id="aa6201d9115a887cb5b0631dd2a210eb7" name="aa6201d9115a887cb5b0631dd2a210eb7"></a>
+const units::meter_t&#160;</td><td class="memItemRight" valign="bottom"><b>dynamicReplanningErrorSpikeThreshold</b></td></tr>
+<tr class="separator:aa6201d9115a887cb5b0631dd2a210eb7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a5f8377d6273c244227088744922d697d" name="a5f8377d6273c244227088744922d697d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5f8377d6273c244227088744922d697d">&#9670;&#160;</a></span>ReplanningConfig()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr pathplanner::ReplanningConfig::ReplanningConfig </td>
+          <td>(</td>
+          <td class="paramtype">const bool&#160;</td>
+          <td class="paramname"><em>enableInitialReplanning</em> = <code>true</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const bool&#160;</td>
+          <td class="paramname"><em>enableDynamicReplanning</em> = <code>false</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const units::meter_t&#160;</td>
+          <td class="paramname"><em>dynamicReplanningTotalErrorThreshold</em> = <code>1_m</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const units::meter_t&#160;</td>
+          <td class="paramname"><em>dynamicReplanningErrorSpikeThreshold</em> = <code>0.25_m</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Create a path replanning configuration</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">enableInitialReplanning</td><td>Should the path be replanned at the start of path following if the robot is not already at the starting point? </td></tr>
+    <tr><td class="paramname">enableDynamicReplanning</td><td>Should the path be replanned if the error grows too large or if a large error spike happens while following the path? </td></tr>
+    <tr><td class="paramname">dynamicReplanningTotalErrorThreshold</td><td>The total error threshold, in meters, that will cause the path to be replanned. Default = 1.0m </td></tr>
+    <tr><td class="paramname">dynamicReplanningErrorSpikeThreshold</td><td>The error spike threshold, in meters, that will cause the path to be replanned. Default = 0.25m </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>src/main/native/include/pathplanner/lib/util/<a class="el" href="ReplanningConfig_8h_source.html">ReplanningConfig.h</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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+    <li class="navelem"><b>pathplanner</b></li><li class="navelem"><a class="el" href="classpathplanner_1_1ReplanningConfig.html">ReplanningConfig</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
+</div>
+</body>
+</html>
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+++ b/docs/cpp/classpathplanner_1_1ReplanningConfig.js
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+   </div>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
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+  <div class="headertitle"><div class="title">pathplanner::RotationTarget Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpathplanner_1_1RotationTarget.html">pathplanner::RotationTarget</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1RotationTarget.html#af71868d38344ce0b4ab46f7382015686">forSegmentIndex</a>(int segmentIndex) const</td><td class="entry"><a class="el" href="classpathplanner_1_1RotationTarget.html">pathplanner::RotationTarget</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1RotationTarget.html#a4ac06eeca87852f80e8f1a9d9faf6d7f">fromJson</a>(const wpi::json &amp;json)</td><td class="entry"><a class="el" href="classpathplanner_1_1RotationTarget.html">pathplanner::RotationTarget</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpathplanner_1_1RotationTarget.html#aed4869b96c97dcb69a0f6f14bf7754d5">getPosition</a>() const</td><td class="entry"><a class="el" href="classpathplanner_1_1RotationTarget.html">pathplanner::RotationTarget</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1RotationTarget.html#a96eb0a2f814fea43193e4df30bb6679c">getTarget</a>() const</td><td class="entry"><a class="el" href="classpathplanner_1_1RotationTarget.html">pathplanner::RotationTarget</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>operator==</b>(const RotationTarget &amp;other) const (defined in <a class="el" href="classpathplanner_1_1RotationTarget.html">pathplanner::RotationTarget</a>)</td><td class="entry"><a class="el" href="classpathplanner_1_1RotationTarget.html">pathplanner::RotationTarget</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classpathplanner_1_1RotationTarget.html#a724f9de278dd2031cc359b4fd7de9051">RotationTarget</a>(double waypointRelativePosition, frc::Rotation2d target)</td><td class="entry"><a class="el" href="classpathplanner_1_1RotationTarget.html">pathplanner::RotationTarget</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
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+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
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+</html>
diff --git a/docs/cpp/classpathplanner_1_1RotationTarget.html b/docs/cpp/classpathplanner_1_1RotationTarget.html
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+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classpathplanner_1_1RotationTarget-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">pathplanner::RotationTarget Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a724f9de278dd2031cc359b4fd7de9051"><td class="memItemLeft" align="right" valign="top">constexpr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1RotationTarget.html#a724f9de278dd2031cc359b4fd7de9051">RotationTarget</a> (double waypointRelativePosition, frc::Rotation2d target)</td></tr>
+<tr class="separator:a724f9de278dd2031cc359b4fd7de9051"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aed4869b96c97dcb69a0f6f14bf7754d5"><td class="memItemLeft" align="right" valign="top">constexpr double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1RotationTarget.html#aed4869b96c97dcb69a0f6f14bf7754d5">getPosition</a> () const</td></tr>
+<tr class="separator:aed4869b96c97dcb69a0f6f14bf7754d5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a96eb0a2f814fea43193e4df30bb6679c"><td class="memItemLeft" align="right" valign="top">constexpr const frc::Rotation2d &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1RotationTarget.html#a96eb0a2f814fea43193e4df30bb6679c">getTarget</a> () const</td></tr>
+<tr class="separator:a96eb0a2f814fea43193e4df30bb6679c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af71868d38344ce0b4ab46f7382015686"><td class="memItemLeft" align="right" valign="top">constexpr <a class="el" href="classpathplanner_1_1RotationTarget.html">RotationTarget</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1RotationTarget.html#af71868d38344ce0b4ab46f7382015686">forSegmentIndex</a> (int segmentIndex) const</td></tr>
+<tr class="separator:af71868d38344ce0b4ab46f7382015686"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa9365e9fcd27224b4ee47c46d3416a5c"><td class="memItemLeft" align="right" valign="top"><a id="aa9365e9fcd27224b4ee47c46d3416a5c" name="aa9365e9fcd27224b4ee47c46d3416a5c"></a>
+bool&#160;</td><td class="memItemRight" valign="bottom"><b>operator==</b> (const <a class="el" href="classpathplanner_1_1RotationTarget.html">RotationTarget</a> &amp;other) const</td></tr>
+<tr class="separator:aa9365e9fcd27224b4ee47c46d3416a5c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a4ac06eeca87852f80e8f1a9d9faf6d7f"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classpathplanner_1_1RotationTarget.html">RotationTarget</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpathplanner_1_1RotationTarget.html#a4ac06eeca87852f80e8f1a9d9faf6d7f">fromJson</a> (const wpi::json &amp;json)</td></tr>
+<tr class="separator:a4ac06eeca87852f80e8f1a9d9faf6d7f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a724f9de278dd2031cc359b4fd7de9051" name="a724f9de278dd2031cc359b4fd7de9051"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a724f9de278dd2031cc359b4fd7de9051">&#9670;&#160;</a></span>RotationTarget()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr pathplanner::RotationTarget::RotationTarget </td>
+          <td>(</td>
+          <td class="paramtype">double&#160;</td>
+          <td class="paramname"><em>waypointRelativePosition</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">frc::Rotation2d&#160;</td>
+          <td class="paramname"><em>target</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Create a new rotation target</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">waypointRelativePosition</td><td>Waypoint relative position of this target </td></tr>
+    <tr><td class="paramname">target</td><td>Target rotation </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="af71868d38344ce0b4ab46f7382015686" name="af71868d38344ce0b4ab46f7382015686"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af71868d38344ce0b4ab46f7382015686">&#9670;&#160;</a></span>forSegmentIndex()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr <a class="el" href="classpathplanner_1_1RotationTarget.html">RotationTarget</a> pathplanner::RotationTarget::forSegmentIndex </td>
+          <td>(</td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>segmentIndex</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Transform the position of this target for a given segment number.</p>
+<p >For example, a target with position 1.5 for the segment 1 will have the position 0.5</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">segmentIndex</td><td>The segment index to transform position for </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The transformed target </dd></dl>
+
+</div>
+</div>
+<a id="a4ac06eeca87852f80e8f1a9d9faf6d7f" name="a4ac06eeca87852f80e8f1a9d9faf6d7f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4ac06eeca87852f80e8f1a9d9faf6d7f">&#9670;&#160;</a></span>fromJson()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classpathplanner_1_1RotationTarget.html">RotationTarget</a> RotationTarget::fromJson </td>
+          <td>(</td>
+          <td class="paramtype">const wpi::json &amp;&#160;</td>
+          <td class="paramname"><em>json</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Create a rotation target from json</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">json</td><td>json reference representing a rotation target </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Rotation target defined by the given json </dd></dl>
+
+</div>
+</div>
+<a id="aed4869b96c97dcb69a0f6f14bf7754d5" name="aed4869b96c97dcb69a0f6f14bf7754d5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aed4869b96c97dcb69a0f6f14bf7754d5">&#9670;&#160;</a></span>getPosition()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr double pathplanner::RotationTarget::getPosition </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Get the waypoint relative position of this target</p>
+<dl class="section return"><dt>Returns</dt><dd>Waypoint relative position </dd></dl>
+
+</div>
+</div>
+<a id="a96eb0a2f814fea43193e4df30bb6679c" name="a96eb0a2f814fea43193e4df30bb6679c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a96eb0a2f814fea43193e4df30bb6679c">&#9670;&#160;</a></span>getTarget()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">constexpr const frc::Rotation2d &amp; pathplanner::RotationTarget::getTarget </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">constexpr</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p >Get the target rotation</p>
+<dl class="section return"><dt>Returns</dt><dd>Target rotation </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>src/main/native/include/pathplanner/lib/path/<a class="el" href="RotationTarget_8h_source.html">RotationTarget.h</a></li>
+<li>src/main/native/cpp/pathplanner/lib/path/RotationTarget.cpp</li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="navelem"><b>pathplanner</b></li><li class="navelem"><a class="el" href="classpathplanner_1_1RotationTarget.html">RotationTarget</a></li>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
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diff --git a/docs/cpp/doxygen-awesome.css b/docs/cpp/doxygen-awesome.css
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--- /dev/null
+++ b/docs/cpp/doxygen-awesome.css
@@ -0,0 +1,2530 @@
+/**
+
+Doxygen Awesome
+https://github.com/jothepro/doxygen-awesome-css
+
+MIT License
+
+Copyright (c) 2021 - 2023 jothepro
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+*/
+
+html {
+    /* primary theme color. This will affect the entire websites color scheme: links, arrows, labels, ... */
+    --primary-color: #1779c4;
+    --primary-dark-color: #335c80;
+    --primary-light-color: #70b1e9;
+
+    /* page base colors */
+    --page-background-color: #ffffff;
+    --page-foreground-color: #2f4153;
+    --page-secondary-foreground-color: #6f7e8e;
+
+    /* color for all separators on the website: hr, borders, ... */
+    --separator-color: #dedede;
+
+    /* border radius for all rounded components. Will affect many components, like dropdowns, memitems, codeblocks, ... */
+    --border-radius-large: 8px;
+    --border-radius-small: 4px;
+    --border-radius-medium: 6px;
+
+    /* default spacings. Most components reference these values for spacing, to provide uniform spacing on the page. */
+    --spacing-small: 5px;
+    --spacing-medium: 10px;
+    --spacing-large: 16px;
+
+    /* default box shadow used for raising an element above the normal content. Used in dropdowns, search result, ... */
+    --box-shadow: 0 2px 8px 0 rgba(0,0,0,.075);
+
+    --odd-color: rgba(0,0,0,.028);
+
+    /* font-families. will affect all text on the website
+     * font-family: the normal font for text, headlines, menus
+     * font-family-monospace: used for preformatted text in memtitle, code, fragments
+     */
+    --font-family: -apple-system,BlinkMacSystemFont,Segoe UI,Roboto,Oxygen,Ubuntu,Cantarell,Fira Sans,Droid Sans,Helvetica Neue,sans-serif;
+    --font-family-monospace: ui-monospace,SFMono-Regular,SF Mono,Menlo,Consolas,Liberation Mono,monospace;
+
+    /* font sizes */
+    --page-font-size: 15.6px;
+    --navigation-font-size: 14.4px;
+    --toc-font-size: 13.4px;
+    --code-font-size: 14px; /* affects code, fragment */
+    --title-font-size: 22px;
+
+    /* content text properties. These only affect the page content, not the navigation or any other ui elements */
+    --content-line-height: 27px;
+    /* The content is centered and constraint in it's width. To make the content fill the whole page, set the variable to auto.*/
+    --content-maxwidth: 1050px;
+    --table-line-height: 24px;
+    --toc-sticky-top: var(--spacing-medium);
+    --toc-width: 200px;
+    --toc-max-height: calc(100vh - 2 * var(--spacing-medium) - 85px);
+
+    /* colors for various content boxes: @warning, @note, @deprecated @bug */
+    --warning-color: #f8d1cc;
+    --warning-color-dark: #b61825;
+    --warning-color-darker: #75070f;
+    --note-color: #faf3d8;
+    --note-color-dark: #f3a600;
+    --note-color-darker: #5f4204;
+    --todo-color: #e4f3ff;
+    --todo-color-dark: #1879C4;
+    --todo-color-darker: #274a5c;
+    --deprecated-color: #ecf0f3;
+    --deprecated-color-dark: #5b6269;
+    --deprecated-color-darker: #43454a;
+    --bug-color: #e4dafd;
+    --bug-color-dark: #5b2bdd;
+    --bug-color-darker: #2a0d72;
+    --invariant-color: #d8f1e3;
+    --invariant-color-dark: #44b86f;
+    --invariant-color-darker: #265532;
+
+    /* blockquote colors */
+    --blockquote-background: #f8f9fa;
+    --blockquote-foreground: #636568;
+
+    /* table colors */
+    --tablehead-background: #f1f1f1;
+    --tablehead-foreground: var(--page-foreground-color);
+
+    /* menu-display: block | none
+     * Visibility of the top navigation on screens >= 768px. On smaller screen the menu is always visible.
+     * `GENERATE_TREEVIEW` MUST be enabled!
+     */
+    --menu-display: block;
+
+    --menu-focus-foreground: var(--page-background-color);
+    --menu-focus-background: var(--primary-color);
+    --menu-selected-background: rgba(0,0,0,.05);
+
+
+    --header-background: var(--page-background-color);
+    --header-foreground: var(--page-foreground-color);
+
+    /* searchbar colors */
+    --searchbar-background: var(--side-nav-background);
+    --searchbar-foreground: var(--page-foreground-color);
+
+    /* searchbar size
+     * (`searchbar-width` is only applied on screens >= 768px.
+     * on smaller screens the searchbar will always fill the entire screen width) */
+    --searchbar-height: 33px;
+    --searchbar-width: 210px;
+    --searchbar-border-radius: var(--searchbar-height);
+
+    /* code block colors */
+    --code-background: #f5f5f5;
+    --code-foreground: var(--page-foreground-color);
+
+    /* fragment colors */
+    --fragment-background: #F8F9FA;
+    --fragment-foreground: #37474F;
+    --fragment-keyword: #bb6bb2;
+    --fragment-keywordtype: #8258b3;
+    --fragment-keywordflow: #d67c3b;
+    --fragment-token: #438a59;
+    --fragment-comment: #969696;
+    --fragment-link: #5383d6;
+    --fragment-preprocessor: #46aaa5;
+    --fragment-linenumber-color: #797979;
+    --fragment-linenumber-background: #f4f4f5;
+    --fragment-linenumber-border: #e3e5e7;
+    --fragment-lineheight: 20px;
+
+    /* sidebar navigation (treeview) colors */
+    --side-nav-background: #fbfbfb;
+    --side-nav-foreground: var(--page-foreground-color);
+    --side-nav-arrow-opacity: 0;
+    --side-nav-arrow-hover-opacity: 0.9;
+
+    --toc-background: var(--side-nav-background);
+    --toc-foreground: var(--side-nav-foreground);
+
+    /* height of an item in any tree / collapsible table */
+    --tree-item-height: 30px;
+
+    --memname-font-size: var(--code-font-size);
+    --memtitle-font-size: 18px;
+
+    --webkit-scrollbar-size: 7px;
+    --webkit-scrollbar-padding: 4px;
+    --webkit-scrollbar-color: var(--separator-color);
+}
+
+@media screen and (max-width: 767px) {
+    html {
+        --page-font-size: 16px;
+        --navigation-font-size: 16px;
+        --toc-font-size: 15px;
+        --code-font-size: 15px; /* affects code, fragment */
+        --title-font-size: 22px;
+    }
+}
+
+@media (prefers-color-scheme: dark) {
+    html:not(.light-mode) {
+        color-scheme: dark;
+
+        --primary-color: #1982d2;
+        --primary-dark-color: #86a9c4;
+        --primary-light-color: #4779ac;
+
+        --box-shadow: 0 2px 8px 0 rgba(0,0,0,.35);
+
+        --odd-color: rgba(100,100,100,.06);
+
+        --menu-selected-background: rgba(0,0,0,.4);
+
+        --page-background-color: #1C1D1F;
+        --page-foreground-color: #d2dbde;
+        --page-secondary-foreground-color: #859399;
+        --separator-color: #38393b;
+        --side-nav-background: #252628;
+
+        --code-background: #2a2c2f;
+
+        --tablehead-background: #2a2c2f;
+    
+        --blockquote-background: #222325;
+        --blockquote-foreground: #7e8c92;
+
+        --warning-color: #2e1917;
+        --warning-color-dark: #ad2617;
+        --warning-color-darker: #f5b1aa;
+        --note-color: #3b2e04;
+        --note-color-dark: #f1b602;
+        --note-color-darker: #ceb670;
+        --todo-color: #163750;
+        --todo-color-dark: #1982D2;
+        --todo-color-darker: #dcf0fa;
+        --deprecated-color: #2e323b;
+        --deprecated-color-dark: #738396;
+        --deprecated-color-darker: #abb0bd;
+        --bug-color: #2a2536;
+        --bug-color-dark: #7661b3;
+        --bug-color-darker: #ae9ed6;
+        --invariant-color: #303a35;
+        --invariant-color-dark: #76ce96;
+        --invariant-color-darker: #cceed5;
+
+        --fragment-background: #282c34;
+        --fragment-foreground: #dbe4eb;
+        --fragment-keyword: #cc99cd;
+        --fragment-keywordtype: #ab99cd;
+        --fragment-keywordflow: #e08000;
+        --fragment-token: #7ec699;
+        --fragment-comment: #999999;
+        --fragment-link: #98c0e3;
+        --fragment-preprocessor: #65cabe;
+        --fragment-linenumber-color: #cccccc;
+        --fragment-linenumber-background: #35393c;
+        --fragment-linenumber-border: #1f1f1f;
+    }
+}
+
+/* dark mode variables are defined twice, to support both the dark-mode without and with doxygen-awesome-darkmode-toggle.js */
+html.dark-mode {
+    color-scheme: dark;
+
+    --primary-color: #1982d2;
+    --primary-dark-color: #86a9c4;
+    --primary-light-color: #4779ac;
+
+    --box-shadow: 0 2px 8px 0 rgba(0,0,0,.30);
+
+    --odd-color: rgba(100,100,100,.06);
+
+    --menu-selected-background: rgba(0,0,0,.4);
+
+    --page-background-color: #1C1D1F;
+    --page-foreground-color: #d2dbde;
+    --page-secondary-foreground-color: #859399;
+    --separator-color: #38393b;
+    --side-nav-background: #252628;
+
+    --code-background: #2a2c2f;
+
+    --tablehead-background: #2a2c2f;
+
+    --blockquote-background: #222325;
+    --blockquote-foreground: #7e8c92;
+
+    --warning-color: #2e1917;
+    --warning-color-dark: #ad2617;
+    --warning-color-darker: #f5b1aa;
+    --note-color: #3b2e04;
+    --note-color-dark: #f1b602;
+    --note-color-darker: #ceb670;
+    --todo-color: #163750;
+    --todo-color-dark: #1982D2;
+    --todo-color-darker: #dcf0fa;
+    --deprecated-color: #2e323b;
+    --deprecated-color-dark: #738396;
+    --deprecated-color-darker: #abb0bd;
+    --bug-color: #2a2536;
+    --bug-color-dark: #7661b3;
+    --bug-color-darker: #ae9ed6;
+    --invariant-color: #303a35;
+    --invariant-color-dark: #76ce96;
+    --invariant-color-darker: #cceed5;
+
+    --fragment-background: #282c34;
+    --fragment-foreground: #dbe4eb;
+    --fragment-keyword: #cc99cd;
+    --fragment-keywordtype: #ab99cd;
+    --fragment-keywordflow: #e08000;
+    --fragment-token: #7ec699;
+    --fragment-comment: #999999;
+    --fragment-link: #98c0e3;
+    --fragment-preprocessor: #65cabe;
+    --fragment-linenumber-color: #cccccc;
+    --fragment-linenumber-background: #35393c;
+    --fragment-linenumber-border: #1f1f1f;
+}
+
+body {
+    color: var(--page-foreground-color);
+    background-color: var(--page-background-color);
+    font-size: var(--page-font-size);
+}
+
+body, table, div, p, dl, #nav-tree .label, .title,
+.sm-dox a, .sm-dox a:hover, .sm-dox a:focus, #projectname,
+.SelectItem, #MSearchField, .navpath li.navelem a,
+.navpath li.navelem a:hover, p.reference, p.definition {
+    font-family: var(--font-family);
+}
+
+h1, h2, h3, h4, h5 {
+    margin-top: .9em;
+    font-weight: 600;
+    line-height: initial;
+}
+
+p, div, table, dl, p.reference, p.definition {
+    font-size: var(--page-font-size);
+}
+
+p.reference, p.definition {
+    color: var(--page-secondary-foreground-color);
+}
+
+a:link, a:visited, a:hover, a:focus, a:active {
+    color: var(--primary-color) !important;
+    font-weight: 500;
+}
+
+a.anchor {
+    scroll-margin-top: var(--spacing-large);
+    display: block;
+}
+
+/*
+ Title and top navigation
+ */
+
+#top {
+    background: var(--header-background);
+    border-bottom: 1px solid var(--separator-color);
+}
+
+@media screen and (min-width: 768px) {
+    #top {
+        display: flex;
+        flex-wrap: wrap;
+        justify-content: space-between;
+        align-items: center;
+    }
+}
+
+#main-nav {
+    flex-grow: 5;
+    padding: var(--spacing-small) var(--spacing-medium);
+}
+
+#titlearea {
+    width: auto;
+    padding: var(--spacing-medium) var(--spacing-large);
+    background: none;
+    color: var(--header-foreground);
+    border-bottom: none;
+}
+
+@media screen and (max-width: 767px) {
+    #titlearea {
+        padding-bottom: var(--spacing-small);
+    }
+}
+
+#titlearea table tbody tr {
+    height: auto !important;
+}
+
+#projectname {
+    font-size: var(--title-font-size);
+    font-weight: 600;
+}
+
+#projectnumber {
+    font-family: inherit;
+    font-size: 60%;
+}
+
+#projectbrief {
+    font-family: inherit;
+    font-size: 80%;
+}
+
+#projectlogo {
+    vertical-align: middle;
+}
+
+#projectlogo img {
+    max-height: calc(var(--title-font-size) * 2);
+    margin-right: var(--spacing-small);
+}
+
+.sm-dox, .tabs, .tabs2, .tabs3 {
+    background: none;
+    padding: 0;
+}
+
+.tabs, .tabs2, .tabs3 {
+    border-bottom: 1px solid var(--separator-color);
+    margin-bottom: -1px;
+}
+
+.main-menu-btn-icon, .main-menu-btn-icon:before, .main-menu-btn-icon:after {
+    background: var(--page-secondary-foreground-color);
+}
+
+@media screen and (max-width: 767px) {
+    .sm-dox a span.sub-arrow {
+        background: var(--code-background);
+    }
+
+    #main-menu a.has-submenu span.sub-arrow {
+        color: var(--page-secondary-foreground-color);
+        border-radius: var(--border-radius-medium);
+    }
+
+    #main-menu a.has-submenu:hover span.sub-arrow {
+        color: var(--page-foreground-color);
+    }
+}
+
+@media screen and (min-width: 768px) {
+    .sm-dox li, .tablist li {
+        display: var(--menu-display);
+    }
+
+    .sm-dox a span.sub-arrow {
+        border-color: var(--header-foreground) transparent transparent transparent;
+    }
+
+    .sm-dox a:hover span.sub-arrow {
+        border-color: var(--menu-focus-foreground) transparent transparent transparent;
+    }
+
+    .sm-dox ul a span.sub-arrow {
+        border-color: transparent transparent transparent var(--page-foreground-color);
+    }
+
+    .sm-dox ul a:hover span.sub-arrow {
+        border-color: transparent transparent transparent var(--menu-focus-foreground);
+    }
+}
+
+.sm-dox ul {
+    background: var(--page-background-color);
+    box-shadow: var(--box-shadow);
+    border: 1px solid var(--separator-color);
+    border-radius: var(--border-radius-medium) !important;
+    padding: var(--spacing-small);
+    animation: ease-out 150ms slideInMenu;
+}
+
+@keyframes slideInMenu {
+    from {
+        opacity: 0;
+        transform: translate(0px, -2px);
+    }
+
+    to {
+        opacity: 1;
+        transform: translate(0px, 0px);
+    }
+}
+
+.sm-dox ul a {
+    color: var(--page-foreground-color) !important;
+    background: var(--page-background-color);
+    font-size: var(--navigation-font-size);
+}
+
+.sm-dox>li>ul:after {
+    border-bottom-color: var(--page-background-color) !important;
+}
+
+.sm-dox>li>ul:before {
+    border-bottom-color: var(--separator-color) !important;
+}
+
+.sm-dox ul a:hover, .sm-dox ul a:active, .sm-dox ul a:focus {
+    font-size: var(--navigation-font-size) !important;
+    color: var(--menu-focus-foreground) !important;
+    text-shadow: none;
+    background-color: var(--menu-focus-background);
+    border-radius: var(--border-radius-small) !important;
+}
+
+.sm-dox a, .sm-dox a:focus, .tablist li, .tablist li a, .tablist li.current a {
+    text-shadow: none;
+    background: transparent;
+    background-image: none !important;
+    color: var(--header-foreground) !important;
+    font-weight: normal;
+    font-size: var(--navigation-font-size);
+    border-radius: var(--border-radius-small) !important;
+}
+
+.sm-dox a:focus {
+    outline: auto;
+}
+
+.sm-dox a:hover, .sm-dox a:active, .tablist li a:hover {
+    text-shadow: none;
+    font-weight: normal;
+    background: var(--menu-focus-background);
+    color: var(--menu-focus-foreground) !important;
+    border-radius: var(--border-radius-small) !important;
+    font-size: var(--navigation-font-size);
+}
+
+.tablist li.current {
+    border-radius: var(--border-radius-small);
+    background: var(--menu-selected-background);
+}
+
+.tablist li {
+    margin: var(--spacing-small) 0 var(--spacing-small) var(--spacing-small);
+}
+
+.tablist a {
+    padding: 0 var(--spacing-large);
+}
+
+
+/*
+ Search box
+ */
+
+#MSearchBox {
+    height: var(--searchbar-height);
+    background: var(--searchbar-background);
+    border-radius: var(--searchbar-border-radius);
+    border: 1px solid var(--separator-color);
+    overflow: hidden;
+    width: var(--searchbar-width);
+    position: relative;
+    box-shadow: none;
+    display: block;
+    margin-top: 0;
+}
+
+/* until Doxygen 1.9.4 */
+.left img#MSearchSelect {
+    left: 0;
+    user-select: none;
+    padding-left: 8px;
+}
+
+/* Doxygen 1.9.5 */
+.left span#MSearchSelect {
+    left: 0;
+    user-select: none;
+    margin-left: 8px;
+    padding: 0;
+}
+
+.left #MSearchSelect[src$=".png"] {
+    padding-left: 0
+}
+
+.SelectionMark {
+    user-select: none;
+}
+
+.tabs .left #MSearchSelect {
+    padding-left: 0;
+}
+
+.tabs #MSearchBox {
+    position: absolute;
+    right: var(--spacing-medium);
+}
+
+@media screen and (max-width: 767px) {
+    .tabs #MSearchBox {
+        position: relative;
+        right: 0;
+        margin-left: var(--spacing-medium);
+        margin-top: 0;
+    }
+}
+
+#MSearchSelectWindow, #MSearchResultsWindow {
+    z-index: 9999;
+}
+
+#MSearchBox.MSearchBoxActive {
+    border-color: var(--primary-color);
+    box-shadow: inset 0 0 0 1px var(--primary-color);
+}
+
+#main-menu > li:last-child {
+    margin-right: 0;
+}
+
+@media screen and (max-width: 767px) {
+    #main-menu > li:last-child {
+        height: 50px;
+    }
+}
+
+#MSearchField {
+    font-size: var(--navigation-font-size);
+    height: calc(var(--searchbar-height) - 2px);
+    background: transparent;
+    width: calc(var(--searchbar-width) - 64px);
+}
+
+.MSearchBoxActive #MSearchField {
+    color: var(--searchbar-foreground);
+}
+
+#MSearchSelect {
+    top: calc(calc(var(--searchbar-height) / 2) - 11px);
+}
+
+#MSearchBox span.left, #MSearchBox span.right {
+    background: none;
+    background-image: none;
+}
+
+#MSearchBox span.right {
+    padding-top: calc(calc(var(--searchbar-height) / 2) - 12px);
+    position: absolute;
+    right: var(--spacing-small);
+}
+
+.tabs #MSearchBox span.right {
+    top: calc(calc(var(--searchbar-height) / 2) - 12px);
+}
+
+@keyframes slideInSearchResults {
+    from {
+        opacity: 0;
+        transform: translate(0, 15px);
+    }
+
+    to {
+        opacity: 1;
+        transform: translate(0, 20px);
+    }
+}
+
+#MSearchResultsWindow {
+    left: auto !important;
+    right: var(--spacing-medium);
+    border-radius: var(--border-radius-large);
+    border: 1px solid var(--separator-color);
+    transform: translate(0, 20px);
+    box-shadow: var(--box-shadow);
+    animation: ease-out 280ms slideInSearchResults;
+    background: var(--page-background-color);
+}
+
+iframe#MSearchResults {
+    margin: 4px;
+}
+
+iframe {
+    color-scheme: normal;
+}
+
+@media (prefers-color-scheme: dark) {
+    html:not(.light-mode) iframe#MSearchResults {
+        filter: invert() hue-rotate(180deg);
+    }
+}
+
+html.dark-mode iframe#MSearchResults {
+    filter: invert() hue-rotate(180deg);
+}
+
+#MSearchResults .SRPage {
+    background-color: transparent;
+}
+
+#MSearchResults .SRPage .SREntry {
+    font-size: 10pt;
+    padding: var(--spacing-small) var(--spacing-medium);
+}
+
+#MSearchSelectWindow {
+    border: 1px solid var(--separator-color);
+    border-radius: var(--border-radius-medium);
+    box-shadow: var(--box-shadow);
+    background: var(--page-background-color);
+    padding-top: var(--spacing-small);
+    padding-bottom: var(--spacing-small);
+}
+
+#MSearchSelectWindow a.SelectItem {
+    font-size: var(--navigation-font-size);
+    line-height: var(--content-line-height);
+    margin: 0 var(--spacing-small);
+    border-radius: var(--border-radius-small);
+    color: var(--page-foreground-color) !important;
+    font-weight: normal;
+}
+
+#MSearchSelectWindow a.SelectItem:hover {
+    background: var(--menu-focus-background);
+    color: var(--menu-focus-foreground) !important;
+}
+
+@media screen and (max-width: 767px) {
+    #MSearchBox {
+        margin-top: var(--spacing-medium);
+        margin-bottom: var(--spacing-medium);
+        width: calc(100vw - 30px);
+    }
+
+    #main-menu > li:last-child {
+        float: none !important;
+    }
+
+    #MSearchField {
+        width: calc(100vw - 110px);
+    }
+
+    @keyframes slideInSearchResultsMobile {
+        from {
+            opacity: 0;
+            transform: translate(0, 15px);
+        }
+
+        to {
+            opacity: 1;
+            transform: translate(0, 20px);
+        }
+    }
+
+    #MSearchResultsWindow {
+        left: var(--spacing-medium) !important;
+        right: var(--spacing-medium);
+        overflow: auto;
+        transform: translate(0, 20px);
+        animation: ease-out 280ms slideInSearchResultsMobile;
+        width: auto !important;
+    }
+
+    /*
+     * Overwrites for fixing the searchbox on mobile in doxygen 1.9.2
+     */
+    label.main-menu-btn ~ #searchBoxPos1 {
+        top: 3px !important;
+        right: 6px !important;
+        left: 45px;
+        display: flex;
+    }
+
+    label.main-menu-btn ~ #searchBoxPos1 > #MSearchBox {
+        margin-top: 0;
+        margin-bottom: 0;
+        flex-grow: 2;
+        float: left;
+    }
+}
+
+/*
+ Tree view
+ */
+
+#side-nav {
+    padding: 0 !important;
+    background: var(--side-nav-background);
+    min-width: 8px;
+    max-width: 50vw;
+}
+
+@media screen and (max-width: 767px) {
+    #side-nav {
+        display: none;
+    }
+
+    #doc-content {
+        margin-left: 0 !important;
+    }
+}
+
+#nav-tree {
+    background: transparent;
+    margin-right: 1px;
+}
+
+#nav-tree .label {
+    font-size: var(--navigation-font-size);
+}
+
+#nav-tree .item {
+    height: var(--tree-item-height);
+    line-height: var(--tree-item-height);
+}
+
+#nav-sync {
+    bottom: 12px;
+    right: 12px;
+    top: auto !important;
+    user-select: none;
+}
+
+#nav-tree .selected {
+    text-shadow: none;
+    background-image: none;
+    background-color: transparent;
+    position: relative;
+}
+
+#nav-tree .selected::after {
+    content: "";
+    position: absolute;
+    top: 1px;
+    bottom: 1px;
+    left: 0;
+    width: 4px;
+    border-radius: 0 var(--border-radius-small) var(--border-radius-small) 0;
+    background: var(--primary-color);
+}
+
+
+#nav-tree a {
+    color: var(--side-nav-foreground) !important;
+    font-weight: normal;
+}
+
+#nav-tree a:focus {
+    outline-style: auto;
+}
+
+#nav-tree .arrow {
+    opacity: var(--side-nav-arrow-opacity);
+}
+
+.arrow {
+    color: inherit;
+    cursor: pointer;
+    font-size: 45%;
+    vertical-align: middle;
+    margin-right: 2px;
+    font-family: serif;
+    height: auto;
+    text-align: right;
+}
+
+#nav-tree div.item:hover .arrow, #nav-tree a:focus .arrow {
+    opacity: var(--side-nav-arrow-hover-opacity);
+}
+
+#nav-tree .selected a {
+    color: var(--primary-color) !important;
+    font-weight: bolder;
+    font-weight: 600;
+}
+
+.ui-resizable-e {
+    width: 4px;
+    background: transparent;
+    box-shadow: inset -1px 0 0 0 var(--separator-color);
+}
+
+/*
+ Contents
+ */
+
+div.header {
+    border-bottom: 1px solid var(--separator-color);
+    background-color: var(--page-background-color);
+    background-image: none;
+}
+
+@media screen and (min-width: 1000px) {
+    #doc-content > div > div.contents,
+    .PageDoc > div.contents {
+        display: flex;
+        flex-direction: row-reverse;
+        flex-wrap: nowrap;
+        align-items: flex-start;
+    }
+    
+    div.contents .textblock {
+        min-width: 200px;
+        flex-grow: 1;
+    }
+}
+
+div.contents, div.header .title, div.header .summary {
+    max-width: var(--content-maxwidth);
+}
+
+div.contents, div.header .title  {
+    line-height: initial;
+    margin: calc(var(--spacing-medium) + .2em) auto var(--spacing-medium) auto;
+}
+
+div.header .summary {
+    margin: var(--spacing-medium) auto 0 auto;
+}
+
+div.headertitle {
+    padding: 0;
+}
+
+div.header .title {
+    font-weight: 600;
+    font-size: 225%;
+    padding: var(--spacing-medium) var(--spacing-large);
+    word-break: break-word;
+}
+
+div.header .summary {
+    width: auto;
+    display: block;
+    float: none;
+    padding: 0 var(--spacing-large);
+}
+
+td.memSeparator {
+    border-color: var(--separator-color);
+}
+
+span.mlabel {
+    background: var(--primary-color);
+    border: none;
+    padding: 4px 9px;
+    border-radius: 12px;
+    margin-right: var(--spacing-medium);
+}
+
+span.mlabel:last-of-type {
+    margin-right: 2px;
+}
+
+div.contents {
+    padding: 0 var(--spacing-large);
+}
+
+div.contents p, div.contents li {
+    line-height: var(--content-line-height);
+}
+
+div.contents div.dyncontent {
+    margin: var(--spacing-medium) 0;
+}
+
+@media (prefers-color-scheme: dark) {
+    html:not(.light-mode) div.contents div.dyncontent img,
+    html:not(.light-mode) div.contents center img,
+    html:not(.light-mode) div.contents > table img,
+    html:not(.light-mode) div.contents div.dyncontent iframe,
+    html:not(.light-mode) div.contents center iframe,
+    html:not(.light-mode) div.contents table iframe,
+    html:not(.light-mode) div.contents .dotgraph iframe {
+        filter: brightness(89%) hue-rotate(180deg) invert();
+    }
+}
+
+html.dark-mode div.contents div.dyncontent img,
+html.dark-mode div.contents center img,
+html.dark-mode div.contents > table img,
+html.dark-mode div.contents div.dyncontent iframe,
+html.dark-mode div.contents center iframe,
+html.dark-mode div.contents table iframe,
+html.dark-mode div.contents .dotgraph iframe
+ {
+    filter: brightness(89%) hue-rotate(180deg) invert();
+}
+
+h2.groupheader {
+    border-bottom: 0px;
+    color: var(--page-foreground-color);
+    box-shadow: 
+        100px 0 var(--page-background-color), 
+        -100px 0 var(--page-background-color),
+        100px 0.75px var(--separator-color),
+        -100px 0.75px var(--separator-color),
+        500px 0 var(--page-background-color), 
+        -500px 0 var(--page-background-color),
+        500px 0.75px var(--separator-color),
+        -500px 0.75px var(--separator-color),
+        900px 0 var(--page-background-color), 
+        -900px 0 var(--page-background-color),
+        900px 0.75px var(--separator-color),
+        -900px 0.75px var(--separator-color),
+        1400px 0 var(--page-background-color),
+        -1400px 0 var(--page-background-color), 
+        1400px 0.75px var(--separator-color),
+        -1400px 0.75px var(--separator-color),
+        1900px 0 var(--page-background-color),
+        -1900px 0 var(--page-background-color),
+        1900px 0.75px var(--separator-color),
+        -1900px 0.75px var(--separator-color);
+}
+
+blockquote {
+    margin: 0 var(--spacing-medium) 0 var(--spacing-medium);
+    padding: var(--spacing-small) var(--spacing-large);
+    background: var(--blockquote-background);
+    color: var(--blockquote-foreground);
+    border-left: 0;
+    overflow: visible;
+    border-radius: var(--border-radius-medium);
+    overflow: visible;
+    position: relative;
+}
+
+blockquote::before, blockquote::after {
+    font-weight: bold;
+    font-family: serif;
+    font-size: 360%;
+    opacity: .15;
+    position: absolute;
+}
+
+blockquote::before {
+    content: "“";
+    left: -10px;
+    top: 4px;
+}
+
+blockquote::after {
+    content: "”";
+    right: -8px;
+    bottom: -25px;
+}
+
+blockquote p {
+    margin: var(--spacing-small) 0 var(--spacing-medium) 0;
+}
+.paramname {
+    font-weight: 600;
+    color: var(--primary-dark-color);
+}
+
+.paramname > code {
+    border: 0;
+}
+
+table.params .paramname {
+    font-weight: 600;
+    font-family: var(--font-family-monospace);
+    font-size: var(--code-font-size);
+    padding-right: var(--spacing-small);
+    line-height: var(--table-line-height);
+}
+
+h1.glow, h2.glow, h3.glow, h4.glow, h5.glow, h6.glow {
+    text-shadow: 0 0 15px var(--primary-light-color);
+}
+
+.alphachar a {
+    color: var(--page-foreground-color);
+}
+
+.dotgraph {
+    max-width: 100%;
+    overflow-x: scroll;
+}
+
+.dotgraph .caption {
+    position: sticky;
+    left: 0;
+}
+
+/* Wrap Graphviz graphs with the `interactive_dotgraph` class if `INTERACTIVE_SVG = YES` */
+.interactive_dotgraph .dotgraph iframe {
+    max-width: 100%;
+}
+
+/*
+ Table of Contents
+ */
+
+div.contents .toc {
+    max-height: var(--toc-max-height);
+    min-width: var(--toc-width);
+    border: 0;
+    border-left: 1px solid var(--separator-color);
+    border-radius: 0;
+    background-color: transparent;
+    box-shadow: none;
+    position: sticky;
+    top: var(--toc-sticky-top);
+    padding: 0 var(--spacing-large);
+    margin: var(--spacing-small) 0 var(--spacing-large) var(--spacing-large);
+}
+
+div.toc h3 {
+    color: var(--toc-foreground);
+    font-size: var(--navigation-font-size);
+    margin: var(--spacing-large) 0 var(--spacing-medium) 0;
+}
+
+div.toc li {
+    padding: 0;
+    background: none;
+    line-height: var(--toc-font-size);
+    margin: var(--toc-font-size) 0 0 0;
+}
+
+div.toc li::before {
+    display: none;
+}
+
+div.toc ul {
+    margin-top: 0
+}
+
+div.toc li a {
+    font-size: var(--toc-font-size);
+    color: var(--page-foreground-color) !important;
+    text-decoration: none;
+}
+
+div.toc li a:hover, div.toc li a.active {
+    color: var(--primary-color) !important;
+}
+
+div.toc li a.aboveActive {
+    color: var(--page-secondary-foreground-color) !important;
+}
+
+
+@media screen and (max-width: 999px) {
+    div.contents .toc {
+        max-height: 45vh;
+        float: none;
+        width: auto;
+        margin: 0 0 var(--spacing-medium) 0;
+        position: relative;
+        top: 0;
+        position: relative;
+        border: 1px solid var(--separator-color);
+        border-radius: var(--border-radius-medium);
+        background-color: var(--toc-background);
+        box-shadow: var(--box-shadow);
+    }
+
+    div.contents .toc.interactive {
+        max-height: calc(var(--navigation-font-size) + 2 * var(--spacing-large));
+        overflow: hidden;
+    }
+
+    div.contents .toc > h3 {
+        -webkit-tap-highlight-color: transparent;
+        cursor: pointer;
+        position: sticky;
+        top: 0;
+        background-color: var(--toc-background);
+        margin: 0;
+        padding: var(--spacing-large) 0;
+        display: block;
+    }
+
+    div.contents .toc.interactive > h3::before {
+        content: "";
+        width: 0; 
+        height: 0; 
+        border-left: 4px solid transparent;
+        border-right: 4px solid transparent;
+        border-top: 5px solid var(--primary-color);
+        display: inline-block;
+        margin-right: var(--spacing-small);
+        margin-bottom: calc(var(--navigation-font-size) / 4);
+        transform: rotate(-90deg);
+        transition: transform 0.25s ease-out;
+    }
+
+    div.contents .toc.interactive.open > h3::before {
+        transform: rotate(0deg);
+    }
+
+    div.contents .toc.interactive.open {
+        max-height: 45vh;
+        overflow: auto;
+        transition: max-height 0.2s ease-in-out;
+    }
+
+    div.contents .toc a, div.contents .toc a.active {
+        color: var(--primary-color) !important;
+    }
+
+    div.contents .toc a:hover {
+        text-decoration: underline;
+    }
+}
+
+/*
+ Code & Fragments
+ */
+
+code, div.fragment, pre.fragment {
+    border-radius: var(--border-radius-small);
+    border: 1px solid var(--separator-color);
+    overflow: hidden;
+}
+
+code {
+    display: inline;
+    background: var(--code-background);
+    color: var(--code-foreground);
+    padding: 2px 6px;
+}
+
+div.fragment, pre.fragment {
+    margin: var(--spacing-medium) 0;
+    padding: calc(var(--spacing-large) - (var(--spacing-large) / 6)) var(--spacing-large);
+    background: var(--fragment-background);
+    color: var(--fragment-foreground);
+    overflow-x: auto;
+}
+
+@media screen and (max-width: 767px) {
+    div.fragment, pre.fragment {
+        border-top-right-radius: 0;
+        border-bottom-right-radius: 0;
+        border-right: 0;
+    }
+
+    .contents > div.fragment,
+    .textblock > div.fragment,
+    .textblock > pre.fragment,
+    .contents > .doxygen-awesome-fragment-wrapper > div.fragment,
+    .textblock > .doxygen-awesome-fragment-wrapper > div.fragment,
+    .textblock > .doxygen-awesome-fragment-wrapper > pre.fragment {
+        margin: var(--spacing-medium) calc(0px - var(--spacing-large));
+        border-radius: 0;
+        border-left: 0;
+    }
+
+    .textblock li > .fragment,
+    .textblock li > .doxygen-awesome-fragment-wrapper > .fragment {
+        margin: var(--spacing-medium) calc(0px - var(--spacing-large));
+    }
+
+    .memdoc li > .fragment,
+    .memdoc li > .doxygen-awesome-fragment-wrapper > .fragment {
+        margin: var(--spacing-medium) calc(0px - var(--spacing-medium));
+    }
+
+    .textblock ul, .memdoc ul {
+        overflow: initial;
+    }
+
+    .memdoc > div.fragment,
+    .memdoc > pre.fragment,
+    dl dd > div.fragment,
+    dl dd pre.fragment,
+    .memdoc > .doxygen-awesome-fragment-wrapper > div.fragment,
+    .memdoc > .doxygen-awesome-fragment-wrapper > pre.fragment,
+    dl dd > .doxygen-awesome-fragment-wrapper > div.fragment,
+    dl dd .doxygen-awesome-fragment-wrapper > pre.fragment {
+        margin: var(--spacing-medium) calc(0px - var(--spacing-medium));
+        border-radius: 0;
+        border-left: 0;
+    }
+}
+
+code, code a, pre.fragment, div.fragment, div.fragment .line, div.fragment span, div.fragment .line a, div.fragment .line span {
+    font-family: var(--font-family-monospace);
+    font-size: var(--code-font-size) !important;
+}
+
+div.line:after {
+    margin-right: var(--spacing-medium);
+}
+
+div.fragment .line, pre.fragment {
+    white-space: pre;
+    word-wrap: initial;
+    line-height: var(--fragment-lineheight);
+}
+
+div.fragment span.keyword {
+    color: var(--fragment-keyword);
+}
+
+div.fragment span.keywordtype {
+    color: var(--fragment-keywordtype);
+}
+
+div.fragment span.keywordflow {
+    color: var(--fragment-keywordflow);
+}
+
+div.fragment span.stringliteral {
+    color: var(--fragment-token)
+}
+
+div.fragment span.comment {
+    color: var(--fragment-comment);
+}
+
+div.fragment a.code {
+    color: var(--fragment-link) !important;
+}
+
+div.fragment span.preprocessor {
+    color: var(--fragment-preprocessor);
+}
+
+div.fragment span.lineno {
+    display: inline-block;
+    width: 27px;
+    border-right: none;
+    background: var(--fragment-linenumber-background);
+    color: var(--fragment-linenumber-color);
+}
+
+div.fragment span.lineno a {
+    background: none;
+    color: var(--fragment-link) !important;
+}
+
+div.fragment .line:first-child .lineno {
+    box-shadow: -999999px 0px 0 999999px var(--fragment-linenumber-background), -999998px 0px 0 999999px var(--fragment-linenumber-border);
+}
+
+div.line {
+    border-radius: var(--border-radius-small);
+}
+
+div.line.glow {
+    background-color: var(--primary-light-color);
+    box-shadow: none;
+}
+
+/*
+ dl warning, attention, note, deprecated, bug, ...
+ */
+
+dl.bug dt a, dl.deprecated dt a, dl.todo dt a {
+    font-weight: bold !important;
+}
+
+dl.warning, dl.attention, dl.note, dl.deprecated, dl.bug, dl.invariant, dl.pre, dl.post, dl.todo, dl.remark {
+    padding: var(--spacing-medium);
+    margin: var(--spacing-medium) 0;
+    color: var(--page-background-color);
+    overflow: hidden;
+    margin-left: 0;
+    border-radius: var(--border-radius-small);
+}
+
+dl.section dd {
+    margin-bottom: 2px;
+}
+
+dl.warning, dl.attention {
+    background: var(--warning-color);
+    border-left: 8px solid var(--warning-color-dark);
+    color: var(--warning-color-darker);
+}
+
+dl.warning dt, dl.attention dt {
+    color: var(--warning-color-dark);
+}
+
+dl.note, dl.remark {
+    background: var(--note-color);
+    border-left: 8px solid var(--note-color-dark);
+    color: var(--note-color-darker);
+}
+
+dl.note dt, dl.remark dt {
+    color: var(--note-color-dark);
+}
+
+dl.todo {
+    background: var(--todo-color);
+    border-left: 8px solid var(--todo-color-dark);
+    color: var(--todo-color-darker);
+}
+
+dl.todo dt {
+    color: var(--todo-color-dark);
+}
+
+dl.bug dt a {
+    color: var(--todo-color-dark) !important;
+}
+
+dl.bug {
+    background: var(--bug-color);
+    border-left: 8px solid var(--bug-color-dark);
+    color: var(--bug-color-darker);
+}
+
+dl.bug dt a {
+    color: var(--bug-color-dark) !important;
+}
+
+dl.deprecated {
+    background: var(--deprecated-color);
+    border-left: 8px solid var(--deprecated-color-dark);
+    color: var(--deprecated-color-darker);
+}
+
+dl.deprecated dt a {
+    color: var(--deprecated-color-dark) !important;
+}
+
+dl.section dd, dl.bug dd, dl.deprecated dd, dl.todo dd {
+    margin-inline-start: 0px;
+}
+
+dl.invariant, dl.pre, dl.post {
+    background: var(--invariant-color);
+    border-left: 8px solid var(--invariant-color-dark);
+    color: var(--invariant-color-darker);
+}
+
+dl.invariant dt, dl.pre dt, dl.post dt {
+    color: var(--invariant-color-dark);
+}
+
+/*
+ memitem
+ */
+
+div.memdoc, div.memproto, h2.memtitle {
+    box-shadow: none;
+    background-image: none;
+    border: none;
+}
+
+div.memdoc {
+    padding: 0 var(--spacing-medium);
+    background: var(--page-background-color);
+}
+
+h2.memtitle, div.memitem {
+    border: 1px solid var(--separator-color);
+    box-shadow: var(--box-shadow);
+}
+
+h2.memtitle {
+    box-shadow: 0px var(--spacing-medium) 0 -1px var(--fragment-background), var(--box-shadow);
+}
+
+div.memitem {
+    transition: none;
+}
+
+div.memproto, h2.memtitle {
+    background: var(--fragment-background);
+}
+
+h2.memtitle {
+    font-weight: 500;
+    font-size: var(--memtitle-font-size);
+    font-family: var(--font-family-monospace);
+    border-bottom: none;
+    border-top-left-radius: var(--border-radius-medium);
+    border-top-right-radius: var(--border-radius-medium);
+    word-break: break-all;
+    position: relative;
+}
+
+h2.memtitle:after {
+    content: "";
+    display: block;
+    background: var(--fragment-background);
+    height: var(--spacing-medium);
+    bottom: calc(0px - var(--spacing-medium));
+    left: 0;
+    right: -14px;
+    position: absolute;
+    border-top-right-radius: var(--border-radius-medium);
+}
+
+h2.memtitle > span.permalink {
+    font-size: inherit;
+}
+
+h2.memtitle > span.permalink > a {
+    text-decoration: none;
+    padding-left: 3px;
+    margin-right: -4px;
+    user-select: none;
+    display: inline-block;
+    margin-top: -6px;
+}
+
+h2.memtitle > span.permalink > a:hover {
+    color: var(--primary-dark-color) !important;
+}
+
+a:target + h2.memtitle, a:target + h2.memtitle + div.memitem {
+    border-color: var(--primary-light-color);
+}
+
+div.memitem {
+    border-top-right-radius: var(--border-radius-medium);
+    border-bottom-right-radius: var(--border-radius-medium);
+    border-bottom-left-radius: var(--border-radius-medium);
+    overflow: hidden;
+    display: block !important;
+}
+
+div.memdoc {
+    border-radius: 0;
+}
+
+div.memproto {
+    border-radius: 0 var(--border-radius-small) 0 0;
+    overflow: auto;
+    border-bottom: 1px solid var(--separator-color);
+    padding: var(--spacing-medium);
+    margin-bottom: -1px;
+}
+
+div.memtitle {
+    border-top-right-radius: var(--border-radius-medium);
+    border-top-left-radius: var(--border-radius-medium);
+}
+
+div.memproto table.memname {
+    font-family: var(--font-family-monospace);
+    color: var(--page-foreground-color);
+    font-size: var(--memname-font-size);
+    text-shadow: none;
+}
+
+div.memproto div.memtemplate {
+    font-family: var(--font-family-monospace);
+    color: var(--primary-dark-color);
+    font-size: var(--memname-font-size);
+    margin-left: 2px;
+    text-shadow: none;
+}
+
+table.mlabels, table.mlabels > tbody {
+    display: block;
+}
+
+td.mlabels-left {
+    width: auto;
+}
+
+td.mlabels-right {
+    margin-top: 3px;
+    position: sticky;
+    left: 0;
+}
+
+table.mlabels > tbody > tr:first-child {
+    display: flex;
+    justify-content: space-between;
+    flex-wrap: wrap;
+}
+
+.memname, .memitem span.mlabels {
+    margin: 0
+}
+
+/*
+ reflist
+ */
+
+dl.reflist {
+    box-shadow: var(--box-shadow);
+    border-radius: var(--border-radius-medium);
+    border: 1px solid var(--separator-color);
+    overflow: hidden;
+    padding: 0;
+}
+
+
+dl.reflist dt, dl.reflist dd {
+    box-shadow: none;
+    text-shadow: none;
+    background-image: none;
+    border: none;
+    padding: 12px;
+}
+
+
+dl.reflist dt {
+    font-weight: 500;
+    border-radius: 0;
+    background: var(--code-background);
+    border-bottom: 1px solid var(--separator-color);
+    color: var(--page-foreground-color)
+}
+
+
+dl.reflist dd {
+    background: none;
+}
+
+/*
+ Table
+ */
+
+.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname),
+.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody {
+    display: inline-block;
+    max-width: 100%;
+}
+
+.contents > table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname):not(.classindex) {
+    margin-left: calc(0px - var(--spacing-large));
+    margin-right: calc(0px - var(--spacing-large));
+    max-width: calc(100% + 2 * var(--spacing-large));
+}
+
+table.fieldtable,
+table.markdownTable tbody,
+table.doxtable tbody {
+    border: none;
+    margin: var(--spacing-medium) 0;
+    box-shadow: 0 0 0 1px var(--separator-color);
+    border-radius: var(--border-radius-small);
+}
+
+table.markdownTable, table.doxtable, table.fieldtable {
+    padding: 1px;
+}
+
+table.doxtable caption {
+    display: block;
+}
+
+table.fieldtable {
+    border-collapse: collapse;
+    width: 100%;
+}
+
+th.markdownTableHeadLeft,
+th.markdownTableHeadRight,
+th.markdownTableHeadCenter,
+th.markdownTableHeadNone,
+table.doxtable th {
+    background: var(--tablehead-background);
+    color: var(--tablehead-foreground);
+    font-weight: 600;
+    font-size: var(--page-font-size);
+}
+
+th.markdownTableHeadLeft:first-child,
+th.markdownTableHeadRight:first-child,
+th.markdownTableHeadCenter:first-child,
+th.markdownTableHeadNone:first-child,
+table.doxtable tr th:first-child {
+    border-top-left-radius: var(--border-radius-small);
+}
+
+th.markdownTableHeadLeft:last-child,
+th.markdownTableHeadRight:last-child,
+th.markdownTableHeadCenter:last-child,
+th.markdownTableHeadNone:last-child,
+table.doxtable tr th:last-child {
+    border-top-right-radius: var(--border-radius-small);
+}
+
+table.markdownTable td,
+table.markdownTable th,
+table.fieldtable td,
+table.fieldtable th,
+table.doxtable td,
+table.doxtable th {
+    border: 1px solid var(--separator-color);
+    padding: var(--spacing-small) var(--spacing-medium);
+}
+
+table.markdownTable td:last-child,
+table.markdownTable th:last-child,
+table.fieldtable td:last-child,
+table.fieldtable th:last-child,
+table.doxtable td:last-child,
+table.doxtable th:last-child {
+    border-right: none;
+}
+
+table.markdownTable td:first-child,
+table.markdownTable th:first-child,
+table.fieldtable td:first-child,
+table.fieldtable th:first-child,
+table.doxtable td:first-child,
+table.doxtable th:first-child {
+    border-left: none;
+}
+
+table.markdownTable tr:first-child td,
+table.markdownTable tr:first-child th,
+table.fieldtable tr:first-child td,
+table.fieldtable tr:first-child th,
+table.doxtable tr:first-child td,
+table.doxtable tr:first-child th {
+    border-top: none;
+}
+
+table.markdownTable tr:last-child td,
+table.markdownTable tr:last-child th,
+table.fieldtable tr:last-child td,
+table.fieldtable tr:last-child th,
+table.doxtable tr:last-child td,
+table.doxtable tr:last-child th {
+    border-bottom: none;
+}
+
+table.markdownTable tr, table.doxtable tr {
+    border-bottom: 1px solid var(--separator-color);
+}
+
+table.markdownTable tr:last-child, table.doxtable tr:last-child {
+    border-bottom: none;
+}
+
+.full_width_table table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) {
+    display: block;
+}
+
+.full_width_table table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody {
+    display: table;
+    width: 100%;
+}
+
+table.fieldtable th {
+    font-size: var(--page-font-size);
+    font-weight: 600;
+    background-image: none;
+    background-color: var(--tablehead-background);
+    color: var(--tablehead-foreground);
+}
+
+table.fieldtable td.fieldtype, .fieldtable td.fieldname, .fieldtable td.fielddoc, .fieldtable th {
+    border-bottom: 1px solid var(--separator-color);
+    border-right: 1px solid var(--separator-color);
+}
+
+table.fieldtable tr:last-child td:first-child {
+    border-bottom-left-radius: var(--border-radius-small);
+}
+
+table.fieldtable tr:last-child td:last-child {
+    border-bottom-right-radius: var(--border-radius-small);
+}
+
+.memberdecls td.glow, .fieldtable tr.glow {
+    background-color: var(--primary-light-color);
+    box-shadow: none;
+}
+
+table.memberdecls {
+    display: block;
+    -webkit-tap-highlight-color: transparent;
+}
+
+table.memberdecls tr[class^='memitem'] {
+    font-family: var(--font-family-monospace);
+    font-size: var(--code-font-size);
+}
+
+table.memberdecls tr[class^='memitem'] .memTemplParams {
+    font-family: var(--font-family-monospace);
+    font-size: var(--code-font-size);
+    color: var(--primary-dark-color);
+    white-space: normal;
+}
+
+table.memberdecls .memItemLeft,
+table.memberdecls .memItemRight,
+table.memberdecls .memTemplItemLeft,
+table.memberdecls .memTemplItemRight,
+table.memberdecls .memTemplParams {
+    transition: none;
+    padding-top: var(--spacing-small);
+    padding-bottom: var(--spacing-small);
+    border-top: 1px solid var(--separator-color);
+    border-bottom: 1px solid var(--separator-color);
+    background-color: var(--fragment-background);
+}
+
+table.memberdecls .memTemplItemLeft,
+table.memberdecls .memTemplItemRight {
+    padding-top: 2px;
+}
+
+table.memberdecls .memTemplParams {
+    border-bottom: 0;
+    border-left: 1px solid var(--separator-color);
+    border-right: 1px solid var(--separator-color);
+    border-radius: var(--border-radius-small) var(--border-radius-small) 0 0;
+    padding-bottom: var(--spacing-small);
+}
+
+table.memberdecls .memTemplItemLeft {
+    border-radius: 0 0 0 var(--border-radius-small);
+    border-left: 1px solid var(--separator-color);
+    border-top: 0;
+}
+
+table.memberdecls .memTemplItemRight {
+    border-radius: 0 0 var(--border-radius-small) 0;
+    border-right: 1px solid var(--separator-color);
+    padding-left: 0;
+    border-top: 0;
+}
+
+table.memberdecls .memItemLeft {
+    border-radius: var(--border-radius-small) 0 0 var(--border-radius-small);
+    border-left: 1px solid var(--separator-color);
+    padding-left: var(--spacing-medium);
+    padding-right: 0;
+}
+
+table.memberdecls .memItemRight  {
+    border-radius: 0 var(--border-radius-small) var(--border-radius-small) 0;
+    border-right: 1px solid var(--separator-color);
+    padding-right: var(--spacing-medium);
+    padding-left: 0;
+
+}
+
+table.memberdecls .mdescLeft, table.memberdecls .mdescRight {
+    background: none;
+    color: var(--page-foreground-color);
+    padding: var(--spacing-small) 0;
+}
+
+table.memberdecls .memItemLeft,
+table.memberdecls .memTemplItemLeft {
+    padding-right: var(--spacing-medium);
+}
+
+table.memberdecls .memSeparator {
+    background: var(--page-background-color);
+    height: var(--spacing-large);
+    border: 0;
+    transition: none;
+}
+
+table.memberdecls .groupheader {
+    margin-bottom: var(--spacing-large);
+}
+
+table.memberdecls .inherit_header td {
+    padding: 0 0 var(--spacing-medium) 0;
+    text-indent: -12px;
+    color: var(--page-secondary-foreground-color);
+}
+
+table.memberdecls img[src="closed.png"],
+table.memberdecls img[src="open.png"],
+div.dynheader img[src="open.png"],
+div.dynheader img[src="closed.png"] {
+    width: 0; 
+    height: 0; 
+    border-left: 4px solid transparent;
+    border-right: 4px solid transparent;
+    border-top: 5px solid var(--primary-color);
+    margin-top: 8px;
+    display: block;
+    float: left;
+    margin-left: -10px;
+    transition: transform 0.25s ease-out;
+}
+
+table.memberdecls img {
+    margin-right: 10px;
+}
+
+table.memberdecls img[src="closed.png"],
+div.dynheader img[src="closed.png"] {
+    transform: rotate(-90deg);
+    
+}
+
+.compoundTemplParams {
+    font-family: var(--font-family-monospace);
+    color: var(--primary-dark-color);
+    font-size: var(--code-font-size);
+}
+
+@media screen and (max-width: 767px) {
+
+    table.memberdecls .memItemLeft,
+    table.memberdecls .memItemRight,
+    table.memberdecls .mdescLeft,
+    table.memberdecls .mdescRight,
+    table.memberdecls .memTemplItemLeft,
+    table.memberdecls .memTemplItemRight,
+    table.memberdecls .memTemplParams {
+        display: block;
+        text-align: left;
+        padding-left: var(--spacing-large);
+        margin: 0 calc(0px - var(--spacing-large)) 0 calc(0px - var(--spacing-large));
+        border-right: none;
+        border-left: none;
+        border-radius: 0;
+        white-space: normal;
+    }
+
+    table.memberdecls .memItemLeft,
+    table.memberdecls .mdescLeft,
+    table.memberdecls .memTemplItemLeft {
+        border-bottom: 0;
+        padding-bottom: 0;
+    }
+
+    table.memberdecls .memTemplItemLeft {
+        padding-top: 0;
+    }
+
+    table.memberdecls .mdescLeft {
+        margin-bottom: calc(0px - var(--page-font-size));
+    }
+
+    table.memberdecls .memItemRight, 
+    table.memberdecls .mdescRight,
+    table.memberdecls .memTemplItemRight {
+        border-top: 0;
+        padding-top: 0;
+        padding-right: var(--spacing-large);
+        overflow-x: auto;
+    }
+
+    table.memberdecls tr[class^='memitem']:not(.inherit) {
+        display: block;
+        width: calc(100vw - 2 * var(--spacing-large));
+    }
+
+    table.memberdecls .mdescRight {
+        color: var(--page-foreground-color);
+    }
+
+    table.memberdecls tr.inherit {
+        visibility: hidden;
+    }
+
+    table.memberdecls tr[style="display: table-row;"] {
+        display: block !important;
+        visibility: visible;
+        width: calc(100vw - 2 * var(--spacing-large));
+        animation: fade .5s;
+    }
+
+    @keyframes fade {
+        0% {
+            opacity: 0;
+            max-height: 0;
+        }
+
+        100% {
+            opacity: 1;
+            max-height: 200px;
+        }
+    }
+}
+
+
+/*
+ Horizontal Rule
+ */
+
+hr {
+    margin-top: var(--spacing-large);
+    margin-bottom: var(--spacing-large);
+    height: 1px;
+    background-color: var(--separator-color);
+    border: 0;
+}
+
+.contents hr {
+    box-shadow: 100px 0 0 var(--separator-color),
+                -100px 0 0 var(--separator-color),
+                500px 0 0 var(--separator-color),
+                -500px 0 0 var(--separator-color),
+                1500px 0 0 var(--separator-color),
+                -1500px 0 0 var(--separator-color),
+                2000px 0 0 var(--separator-color),
+                -2000px 0 0 var(--separator-color);
+}
+
+.contents img, .contents .center, .contents center, .contents div.image object {
+    max-width: 100%;
+    overflow: auto;
+}
+
+@media screen and (max-width: 767px) {
+    .contents .dyncontent > .center, .contents > center {
+        margin-left: calc(0px - var(--spacing-large));
+        margin-right: calc(0px - var(--spacing-large));
+        max-width: calc(100% + 2 * var(--spacing-large));
+    }
+}
+
+/*
+ Directories
+ */
+div.directory {
+    border-top: 1px solid var(--separator-color);
+    border-bottom: 1px solid var(--separator-color);
+    width: auto;
+}
+
+table.directory {
+    font-family: var(--font-family);
+    font-size: var(--page-font-size);
+    font-weight: normal;
+    width: 100%;
+}
+
+table.directory td.entry, table.directory td.desc {
+    padding: calc(var(--spacing-small) / 2) var(--spacing-small);
+    line-height: var(--table-line-height);
+}
+
+table.directory tr.even td:last-child {
+    border-radius: 0 var(--border-radius-small) var(--border-radius-small) 0;
+}
+
+table.directory tr.even td:first-child {
+    border-radius: var(--border-radius-small) 0 0 var(--border-radius-small);
+}
+
+table.directory tr.even:last-child td:last-child {
+    border-radius: 0 var(--border-radius-small) 0 0;
+}
+
+table.directory tr.even:last-child td:first-child {
+    border-radius: var(--border-radius-small) 0 0 0;
+}
+
+table.directory td.desc {
+    min-width: 250px;
+}
+
+table.directory tr.even {
+    background-color: var(--odd-color);
+}
+
+table.directory tr.odd {
+    background-color: transparent;
+}
+
+.icona {
+    width: auto;
+    height: auto;
+    margin: 0 var(--spacing-small);
+}
+
+.icon {
+    background: var(--primary-color);
+    border-radius: var(--border-radius-small);
+    font-size: var(--page-font-size);
+    padding: calc(var(--page-font-size) / 5);
+    line-height: var(--page-font-size);
+    transform: scale(0.8);
+    height: auto;
+    width: var(--page-font-size);
+    user-select: none;
+}
+
+.iconfopen, .icondoc, .iconfclosed {
+    background-position: center;
+    margin-bottom: 0;
+    height: var(--table-line-height);
+}
+
+.icondoc {
+    filter: saturate(0.2);
+}
+
+@media screen and (max-width: 767px) {
+    div.directory {
+        margin-left: calc(0px - var(--spacing-large));
+        margin-right: calc(0px - var(--spacing-large));
+    }
+}
+
+@media (prefers-color-scheme: dark) {
+    html:not(.light-mode) .iconfopen, html:not(.light-mode) .iconfclosed {
+        filter: hue-rotate(180deg) invert();
+    }
+}
+
+html.dark-mode .iconfopen, html.dark-mode .iconfclosed {
+    filter: hue-rotate(180deg) invert();
+}
+
+/*
+ Class list
+ */
+
+.classindex dl.odd {
+    background: var(--odd-color);
+    border-radius: var(--border-radius-small);
+}
+
+.classindex dl.even {
+    background-color: transparent;
+}
+
+/* 
+ Class Index Doxygen 1.8 
+*/
+
+table.classindex {
+    margin-left: 0;
+    margin-right: 0;
+    width: 100%;
+}
+
+table.classindex table div.ah {
+    background-image: none;
+    background-color: initial;
+    border-color: var(--separator-color);
+    color: var(--page-foreground-color);
+    box-shadow: var(--box-shadow);
+    border-radius: var(--border-radius-large);
+    padding: var(--spacing-small);
+}
+
+div.qindex {
+    background-color: var(--odd-color);
+    border-radius: var(--border-radius-small);
+    border: 1px solid var(--separator-color);
+    padding: var(--spacing-small) 0;
+}
+
+/*
+  Footer and nav-path
+ */
+
+#nav-path {
+    width: 100%;
+}
+
+#nav-path ul {
+    background-image: none;
+    background: var(--page-background-color);
+    border: none;
+    border-top: 1px solid var(--separator-color);
+    border-bottom: 1px solid var(--separator-color);
+    border-bottom: 0;
+    box-shadow: 0 0.75px 0 var(--separator-color);
+    font-size: var(--navigation-font-size);
+}
+
+img.footer {
+    width: 60px;
+}
+
+.navpath li.footer {
+    color: var(--page-secondary-foreground-color);
+}
+
+address.footer {
+    color: var(--page-secondary-foreground-color);
+    margin-bottom: var(--spacing-large);
+}
+
+#nav-path li.navelem {
+    background-image: none;
+    display: flex;
+    align-items: center;
+}
+
+.navpath li.navelem a {
+    text-shadow: none;
+    display: inline-block;
+    color: var(--primary-color) !important;
+}
+
+.navpath li.navelem b {
+    color: var(--primary-dark-color);
+    font-weight: 500;
+}
+
+li.navelem {
+    padding: 0;
+    margin-left: -8px;
+}
+
+li.navelem:first-child {
+    margin-left: var(--spacing-large);
+}
+
+li.navelem:first-child:before {
+    display: none;
+}
+
+#nav-path li.navelem:after {
+    content: '';
+    border: 5px solid var(--page-background-color);
+    border-bottom-color: transparent;
+    border-right-color: transparent;
+    border-top-color: transparent;
+    transform: translateY(-1px) scaleY(4.2);
+    z-index: 10;
+    margin-left: 6px;
+}
+
+#nav-path li.navelem:before {
+    content: '';
+    border: 5px solid var(--separator-color);
+    border-bottom-color: transparent;
+    border-right-color: transparent;
+    border-top-color: transparent;
+    transform: translateY(-1px) scaleY(3.2);
+    margin-right: var(--spacing-small);
+}
+
+.navpath li.navelem a:hover {
+    color: var(--primary-color);
+}
+
+/*
+ Scrollbars for Webkit
+*/
+
+#nav-tree::-webkit-scrollbar,
+div.fragment::-webkit-scrollbar,
+pre.fragment::-webkit-scrollbar,
+div.memproto::-webkit-scrollbar,
+.contents center::-webkit-scrollbar,
+.contents .center::-webkit-scrollbar,
+.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody::-webkit-scrollbar,
+div.contents .toc::-webkit-scrollbar,
+.contents .dotgraph::-webkit-scrollbar,
+.contents .tabs-overview-container::-webkit-scrollbar {
+    background: transparent;
+    width: calc(var(--webkit-scrollbar-size) + var(--webkit-scrollbar-padding) + var(--webkit-scrollbar-padding));
+    height: calc(var(--webkit-scrollbar-size) + var(--webkit-scrollbar-padding) + var(--webkit-scrollbar-padding));
+}
+
+#nav-tree::-webkit-scrollbar-thumb,
+div.fragment::-webkit-scrollbar-thumb,
+pre.fragment::-webkit-scrollbar-thumb,
+div.memproto::-webkit-scrollbar-thumb,
+.contents center::-webkit-scrollbar-thumb,
+.contents .center::-webkit-scrollbar-thumb,
+.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody::-webkit-scrollbar-thumb,
+div.contents .toc::-webkit-scrollbar-thumb,
+.contents .dotgraph::-webkit-scrollbar-thumb,
+.contents .tabs-overview-container::-webkit-scrollbar-thumb {
+    background-color: transparent;
+    border: var(--webkit-scrollbar-padding) solid transparent;
+    border-radius: calc(var(--webkit-scrollbar-padding) + var(--webkit-scrollbar-padding));
+    background-clip: padding-box;  
+}
+
+#nav-tree:hover::-webkit-scrollbar-thumb,
+div.fragment:hover::-webkit-scrollbar-thumb,
+pre.fragment:hover::-webkit-scrollbar-thumb,
+div.memproto:hover::-webkit-scrollbar-thumb,
+.contents center:hover::-webkit-scrollbar-thumb,
+.contents .center:hover::-webkit-scrollbar-thumb,
+.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody:hover::-webkit-scrollbar-thumb,
+div.contents .toc:hover::-webkit-scrollbar-thumb,
+.contents .dotgraph:hover::-webkit-scrollbar-thumb,
+.contents .tabs-overview-container:hover::-webkit-scrollbar-thumb {
+    background-color: var(--webkit-scrollbar-color);
+}
+
+#nav-tree::-webkit-scrollbar-track,
+div.fragment::-webkit-scrollbar-track,
+pre.fragment::-webkit-scrollbar-track,
+div.memproto::-webkit-scrollbar-track,
+.contents center::-webkit-scrollbar-track,
+.contents .center::-webkit-scrollbar-track,
+.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody::-webkit-scrollbar-track,
+div.contents .toc::-webkit-scrollbar-track,
+.contents .dotgraph::-webkit-scrollbar-track,
+.contents .tabs-overview-container::-webkit-scrollbar-track {
+    background: transparent;
+}
+
+#nav-tree::-webkit-scrollbar-corner {
+    background-color: var(--side-nav-background);
+}
+
+#nav-tree,
+div.fragment,
+pre.fragment,
+div.memproto,
+.contents center,
+.contents .center,
+.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody,
+div.contents .toc {
+    overflow-x: auto;
+    overflow-x: overlay;
+}
+
+#nav-tree {
+    overflow-x: auto;
+    overflow-y: auto;
+    overflow-y: overlay;
+}
+
+/*
+ Scrollbars for Firefox
+*/
+
+#nav-tree,
+div.fragment,
+pre.fragment,
+div.memproto,
+.contents center,
+.contents .center,
+.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody,
+div.contents .toc,
+.contents .dotgraph,
+.contents .tabs-overview-container {
+    scrollbar-width: thin;
+}
+
+/*
+  Optional Dark mode toggle button
+*/
+
+doxygen-awesome-dark-mode-toggle {
+    display: inline-block;
+    margin: 0 0 0 var(--spacing-small);
+    padding: 0;
+    width: var(--searchbar-height);
+    height: var(--searchbar-height);
+    background: none;
+    border: none;
+    border-radius: var(--searchbar-height);
+    vertical-align: middle;
+    text-align: center;
+    line-height: var(--searchbar-height);
+    font-size: 22px;
+    display: flex;
+    align-items: center;
+    justify-content: center;
+    user-select: none;
+    cursor: pointer;
+}
+
+doxygen-awesome-dark-mode-toggle > svg {
+    transition: transform .1s ease-in-out;
+}
+
+doxygen-awesome-dark-mode-toggle:active > svg {
+    transform: scale(.5);
+}
+
+doxygen-awesome-dark-mode-toggle:hover {
+    background-color: rgba(0,0,0,.03);
+}
+
+html.dark-mode doxygen-awesome-dark-mode-toggle:hover {
+    background-color: rgba(0,0,0,.18);
+}
+
+/*
+ Optional fragment copy button
+*/
+.doxygen-awesome-fragment-wrapper {
+    position: relative;
+}
+
+doxygen-awesome-fragment-copy-button {
+    opacity: 0;
+    background: var(--fragment-background);
+    width: 28px;
+    height: 28px;
+    position: absolute;
+    right: calc(var(--spacing-large) - (var(--spacing-large) / 2.5));
+    top: calc(var(--spacing-large) - (var(--spacing-large) / 2.5));
+    border: 1px solid var(--fragment-foreground);
+    cursor: pointer;
+    border-radius: var(--border-radius-small);
+    display: flex;
+    justify-content: center;
+    align-items: center;
+}
+
+.doxygen-awesome-fragment-wrapper:hover doxygen-awesome-fragment-copy-button, doxygen-awesome-fragment-copy-button.success {
+    opacity: .28;
+}
+
+doxygen-awesome-fragment-copy-button:hover, doxygen-awesome-fragment-copy-button.success {
+    opacity: 1 !important;
+}
+
+doxygen-awesome-fragment-copy-button:active:not([class~=success]) svg {
+    transform: scale(.91);
+}
+
+doxygen-awesome-fragment-copy-button svg {
+    fill: var(--fragment-foreground);
+    width: 18px;
+    height: 18px;
+}
+
+doxygen-awesome-fragment-copy-button.success svg {
+    fill: rgb(14, 168, 14);
+}
+
+doxygen-awesome-fragment-copy-button.success {
+    border-color: rgb(14, 168, 14);
+}
+
+@media screen and (max-width: 767px) {
+    .textblock > .doxygen-awesome-fragment-wrapper > doxygen-awesome-fragment-copy-button,
+    .textblock li > .doxygen-awesome-fragment-wrapper > doxygen-awesome-fragment-copy-button,
+    .memdoc li > .doxygen-awesome-fragment-wrapper > doxygen-awesome-fragment-copy-button,
+    .memdoc > .doxygen-awesome-fragment-wrapper > doxygen-awesome-fragment-copy-button,
+    dl dd > .doxygen-awesome-fragment-wrapper > doxygen-awesome-fragment-copy-button {
+        right: 0;
+    }
+}
+
+/*
+ Optional paragraph link button
+*/
+
+a.anchorlink {
+    font-size: 90%;
+    margin-left: var(--spacing-small);
+    color: var(--page-foreground-color) !important;
+    text-decoration: none;
+    opacity: .15;
+    display: none;
+    transition: opacity .1s ease-in-out, color .1s ease-in-out;
+}
+
+a.anchorlink svg {
+    fill: var(--page-foreground-color);
+}
+
+h3 a.anchorlink svg, h4 a.anchorlink svg {
+    margin-bottom: -3px;
+    margin-top: -4px;
+}
+
+a.anchorlink:hover {
+    opacity: .45;
+}
+
+h2:hover a.anchorlink, h1:hover a.anchorlink, h3:hover a.anchorlink, h4:hover a.anchorlink  {
+    display: inline-block;
+}
+
+/*
+ Optional tab feature
+*/
+
+.tabbed {
+    margin: var(--spacing-medium) auto;
+}
+
+.tabbed ul {
+    padding-inline-start: 0px;
+    margin: 0;
+    padding: var(--spacing-small) 0;
+    border-bottom: 1px solid var(--separator-color);
+}
+
+.tabbed li {
+    display: none;
+}
+
+.tabbed li.selected {
+    display: block;
+}
+
+.tabs-overview-container {
+    overflow-x: auto;
+    display: block;
+    overflow-y: visible;
+}
+
+.tabs-overview {
+    border-bottom: 1px solid var(--separator-color);
+    display: flex;
+    flex-direction: row;
+}
+
+.tabs-overview button.tab-button {
+    color: var(--page-foreground-color);
+    margin: 0;
+    border: none;
+    background: transparent;
+    padding: var(--spacing-small) 0;
+    display: inline-block;
+    font-size: var(--page-font-size);
+    cursor: pointer;
+    box-shadow: 0 1px 0 0 var(--separator-color);
+    position: relative;
+}
+
+.tabs-overview button.tab-button .tab-title {
+    float: left;
+    white-space: nowrap;
+    padding: var(--spacing-small) var(--spacing-large);
+    border-radius: var(--border-radius-medium);
+}
+
+.tabs-overview button.tab-button:not(:last-child) .tab-title {
+    box-shadow: 8px 0 0 -7px var(--separator-color);
+}
+
+.tabs-overview button.tab-button:hover .tab-title {
+    background: var(--separator-color);
+    box-shadow: none;
+}
+
+.tabs-overview button.tab-button.active {
+    color: var(--primary-color);
+}
+
+.tabs-overview button.tab-button.active::after {
+    content: '';
+    display: block;
+    position: absolute;
+    left: 0px;
+    bottom: 0;
+    right: 0px;
+    height: 3px;
+    border-radius: var(--border-radius-small) var(--border-radius-small) 0 0;
+    background-color: var(--primary-color);
+}
diff --git a/docs/cpp/doxygen.css b/docs/cpp/doxygen.css
new file mode 100644
index 00000000..89dee6c4
--- /dev/null
+++ b/docs/cpp/doxygen.css
@@ -0,0 +1,1973 @@
+/* The standard CSS for doxygen 1.9.5*/
+
+html {
+/* page base colors */
+--page-background-color: white;
+--page-foreground-color: black;
+--page-link-color: #3D578C;
+--page-visited-link-color: #4665A2;
+
+/* index */
+--index-odd-item-bg-color: #F8F9FC;
+--index-even-item-bg-color: white;
+--index-header-color: black;
+--index-separator-color: #A0A0A0;
+
+/* header */
+--header-background-color: #F9FAFC;
+--header-separator-color: #C4CFE5;
+--header-gradient-image: url('nav_h.png');
+--group-header-separator-color: #879ECB;
+--group-header-color: #354C7B;
+--inherit-header-color: gray;
+
+--footer-foreground-color: #2A3D61;
+--footer-logo-width: 104px;
+--citation-label-color: #334975;
+--glow-color: cyan;
+
+--title-background-color: white;
+--title-separator-color: #5373B4;
+--directory-separator-color: #9CAFD4;
+--separator-color: #4A6AAA;
+
+--blockquote-background-color: #F7F8FB;
+--blockquote-border-color: #9CAFD4;
+
+--scrollbar-thumb-color: #9CAFD4;
+--scrollbar-background-color: #F9FAFC;
+
+--icon-background-color: #728DC1;
+--icon-foreground-color: white;
+--icon-doc-image: url('doc.png');
+
+/* brief member declaration list */
+--memdecl-background-color: #F9FAFC;
+--memdecl-separator-color: #DEE4F0;
+--memdecl-foreground-color: #555;
+--memdecl-template-color: #4665A2;
+
+/* detailed member list */
+--memdef-border-color: #A8B8D9;
+--memdef-title-background-color: #E2E8F2;
+--memdef-title-gradient-image: url('nav_f.png');
+--memdef-proto-background-color: #DFE5F1;
+--memdef-proto-text-color: #253555;
+--memdef-proto-text-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9);
+--memdef-doc-background-color: white;
+--memdef-param-name-color: #602020;
+--memdef-template-color: #4665A2;
+
+/* tables */
+--table-cell-border-color: #2D4068;
+--table-header-background-color: #374F7F;
+--table-header-foreground-color: #FFFFFF;
+
+/* labels */
+--label-background-color: #728DC1;
+--label-left-top-border-color: #5373B4;
+--label-right-bottom-border-color: #C4CFE5;
+--label-foreground-color: white;
+
+/** navigation bar/tree/menu */
+--nav-background-color: #F9FAFC;
+--nav-foreground-color: #364D7C;
+--nav-gradient-image: url('tab_b.png');
+--nav-gradient-hover-image: url('tab_h.png');
+--nav-gradient-active-image: url('tab_a.png');
+--nav-gradient-active-image-parent: url("../tab_a.png");
+--nav-separator-image: url('tab_s.png');
+--nav-breadcrumb-image: url('bc_s.png');
+--nav-breadcrumb-border-color: #C2CDE4;
+--nav-splitbar-image: url('splitbar.png');
+--nav-font-size-level1: 13px;
+--nav-font-size-level2: 10px;
+--nav-font-size-level3: 9px;
+--nav-text-normal-color: #283A5D;
+--nav-text-hover-color: white;
+--nav-text-active-color: white;
+--nav-text-normal-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9);
+--nav-text-hover-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0);
+--nav-text-active-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0);
+--nav-menu-button-color: #364D7C;
+--nav-menu-background-color: white;
+--nav-menu-foreground-color: #555555;
+--nav-menu-toggle-color: rgba(255, 255, 255, 0.5);
+--nav-arrow-color: #9CAFD4;
+--nav-arrow-selected-color: #9CAFD4;
+
+/* table of contents */
+--toc-background-color: #F4F6FA;
+--toc-border-color: #D8DFEE;
+--toc-header-color: #4665A2;
+
+/** search field */
+--search-background-color: white;
+--search-foreground-color: #909090;
+--search-magnification-image: url('mag.svg');
+--search-magnification-select-image: url('mag_sel.svg');
+--search-active-color: black;
+--search-filter-background-color: #F9FAFC;
+--search-filter-foreground-color: black;
+--search-filter-border-color: #90A5CE;
+--search-filter-highlight-text-color: white;
+--search-filter-highlight-bg-color: #3D578C;
+--search-results-foreground-color: #425E97;
+--search-results-background-color: #EEF1F7;
+--search-results-border-color: black;
+--search-box-shadow: inset 0.5px 0.5px 3px 0px #555;
+
+/** code fragments */
+--code-keyword-color: #008000;
+--code-type-keyword-color: #604020;
+--code-flow-keyword-color: #E08000;
+--code-comment-color: #800000;
+--code-preprocessor-color: #806020;
+--code-string-literal-color: #002080;
+--code-char-literal-color: #008080;
+--code-vhdl-digit-color: #FF00FF;
+--code-vhdl-char-color: #000000;
+--code-vhdl-keyword-color: #700070;
+--code-vhdl-logic-color: #FF0000;
+--code-link-color: #4665A2;
+--code-external-link-color: #4665A2;
+--fragment-foreground-color: black;
+--fragment-background-color: #FBFCFD;
+--fragment-border-color: #C4CFE5;
+--fragment-lineno-border-color: #00FF00;
+--fragment-lineno-background-color: #E8E8E8;
+--fragment-lineno-foreground-color: black;
+--fragment-lineno-link-fg-color: #4665A2;
+--fragment-lineno-link-bg-color: #D8D8D8;
+--fragment-lineno-link-hover-fg-color: #4665A2;
+--fragment-lineno-link-hover-bg-color: #C8C8C8;
+--tooltip-foreground-color: black;
+--tooltip-background-color: white;
+--tooltip-border-color: gray;
+--tooltip-doc-color: grey;
+--tooltip-declaration-color: #006318;
+--tooltip-link-color: #4665A2;
+--tooltip-shadow: 1px 1px 7px gray;
+
+/** font-family */
+--font-family-normal: Roboto,sans-serif;
+--font-family-monospace: monospace,fixed;
+--font-family-nav: 'Lucida Grande',Geneva,Helvetica,Arial,sans-serif;
+--font-family-title: Tahoma,Arial,sans-serif;
+--font-family-toc: Verdana,'DejaVu Sans',Geneva,sans-serif;
+--font-family-search: Arial,Verdana,sans-serif;
+--font-family-icon: Arial,Helvetica;
+--font-family-tooltip: Roboto,sans-serif;
+
+}
+
+@media (prefers-color-scheme: dark) {
+  html:not(.dark-mode) {
+    color-scheme: dark;
+
+/* page base colors */
+--page-background-color: black;
+--page-foreground-color: #C9D1D9;
+--page-link-color: #90A5CE;
+--page-visited-link-color: #A3B4D7;
+
+/* index */
+--index-odd-item-bg-color: #0B101A;
+--index-even-item-bg-color: black;
+--index-header-color: #C4CFE5;
+--index-separator-color: #334975;
+
+/* header */
+--header-background-color: #070B11;
+--header-separator-color: #141C2E;
+--header-gradient-image: url('nav_hd.png');
+--group-header-separator-color: #283A5D;
+--group-header-color: #90A5CE;
+--inherit-header-color: #A0A0A0;
+
+--footer-foreground-color: #5B7AB7;
+--footer-logo-width: 60px;
+--citation-label-color: #90A5CE;
+--glow-color: cyan;
+
+--title-background-color: #090D16;
+--title-separator-color: #354C79;
+--directory-separator-color: #283A5D;
+--separator-color: #283A5D;
+
+--blockquote-background-color: #101826;
+--blockquote-border-color: #283A5D;
+
+--scrollbar-thumb-color: #283A5D;
+--scrollbar-background-color: #070B11;
+
+--icon-background-color: #334975;
+--icon-foreground-color: #C4CFE5;
+--icon-doc-image: url('docd.png');
+
+/* brief member declaration list */
+--memdecl-background-color: #0B101A;
+--memdecl-separator-color: #2C3F65;
+--memdecl-foreground-color: #BBB;
+--memdecl-template-color: #7C95C6;
+
+/* detailed member list */
+--memdef-border-color: #233250;
+--memdef-title-background-color: #1B2840;
+--memdef-title-gradient-image: url('nav_fd.png');
+--memdef-proto-background-color: #19243A;
+--memdef-proto-text-color: #9DB0D4;
+--memdef-proto-text-shadow: 0px 1px 1px rgba(0, 0, 0, 0.9);
+--memdef-doc-background-color: black;
+--memdef-param-name-color: #D28757;
+--memdef-template-color: #7C95C6;
+
+/* tables */
+--table-cell-border-color: #283A5D;
+--table-header-background-color: #283A5D;
+--table-header-foreground-color: #C4CFE5;
+
+/* labels */
+--label-background-color: #354C7B;
+--label-left-top-border-color: #4665A2;
+--label-right-bottom-border-color: #283A5D;
+--label-foreground-color: #CCCCCC;
+
+/** navigation bar/tree/menu */
+--nav-background-color: #101826;
+--nav-foreground-color: #364D7C;
+--nav-gradient-image: url('tab_bd.png');
+--nav-gradient-hover-image: url('tab_hd.png');
+--nav-gradient-active-image: url('tab_ad.png');
+--nav-gradient-active-image-parent: url("../tab_ad.png");
+--nav-separator-image: url('tab_sd.png');
+--nav-breadcrumb-image: url('bc_sd.png');
+--nav-breadcrumb-border-color: #2A3D61;
+--nav-splitbar-image: url('splitbard.png');
+--nav-font-size-level1: 13px;
+--nav-font-size-level2: 10px;
+--nav-font-size-level3: 9px;
+--nav-text-normal-color: #B6C4DF;
+--nav-text-hover-color: #DCE2EF;
+--nav-text-active-color: #DCE2EF;
+--nav-text-normal-shadow: 0px 1px 1px black;
+--nav-text-hover-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0);
+--nav-text-active-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0);
+--nav-menu-button-color: #B6C4DF;
+--nav-menu-background-color: #05070C;
+--nav-menu-foreground-color: #BBBBBB;
+--nav-menu-toggle-color: rgba(255, 255, 255, 0.2);
+--nav-arrow-color: #334975;
+--nav-arrow-selected-color: #90A5CE;
+
+/* table of contents */
+--toc-background-color: #151E30;
+--toc-border-color: #202E4A;
+--toc-header-color: #A3B4D7;
+
+/** search field */
+--search-background-color: black;
+--search-foreground-color: #C5C5C5;
+--search-magnification-image: url('mag_d.svg');
+--search-magnification-select-image: url('mag_seld.svg');
+--search-active-color: #C5C5C5;
+--search-filter-background-color: #101826;
+--search-filter-foreground-color: #90A5CE;
+--search-filter-border-color: #7C95C6;
+--search-filter-highlight-text-color: #BCC9E2;
+--search-filter-highlight-bg-color: #283A5D;
+--search-results-background-color: #101826;
+--search-results-foreground-color: #90A5CE;
+--search-results-border-color: #7C95C6;
+--search-box-shadow: inset 0.5px 0.5px 3px 0px #2F436C;
+
+/** code fragments */
+--code-keyword-color: #CC99CD;
+--code-type-keyword-color: #AB99CD;
+--code-flow-keyword-color: #E08000;
+--code-comment-color: #717790;
+--code-preprocessor-color: #65CABE;
+--code-string-literal-color: #7EC699;
+--code-char-literal-color: #00E0F0;
+--code-vhdl-digit-color: #FF00FF;
+--code-vhdl-char-color: #000000;
+--code-vhdl-keyword-color: #700070;
+--code-vhdl-logic-color: #FF0000;
+--code-link-color: #79C0FF;
+--code-external-link-color: #79C0FF;
+--fragment-foreground-color: #C9D1D9;
+--fragment-background-color: black;
+--fragment-border-color: #30363D;
+--fragment-lineno-border-color: #30363D;
+--fragment-lineno-background-color: black;
+--fragment-lineno-foreground-color: #6E7681;
+--fragment-lineno-link-fg-color: #6E7681;
+--fragment-lineno-link-bg-color: #303030;
+--fragment-lineno-link-hover-fg-color: #8E96A1;
+--fragment-lineno-link-hover-bg-color: #505050;
+--tooltip-foreground-color: #C9D1D9;
+--tooltip-background-color: #202020;
+--tooltip-border-color: #C9D1D9;
+--tooltip-doc-color: #D9E1E9;
+--tooltip-declaration-color: #20C348;
+--tooltip-link-color: #79C0FF;
+--tooltip-shadow: none;
+
+/** font-family */
+--font-family-normal: Roboto,sans-serif;
+--font-family-monospace: monospace,fixed;
+--font-family-nav: 'Lucida Grande',Geneva,Helvetica,Arial,sans-serif;
+--font-family-title: Tahoma,Arial,sans-serif;
+--font-family-toc: Verdana,'DejaVu Sans',Geneva,sans-serif;
+--font-family-search: Arial,Verdana,sans-serif;
+--font-family-icon: Arial,Helvetica;
+--font-family-tooltip: Roboto,sans-serif;
+
+}}
+body {
+    background-color: var(--page-background-color);
+    color: var(--page-foreground-color);
+    scrollbar-color: var(--scrollbar-thumb-color) var(--scrollbar-background-color);
+}
+
+::-webkit-scrollbar {
+        background-color: var(--scrollbar-background-color);
+	height: 10px;
+        width: 10px;
+}
+::-webkit-scrollbar-thumb {
+        background-color: var(--scrollbar-thumb-color);
+        border-radius: 8px;
+}
+::-webkit-scrollbar-corner {
+        background-color: var(--scrollbar-background-color);
+}
+
+body, table, div, p, dl {
+	font-weight: 400;
+	font-size: 14px;
+	font-family: var(--font-family-normal);
+	line-height: 22px;
+}
+
+/* @group Heading Levels */
+
+.title {
+	font-weight: 400;
+	font-size: 14px;
+	font-family: var(--font-family-normal);
+	line-height: 28px;
+	font-size: 150%;
+	font-weight: bold;
+	margin: 10px 2px;
+}
+
+h1.groupheader {
+	font-size: 150%;
+}
+
+h2.groupheader {
+	border-bottom: 1px solid var(--group-header-separator-color);
+	color: var(--group-header-color);
+	font-size: 150%;
+	font-weight: normal;
+	margin-top: 1.75em;
+	padding-top: 8px;
+	padding-bottom: 4px;
+	width: 100%;
+}
+
+h3.groupheader {
+	font-size: 100%;
+}
+
+h1, h2, h3, h4, h5, h6 {
+	-webkit-transition: text-shadow 0.5s linear;
+	-moz-transition: text-shadow 0.5s linear;
+	-ms-transition: text-shadow 0.5s linear;
+	-o-transition: text-shadow 0.5s linear;
+	transition: text-shadow 0.5s linear;
+	margin-right: 15px;
+}
+
+h1.glow, h2.glow, h3.glow, h4.glow, h5.glow, h6.glow {
+	text-shadow: 0 0 15px var(--glow-color);
+}
+
+dt {
+	font-weight: bold;
+}
+
+p.startli, p.startdd {
+	margin-top: 2px;
+}
+
+th p.starttd, th p.intertd, th p.endtd {
+        font-size: 100%;
+        font-weight: 700;
+}
+
+p.starttd {
+	margin-top: 0px;
+}
+
+p.endli {
+	margin-bottom: 0px;
+}
+
+p.enddd {
+	margin-bottom: 4px;
+}
+
+p.endtd {
+	margin-bottom: 2px;
+}
+
+p.interli {
+}
+
+p.interdd {
+}
+
+p.intertd {
+}
+
+/* @end */
+
+caption {
+	font-weight: bold;
+}
+
+span.legend {
+	font-size: 70%;
+	text-align: center;
+}
+
+h3.version {
+	font-size: 90%;
+	text-align: center;
+}
+
+div.navtab {
+	padding-right: 15px;
+	text-align: right;
+	line-height: 110%;
+}
+
+div.navtab table {
+	border-spacing: 0;
+}
+
+td.navtab {
+	padding-right: 6px;
+	padding-left: 6px;
+}
+
+td.navtabHL {
+	background-image: var(--nav-gradient-active-image);
+	background-repeat:repeat-x;
+	padding-right: 6px;
+	padding-left: 6px;
+}
+
+td.navtabHL a, td.navtabHL a:visited {
+	color: var(--nav-text-hover-color);
+	text-shadow: var(--nav-text-hover-shadow);
+}
+
+a.navtab {
+	font-weight: bold;
+}
+
+div.qindex{
+	text-align: center;
+	width: 100%;
+	line-height: 140%;
+	font-size: 130%;
+	color: var(--index-separator-color);
+}
+
+dt.alphachar{
+	font-size: 180%;
+	font-weight: bold;
+}
+
+.alphachar a{
+	color: var(--index-header-color);
+}
+
+.alphachar a:hover, .alphachar a:visited{
+	text-decoration: none;
+}
+
+.classindex dl {
+	padding: 25px;
+	column-count:1
+}
+
+.classindex dd {
+	display:inline-block;
+	margin-left: 50px;
+	width: 90%;
+	line-height: 1.15em;
+}
+
+.classindex dl.even {
+	background-color: var(--index-even-item-bg-color);
+}
+
+.classindex dl.odd {
+	background-color: var(--index-odd-item-bg-color);
+}
+
+@media(min-width: 1120px) {
+	.classindex dl {
+		column-count:2
+	}
+}
+
+@media(min-width: 1320px) {
+	.classindex dl {
+		column-count:3
+	}
+}
+
+
+/* @group Link Styling */
+
+a {
+	color: var(--page-link-color);
+	font-weight: normal;
+	text-decoration: none;
+}
+
+.contents a:visited {
+	color: var(--page-visited-link-color);
+}
+
+a:hover {
+	text-decoration: underline;
+}
+
+a.el {
+	font-weight: bold;
+}
+
+a.elRef {
+}
+
+a.code, a.code:visited, a.line, a.line:visited {
+	color: var(--code-link-color);
+}
+
+a.codeRef, a.codeRef:visited, a.lineRef, a.lineRef:visited {
+	color: var(--code-external-link-color);
+}
+
+a.code.hl_class { /* style for links to class names in code snippets */ }
+a.code.hl_struct { /* style for links to struct names in code snippets */ }
+a.code.hl_union { /* style for links to union names in code snippets */ }
+a.code.hl_interface { /* style for links to interface names in code snippets */ }
+a.code.hl_protocol { /* style for links to protocol names in code snippets */ }
+a.code.hl_category { /* style for links to category names in code snippets */ }
+a.code.hl_exception { /* style for links to exception names in code snippets */ }
+a.code.hl_service { /* style for links to service names in code snippets */ }
+a.code.hl_singleton { /* style for links to singleton names in code snippets */ }
+a.code.hl_concept { /* style for links to concept names in code snippets */ }
+a.code.hl_namespace { /* style for links to namespace names in code snippets */ }
+a.code.hl_package { /* style for links to package names in code snippets */ }
+a.code.hl_define { /* style for links to macro names in code snippets */ }
+a.code.hl_function { /* style for links to function names in code snippets */ }
+a.code.hl_variable { /* style for links to variable names in code snippets */ }
+a.code.hl_typedef { /* style for links to typedef names in code snippets */ }
+a.code.hl_enumvalue { /* style for links to enum value names in code snippets */ }
+a.code.hl_enumeration { /* style for links to enumeration names in code snippets */ }
+a.code.hl_signal { /* style for links to Qt signal names in code snippets */ }
+a.code.hl_slot { /* style for links to Qt slot names in code snippets */ }
+a.code.hl_friend { /* style for links to friend names in code snippets */ }
+a.code.hl_dcop { /* style for links to KDE3 DCOP names in code snippets */ }
+a.code.hl_property { /* style for links to property names in code snippets */ }
+a.code.hl_event { /* style for links to event names in code snippets */ }
+a.code.hl_sequence { /* style for links to sequence names in code snippets */ }
+a.code.hl_dictionary { /* style for links to dictionary names in code snippets */ }
+
+/* @end */
+
+dl.el {
+	margin-left: -1cm;
+}
+
+ul {
+  overflow: visible;
+}
+
+#side-nav ul {
+  overflow: visible; /* reset ul rule for scroll bar in GENERATE_TREEVIEW window */
+}
+
+#main-nav ul {
+  overflow: visible; /* reset ul rule for the navigation bar drop down lists */
+}
+
+.fragment {
+  text-align: left;
+  direction: ltr;
+  overflow-x: auto; /*Fixed: fragment lines overlap floating elements*/
+  overflow-y: hidden;
+}
+
+pre.fragment {
+        border: 1px solid var(--fragment-border-color);
+        background-color: var(--fragment-background-color);
+	color: var(--fragment-foreground-color);
+        padding: 4px 6px;
+        margin: 4px 8px 4px 2px;
+        overflow: auto;
+        word-wrap: break-word;
+        font-size:  9pt;
+        line-height: 125%;
+        font-family: var(--font-family-monospace);
+        font-size: 105%;
+}
+
+div.fragment {
+	padding: 0 0 1px 0; /*Fixed: last line underline overlap border*/
+	margin: 4px 8px 4px 2px;
+	color: var(--fragment-foreground-color);
+	background-color: var(--fragment-background-color);
+	border: 1px solid var(--fragment-border-color);
+}
+
+div.line {
+	font-family: var(--font-family-monospace);
+        font-size: 13px;
+	min-height: 13px;
+	line-height: 1.0;
+	text-wrap: unrestricted;
+	white-space: -moz-pre-wrap; /* Moz */
+	white-space: -pre-wrap;     /* Opera 4-6 */
+	white-space: -o-pre-wrap;   /* Opera 7 */
+	white-space: pre-wrap;      /* CSS3  */
+	word-wrap: break-word;      /* IE 5.5+ */
+	text-indent: -53px;
+	padding-left: 53px;
+	padding-bottom: 0px;
+	margin: 0px;
+	-webkit-transition-property: background-color, box-shadow;
+	-webkit-transition-duration: 0.5s;
+	-moz-transition-property: background-color, box-shadow;
+	-moz-transition-duration: 0.5s;
+	-ms-transition-property: background-color, box-shadow;
+	-ms-transition-duration: 0.5s;
+	-o-transition-property: background-color, box-shadow;
+	-o-transition-duration: 0.5s;
+	transition-property: background-color, box-shadow;
+	transition-duration: 0.5s;
+}
+
+div.line:after {
+    content:"\000A";
+    white-space: pre;
+}
+
+div.line.glow {
+	background-color: var(--glow-color);
+	box-shadow: 0 0 10px var(--glow-color);
+}
+
+
+span.lineno {
+	padding-right: 4px;
+        margin-right: 9px;
+	text-align: right;
+	border-right: 2px solid var(--fragment-lineno-border-color);
+	color: var(--fragment-lineno-foreground-color);
+	background-color: var(--fragment-lineno-background-color);
+        white-space: pre;
+}
+span.lineno a, span.lineno a:visited {
+	color: var(--fragment-lineno-link-fg-color);
+	background-color: var(--fragment-lineno-link-bg-color);
+}
+
+span.lineno a:hover {
+	color: var(--fragment-lineno-link-hover-fg-color);
+	background-color: var(--fragment-lineno-link-hover-bg-color);
+}
+
+.lineno {
+	-webkit-touch-callout: none;
+	-webkit-user-select: none;
+	-khtml-user-select: none;
+	-moz-user-select: none;
+	-ms-user-select: none;
+	user-select: none;
+}
+
+div.classindex ul {
+        list-style: none;
+        padding-left: 0;
+}
+
+div.classindex span.ai {
+        display: inline-block;
+}
+
+div.groupHeader {
+	margin-left: 16px;
+	margin-top: 12px;
+	font-weight: bold;
+}
+
+div.groupText {
+	margin-left: 16px;
+	font-style: italic;
+}
+
+body {
+	color: var(--page-foreground-color);
+        margin: 0;
+}
+
+div.contents {
+	margin-top: 10px;
+	margin-left: 12px;
+	margin-right: 8px;
+}
+
+p.formulaDsp {
+	text-align: center;
+}
+
+img.dark-mode-visible {
+	display: none;
+}
+img.light-mode-visible {
+	display: none;
+}
+
+img.formulaDsp {
+	
+}
+
+img.formulaInl, img.inline {
+	vertical-align: middle;
+}
+
+div.center {
+	text-align: center;
+        margin-top: 0px;
+        margin-bottom: 0px;
+        padding: 0px;
+}
+
+div.center img {
+	border: 0px;
+}
+
+address.footer {
+	text-align: right;
+	padding-right: 12px;
+}
+
+img.footer {
+	border: 0px;
+	vertical-align: middle;
+	width: var(--footer-logo-width);
+}
+
+.compoundTemplParams {
+	color: var(--memdecl-template-color);
+	font-size: 80%;
+	line-height: 120%;
+}
+
+/* @group Code Colorization */
+
+span.keyword {
+	color: var(--code-keyword-color);
+}
+
+span.keywordtype {
+	color: var(--code-type-keyword-color);
+}
+
+span.keywordflow {
+	color: var(--code-flow-keyword-color);
+}
+
+span.comment {
+	color: var(--code-comment-color);
+}
+
+span.preprocessor {
+	color: var(--code-preprocessor-color);
+}
+
+span.stringliteral {
+	color: var(--code-string-literal-color);
+}
+
+span.charliteral {
+	color: var(--code-char-literal-color);
+}
+
+span.vhdldigit { 
+	color: var(--code-vhdl-digit-color);
+}
+
+span.vhdlchar { 
+	color: var(--code-vhdl-char-color);
+}
+
+span.vhdlkeyword { 
+	color: var(--code-vhdl-keyword-color);
+}
+
+span.vhdllogic { 
+	color: var(--code-vhdl-logic-color);
+}
+
+blockquote {
+        background-color: var(--blockquote-background-color);
+        border-left: 2px solid var(--blockquote-border-color);
+        margin: 0 24px 0 4px;
+        padding: 0 12px 0 16px;
+}
+
+/* @end */
+
+td.tiny {
+	font-size: 75%;
+}
+
+.dirtab {
+	padding: 4px;
+	border-collapse: collapse;
+	border: 1px solid var(--table-cell-border-color);
+}
+
+th.dirtab {
+	background-color: var(--table-header-background-color);
+	color: var(--table-header-foreground-color);
+	font-weight: bold;
+}
+
+hr {
+	height: 0px;
+	border: none;
+	border-top: 1px solid var(--separator-color);
+}
+
+hr.footer {
+	height: 1px;
+}
+
+/* @group Member Descriptions */
+
+table.memberdecls {
+	border-spacing: 0px;
+	padding: 0px;
+}
+
+.memberdecls td, .fieldtable tr {
+	-webkit-transition-property: background-color, box-shadow;
+	-webkit-transition-duration: 0.5s;
+	-moz-transition-property: background-color, box-shadow;
+	-moz-transition-duration: 0.5s;
+	-ms-transition-property: background-color, box-shadow;
+	-ms-transition-duration: 0.5s;
+	-o-transition-property: background-color, box-shadow;
+	-o-transition-duration: 0.5s;
+	transition-property: background-color, box-shadow;
+	transition-duration: 0.5s;
+}
+
+.memberdecls td.glow, .fieldtable tr.glow {
+	background-color: var(--glow-color);
+	box-shadow: 0 0 15px var(--glow-color);
+}
+
+.mdescLeft, .mdescRight,
+.memItemLeft, .memItemRight,
+.memTemplItemLeft, .memTemplItemRight, .memTemplParams {
+	background-color: var(--memdecl-background-color);
+	border: none;
+	margin: 4px;
+	padding: 1px 0 0 8px;
+}
+
+.mdescLeft, .mdescRight {
+	padding: 0px 8px 4px 8px;
+	color: var(--memdecl-foreground-color);
+}
+
+.memSeparator {
+        border-bottom: 1px solid var(--memdecl-separator-color);
+        line-height: 1px;
+        margin: 0px;
+        padding: 0px;
+}
+
+.memItemLeft, .memTemplItemLeft {
+        white-space: nowrap;
+}
+
+.memItemRight, .memTemplItemRight {
+	width: 100%;
+}
+
+.memTemplParams {
+	color: var(--memdecl-template-color);
+        white-space: nowrap;
+	font-size: 80%;
+}
+
+/* @end */
+
+/* @group Member Details */
+
+/* Styles for detailed member documentation */
+
+.memtitle {
+	padding: 8px;
+	border-top: 1px solid var(--memdef-border-color);
+	border-left: 1px solid var(--memdef-border-color);
+	border-right: 1px solid var(--memdef-border-color);
+	border-top-right-radius: 4px;
+	border-top-left-radius: 4px;
+	margin-bottom: -1px;
+	background-image: var(--memdef-title-gradient-image);
+	background-repeat: repeat-x;
+	background-color: var(--memdef-title-background-color);
+	line-height: 1.25;
+	font-weight: 300;
+	float:left;
+}
+
+.permalink
+{
+        font-size: 65%;
+        display: inline-block;
+        vertical-align: middle;
+}
+
+.memtemplate {
+	font-size: 80%;
+	color: var(--memdef-template-color);
+	font-weight: normal;
+	margin-left: 9px;
+}
+
+.mempage {
+	width: 100%;
+}
+
+.memitem {
+	padding: 0;
+	margin-bottom: 10px;
+	margin-right: 5px;
+        -webkit-transition: box-shadow 0.5s linear;
+        -moz-transition: box-shadow 0.5s linear;
+        -ms-transition: box-shadow 0.5s linear;
+        -o-transition: box-shadow 0.5s linear;
+        transition: box-shadow 0.5s linear;
+        display: table !important;
+        width: 100%;
+}
+
+.memitem.glow {
+         box-shadow: 0 0 15px var(--glow-color);
+}
+
+.memname {
+        font-weight: 400;
+        margin-left: 6px;
+}
+
+.memname td {
+	vertical-align: bottom;
+}
+
+.memproto, dl.reflist dt {
+        border-top: 1px solid var(--memdef-border-color);
+        border-left: 1px solid var(--memdef-border-color);
+        border-right: 1px solid var(--memdef-border-color);
+        padding: 6px 0px 6px 0px;
+        color: var(--memdef-proto-text-color);
+        font-weight: bold;
+        text-shadow: var(--memdef-proto-text-shadow);
+        background-color: var(--memdef-proto-background-color);
+        box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+        border-top-right-radius: 4px;
+}
+
+.overload {
+        font-family: var(--font-family-monospace);
+	font-size: 65%;
+}
+
+.memdoc, dl.reflist dd {
+        border-bottom: 1px solid var(--memdef-border-color);
+        border-left: 1px solid var(--memdef-border-color);
+        border-right: 1px solid var(--memdef-border-color);
+        padding: 6px 10px 2px 10px;
+        border-top-width: 0;
+        background-image:url('nav_g.png');
+        background-repeat:repeat-x;
+        background-color: var(--memdef-doc-background-color);
+        /* opera specific markup */
+        border-bottom-left-radius: 4px;
+        border-bottom-right-radius: 4px;
+        box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+        /* firefox specific markup */
+        -moz-border-radius-bottomleft: 4px;
+        -moz-border-radius-bottomright: 4px;
+        -moz-box-shadow: rgba(0, 0, 0, 0.15) 5px 5px 5px;
+        /* webkit specific markup */
+        -webkit-border-bottom-left-radius: 4px;
+        -webkit-border-bottom-right-radius: 4px;
+        -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+}
+
+dl.reflist dt {
+        padding: 5px;
+}
+
+dl.reflist dd {
+        margin: 0px 0px 10px 0px;
+        padding: 5px;
+}
+
+.paramkey {
+	text-align: right;
+}
+
+.paramtype {
+	white-space: nowrap;
+}
+
+.paramname {
+	color: var(--memdef-param-name-color);
+	white-space: nowrap;
+}
+.paramname em {
+	font-style: normal;
+}
+.paramname code {
+        line-height: 14px;
+}
+
+.params, .retval, .exception, .tparams {
+        margin-left: 0px;
+        padding-left: 0px;
+}
+
+.params .paramname, .retval .paramname, .tparams .paramname, .exception .paramname {
+        font-weight: bold;
+        vertical-align: top;
+}
+
+.params .paramtype, .tparams .paramtype {
+        font-style: italic;
+        vertical-align: top;
+}
+
+.params .paramdir, .tparams .paramdir {
+        font-family: var(--font-family-monospace);
+        vertical-align: top;
+}
+
+table.mlabels {
+	border-spacing: 0px;
+}
+
+td.mlabels-left {
+	width: 100%;
+	padding: 0px;
+}
+
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+	vertical-align: bottom;
+	padding: 0px;
+	white-space: nowrap;
+}
+
+span.mlabels {
+        margin-left: 8px;
+}
+
+span.mlabel {
+        background-color: var(--label-background-color);
+        border-top:1px solid var(--label-left-top-border-color);
+        border-left:1px solid var(--label-left-top-border-color);
+        border-right:1px solid var(--label-right-bottom-border-color);
+        border-bottom:1px solid var(--label-right-bottom-border-color);
+	text-shadow: none;
+	color: var(--label-foreground-color);
+	margin-right: 4px;
+	padding: 2px 3px;
+	border-radius: 3px;
+	font-size: 7pt;
+	white-space: nowrap;
+	vertical-align: middle;
+}
+
+
+
+/* @end */
+
+/* these are for tree view inside a (index) page */
+
+div.directory {
+        margin: 10px 0px;
+        border-top: 1px solid var(--directory-separator-color);
+        border-bottom: 1px solid var(--directory-separator-color);
+        width: 100%;
+}
+
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+        border-collapse:collapse;
+}
+
+.directory td {
+        margin: 0px;
+        padding: 0px;
+	vertical-align: top;
+}
+
+.directory td.entry {
+        white-space: nowrap;
+        padding-right: 6px;
+	padding-top: 3px;
+}
+
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+}
+
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+        border: none;
+}
+
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+        width: 100%;
+        padding-left: 6px;
+	padding-right: 6px;
+	padding-top: 3px;
+	border-left: 1px solid rgba(0,0,0,0.05);
+}
+
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+	padding-left: 6px;
+	background-color: var(--index-odd-item-bg-color);
+}
+
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+	padding-left: 6px;
+	background-color: var(--index-even-item-bg-color);
+}
+
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+	vertical-align: -30%;
+}
+
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+        white-space: nowrap;
+        width: 100%;
+        text-align: right;
+        font-size: 9pt;
+}
+
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+        cursor: pointer;
+        padding-left: 2px;
+        padding-right: 2px;
+	color: var(--page-link-color);
+}
+
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+    color: var(--nav-arrow-color);
+    -webkit-user-select: none;
+    -khtml-user-select: none;
+    -moz-user-select: none;
+    -ms-user-select: none;
+    user-select: none;
+    cursor: pointer;
+    font-size: 80%;
+    display: inline-block;
+    width: 16px;
+    height: 22px;
+}
+
+.icon {
+    font-family: var(--font-family-icon);
+    line-height: normal;
+    font-weight: bold;
+    font-size: 12px;
+    height: 14px;
+    width: 16px;
+    display: inline-block;
+    background-color: var(--icon-background-color);
+    color: var(--icon-foreground-color);
+    text-align: center;
+    border-radius: 4px;
+    margin-left: 2px;
+    margin-right: 2px;
+}
+
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+    width: 24px;
+    height: 22px;
+    display: inline-block;
+}
+
+.iconfopen {
+    width: 24px;
+    height: 18px;
+    margin-bottom: 4px;
+    background-image:url('folderopen.png');
+    background-position: 0px -4px;
+    background-repeat: repeat-y;
+    vertical-align:top;
+    display: inline-block;
+}
+
+.iconfclosed {
+    width: 24px;
+    height: 18px;
+    margin-bottom: 4px;
+    background-image:url('folderclosed.png');
+    background-position: 0px -4px;
+    background-repeat: repeat-y;
+    vertical-align:top;
+    display: inline-block;
+}
+
+.icondoc {
+    width: 24px;
+    height: 18px;
+    margin-bottom: 4px;
+    background-image:var(--icon-doc-image);
+    background-position: 0px -4px;
+    background-repeat: repeat-y;
+    vertical-align:top;
+    display: inline-block;
+}
+
+/* @end */
+
+div.dynheader {
+        margin-top: 8px;
+	-webkit-touch-callout: none;
+	-webkit-user-select: none;
+	-khtml-user-select: none;
+	-moz-user-select: none;
+	-ms-user-select: none;
+	user-select: none;
+}
+
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+	font-style: normal;
+	color: var(--footer-foreground-color);
+}
+
+table.doxtable caption {
+	caption-side: top;
+}
+
+table.doxtable {
+	border-collapse:collapse;
+        margin-top: 4px;
+        margin-bottom: 4px;
+}
+
+table.doxtable td, table.doxtable th {
+	border: 1px solid var(--table-cell-border-color);
+	padding: 3px 7px 2px;
+}
+
+table.doxtable th {
+	background-color: var(--table-header-background-color);
+	color: var(--table-header-foreground-color);
+	font-size: 110%;
+	padding-bottom: 4px;
+	padding-top: 5px;
+}
+
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+        margin-bottom: 10px;
+        border: 1px solid var(--memdef-border-color);
+        border-spacing: 0px;
+        border-radius: 4px;
+        box-shadow: 2px 2px 2px rgba(0, 0, 0, 0.15);
+}
+
+.fieldtable td, .fieldtable th {
+        padding: 3px 7px 2px;
+}
+
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+        white-space: nowrap;
+        border-right: 1px solid var(--memdef-border-color);
+        border-bottom: 1px solid var(--memdef-border-color);
+        vertical-align: top;
+}
+
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+        padding-top: 3px;
+}
+
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+        border-bottom: 1px solid var(--memdef-border-color);
+}
+
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+        margin-top: 0px;
+}
+
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+        margin-bottom: 2px;
+}
+
+.fieldtable tr:last-child td {
+        border-bottom: none;
+}
+
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+        background-image: var(--memdef-title-gradient-image);
+        background-repeat:repeat-x;
+        background-color: var(--memdef-title-background-color);
+        font-size: 90%;
+        color: var(--memdef-proto-text-color);
+        padding-bottom: 4px;
+        padding-top: 5px;
+        text-align:left;
+        font-weight: 400;
+        border-top-left-radius: 4px;
+        border-top-right-radius: 4px;
+        border-bottom: 1px solid var(--memdef-border-color);
+}
+
+
+.tabsearch {
+	top: 0px;
+	left: 10px;
+	height: 36px;
+	background-image: var(--nav-gradient-image);
+	z-index: 101;
+	overflow: hidden;
+	font-size: 13px;
+}
+
+.navpath ul
+{
+	font-size: 11px;
+	background-image: var(--nav-gradient-image);
+	background-repeat:repeat-x;
+	background-position: 0 -5px;
+	height:30px;
+	line-height:30px;
+	color:var(--nav-text-normal-color);
+	border:solid 1px var(--nav-breadcrumb-border-color);
+	overflow:hidden;
+	margin:0px;
+	padding:0px;
+}
+
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+{
+	list-style-type:none;
+	float:left;
+	padding-left:10px;
+	padding-right:15px;
+	background-image:var(--nav-breadcrumb-image);
+	background-repeat:no-repeat;
+	background-position:right;
+	color: var(--nav-foreground-color);
+}
+
+.navpath li.navelem a
+{
+	height:32px;
+	display:block;
+	text-decoration: none;
+	outline: none;
+	color: var(--nav-text-normal-color);
+	font-family: var(--font-family-nav);
+	text-shadow: var(--nav-text-normal-shadow);
+	text-decoration: none;
+}
+
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+{
+	color: var(--nav-text-hover-color);
+	text-shadow: var(--nav-text-hover-shadow);
+}
+
+.navpath li.footer
+{
+        list-style-type:none;
+        float:right;
+        padding-left:10px;
+        padding-right:15px;
+        background-image:none;
+        background-repeat:no-repeat;
+        background-position:right;
+        color: var(--footer-foreground-color);
+        font-size: 8pt;
+}
+
+
+div.summary
+{
+	float: right;
+	font-size: 8pt;
+	padding-right: 5px;
+	width: 50%;
+	text-align: right;
+}
+
+div.summary a
+{
+	white-space: nowrap;
+}
+
+table.classindex
+{
+        margin: 10px;
+        white-space: nowrap;
+        margin-left: 3%;
+        margin-right: 3%;
+        width: 94%;
+        border: 0;
+        border-spacing: 0;
+        padding: 0;
+}
+
+div.ingroups
+{
+	font-size: 8pt;
+	width: 50%;
+	text-align: left;
+}
+
+div.ingroups a
+{
+	white-space: nowrap;
+}
+
+div.header
+{
+        background-image: var(--header-gradient-image);
+        background-repeat:repeat-x;
+	background-color: var(--header-background-color);
+	margin:  0px;
+	border-bottom: 1px solid var(--header-separator-color);
+}
+
+div.headertitle
+{
+	padding: 5px 5px 5px 10px;
+}
+
+.PageDocRTL-title div.headertitle {
+  text-align: right;
+  direction: rtl;
+}
+
+dl {
+        padding: 0 0 0 0;
+}
+
+/* dl.note, dl.warning, dl.attention, dl.pre, dl.post, dl.invariant, dl.deprecated, dl.todo, dl.test, dl.bug, dl.examples */
+dl.section {
+	margin-left: 0px;
+	padding-left: 0px;
+}
+
+dl.note {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #D0C000;
+}
+
+dl.warning, dl.attention {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #FF0000;
+}
+
+dl.pre, dl.post, dl.invariant {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #00D000;
+}
+
+dl.deprecated {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #505050;
+}
+
+dl.todo {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #00C0E0;
+}
+
+dl.test {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #3030E0;
+}
+
+dl.bug {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #C08050;
+}
+
+dl.section dd {
+	margin-bottom: 6px;
+}
+
+
+#projectrow
+{
+	height: 56px;
+}
+
+#projectlogo
+{
+	text-align: center;
+	vertical-align: bottom;
+	border-collapse: separate;
+}
+ 
+#projectlogo img
+{ 
+	border: 0px none;
+}
+ 
+#projectalign
+{
+        vertical-align: middle;
+        padding-left: 0.5em;
+}
+
+#projectname
+{
+	font-size: 200%;
+	font-family: var(--font-family-title);
+	margin: 0px;
+	padding: 2px 0px;
+}
+
+#projectbrief
+{
+	font-size: 90%;
+        font-family: var(--font-family-title);
+	margin: 0px;
+	padding: 0px;
+}
+
+#projectnumber
+{
+	font-size: 50%;
+	font-family: 50% var(--font-family-title);
+	margin: 0px;
+	padding: 0px;
+}
+
+#titlearea
+{
+	padding: 0px;
+	margin: 0px;
+	width: 100%;
+	border-bottom: 1px solid var(--title-separator-color);
+	background-color: var(--title-background-color);
+}
+
+.image
+{
+        text-align: center;
+}
+
+.dotgraph
+{
+        text-align: center;
+}
+
+.mscgraph
+{
+        text-align: center;
+}
+
+.plantumlgraph
+{
+        text-align: center;
+}
+
+.diagraph
+{
+        text-align: center;
+}
+
+.caption
+{
+	font-weight: bold;
+}
+
+dl.citelist {
+        margin-bottom:50px;
+}
+
+dl.citelist dt {
+        color:var(--citation-label-color);
+        float:left;
+        font-weight:bold;
+        margin-right:10px;
+        padding:5px;
+        text-align:right;
+        width:52px;
+}
+
+dl.citelist dd {
+        margin:2px 0 2px 72px;
+        padding:5px 0;
+}
+
+div.toc {
+        padding: 14px 25px;
+        background-color: var(--toc-background-color);
+        border: 1px solid var(--toc-border-color);
+        border-radius: 7px 7px 7px 7px;
+        float: right;
+        height: auto;
+        margin: 0 8px 10px 10px;
+        width: 200px;
+}
+
+div.toc li {
+        background: url("bdwn.png") no-repeat scroll 0 5px transparent;
+        font: 10px/1.2 var(--font-family-toc);
+        margin-top: 5px;
+        padding-left: 10px;
+        padding-top: 2px;
+}
+
+div.toc h3 {
+        font: bold 12px/1.2 var(--font-family-toc);
+	color: var(--toc-header-color);
+        border-bottom: 0 none;
+        margin: 0;
+}
+
+div.toc ul {
+        list-style: none outside none;
+        border: medium none;
+        padding: 0px;
+}
+
+div.toc li.level1 {
+        margin-left: 0px;
+}
+
+div.toc li.level2 {
+        margin-left: 15px;
+}
+
+div.toc li.level3 {
+        margin-left: 30px;
+}
+
+div.toc li.level4 {
+        margin-left: 45px;
+}
+
+span.emoji {
+        /* font family used at the site: https://unicode.org/emoji/charts/full-emoji-list.html
+         * font-family: "Noto Color Emoji", "Apple Color Emoji", "Segoe UI Emoji", Times, Symbola, Aegyptus, Code2000, Code2001, Code2002, Musica, serif, LastResort;
+         */
+}
+
+span.obfuscator {
+  display: none;
+}
+
+.inherit_header {
+        font-weight: bold;
+        color: var(--inherit-header-color);
+        cursor: pointer;
+	-webkit-touch-callout: none;
+	-webkit-user-select: none;
+	-khtml-user-select: none;
+	-moz-user-select: none;
+	-ms-user-select: none;
+	user-select: none;
+}
+
+.inherit_header td {
+        padding: 6px 0px 2px 5px;
+}
+
+.inherit {
+        display: none;
+}
+
+tr.heading h2 {
+        margin-top: 12px;
+        margin-bottom: 4px;
+}
+
+/* tooltip related style info */
+
+.ttc {
+        position: absolute;
+        display: none;
+}
+
+#powerTip {
+	cursor: default;
+	/*white-space: nowrap;*/
+        color: var(--tooltip-foreground-color);
+	background-color: var(--tooltip-background-color);
+	border: 1px solid var(--tooltip-border-color);
+	border-radius: 4px 4px 4px 4px;
+	box-shadow: var(--tooltip-shadow);
+	display: none;
+	font-size: smaller;
+	max-width: 80%;
+	opacity: 0.9;
+	padding: 1ex 1em 1em;
+	position: absolute;
+	z-index: 2147483647;
+}
+
+#powerTip div.ttdoc {
+        color: var(--tooltip-doc-color);
+	font-style: italic;
+}
+
+#powerTip div.ttname a {
+        font-weight: bold;
+}
+
+#powerTip a {
+	color: var(--tooltip-link-color);
+}
+
+#powerTip div.ttname {
+        font-weight: bold;
+}
+
+#powerTip div.ttdeci {
+        color: var(--tooltip-declaration-color);
+}
+
+#powerTip div {
+        margin: 0px;
+        padding: 0px;
+        font-size: 12px;
+       	font-family: var(--font-family-tooltip);
+	line-height: 16px;
+}
+
+#powerTip:before, #powerTip:after {
+	content: "";
+	position: absolute;
+	margin: 0px;
+}
+
+#powerTip.n:after,  #powerTip.n:before,
+#powerTip.s:after,  #powerTip.s:before,
+#powerTip.w:after,  #powerTip.w:before,
+#powerTip.e:after,  #powerTip.e:before,
+#powerTip.ne:after, #powerTip.ne:before,
+#powerTip.se:after, #powerTip.se:before,
+#powerTip.nw:after, #powerTip.nw:before,
+#powerTip.sw:after, #powerTip.sw:before {
+	border: solid transparent;
+	content: " ";
+	height: 0;
+	width: 0;
+	position: absolute;
+}
+
+#powerTip.n:after,  #powerTip.s:after,
+#powerTip.w:after,  #powerTip.e:after,
+#powerTip.nw:after, #powerTip.ne:after,
+#powerTip.sw:after, #powerTip.se:after {
+	border-color: rgba(255, 255, 255, 0);
+}
+
+#powerTip.n:before,  #powerTip.s:before,
+#powerTip.w:before,  #powerTip.e:before,
+#powerTip.nw:before, #powerTip.ne:before,
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+	border-color: rgba(128, 128, 128, 0);
+}
+
+#powerTip.n:after,  #powerTip.n:before,
+#powerTip.ne:after, #powerTip.ne:before,
+#powerTip.nw:after, #powerTip.nw:before {
+	top: 100%;
+}
+
+#powerTip.n:after, #powerTip.ne:after, #powerTip.nw:after {
+	border-top-color: var(--tooltip-background-color);
+	border-width: 10px;
+	margin: 0px -10px;
+}
+#powerTip.n:before, #powerTip.ne:before, #powerTip.nw:before {
+	border-top-color: var(--tooltip-border-color);
+	border-width: 11px;
+	margin: 0px -11px;
+}
+#powerTip.n:after, #powerTip.n:before {
+	left: 50%;
+}
+
+#powerTip.nw:after, #powerTip.nw:before {
+	right: 14px;
+}
+
+#powerTip.ne:after, #powerTip.ne:before {
+	left: 14px;
+}
+
+#powerTip.s:after,  #powerTip.s:before,
+#powerTip.se:after, #powerTip.se:before,
+#powerTip.sw:after, #powerTip.sw:before {
+	bottom: 100%;
+}
+
+#powerTip.s:after, #powerTip.se:after, #powerTip.sw:after {
+	border-bottom-color: var(--tooltip-background-color);
+	border-width: 10px;
+	margin: 0px -10px;
+}
+
+#powerTip.s:before, #powerTip.se:before, #powerTip.sw:before {
+	border-bottom-color: var(--tooltip-border-color);
+	border-width: 11px;
+	margin: 0px -11px;
+}
+
+#powerTip.s:after, #powerTip.s:before {
+	left: 50%;
+}
+
+#powerTip.sw:after, #powerTip.sw:before {
+	right: 14px;
+}
+
+#powerTip.se:after, #powerTip.se:before {
+	left: 14px;
+}
+
+#powerTip.e:after, #powerTip.e:before {
+	left: 100%;
+}
+#powerTip.e:after {
+	border-left-color: var(--tooltip-border-color);
+	border-width: 10px;
+	top: 50%;
+	margin-top: -10px;
+}
+#powerTip.e:before {
+	border-left-color: var(--tooltip-border-color);
+	border-width: 11px;
+	top: 50%;
+	margin-top: -11px;
+}
+
+#powerTip.w:after, #powerTip.w:before {
+	right: 100%;
+}
+#powerTip.w:after {
+	border-right-color: var(--tooltip-border-color);
+	border-width: 10px;
+	top: 50%;
+	margin-top: -10px;
+}
+#powerTip.w:before {
+	border-right-color: var(--tooltip-border-color);
+	border-width: 11px;
+	top: 50%;
+	margin-top: -11px;
+}
+
+@media print
+{
+  #top { display: none; }
+  #side-nav { display: none; }
+  #nav-path { display: none; }
+  body { overflow:visible; }
+  h1, h2, h3, h4, h5, h6 { page-break-after: avoid; }
+  .summary { display: none; }
+  .memitem { page-break-inside: avoid; }
+  #doc-content
+  {
+    margin-left:0 !important;
+    height:auto !important;
+    width:auto !important;
+    overflow:inherit;
+    display:inline;
+  }
+}
+
+/* @group Markdown */
+
+table.markdownTable {
+	border-collapse:collapse;
+        margin-top: 4px;
+        margin-bottom: 4px;
+}
+
+table.markdownTable td, table.markdownTable th {
+	border: 1px solid var(--table-cell-border-color);
+	padding: 3px 7px 2px;
+}
+
+table.markdownTable tr {
+}
+
+th.markdownTableHeadLeft, th.markdownTableHeadRight, th.markdownTableHeadCenter, th.markdownTableHeadNone {
+	background-color: var(--table-header-background-color);
+	color: var(--table-header-foreground-color);
+	font-size: 110%;
+	padding-bottom: 4px;
+	padding-top: 5px;
+}
+
+th.markdownTableHeadLeft, td.markdownTableBodyLeft {
+	text-align: left
+}
+
+th.markdownTableHeadRight, td.markdownTableBodyRight {
+	text-align: right
+}
+
+th.markdownTableHeadCenter, td.markdownTableBodyCenter {
+	text-align: center
+}
+
+tt, code, kbd, samp
+{
+  display: inline-block;
+}
+/* @end */
+
+u {
+	text-decoration: underline;
+}
+
diff --git a/docs/cpp/doxygen.svg b/docs/cpp/doxygen.svg
new file mode 100644
index 00000000..d42dad52
--- /dev/null
+++ b/docs/cpp/doxygen.svg
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diff --git a/docs/cpp/dynsections.js b/docs/cpp/dynsections.js
new file mode 100644
index 00000000..f579fbf3
--- /dev/null
+++ b/docs/cpp/dynsections.js
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+/*
+ @licstart  The following is the entire license notice for the JavaScript code in this file.
+
+ The MIT License (MIT)
+
+ Copyright (C) 1997-2020 by Dimitri van Heesch
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ and associated documentation files (the "Software"), to deal in the Software without restriction,
+ including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all copies or
+ substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+ @licend  The above is the entire license notice for the JavaScript code in this file
+ */
+function toggleVisibility(linkObj)
+{
+ var base = $(linkObj).attr('id');
+ var summary = $('#'+base+'-summary');
+ var content = $('#'+base+'-content');
+ var trigger = $('#'+base+'-trigger');
+ var src=$(trigger).attr('src');
+ if (content.is(':visible')===true) {
+   content.hide();
+   summary.show();
+   $(linkObj).addClass('closed').removeClass('opened');
+   $(trigger).attr('src',src.substring(0,src.length-8)+'closed.png');
+ } else {
+   content.show();
+   summary.hide();
+   $(linkObj).removeClass('closed').addClass('opened');
+   $(trigger).attr('src',src.substring(0,src.length-10)+'open.png');
+ }
+ return false;
+}
+
+function updateStripes()
+{
+  $('table.directory tr').
+       removeClass('even').filter(':visible:even').addClass('even');
+  $('table.directory tr').
+       removeClass('odd').filter(':visible:odd').addClass('odd');
+}
+
+function toggleLevel(level)
+{
+  $('table.directory tr').each(function() {
+    var l = this.id.split('_').length-1;
+    var i = $('#img'+this.id.substring(3));
+    var a = $('#arr'+this.id.substring(3));
+    if (l<level+1) {
+      i.removeClass('iconfopen iconfclosed').addClass('iconfopen');
+      a.html('&#9660;');
+      $(this).show();
+    } else if (l==level+1) {
+      i.removeClass('iconfclosed iconfopen').addClass('iconfclosed');
+      a.html('&#9658;');
+      $(this).show();
+    } else {
+      $(this).hide();
+    }
+  });
+  updateStripes();
+}
+
+function toggleFolder(id)
+{
+  // the clicked row
+  var currentRow = $('#row_'+id);
+
+  // all rows after the clicked row
+  var rows = currentRow.nextAll("tr");
+
+  var re = new RegExp('^row_'+id+'\\d+_$', "i"); //only one sub
+
+  // only match elements AFTER this one (can't hide elements before)
+  var childRows = rows.filter(function() { return this.id.match(re); });
+
+  // first row is visible we are HIDING
+  if (childRows.filter(':first').is(':visible')===true) {
+    // replace down arrow by right arrow for current row
+    var currentRowSpans = currentRow.find("span");
+    currentRowSpans.filter(".iconfopen").removeClass("iconfopen").addClass("iconfclosed");
+    currentRowSpans.filter(".arrow").html('&#9658;');
+    rows.filter("[id^=row_"+id+"]").hide(); // hide all children
+  } else { // we are SHOWING
+    // replace right arrow by down arrow for current row
+    var currentRowSpans = currentRow.find("span");
+    currentRowSpans.filter(".iconfclosed").removeClass("iconfclosed").addClass("iconfopen");
+    currentRowSpans.filter(".arrow").html('&#9660;');
+    // replace down arrows by right arrows for child rows
+    var childRowsSpans = childRows.find("span");
+    childRowsSpans.filter(".iconfopen").removeClass("iconfopen").addClass("iconfclosed");
+    childRowsSpans.filter(".arrow").html('&#9658;');
+    childRows.show(); //show all children
+  }
+  updateStripes();
+}
+
+
+function toggleInherit(id)
+{
+  var rows = $('tr.inherit.'+id);
+  var img = $('tr.inherit_header.'+id+' img');
+  var src = $(img).attr('src');
+  if (rows.filter(':first').is(':visible')===true) {
+    rows.css('display','none');
+    $(img).attr('src',src.substring(0,src.length-8)+'closed.png');
+  } else {
+    rows.css('display','table-row'); // using show() causes jump in firefox
+    $(img).attr('src',src.substring(0,src.length-10)+'open.png');
+  }
+}
+/* @license-end */
diff --git a/docs/cpp/files.html b/docs/cpp/files.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>PathPlannerLib: File List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('files.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="header">
+  <div class="headertitle"><div class="title">File List</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock">Here is a list of all documented files with brief descriptions:</div><div class="directory">
+<div class="levels">[detail level <span onclick="javascript:toggleLevel(1);">1</span><span onclick="javascript:toggleLevel(2);">2</span><span onclick="javascript:toggleLevel(3);">3</span><span onclick="javascript:toggleLevel(4);">4</span><span onclick="javascript:toggleLevel(5);">5</span><span onclick="javascript:toggleLevel(6);">6</span><span onclick="javascript:toggleLevel(7);">7</span><span onclick="javascript:toggleLevel(8);">8</span>]</div><table class="directory">
+<tr id="row_0_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_0_" class="arrow" onclick="toggleFolder('0_')">&#9660;</span><span id="img_0_" class="iconfopen" onclick="toggleFolder('0_')">&#160;</span><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html" target="_self">src</a></td><td class="desc"></td></tr>
+<tr id="row_0_0_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_0_0_" class="arrow" onclick="toggleFolder('0_0_')">&#9660;</span><span id="img_0_0_" class="iconfopen" onclick="toggleFolder('0_0_')">&#160;</span><a class="el" href="dir_5eb159725f84c66aafd839904a4acdd0.html" target="_self">main</a></td><td class="desc"></td></tr>
+<tr id="row_0_0_0_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_0_0_0_" class="arrow" onclick="toggleFolder('0_0_0_')">&#9660;</span><span id="img_0_0_0_" class="iconfopen" onclick="toggleFolder('0_0_0_')">&#160;</span><a class="el" href="dir_b09f3849ec87f7f01357d2c1b28ddfb1.html" target="_self">native</a></td><td class="desc"></td></tr>
+<tr id="row_0_0_0_0_" class="odd"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span id="arr_0_0_0_0_" class="arrow" onclick="toggleFolder('0_0_0_0_')">&#9660;</span><span id="img_0_0_0_0_" class="iconfopen" onclick="toggleFolder('0_0_0_0_')">&#160;</span><a class="el" href="dir_34a15534b0ba644081206e4286ea6115.html" target="_self">include</a></td><td class="desc"></td></tr>
+<tr id="row_0_0_0_0_0_" class="even"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span id="arr_0_0_0_0_0_" class="arrow" onclick="toggleFolder('0_0_0_0_0_')">&#9660;</span><span id="img_0_0_0_0_0_" class="iconfopen" onclick="toggleFolder('0_0_0_0_0_')">&#160;</span><a class="el" href="dir_9928c8ff9a485b7ddff02877d2a05a10.html" target="_self">pathplanner</a></td><td class="desc"></td></tr>
+<tr id="row_0_0_0_0_0_0_" class="odd"><td class="entry"><span style="width:80px;display:inline-block;">&#160;</span><span id="arr_0_0_0_0_0_0_" class="arrow" onclick="toggleFolder('0_0_0_0_0_0_')">&#9660;</span><span id="img_0_0_0_0_0_0_" class="iconfopen" onclick="toggleFolder('0_0_0_0_0_0_')">&#160;</span><a class="el" href="dir_13948881c4c0769b2e268e8b81181ef8.html" target="_self">lib</a></td><td class="desc"></td></tr>
+<tr id="row_0_0_0_0_0_0_0_" class="even"><td class="entry"><span style="width:96px;display:inline-block;">&#160;</span><span id="arr_0_0_0_0_0_0_0_" class="arrow" onclick="toggleFolder('0_0_0_0_0_0_0_')">&#9660;</span><span id="img_0_0_0_0_0_0_0_" class="iconfopen" onclick="toggleFolder('0_0_0_0_0_0_0_')">&#160;</span><a class="el" href="dir_c2a4c57c2fee12ede795dfa3b4f6ba03.html" target="_self">auto</a></td><td class="desc"></td></tr>
+<tr id="row_0_0_0_0_0_0_0_0_" class="odd"><td class="entry"><span style="width:128px;display:inline-block;">&#160;</span><a href="AutoBuilder_8h_source.html"><span class="icondoc"></span></a><b>AutoBuilder.h</b></td><td class="desc"></td></tr>
+<tr id="row_0_0_0_0_0_0_0_1_" class="even"><td class="entry"><span style="width:128px;display:inline-block;">&#160;</span><a href="CommandUtil_8h_source.html"><span class="icondoc"></span></a><b>CommandUtil.h</b></td><td class="desc"></td></tr>
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+<tr id="row_0_0_0_0_0_0_1_" class="even"><td class="entry"><span style="width:96px;display:inline-block;">&#160;</span><span id="arr_0_0_0_0_0_0_1_" class="arrow" onclick="toggleFolder('0_0_0_0_0_0_1_')">&#9660;</span><span id="img_0_0_0_0_0_0_1_" class="iconfopen" onclick="toggleFolder('0_0_0_0_0_0_1_')">&#160;</span><a class="el" href="dir_031296ca7f998269a5e24c7d71fdcf0c.html" target="_self">commands</a></td><td class="desc"></td></tr>
+<tr id="row_0_0_0_0_0_0_1_0_" class="odd"><td class="entry"><span style="width:128px;display:inline-block;">&#160;</span><a href="FollowPathCommand_8h_source.html"><span class="icondoc"></span></a><b>FollowPathCommand.h</b></td><td class="desc"></td></tr>
+<tr id="row_0_0_0_0_0_0_1_1_" class="even"><td class="entry"><span style="width:128px;display:inline-block;">&#160;</span><a href="FollowPathHolonomic_8h_source.html"><span class="icondoc"></span></a><b>FollowPathHolonomic.h</b></td><td class="desc"></td></tr>
+<tr id="row_0_0_0_0_0_0_1_2_" class="odd"><td class="entry"><span style="width:128px;display:inline-block;">&#160;</span><a href="FollowPathLTV_8h_source.html"><span class="icondoc"></span></a><b>FollowPathLTV.h</b></td><td class="desc"></td></tr>
+<tr id="row_0_0_0_0_0_0_1_3_" class="even"><td class="entry"><span style="width:128px;display:inline-block;">&#160;</span><a href="FollowPathRamsete_8h_source.html"><span class="icondoc"></span></a><b>FollowPathRamsete.h</b></td><td class="desc"></td></tr>
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+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_b" name="index_b"></a>- b -</h3><ul>
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+</ul>
+
+
+<h3><a id="index_c" name="index_c"></a>- c -</h3><ul>
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+<li>ChassisSpeedsRateLimiter()&#160;:&#160;<a class="el" href="classpathplanner_1_1ChassisSpeedsRateLimiter.html#a0f07f44ebfc281da3c862b832ab53826">pathplanner::ChassisSpeedsRateLimiter</a></li>
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+<li>configureCustom()&#160;:&#160;<a class="el" href="classpathplanner_1_1AutoBuilder.html#aa9d4e8bc410906d4f7113f3783b04e49">pathplanner::AutoBuilder</a></li>
+<li>configureHolonomic()&#160;:&#160;<a class="el" href="classpathplanner_1_1AutoBuilder.html#a35a1d44dd44756f2f008996967f49007">pathplanner::AutoBuilder</a></li>
+<li>configureLTV()&#160;:&#160;<a class="el" href="classpathplanner_1_1AutoBuilder.html#ae42e2c7770c7cfee1c178323ce17b9aa">pathplanner::AutoBuilder</a></li>
+<li>configureRamsete()&#160;:&#160;<a class="el" href="classpathplanner_1_1AutoBuilder.html#a27cddae7eee06a064a2fee83637ef458">pathplanner::AutoBuilder</a></li>
+<li>ConstraintsZone()&#160;:&#160;<a class="el" href="classpathplanner_1_1ConstraintsZone.html#a257d618ea261f5e19e7bf8674e0fc8d7">pathplanner::ConstraintsZone</a></li>
+<li>createPath()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerPath.html#af5e83eb181bf6a0221654ea731e8ad48">pathplanner::PathPlannerPath</a></li>
+</ul>
+
+
+<h3><a id="index_e" name="index_e"></a>- e -</h3><ul>
+<li>EventMarker()&#160;:&#160;<a class="el" href="classpathplanner_1_1EventMarker.html#a12e800aa86657c34b19e61c4d828a46d">pathplanner::EventMarker</a></li>
+</ul>
+
+
+<h3><a id="index_f" name="index_f"></a>- f -</h3><ul>
+<li>FollowPathCommand()&#160;:&#160;<a class="el" href="classpathplanner_1_1FollowPathCommand.html#a6b078e9fe384cabed1c3ac7083d11a65">pathplanner::FollowPathCommand</a></li>
+<li>FollowPathHolonomic()&#160;:&#160;<a class="el" href="classpathplanner_1_1FollowPathHolonomic.html#a5ed966701059b6f740f0f351fb106f24">pathplanner::FollowPathHolonomic</a></li>
+<li>FollowPathLTV()&#160;:&#160;<a class="el" href="classpathplanner_1_1FollowPathLTV.html#a2fae1ff62b4fab22042c328dcd69af07">pathplanner::FollowPathLTV</a></li>
+<li>FollowPathRamsete()&#160;:&#160;<a class="el" href="classpathplanner_1_1FollowPathRamsete.html#a71fb0c88a78904e3b0b81c7dec82a225">pathplanner::FollowPathRamsete</a></li>
+<li>followPathWithEvents()&#160;:&#160;<a class="el" href="classpathplanner_1_1AutoBuilder.html#a017b1eba314f2b6e525f3c3f0abed96b">pathplanner::AutoBuilder</a></li>
+<li>FollowPathWithEvents()&#160;:&#160;<a class="el" href="classpathplanner_1_1FollowPathWithEvents.html#a050013584a669405f6913426a9e1d05a">pathplanner::FollowPathWithEvents</a></li>
+<li>forSegmentIndex()&#160;:&#160;<a class="el" href="classpathplanner_1_1ConstraintsZone.html#a5479868c4125fafcfb4b7f651e5fa535">pathplanner::ConstraintsZone</a>, <a class="el" href="classpathplanner_1_1RotationTarget.html#af71868d38344ce0b4ab46f7382015686">pathplanner::RotationTarget</a></li>
+<li>fromJson()&#160;:&#160;<a class="el" href="classpathplanner_1_1ConstraintsZone.html#a4a29eeff4f7f38af89ad6b89dbf9570b">pathplanner::ConstraintsZone</a>, <a class="el" href="classpathplanner_1_1EventMarker.html#a693c6484e415b5c3365c3adc88b99506">pathplanner::EventMarker</a>, <a class="el" href="classpathplanner_1_1GoalEndState.html#a1ee3edd41014345b954082fc43ccde34">pathplanner::GoalEndState</a>, <a class="el" href="classpathplanner_1_1PathConstraints.html#a9963568da951044f73765de376337269">pathplanner::PathConstraints</a>, <a class="el" href="classpathplanner_1_1RotationTarget.html#a4ac06eeca87852f80e8f1a9d9faf6d7f">pathplanner::RotationTarget</a></li>
+<li>fromPathFile()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerPath.html#a055b88dc374aa0d386de4e854c35ceda">pathplanner::PathPlannerPath</a></li>
+<li>fromPathPoints()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerPath.html#a702b6f10eefd5edd7c2c9bdcd6d6f89b">pathplanner::PathPlannerPath</a></li>
+</ul>
+
+
+<h3><a id="index_g" name="index_g"></a>- g -</h3><ul>
+<li>getAllPathPoints()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerPath.html#a7d98826cbadfa78a92f6a53069de09ea">pathplanner::PathPlannerPath</a></li>
+<li>getAutoCommandFromJson()&#160;:&#160;<a class="el" href="classpathplanner_1_1AutoBuilder.html#a50592a28e0dd6768c12b6bba9abd8cef">pathplanner::AutoBuilder</a></li>
+<li>getCommand()&#160;:&#160;<a class="el" href="classpathplanner_1_1EventMarker.html#a558e9cc79c680d08268b880ecb53087a">pathplanner::EventMarker</a>, <a class="el" href="classpathplanner_1_1NamedCommands.html#a11a1c7f01d6adaf9c02f58c675054eae">pathplanner::NamedCommands</a></li>
+<li>getConstraints()&#160;:&#160;<a class="el" href="classpathplanner_1_1ConstraintsZone.html#a51f771e5addb6dbe00e907f68da48b6d">pathplanner::ConstraintsZone</a></li>
+<li>getConstraintsForPoint()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerPath.html#ac62037f69a815a7d7fe26bac400ddc12">pathplanner::PathPlannerPath</a></li>
+<li>getDifferentialPose()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html#ab5d306d4a23a4c4eeb589ac199e6ed08">pathplanner::PathPlannerTrajectory::State</a></li>
+<li>getEndState()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html#ad9bee7be286923a359d26bed7eefcbd0">pathplanner::PathPlannerTrajectory</a></li>
+<li>getEventMarkers()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerPath.html#a97c6e010814eb0733af1cd4c13c32b93">pathplanner::PathPlannerPath</a></li>
+<li>getGlobalConstraints()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerPath.html#a8409e0700cf178b6e1da27a92023ac12">pathplanner::PathPlannerPath</a></li>
+<li>getGoalEndState()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerPath.html#a78876dc692b0a6a72ebdd3c9917f9826">pathplanner::PathPlannerPath</a></li>
+<li>getInitialDifferentialPose()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html#acf9de5ca2d759d223405a16357049744">pathplanner::PathPlannerTrajectory</a></li>
+<li>getInitialState()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html#a03b44fbc085e5a9d899b68d7c68980f2">pathplanner::PathPlannerTrajectory</a></li>
+<li>getInitialTargetHolonomicPose()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html#a6d8107a32a708c654dd08a2fa7e568e1">pathplanner::PathPlannerTrajectory</a></li>
+<li>getMaxAcceleration()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathConstraints.html#ad48ea4771018e336fc20d69bf32c468d">pathplanner::PathConstraints</a></li>
+<li>getMaxAngularAcceleration()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathConstraints.html#aae61e0f700e7e40b7841803cc0da85fd">pathplanner::PathConstraints</a></li>
+<li>getMaxAngularVelocity()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathConstraints.html#ac2f8dc7ece4f0e8652494bf14a4a6bab">pathplanner::PathConstraints</a></li>
+<li>getMaxVelocity()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathConstraints.html#a3e55a90b65cf31d313e9f5fd6e5d7988">pathplanner::PathConstraints</a></li>
+<li>getMaxWaypointRelativePos()&#160;:&#160;<a class="el" href="classpathplanner_1_1ConstraintsZone.html#acf6c9117b71f5a740985790388092b6e">pathplanner::ConstraintsZone</a></li>
+<li>getMinimumTriggerDistance()&#160;:&#160;<a class="el" href="classpathplanner_1_1EventMarker.html#a6ec068726b35bc1ebd3770a83a59219d">pathplanner::EventMarker</a></li>
+<li>getMinWaypointRelativePos()&#160;:&#160;<a class="el" href="classpathplanner_1_1ConstraintsZone.html#a1ddacd3bd0b2d590acbfa93b0f0ddaec">pathplanner::ConstraintsZone</a></li>
+<li>getPathGroupFromAutoFile()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerAuto.html#a2df5ff0fd686dfdca1e4091999939f84">pathplanner::PathPlannerAuto</a></li>
+<li>getPoint()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerPath.html#a3f7ee172e69a9fe3c911d27f9332c624">pathplanner::PathPlannerPath</a></li>
+<li>getPosition()&#160;:&#160;<a class="el" href="classpathplanner_1_1RotationTarget.html#aed4869b96c97dcb69a0f6f14bf7754d5">pathplanner::RotationTarget</a></li>
+<li>getPositionalError()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathFollowingController.html#aec75b4c43026780f9d3f57ddc081fe0f">pathplanner::PathFollowingController</a>, <a class="el" href="classpathplanner_1_1PPHolonomicDriveController.html#a664a6866463393f42cdbebff5c74154b">pathplanner::PPHolonomicDriveController</a>, <a class="el" href="classpathplanner_1_1PPLTVController.html#a79a37bf3eb7539baedee3cfd9698f20a">pathplanner::PPLTVController</a>, <a class="el" href="classpathplanner_1_1PPRamseteController.html#aecf94d68ee9953199141042a2fadbcaf">pathplanner::PPRamseteController</a></li>
+<li>getRotation()&#160;:&#160;<a class="el" href="classpathplanner_1_1GoalEndState.html#a7dbe48e50285bda3e39881d07b471586">pathplanner::GoalEndState</a></li>
+<li>getSegmentPoints()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathSegment.html#ae29272731c67c2c2d75ba63f31db970d">pathplanner::PathSegment</a></li>
+<li>getStartingPoseFromAutoFile()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerAuto.html#a8a789e029ae0f4dd1802eb1453eb1606">pathplanner::PathPlannerAuto</a></li>
+<li>getState()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html#a0a699d6d04d75425d78089115f3eaaaa">pathplanner::PathPlannerTrajectory</a></li>
+<li>getStates()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html#a6f935d670bfa0d45079ce51661224af9">pathplanner::PathPlannerTrajectory</a></li>
+<li>getTarget()&#160;:&#160;<a class="el" href="classpathplanner_1_1RotationTarget.html#a96eb0a2f814fea43193e4df30bb6679c">pathplanner::RotationTarget</a></li>
+<li>getTargetHolonomicPose()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html#ac4973e5c1f460c635997af5f50b20d57">pathplanner::PathPlannerTrajectory::State</a></li>
+<li>getTotalTime()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html#a2329ac90fd3511ac1131ccc3809c4cb0">pathplanner::PathPlannerTrajectory</a></li>
+<li>getVelocity()&#160;:&#160;<a class="el" href="classpathplanner_1_1GoalEndState.html#a3f201f1b301f46ae3359e0e4ed305839">pathplanner::GoalEndState</a></li>
+<li>getWaypointRelativePos()&#160;:&#160;<a class="el" href="classpathplanner_1_1EventMarker.html#a6cb6d47109992bd120f3ede6410960aa">pathplanner::EventMarker</a></li>
+<li>GoalEndState()&#160;:&#160;<a class="el" href="classpathplanner_1_1GoalEndState.html#a41dfd9669b9d9eaf81655e26377bee2a">pathplanner::GoalEndState</a></li>
+</ul>
+
+
+<h3><a id="index_h" name="index_h"></a>- h -</h3><ul>
+<li>hasCommand()&#160;:&#160;<a class="el" href="classpathplanner_1_1NamedCommands.html#ae7db5c097d0da8bfc546f74ae6595833">pathplanner::NamedCommands</a></li>
+<li>HolonomicPathFollowerConfig()&#160;:&#160;<a class="el" href="classpathplanner_1_1HolonomicPathFollowerConfig.html#aedf6d65cc87f908ae0b87a1b55b03dd4">pathplanner::HolonomicPathFollowerConfig</a></li>
+</ul>
+
+
+<h3><a id="index_i" name="index_i"></a>- i -</h3><ul>
+<li>isConfigured()&#160;:&#160;<a class="el" href="classpathplanner_1_1AutoBuilder.html#ac447d58765d6ac127f13301291245caf">pathplanner::AutoBuilder</a></li>
+<li>isHolonomic()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathFollowingController.html#ae323fa07e8d2a8af8325d460e3cb1352">pathplanner::PathFollowingController</a>, <a class="el" href="classpathplanner_1_1PPHolonomicDriveController.html#ab4e50cbe9e11bedfb7c9837bf1093e4d">pathplanner::PPHolonomicDriveController</a>, <a class="el" href="classpathplanner_1_1PPLTVController.html#a7df93fcd85a218b11afc26403f86905a">pathplanner::PPLTVController</a>, <a class="el" href="classpathplanner_1_1PPRamseteController.html#a05c5a148faaff8d5e93bdc3dce2a7a49">pathplanner::PPRamseteController</a></li>
+<li>isReversed()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerPath.html#a8e5f27c1607a5b68a4f5bf7a7e08cb2f">pathplanner::PathPlannerPath</a></li>
+<li>isWithinZone()&#160;:&#160;<a class="el" href="classpathplanner_1_1ConstraintsZone.html#af1860116d986465f83e666cf302849a3">pathplanner::ConstraintsZone</a></li>
+</ul>
+
+
+<h3><a id="index_n" name="index_n"></a>- n -</h3><ul>
+<li>numPoints()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerPath.html#a986bd8fcd5b02df8786a0381ac86638c">pathplanner::PathPlannerPath</a></li>
+</ul>
+
+
+<h3><a id="index_o" name="index_o"></a>- o -</h3><ul>
+<li>overlapsRange()&#160;:&#160;<a class="el" href="classpathplanner_1_1ConstraintsZone.html#a2fcf8a1f73da55eef874f8a283abe2f3">pathplanner::ConstraintsZone</a></li>
+</ul>
+
+
+<h3><a id="index_p" name="index_p"></a>- p -</h3><ul>
+<li>PathConstraints()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathConstraints.html#afd5ff7d50f81933f628b7e119123897c">pathplanner::PathConstraints</a></li>
+<li>PathfindHolonomic()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathfindHolonomic.html#a51f352aeb9662256421e25495cba0764">pathplanner::PathfindHolonomic</a></li>
+<li>PathfindingCommand()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathfindingCommand.html#a5b2774dbe3b76c19c541baa7b64dc4ac">pathplanner::PathfindingCommand</a></li>
+<li>PathfindLTV()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathfindLTV.html#ae47ba3c72dc3814e4aa7292caf326eb8">pathplanner::PathfindLTV</a></li>
+<li>PathfindRamsete()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathfindRamsete.html#a2b53a0d2800954213c06118332ee786e">pathplanner::PathfindRamsete</a></li>
+<li>pathfindThenFollowPath()&#160;:&#160;<a class="el" href="classpathplanner_1_1AutoBuilder.html#ad6bcd5c3fa107143b10d94cc1a2f7063">pathplanner::AutoBuilder</a></li>
+<li>PathfindThenFollowPathHolonomic()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathfindThenFollowPathHolonomic.html#ab4962b3998abfc86a5b8ea2c81d2fe59">pathplanner::PathfindThenFollowPathHolonomic</a></li>
+<li>PathfindThenFollowPathLTV()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathfindThenFollowPathLTV.html#ac6f0774fce7316b1b1b0ec0c44f24040">pathplanner::PathfindThenFollowPathLTV</a></li>
+<li>PathfindThenFollowPathRamsete()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathfindThenFollowPathRamsete.html#a6e990c923afe1f476f639642be6689d4">pathplanner::PathfindThenFollowPathRamsete</a></li>
+<li>pathfindToPose()&#160;:&#160;<a class="el" href="classpathplanner_1_1AutoBuilder.html#a51d6009e360d8017ab7268edf3d69236">pathplanner::AutoBuilder</a></li>
+<li>PathPlannerAuto()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerAuto.html#af9e38c4f29761113f5689d1b21da6c40">pathplanner::PathPlannerAuto</a></li>
+<li>PathPlannerPath()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerPath.html#a247e643be6e7f1da959f318d67854b0b">pathplanner::PathPlannerPath</a></li>
+<li>PathPlannerTrajectory()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html#a8063217aeeb651633a87e40370cc83a0">pathplanner::PathPlannerTrajectory</a></li>
+<li>PathSegment()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathSegment.html#a212b955e6c46a332fe5eec3ec3f21929">pathplanner::PathSegment</a></li>
+<li>PIDConstants()&#160;:&#160;<a class="el" href="classpathplanner_1_1PIDConstants.html#a69565033153bfeeefa60d89be3301bfc">pathplanner::PIDConstants</a></li>
+<li>PPHolonomicDriveController()&#160;:&#160;<a class="el" href="classpathplanner_1_1PPHolonomicDriveController.html#a337977d00fde477e8eb49208d4d441a7">pathplanner::PPHolonomicDriveController</a></li>
+<li>PPLTVController()&#160;:&#160;<a class="el" href="classpathplanner_1_1PPLTVController.html#a4929bd9baa23f1b7b089a8add0609ab4">pathplanner::PPLTVController</a></li>
+<li>PPRamseteController()&#160;:&#160;<a class="el" href="classpathplanner_1_1PPRamseteController.html#ae5772a7c13a3ec8f527085ba0367b188">pathplanner::PPRamseteController</a></li>
+</ul>
+
+
+<h3><a id="index_r" name="index_r"></a>- r -</h3><ul>
+<li>registerCommand()&#160;:&#160;<a class="el" href="classpathplanner_1_1NamedCommands.html#addaa0c15860d2b6d150471eb7fd83200">pathplanner::NamedCommands</a></li>
+<li>replan()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerPath.html#a6adba9071719c8d75ff383504b0d1b61">pathplanner::PathPlannerPath</a></li>
+<li>ReplanningConfig()&#160;:&#160;<a class="el" href="classpathplanner_1_1ReplanningConfig.html#a5f8377d6273c244227088744922d697d">pathplanner::ReplanningConfig</a></li>
+<li>reset()&#160;:&#160;<a class="el" href="classpathplanner_1_1ChassisSpeedsRateLimiter.html#ac7efd541000522662cda915a3e46011d">pathplanner::ChassisSpeedsRateLimiter</a>, <a class="el" href="classpathplanner_1_1EventMarker.html#ad27d886428a8e07857defae973f41acb">pathplanner::EventMarker</a>, <a class="el" href="classpathplanner_1_1PathFollowingController.html#ab0877961e6f6db0209990fa9d1288d42">pathplanner::PathFollowingController</a>, <a class="el" href="classpathplanner_1_1PPHolonomicDriveController.html#a0b9ad901c14364666b7d9aff7f1db6fa">pathplanner::PPHolonomicDriveController</a>, <a class="el" href="classpathplanner_1_1PPLTVController.html#aa821f72877dde70bb8cd167378ad411e">pathplanner::PPLTVController</a>, <a class="el" href="classpathplanner_1_1PPRamseteController.html#ae4e0a1e37d71614a75576bb7ea8e4e50">pathplanner::PPRamseteController</a></li>
+<li>reverse()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html#a3c0e46f74c1b27e38d3416a2f97b678f">pathplanner::PathPlannerTrajectory::State</a></li>
+<li>RotationTarget()&#160;:&#160;<a class="el" href="classpathplanner_1_1RotationTarget.html#a724f9de278dd2031cc359b4fd7de9051">pathplanner::RotationTarget</a></li>
+</ul>
+
+
+<h3><a id="index_s" name="index_s"></a>- s -</h3><ul>
+<li>sample()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html#a2a6b514d0f95d7890a8e3ed150a2036a">pathplanner::PathPlannerTrajectory</a></li>
+<li>setEnabled()&#160;:&#160;<a class="el" href="classpathplanner_1_1PPHolonomicDriveController.html#ae3da3b9e5ef33855f01d8653ccc11ef7">pathplanner::PPHolonomicDriveController</a></li>
+<li>setMarkerPosition()&#160;:&#160;<a class="el" href="classpathplanner_1_1EventMarker.html#a328b5edeb7af5f88f7a54a945ba2f683">pathplanner::EventMarker</a></li>
+<li>setRateLimits()&#160;:&#160;<a class="el" href="classpathplanner_1_1ChassisSpeedsRateLimiter.html#a16c38975d1ce985e50cdf90b54863577">pathplanner::ChassisSpeedsRateLimiter</a></li>
+<li>shouldTrigger()&#160;:&#160;<a class="el" href="classpathplanner_1_1EventMarker.html#a0c027f6fdcf0f364a89565a1ccd35090">pathplanner::EventMarker</a></li>
+</ul>
+
+
+<h3><a id="index_w" name="index_w"></a>- w -</h3><ul>
+<li>wrappedEventCommand()&#160;:&#160;<a class="el" href="classpathplanner_1_1CommandUtil.html#a084caee4b421f3596d4a9d0e8bc6b82e">pathplanner::CommandUtil</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/docs/cpp/functions_func.html b/docs/cpp/functions_func.html
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+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
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+<title>PathPlannerLib: Class Members - Functions</title>
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+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_b" name="index_b"></a>- b -</h3><ul>
+<li>bezierFromPoses()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerPath.html#a15ae899cebb2cb4923ba026f2fa62ca2">pathplanner::PathPlannerPath</a></li>
+<li>buildAuto()&#160;:&#160;<a class="el" href="classpathplanner_1_1AutoBuilder.html#abb4e30e93dea6d7c23fa122c6f8d7531">pathplanner::AutoBuilder</a></li>
+</ul>
+
+
+<h3><a id="index_c" name="index_c"></a>- c -</h3><ul>
+<li>calculate()&#160;:&#160;<a class="el" href="classpathplanner_1_1ChassisSpeedsRateLimiter.html#ab2c8f08687c34f87039a2344a89ca6a4">pathplanner::ChassisSpeedsRateLimiter</a></li>
+<li>calculateRobotRelativeSpeeds()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathFollowingController.html#a606f820cf7c0b607dad35518da99f459">pathplanner::PathFollowingController</a>, <a class="el" href="classpathplanner_1_1PPHolonomicDriveController.html#af7ea70afb7857680b3656f9c106e43db">pathplanner::PPHolonomicDriveController</a>, <a class="el" href="classpathplanner_1_1PPLTVController.html#aa935fe0ee3c2e1e2c795c983cae7c931">pathplanner::PPLTVController</a>, <a class="el" href="classpathplanner_1_1PPRamseteController.html#a8d14ffb80c95770055f8ced1394d17d0">pathplanner::PPRamseteController</a></li>
+<li>ChassisSpeedsRateLimiter()&#160;:&#160;<a class="el" href="classpathplanner_1_1ChassisSpeedsRateLimiter.html#a0f07f44ebfc281da3c862b832ab53826">pathplanner::ChassisSpeedsRateLimiter</a></li>
+<li>commandFromJson()&#160;:&#160;<a class="el" href="classpathplanner_1_1CommandUtil.html#a1242839afe67a5c778da2d905818b2f4">pathplanner::CommandUtil</a></li>
+<li>configureCustom()&#160;:&#160;<a class="el" href="classpathplanner_1_1AutoBuilder.html#aa9d4e8bc410906d4f7113f3783b04e49">pathplanner::AutoBuilder</a></li>
+<li>configureHolonomic()&#160;:&#160;<a class="el" href="classpathplanner_1_1AutoBuilder.html#a35a1d44dd44756f2f008996967f49007">pathplanner::AutoBuilder</a></li>
+<li>configureLTV()&#160;:&#160;<a class="el" href="classpathplanner_1_1AutoBuilder.html#ae42e2c7770c7cfee1c178323ce17b9aa">pathplanner::AutoBuilder</a></li>
+<li>configureRamsete()&#160;:&#160;<a class="el" href="classpathplanner_1_1AutoBuilder.html#a27cddae7eee06a064a2fee83637ef458">pathplanner::AutoBuilder</a></li>
+<li>ConstraintsZone()&#160;:&#160;<a class="el" href="classpathplanner_1_1ConstraintsZone.html#a257d618ea261f5e19e7bf8674e0fc8d7">pathplanner::ConstraintsZone</a></li>
+<li>createPath()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerPath.html#af5e83eb181bf6a0221654ea731e8ad48">pathplanner::PathPlannerPath</a></li>
+</ul>
+
+
+<h3><a id="index_e" name="index_e"></a>- e -</h3><ul>
+<li>EventMarker()&#160;:&#160;<a class="el" href="classpathplanner_1_1EventMarker.html#a12e800aa86657c34b19e61c4d828a46d">pathplanner::EventMarker</a></li>
+</ul>
+
+
+<h3><a id="index_f" name="index_f"></a>- f -</h3><ul>
+<li>FollowPathCommand()&#160;:&#160;<a class="el" href="classpathplanner_1_1FollowPathCommand.html#a6b078e9fe384cabed1c3ac7083d11a65">pathplanner::FollowPathCommand</a></li>
+<li>FollowPathHolonomic()&#160;:&#160;<a class="el" href="classpathplanner_1_1FollowPathHolonomic.html#a5ed966701059b6f740f0f351fb106f24">pathplanner::FollowPathHolonomic</a></li>
+<li>FollowPathLTV()&#160;:&#160;<a class="el" href="classpathplanner_1_1FollowPathLTV.html#a2fae1ff62b4fab22042c328dcd69af07">pathplanner::FollowPathLTV</a></li>
+<li>FollowPathRamsete()&#160;:&#160;<a class="el" href="classpathplanner_1_1FollowPathRamsete.html#a71fb0c88a78904e3b0b81c7dec82a225">pathplanner::FollowPathRamsete</a></li>
+<li>followPathWithEvents()&#160;:&#160;<a class="el" href="classpathplanner_1_1AutoBuilder.html#a017b1eba314f2b6e525f3c3f0abed96b">pathplanner::AutoBuilder</a></li>
+<li>FollowPathWithEvents()&#160;:&#160;<a class="el" href="classpathplanner_1_1FollowPathWithEvents.html#a050013584a669405f6913426a9e1d05a">pathplanner::FollowPathWithEvents</a></li>
+<li>forSegmentIndex()&#160;:&#160;<a class="el" href="classpathplanner_1_1ConstraintsZone.html#a5479868c4125fafcfb4b7f651e5fa535">pathplanner::ConstraintsZone</a>, <a class="el" href="classpathplanner_1_1RotationTarget.html#af71868d38344ce0b4ab46f7382015686">pathplanner::RotationTarget</a></li>
+<li>fromJson()&#160;:&#160;<a class="el" href="classpathplanner_1_1ConstraintsZone.html#a4a29eeff4f7f38af89ad6b89dbf9570b">pathplanner::ConstraintsZone</a>, <a class="el" href="classpathplanner_1_1EventMarker.html#a693c6484e415b5c3365c3adc88b99506">pathplanner::EventMarker</a>, <a class="el" href="classpathplanner_1_1GoalEndState.html#a1ee3edd41014345b954082fc43ccde34">pathplanner::GoalEndState</a>, <a class="el" href="classpathplanner_1_1PathConstraints.html#a9963568da951044f73765de376337269">pathplanner::PathConstraints</a>, <a class="el" href="classpathplanner_1_1RotationTarget.html#a4ac06eeca87852f80e8f1a9d9faf6d7f">pathplanner::RotationTarget</a></li>
+<li>fromPathFile()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerPath.html#a055b88dc374aa0d386de4e854c35ceda">pathplanner::PathPlannerPath</a></li>
+<li>fromPathPoints()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerPath.html#a702b6f10eefd5edd7c2c9bdcd6d6f89b">pathplanner::PathPlannerPath</a></li>
+</ul>
+
+
+<h3><a id="index_g" name="index_g"></a>- g -</h3><ul>
+<li>getAllPathPoints()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerPath.html#a7d98826cbadfa78a92f6a53069de09ea">pathplanner::PathPlannerPath</a></li>
+<li>getAutoCommandFromJson()&#160;:&#160;<a class="el" href="classpathplanner_1_1AutoBuilder.html#a50592a28e0dd6768c12b6bba9abd8cef">pathplanner::AutoBuilder</a></li>
+<li>getCommand()&#160;:&#160;<a class="el" href="classpathplanner_1_1EventMarker.html#a558e9cc79c680d08268b880ecb53087a">pathplanner::EventMarker</a>, <a class="el" href="classpathplanner_1_1NamedCommands.html#a11a1c7f01d6adaf9c02f58c675054eae">pathplanner::NamedCommands</a></li>
+<li>getConstraints()&#160;:&#160;<a class="el" href="classpathplanner_1_1ConstraintsZone.html#a51f771e5addb6dbe00e907f68da48b6d">pathplanner::ConstraintsZone</a></li>
+<li>getConstraintsForPoint()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerPath.html#ac62037f69a815a7d7fe26bac400ddc12">pathplanner::PathPlannerPath</a></li>
+<li>getDifferentialPose()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html#ab5d306d4a23a4c4eeb589ac199e6ed08">pathplanner::PathPlannerTrajectory::State</a></li>
+<li>getEndState()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html#ad9bee7be286923a359d26bed7eefcbd0">pathplanner::PathPlannerTrajectory</a></li>
+<li>getEventMarkers()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerPath.html#a97c6e010814eb0733af1cd4c13c32b93">pathplanner::PathPlannerPath</a></li>
+<li>getGlobalConstraints()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerPath.html#a8409e0700cf178b6e1da27a92023ac12">pathplanner::PathPlannerPath</a></li>
+<li>getGoalEndState()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerPath.html#a78876dc692b0a6a72ebdd3c9917f9826">pathplanner::PathPlannerPath</a></li>
+<li>getInitialDifferentialPose()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html#acf9de5ca2d759d223405a16357049744">pathplanner::PathPlannerTrajectory</a></li>
+<li>getInitialState()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html#a03b44fbc085e5a9d899b68d7c68980f2">pathplanner::PathPlannerTrajectory</a></li>
+<li>getInitialTargetHolonomicPose()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html#a6d8107a32a708c654dd08a2fa7e568e1">pathplanner::PathPlannerTrajectory</a></li>
+<li>getMaxAcceleration()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathConstraints.html#ad48ea4771018e336fc20d69bf32c468d">pathplanner::PathConstraints</a></li>
+<li>getMaxAngularAcceleration()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathConstraints.html#aae61e0f700e7e40b7841803cc0da85fd">pathplanner::PathConstraints</a></li>
+<li>getMaxAngularVelocity()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathConstraints.html#ac2f8dc7ece4f0e8652494bf14a4a6bab">pathplanner::PathConstraints</a></li>
+<li>getMaxVelocity()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathConstraints.html#a3e55a90b65cf31d313e9f5fd6e5d7988">pathplanner::PathConstraints</a></li>
+<li>getMaxWaypointRelativePos()&#160;:&#160;<a class="el" href="classpathplanner_1_1ConstraintsZone.html#acf6c9117b71f5a740985790388092b6e">pathplanner::ConstraintsZone</a></li>
+<li>getMinimumTriggerDistance()&#160;:&#160;<a class="el" href="classpathplanner_1_1EventMarker.html#a6ec068726b35bc1ebd3770a83a59219d">pathplanner::EventMarker</a></li>
+<li>getMinWaypointRelativePos()&#160;:&#160;<a class="el" href="classpathplanner_1_1ConstraintsZone.html#a1ddacd3bd0b2d590acbfa93b0f0ddaec">pathplanner::ConstraintsZone</a></li>
+<li>getPathGroupFromAutoFile()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerAuto.html#a2df5ff0fd686dfdca1e4091999939f84">pathplanner::PathPlannerAuto</a></li>
+<li>getPoint()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerPath.html#a3f7ee172e69a9fe3c911d27f9332c624">pathplanner::PathPlannerPath</a></li>
+<li>getPosition()&#160;:&#160;<a class="el" href="classpathplanner_1_1RotationTarget.html#aed4869b96c97dcb69a0f6f14bf7754d5">pathplanner::RotationTarget</a></li>
+<li>getPositionalError()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathFollowingController.html#aec75b4c43026780f9d3f57ddc081fe0f">pathplanner::PathFollowingController</a>, <a class="el" href="classpathplanner_1_1PPHolonomicDriveController.html#a664a6866463393f42cdbebff5c74154b">pathplanner::PPHolonomicDriveController</a>, <a class="el" href="classpathplanner_1_1PPLTVController.html#a79a37bf3eb7539baedee3cfd9698f20a">pathplanner::PPLTVController</a>, <a class="el" href="classpathplanner_1_1PPRamseteController.html#aecf94d68ee9953199141042a2fadbcaf">pathplanner::PPRamseteController</a></li>
+<li>getRotation()&#160;:&#160;<a class="el" href="classpathplanner_1_1GoalEndState.html#a7dbe48e50285bda3e39881d07b471586">pathplanner::GoalEndState</a></li>
+<li>getSegmentPoints()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathSegment.html#ae29272731c67c2c2d75ba63f31db970d">pathplanner::PathSegment</a></li>
+<li>getStartingPoseFromAutoFile()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerAuto.html#a8a789e029ae0f4dd1802eb1453eb1606">pathplanner::PathPlannerAuto</a></li>
+<li>getState()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html#a0a699d6d04d75425d78089115f3eaaaa">pathplanner::PathPlannerTrajectory</a></li>
+<li>getStates()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html#a6f935d670bfa0d45079ce51661224af9">pathplanner::PathPlannerTrajectory</a></li>
+<li>getTarget()&#160;:&#160;<a class="el" href="classpathplanner_1_1RotationTarget.html#a96eb0a2f814fea43193e4df30bb6679c">pathplanner::RotationTarget</a></li>
+<li>getTargetHolonomicPose()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html#ac4973e5c1f460c635997af5f50b20d57">pathplanner::PathPlannerTrajectory::State</a></li>
+<li>getTotalTime()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html#a2329ac90fd3511ac1131ccc3809c4cb0">pathplanner::PathPlannerTrajectory</a></li>
+<li>getVelocity()&#160;:&#160;<a class="el" href="classpathplanner_1_1GoalEndState.html#a3f201f1b301f46ae3359e0e4ed305839">pathplanner::GoalEndState</a></li>
+<li>getWaypointRelativePos()&#160;:&#160;<a class="el" href="classpathplanner_1_1EventMarker.html#a6cb6d47109992bd120f3ede6410960aa">pathplanner::EventMarker</a></li>
+<li>GoalEndState()&#160;:&#160;<a class="el" href="classpathplanner_1_1GoalEndState.html#a41dfd9669b9d9eaf81655e26377bee2a">pathplanner::GoalEndState</a></li>
+</ul>
+
+
+<h3><a id="index_h" name="index_h"></a>- h -</h3><ul>
+<li>hasCommand()&#160;:&#160;<a class="el" href="classpathplanner_1_1NamedCommands.html#ae7db5c097d0da8bfc546f74ae6595833">pathplanner::NamedCommands</a></li>
+<li>HolonomicPathFollowerConfig()&#160;:&#160;<a class="el" href="classpathplanner_1_1HolonomicPathFollowerConfig.html#aedf6d65cc87f908ae0b87a1b55b03dd4">pathplanner::HolonomicPathFollowerConfig</a></li>
+</ul>
+
+
+<h3><a id="index_i" name="index_i"></a>- i -</h3><ul>
+<li>isConfigured()&#160;:&#160;<a class="el" href="classpathplanner_1_1AutoBuilder.html#ac447d58765d6ac127f13301291245caf">pathplanner::AutoBuilder</a></li>
+<li>isHolonomic()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathFollowingController.html#ae323fa07e8d2a8af8325d460e3cb1352">pathplanner::PathFollowingController</a>, <a class="el" href="classpathplanner_1_1PPHolonomicDriveController.html#ab4e50cbe9e11bedfb7c9837bf1093e4d">pathplanner::PPHolonomicDriveController</a>, <a class="el" href="classpathplanner_1_1PPLTVController.html#a7df93fcd85a218b11afc26403f86905a">pathplanner::PPLTVController</a>, <a class="el" href="classpathplanner_1_1PPRamseteController.html#a05c5a148faaff8d5e93bdc3dce2a7a49">pathplanner::PPRamseteController</a></li>
+<li>isReversed()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerPath.html#a8e5f27c1607a5b68a4f5bf7a7e08cb2f">pathplanner::PathPlannerPath</a></li>
+<li>isWithinZone()&#160;:&#160;<a class="el" href="classpathplanner_1_1ConstraintsZone.html#af1860116d986465f83e666cf302849a3">pathplanner::ConstraintsZone</a></li>
+</ul>
+
+
+<h3><a id="index_n" name="index_n"></a>- n -</h3><ul>
+<li>numPoints()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerPath.html#a986bd8fcd5b02df8786a0381ac86638c">pathplanner::PathPlannerPath</a></li>
+</ul>
+
+
+<h3><a id="index_o" name="index_o"></a>- o -</h3><ul>
+<li>overlapsRange()&#160;:&#160;<a class="el" href="classpathplanner_1_1ConstraintsZone.html#a2fcf8a1f73da55eef874f8a283abe2f3">pathplanner::ConstraintsZone</a></li>
+</ul>
+
+
+<h3><a id="index_p" name="index_p"></a>- p -</h3><ul>
+<li>PathConstraints()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathConstraints.html#afd5ff7d50f81933f628b7e119123897c">pathplanner::PathConstraints</a></li>
+<li>PathfindHolonomic()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathfindHolonomic.html#a51f352aeb9662256421e25495cba0764">pathplanner::PathfindHolonomic</a></li>
+<li>PathfindingCommand()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathfindingCommand.html#a5b2774dbe3b76c19c541baa7b64dc4ac">pathplanner::PathfindingCommand</a></li>
+<li>PathfindLTV()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathfindLTV.html#ae47ba3c72dc3814e4aa7292caf326eb8">pathplanner::PathfindLTV</a></li>
+<li>PathfindRamsete()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathfindRamsete.html#a2b53a0d2800954213c06118332ee786e">pathplanner::PathfindRamsete</a></li>
+<li>pathfindThenFollowPath()&#160;:&#160;<a class="el" href="classpathplanner_1_1AutoBuilder.html#ad6bcd5c3fa107143b10d94cc1a2f7063">pathplanner::AutoBuilder</a></li>
+<li>PathfindThenFollowPathHolonomic()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathfindThenFollowPathHolonomic.html#ab4962b3998abfc86a5b8ea2c81d2fe59">pathplanner::PathfindThenFollowPathHolonomic</a></li>
+<li>PathfindThenFollowPathLTV()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathfindThenFollowPathLTV.html#ac6f0774fce7316b1b1b0ec0c44f24040">pathplanner::PathfindThenFollowPathLTV</a></li>
+<li>PathfindThenFollowPathRamsete()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathfindThenFollowPathRamsete.html#a6e990c923afe1f476f639642be6689d4">pathplanner::PathfindThenFollowPathRamsete</a></li>
+<li>pathfindToPose()&#160;:&#160;<a class="el" href="classpathplanner_1_1AutoBuilder.html#a51d6009e360d8017ab7268edf3d69236">pathplanner::AutoBuilder</a></li>
+<li>PathPlannerAuto()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerAuto.html#af9e38c4f29761113f5689d1b21da6c40">pathplanner::PathPlannerAuto</a></li>
+<li>PathPlannerPath()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerPath.html#a247e643be6e7f1da959f318d67854b0b">pathplanner::PathPlannerPath</a></li>
+<li>PathPlannerTrajectory()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html#a8063217aeeb651633a87e40370cc83a0">pathplanner::PathPlannerTrajectory</a></li>
+<li>PathSegment()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathSegment.html#a212b955e6c46a332fe5eec3ec3f21929">pathplanner::PathSegment</a></li>
+<li>PIDConstants()&#160;:&#160;<a class="el" href="classpathplanner_1_1PIDConstants.html#a69565033153bfeeefa60d89be3301bfc">pathplanner::PIDConstants</a></li>
+<li>PPHolonomicDriveController()&#160;:&#160;<a class="el" href="classpathplanner_1_1PPHolonomicDriveController.html#a337977d00fde477e8eb49208d4d441a7">pathplanner::PPHolonomicDriveController</a></li>
+<li>PPLTVController()&#160;:&#160;<a class="el" href="classpathplanner_1_1PPLTVController.html#a4929bd9baa23f1b7b089a8add0609ab4">pathplanner::PPLTVController</a></li>
+<li>PPRamseteController()&#160;:&#160;<a class="el" href="classpathplanner_1_1PPRamseteController.html#ae5772a7c13a3ec8f527085ba0367b188">pathplanner::PPRamseteController</a></li>
+</ul>
+
+
+<h3><a id="index_r" name="index_r"></a>- r -</h3><ul>
+<li>registerCommand()&#160;:&#160;<a class="el" href="classpathplanner_1_1NamedCommands.html#addaa0c15860d2b6d150471eb7fd83200">pathplanner::NamedCommands</a></li>
+<li>replan()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerPath.html#a6adba9071719c8d75ff383504b0d1b61">pathplanner::PathPlannerPath</a></li>
+<li>ReplanningConfig()&#160;:&#160;<a class="el" href="classpathplanner_1_1ReplanningConfig.html#a5f8377d6273c244227088744922d697d">pathplanner::ReplanningConfig</a></li>
+<li>reset()&#160;:&#160;<a class="el" href="classpathplanner_1_1ChassisSpeedsRateLimiter.html#ac7efd541000522662cda915a3e46011d">pathplanner::ChassisSpeedsRateLimiter</a>, <a class="el" href="classpathplanner_1_1EventMarker.html#ad27d886428a8e07857defae973f41acb">pathplanner::EventMarker</a>, <a class="el" href="classpathplanner_1_1PathFollowingController.html#ab0877961e6f6db0209990fa9d1288d42">pathplanner::PathFollowingController</a>, <a class="el" href="classpathplanner_1_1PPHolonomicDriveController.html#a0b9ad901c14364666b7d9aff7f1db6fa">pathplanner::PPHolonomicDriveController</a>, <a class="el" href="classpathplanner_1_1PPLTVController.html#aa821f72877dde70bb8cd167378ad411e">pathplanner::PPLTVController</a>, <a class="el" href="classpathplanner_1_1PPRamseteController.html#ae4e0a1e37d71614a75576bb7ea8e4e50">pathplanner::PPRamseteController</a></li>
+<li>reverse()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerTrajectory_1_1State.html#a3c0e46f74c1b27e38d3416a2f97b678f">pathplanner::PathPlannerTrajectory::State</a></li>
+<li>RotationTarget()&#160;:&#160;<a class="el" href="classpathplanner_1_1RotationTarget.html#a724f9de278dd2031cc359b4fd7de9051">pathplanner::RotationTarget</a></li>
+</ul>
+
+
+<h3><a id="index_s" name="index_s"></a>- s -</h3><ul>
+<li>sample()&#160;:&#160;<a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html#a2a6b514d0f95d7890a8e3ed150a2036a">pathplanner::PathPlannerTrajectory</a></li>
+<li>setEnabled()&#160;:&#160;<a class="el" href="classpathplanner_1_1PPHolonomicDriveController.html#ae3da3b9e5ef33855f01d8653ccc11ef7">pathplanner::PPHolonomicDriveController</a></li>
+<li>setMarkerPosition()&#160;:&#160;<a class="el" href="classpathplanner_1_1EventMarker.html#a328b5edeb7af5f88f7a54a945ba2f683">pathplanner::EventMarker</a></li>
+<li>setRateLimits()&#160;:&#160;<a class="el" href="classpathplanner_1_1ChassisSpeedsRateLimiter.html#a16c38975d1ce985e50cdf90b54863577">pathplanner::ChassisSpeedsRateLimiter</a></li>
+<li>shouldTrigger()&#160;:&#160;<a class="el" href="classpathplanner_1_1EventMarker.html#a0c027f6fdcf0f364a89565a1ccd35090">pathplanner::EventMarker</a></li>
+</ul>
+
+
+<h3><a id="index_w" name="index_w"></a>- w -</h3><ul>
+<li>wrappedEventCommand()&#160;:&#160;<a class="el" href="classpathplanner_1_1CommandUtil.html#a084caee4b421f3596d4a9d0e8bc6b82e">pathplanner::CommandUtil</a></li>
+</ul>
+</div><!-- contents -->
+</div><!-- doc-content -->
+<!-- start footer part -->
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.5 </li>
+  </ul>
+</div>
+</body>
+</html>
diff --git a/docs/cpp/hierarchy.html b/docs/cpp/hierarchy.html
new file mode 100644
index 00000000..854c106b
--- /dev/null
+++ b/docs/cpp/hierarchy.html
@@ -0,0 +1,154 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>PathPlannerLib: Class Hierarchy</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">PathPlannerLib
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.5 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('hierarchy.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="header">
+  <div class="headertitle"><div class="title">Class Hierarchy</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock">This inheritance list is sorted roughly, but not completely, alphabetically:</div><div class="directory">
+<div class="levels">[detail level <span onclick="javascript:toggleLevel(1);">1</span><span onclick="javascript:toggleLevel(2);">2</span><span onclick="javascript:toggleLevel(3);">3</span>]</div><table class="directory">
+<tr id="row_0_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1ADStar.html" target="_self">pathplanner::ADStar</a></td><td class="desc"></td></tr>
+<tr id="row_1_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1AutoBuilder.html" target="_self">pathplanner::AutoBuilder</a></td><td class="desc"></td></tr>
+<tr id="row_2_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1ChassisSpeedsRateLimiter.html" target="_self">pathplanner::ChassisSpeedsRateLimiter</a></td><td class="desc"></td></tr>
+<tr id="row_3_" class="odd"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_3_" class="arrow" onclick="toggleFolder('3_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><b>frc2::CommandHelper</b></td><td class="desc"></td></tr>
+<tr id="row_3_0_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_3_0_" class="arrow" onclick="toggleFolder('3_0_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1FollowPathCommand.html" target="_self">pathplanner::FollowPathCommand</a></td><td class="desc"></td></tr>
+<tr id="row_3_0_0_" class="odd"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1FollowPathHolonomic.html" target="_self">pathplanner::FollowPathHolonomic</a></td><td class="desc"></td></tr>
+<tr id="row_3_0_1_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1FollowPathLTV.html" target="_self">pathplanner::FollowPathLTV</a></td><td class="desc"></td></tr>
+<tr id="row_3_0_2_" class="odd"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1FollowPathRamsete.html" target="_self">pathplanner::FollowPathRamsete</a></td><td class="desc"></td></tr>
+<tr id="row_3_1_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1FollowPathWithEvents.html" target="_self">pathplanner::FollowPathWithEvents</a></td><td class="desc"></td></tr>
+<tr id="row_3_2_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1PathPlannerAuto.html" target="_self">pathplanner::PathPlannerAuto</a></td><td class="desc"></td></tr>
+<tr id="row_3_3_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_3_3_" class="arrow" onclick="toggleFolder('3_3_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1PathfindingCommand.html" target="_self">pathplanner::PathfindingCommand</a></td><td class="desc"></td></tr>
+<tr id="row_3_3_0_" class="odd"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1PathfindHolonomic.html" target="_self">pathplanner::PathfindHolonomic</a></td><td class="desc"></td></tr>
+<tr id="row_3_3_1_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1PathfindLTV.html" target="_self">pathplanner::PathfindLTV</a></td><td class="desc"></td></tr>
+<tr id="row_3_3_2_" class="odd"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1PathfindRamsete.html" target="_self">pathplanner::PathfindRamsete</a></td><td class="desc"></td></tr>
+<tr id="row_4_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1CommandUtil.html" target="_self">pathplanner::CommandUtil</a></td><td class="desc"></td></tr>
+<tr id="row_5_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1ConstraintsZone.html" target="_self">pathplanner::ConstraintsZone</a></td><td class="desc"></td></tr>
+<tr id="row_6_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1EventMarker.html" target="_self">pathplanner::EventMarker</a></td><td class="desc"></td></tr>
+<tr id="row_7_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1GoalEndState.html" target="_self">pathplanner::GoalEndState</a></td><td class="desc"></td></tr>
+<tr id="row_8_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1ADStar_1_1GridPosition.html" target="_self">pathplanner::ADStar::GridPosition</a></td><td class="desc"></td></tr>
+<tr id="row_9_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structstd_1_1hash_3_01pathplanner_1_1ADStar_1_1GridPosition_01_4.html" target="_self">std::hash&lt; pathplanner::ADStar::GridPosition &gt;</a></td><td class="desc"></td></tr>
+<tr id="row_10_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1HolonomicPathFollowerConfig.html" target="_self">pathplanner::HolonomicPathFollowerConfig</a></td><td class="desc"></td></tr>
+<tr id="row_11_" class="odd"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_11_" class="arrow" onclick="toggleFolder('11_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><b>frc::LTVUnicycleController</b></td><td class="desc"></td></tr>
+<tr id="row_11_0_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1PPLTVController.html" target="_self">pathplanner::PPLTVController</a></td><td class="desc"></td></tr>
+<tr id="row_12_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1NamedCommands.html" target="_self">pathplanner::NamedCommands</a></td><td class="desc"></td></tr>
+<tr id="row_13_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1PathConstraints.html" target="_self">pathplanner::PathConstraints</a></td><td class="desc"></td></tr>
+<tr id="row_14_" class="odd"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_14_" class="arrow" onclick="toggleFolder('14_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1PathFollowingController.html" target="_self">pathplanner::PathFollowingController</a></td><td class="desc"></td></tr>
+<tr id="row_14_0_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1PPHolonomicDriveController.html" target="_self">pathplanner::PPHolonomicDriveController</a></td><td class="desc"></td></tr>
+<tr id="row_14_1_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1PPLTVController.html" target="_self">pathplanner::PPLTVController</a></td><td class="desc"></td></tr>
+<tr id="row_14_2_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1PPRamseteController.html" target="_self">pathplanner::PPRamseteController</a></td><td class="desc"></td></tr>
+<tr id="row_15_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1PathPlannerLogging.html" target="_self">pathplanner::PathPlannerLogging</a></td><td class="desc"></td></tr>
+<tr id="row_16_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1PathPlannerPath.html" target="_self">pathplanner::PathPlannerPath</a></td><td class="desc"></td></tr>
+<tr id="row_17_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1PathPlannerTrajectory.html" target="_self">pathplanner::PathPlannerTrajectory</a></td><td class="desc"></td></tr>
+<tr id="row_18_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1PathPoint.html" target="_self">pathplanner::PathPoint</a></td><td class="desc"></td></tr>
+<tr id="row_19_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1PathSegment.html" target="_self">pathplanner::PathSegment</a></td><td class="desc"></td></tr>
+<tr id="row_20_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1PIDConstants.html" target="_self">pathplanner::PIDConstants</a></td><td class="desc"></td></tr>
+<tr id="row_21_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1PPLibTelemetry.html" target="_self">pathplanner::PPLibTelemetry</a></td><td class="desc"></td></tr>
+<tr id="row_22_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_22_" class="arrow" onclick="toggleFolder('22_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><b>frc::RamseteController</b></td><td class="desc"></td></tr>
+<tr id="row_22_0_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1PPRamseteController.html" target="_self">pathplanner::PPRamseteController</a></td><td class="desc"></td></tr>
+<tr id="row_23_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1ReplanningConfig.html" target="_self">pathplanner::ReplanningConfig</a></td><td class="desc"></td></tr>
+<tr id="row_24_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classpathplanner_1_1RotationTarget.html" target="_self">pathplanner::RotationTarget</a></td><td class="desc"></td></tr>
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+<meta name="generator" content="Doxygen 1.9.5"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>PathPlannerLib: PathPlannerLib</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<table cellspacing="0" cellpadding="0">
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+ <tr id="projectrow">
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+   <div id="projectname">PathPlannerLib
+   </div>
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+<!-- Generated by Doxygen 1.9.5 -->
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+
+<div><div class="header">
+  <div class="headertitle"><div class="title">PathPlannerLib </div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><p ><a class="anchor" id="md__github_workspace_README"></a> <a href="https://github.com/mjansen4857/pathplanner/actions/workflows/pathplanner-ci.yaml"><img src="https://github.com/mjansen4857/pathplanner/actions/workflows/pathplanner-ci.yaml/badge.svg" alt="PathPlanner" style="pointer-events: none;" class="inline"/></a> <a href="https://codecov.io/gh/mjansen4857/pathplanner"><img src="https://codecov.io/gh/mjansen4857/pathplanner/branch/main/graph/badge.svg?token=RRJY4YR69W" alt="codecov" style="pointer-events: none;" class="inline"/></a> <a href="https://github.com/mjansen4857/pathplanner/actions/workflows/pplib-ci.yml"><img src="https://github.com/mjansen4857/pathplanner/actions/workflows/pplib-ci.yml/badge.svg" alt="PathPlannerLib" style="pointer-events: none;" class="inline"/></a></p>
+<h1><a class="anchor" id="autotoc_md0"></a>
+PathPlanner</h1>
+<p ><a href="https://www.microsoft.com/en-us/p/frc-pathplanner/9nqbkb5dw909?cid=storebadge&amp;ocid=badge&amp;rtc=1&amp;activetab=pivot:overviewtab"><img src="https://mjansen4857.com/badges/windows.svg" alt="" style="pointer-events: none;" height="50" class="inline"/></a> &#160;&#160;&#160; <a href="https://apps.apple.com/us/app/frc-pathplanner/id1593046876"><img src="https://mjansen4857.com/badges/mac.svg" alt="" style="pointer-events: none;" height="51" class="inline"/></a></p>
+<p >Download from one of the above app stores to receive auto-updates. Manual installs can be found <a href="https://github.com/mjansen4857/pathplanner/releases">here</a>.</p>
+<h2><a class="anchor" id="autotoc_md1"></a>
+About</h2>
+<p ><img src="https://github.com/mjansen4857/pathplanner/assets/9343077/41e73558-1e0e-4d08-a4b1-18b3d065462c" alt="PathPlanner" class="inline"/></p>
+<p >PathPlanner is a motion profile generator for FRC robots created by team 3015. The main features of PathPlanner include:</p><ul>
+<li>Each path is made with Bézier curves, allowing fine tuning of the exact path shape.</li>
+<li>Holonomic mode supports decoupling the robot's rotation from its direction of travel.</li>
+<li>Real-time path preview</li>
+<li>Allows placing "event markers" along the path which can be used to trigger other code while path following.</li>
+<li>Build modular autonomous routines using other paths.</li>
+<li>Automatic saving and file management</li>
+<li>Robot-side vendor library for path generation and custom path following commands/controllers</li>
+<li>Full autonomous command generation with PathPlannerLib auto builder</li>
+<li>Real time path following telemetry</li>
+<li>Hot reload (paths and autos can be updated and regenerated on the robot without redeploying code)</li>
+<li>Automatic pathfinding in PathPlannerLib with AD*</li>
+</ul>
+<h2><a class="anchor" id="autotoc_md2"></a>
+Usage and Documentation</h2>
+<h3><a class="anchor" id="autotoc_md3"></a>
+&lt;a href="https://github.com/mjansen4857/pathplanner/wiki" &gt;Check the Wiki&lt;/a&gt;</h3>
+<p ><br  />
+</p>
+<p >Make sure you <a href="https://github.com/mjansen4857/pathplanner/wiki/PathPlannerLib:-Installing">install PathPlannerLib</a> to generate your paths. </p><div class="fragment"><div class="line">https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json</div>
+</div><!-- fragment --><p ><a href="https://mjansen4857.com/pathplanner/docs/java/">Java API Docs</a></p>
+<p ><a href="https://mjansen4857.com/pathplanner/docs/cpp/">C++ API Docs</a></p>
+<h2><a class="anchor" id="autotoc_md4"></a>
+How to build manually:</h2>
+<ul>
+<li><a href="https://flutter.dev/docs/get-started/install">Install Flutter</a> (this project currently uses v3.13.6)</li>
+<li>Open the project in a terminal and run the following command: <code>flutter build &lt;PLATFORM&gt;</code><ul>
+<li>Valid platforms are:<ul>
+<li>windows</li>
+<li>macos</li>
+<li>linux</li>
+</ul>
+</li>
+</ul>
+</li>
+<li>The built app will be located here:<ul>
+<li>Windows: <code>&lt;PROJECT DIR&gt;/build/windows/runner/Release</code></li>
+<li>macOS: <code>&lt;PROJECT DIR&gt;/build/macos/Build/Products/Release</code></li>
+<li>Linux: <code>&lt;PROJECT DIR&gt;/build/linux/x64/release/bundle</code></li>
+</ul>
+</li>
+<li>OR <code>flutter run</code> to run in debug mode </li>
+</ul>
+</div></div><!-- PageDoc -->
+</div><!-- contents -->
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+ * Licensed under MIT
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+ * @version 2.1.2
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+/*!
+ PowerTip v1.3.1 (2018-04-15)
+ https://stevenbenner.github.io/jquery-powertip/
+ Copyright (c) 2018 Steven Benner (http://stevenbenner.com/).
+ Released under MIT license.
+ https://raw.github.com/stevenbenner/jquery-powertip/master/LICENSE.txt
+*/
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CSSCoordinates,position;if(isSvgElement(element)){position=getSvgPlacement(element,placementBase)}else{position=getHtmlPlacement(element,placementBase)}switch(placement){case"n":coords.set("left",position.left-tipWidth/2);coords.set("bottom",session.windowHeight-position.top+offset);break;case"e":coords.set("left",position.left+offset);coords.set("top",position.top-tipHeight/2);break;case"s":coords.set("left",position.left-tipWidth/2);coords.set("top",position.top+offset);break;case"w":coords.set("top",position.top-tipHeight/2);coords.set("right",session.windowWidth-position.left+offset);break;case"nw":coords.set("bottom",session.windowHeight-position.top+offset);coords.set("right",session.windowWidth-position.left-20);break;case"nw-alt":coords.set("left",position.left);coords.set("bottom",session.windowHeight-position.top+offset);break;case"ne":coords.set("left",position.left-20);coords.set("bottom",session.windowHeight-position.top+offset);break;case"ne-alt":coords.set("bottom",session.windowHeight-position.top+offset);coords.set("right",session.windowWidth-position.left);break;case"sw":coords.set("top",position.top+offset);coords.set("right",session.windowWidth-position.left-20);break;case"sw-alt":coords.set("left",position.left);coords.set("top",position.top+offset);break;case"se":coords.set("left",position.left-20);coords.set("top",position.top+offset);break;case"se-alt":coords.set("top",position.top+offset);coords.set("right",session.windowWidth-position.left);break}return 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svgElement=element.closest("svg")[0],domElement=element[0],point=svgElement.createSVGPoint(),boundingBox=domElement.getBBox(),matrix=domElement.getScreenCTM(),halfWidth=boundingBox.width/2,halfHeight=boundingBox.height/2,placements=[],placementKeys=["nw","n","ne","e","se","s","sw","w"],coords,rotation,steps,x;function 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+ *
+ * Copyright 2011–2014, Dave Furfero
+ * Dual licensed under the MIT or GPL Version 2 licenses.
+ *
+ * Depends:
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+ *  jquery.ui.mouse.js
+ */
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e=$(t.currentTarget);if(this.handleItemEvents(e)){if(this.$touchScrollingSub&&this.$touchScrollingSub[0]==e.closest("ul")[0])return this.$touchScrollingSub=null,t.stopPropagation(),!1;if(this.$root.triggerHandler("click.smapi",e[0])===!1)return!1;var i=$(t.target).is(".sub-arrow"),s=e.dataSM("sub"),o=s?2==s.dataSM("level"):!1,a=this.isCollapsible(),n=/toggle$/.test(this.opts.collapsibleBehavior),r=/link$/.test(this.opts.collapsibleBehavior),h=/^accordion/.test(this.opts.collapsibleBehavior);if(s&&!s.is(":visible")){if((!r||!a||i)&&(this.opts.showOnClick&&o&&(this.clickActivated=!0),this.itemActivate(e,h),s.is(":visible")))return this.focusActivated=!0,!1}else if(a&&(n||i))return this.itemActivate(e,h),this.menuHide(s),n&&(this.focusActivated=!1),!1;return this.opts.showOnClick&&o||e.hasClass("disabled")||this.$root.triggerHandler("select.smapi",e[0])===!1?!1:void 0}},itemDown:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&e.dataSM("mousedown",!0)},itemEnter:function(t){var e=$(t.currentTarget);if(this.handleItemEvents(e)){if(!this.isTouchMode()){this.showTimeout&&(clearTimeout(this.showTimeout),this.showTimeout=0);var i=this;this.showTimeout=setTimeout(function(){i.itemActivate(e)},this.opts.showOnClick&&1==e.closest("ul").dataSM("level")?1:this.opts.showTimeout)}this.$root.triggerHandler("mouseenter.smapi",e[0])}},itemFocus:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&(!this.focusActivated||this.isTouchMode()&&e.dataSM("mousedown")||this.activatedItems.length&&this.activatedItems[this.activatedItems.length-1][0]==e[0]||this.itemActivate(e,!0),this.$root.triggerHandler("focus.smapi",e[0]))},itemLeave:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&(this.isTouchMode()||(e[0].blur(),this.showTimeout&&(clearTimeout(this.showTimeout),this.showTimeout=0)),e.removeDataSM("mousedown"),this.$root.triggerHandler("mouseleave.smapi",e[0]))},menuHide:function(t){if(this.$root.triggerHandler("beforehide.smapi",t[0])!==!1&&(canAnimate&&t.stop(!0,!0),"none"!=t.css("display"))){var e=function(){t.css("z-index","")};this.isCollapsible()?canAnimate&&this.opts.collapsibleHideFunction?this.opts.collapsibleHideFunction.call(this,t,e):t.hide(this.opts.collapsibleHideDuration,e):canAnimate&&this.opts.hideFunction?this.opts.hideFunction.call(this,t,e):t.hide(this.opts.hideDuration,e),t.dataSM("scroll")&&(this.menuScrollStop(t),t.css({"touch-action":"","-ms-touch-action":"","-webkit-transform":"",transform:""}).off(".smartmenus_scroll").removeDataSM("scroll").dataSM("scroll-arrows").hide()),t.dataSM("parent-a").removeClass("highlighted").attr("aria-expanded","false"),t.attr({"aria-expanded":"false","aria-hidden":"true"});var i=t.dataSM("level");this.activatedItems.splice(i-1,1),this.visibleSubMenus.splice($.inArray(t,this.visibleSubMenus),1),this.$root.triggerHandler("hide.smapi",t[0])}},menuHideAll:function(){this.showTimeout&&(clearTimeout(this.showTimeout),this.showTimeout=0);for(var t=this.opts.isPopup?1:0,e=this.visibleSubMenus.length-1;e>=t;e--)this.menuHide(this.visibleSubMenus[e]);this.opts.isPopup&&(canAnimate&&this.$root.stop(!0,!0),this.$root.is(":visible")&&(canAnimate&&this.opts.hideFunction?this.opts.hideFunction.call(this,this.$root):this.$root.hide(this.opts.hideDuration))),this.activatedItems=[],this.visibleSubMenus=[],this.clickActivated=!1,this.focusActivated=!1,this.zIndexInc=0,this.$root.triggerHandler("hideAll.smapi")},menuHideSubMenus:function(t){for(var e=this.activatedItems.length-1;e>=t;e--){var i=this.activatedItems[e].dataSM("sub");i&&this.menuHide(i)}},menuInit:function(t){if(!t.dataSM("in-mega")){t.hasClass("mega-menu")&&t.find("ul").dataSM("in-mega",!0);for(var e=2,i=t[0];(i=i.parentNode.parentNode)!=this.$root[0];)e++;var s=t.prevAll("a").eq(-1);s.length||(s=t.prevAll().find("a").eq(-1)),s.addClass("has-submenu").dataSM("sub",t),t.dataSM("parent-a",s).dataSM("level",e).parent().dataSM("sub",t);var o=s.attr("id")||this.accessIdPrefix+ 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r=t.dataSM("level");if(this.activatedItems[r-1]&&this.activatedItems[r-1].dataSM("sub")&&this.activatedItems[r-1].dataSM("sub").is(":visible")&&this.menuHideSubMenus(r-1),o.y=o.up&&o.y>=n||!o.up&&n>=o.y?o.y:Math.abs(n-o.y)>s?o.y+(o.up?s:-s):n,t.css(this.cssTransforms3d?{"-webkit-transform":"translate3d(0, "+o.y+"px, 0)",transform:"translate3d(0, "+o.y+"px, 0)"}:{marginTop:o.y}),mouse&&(o.up&&o.y>o.downEnd||!o.up&&o.y<o.upEnd)&&a.eq(o.up?1:0).show(),o.y==n)mouse&&a.eq(o.up?0:1).hide(),this.menuScrollStop(t);else if(!e){this.opts.scrollAccelerate&&o.step<this.opts.scrollStep&&(o.step+=.2);var h=this;this.scrollTimeout=requestAnimationFrame(function(){h.menuScroll(t)})}},menuScrollMousewheel:function(t,e){if(this.getClosestMenu(e.target)==t[0]){e=e.originalEvent;var i=(e.wheelDelta||-e.detail)>0;t.dataSM("scroll-arrows").eq(i?0:1).is(":visible")&&(t.dataSM("scroll").up=i,this.menuScroll(t,!0))}e.preventDefault()},menuScrollOut:function(t,e){mouse&&(/^scroll-(up|down)/.test((e.relatedTarget||"").className)||(t[0]==e.relatedTarget||$.contains(t[0],e.relatedTarget))&&this.getClosestMenu(e.relatedTarget)==t[0]||t.dataSM("scroll-arrows").css("visibility","hidden"))},menuScrollOver:function(t,e){if(mouse&&!/^scroll-(up|down)/.test(e.target.className)&&this.getClosestMenu(e.target)==t[0]){this.menuScrollRefreshData(t);var i=t.dataSM("scroll"),s=$(window).scrollTop()-t.dataSM("parent-a").offset().top-i.itemH;t.dataSM("scroll-arrows").eq(0).css("margin-top",s).end().eq(1).css("margin-top",s+this.getViewportHeight()-i.arrowDownH).end().css("visibility","visible")}},menuScrollRefreshData:function(t){var e=t.dataSM("scroll"),i=$(window).scrollTop()-t.dataSM("parent-a").offset().top-e.itemH;this.cssTransforms3d&&(i=-(parseFloat(t.css("margin-top"))-i)),$.extend(e,{upEnd:i,downEnd:i+this.getViewportHeight()-e.subH})},menuScrollStop:function(t){return this.scrollTimeout?(cancelAnimationFrame(this.scrollTimeout),this.scrollTimeout=0,t.dataSM("scroll").step=1,!0):void 0},menuScrollTouch:function(t,e){if(e=e.originalEvent,isTouchEvent(e)){var i=this.getTouchPoint(e);if(this.getClosestMenu(i.target)==t[0]){var s=t.dataSM("scroll");if(/(start|down)$/i.test(e.type))this.menuScrollStop(t)?(e.preventDefault(),this.$touchScrollingSub=t):this.$touchScrollingSub=null,this.menuScrollRefreshData(t),$.extend(s,{touchStartY:i.pageY,touchStartTime:e.timeStamp});else if(/move$/i.test(e.type)){var o=void 0!==s.touchY?s.touchY:s.touchStartY;if(void 0!==o&&o!=i.pageY){this.$touchScrollingSub=t;var a=i.pageY>o;void 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e=t.dataSM("parent-a"),i=this.isCollapsible();if((this.opts.keepHighlighted||i)&&e.addClass("highlighted"),i)t.removeClass("sm-nowrap").css({zIndex:"",width:"auto",minWidth:"",maxWidth:"",top:"",left:"",marginLeft:"",marginTop:""});else{if(t.css("z-index",this.zIndexInc=(this.zIndexInc||this.getStartZIndex())+1),(this.opts.subMenusMinWidth||this.opts.subMenusMaxWidth)&&(t.css({width:"auto",minWidth:"",maxWidth:""}).addClass("sm-nowrap"),this.opts.subMenusMinWidth&&t.css("min-width",this.opts.subMenusMinWidth),this.opts.subMenusMaxWidth)){var s=this.getWidth(t);t.css("max-width",this.opts.subMenusMaxWidth),s>this.getWidth(t)&&t.removeClass("sm-nowrap").css("width",this.opts.subMenusMaxWidth)}this.menuPosition(t)}var o=function(){t.css("overflow","")};i?canAnimate&&this.opts.collapsibleShowFunction?this.opts.collapsibleShowFunction.call(this,t,o):t.show(this.opts.collapsibleShowDuration,o):canAnimate&&this.opts.showFunction?this.opts.showFunction.call(this,t,o):t.show(this.opts.showDuration,o),e.attr("aria-expanded","true"),t.attr({"aria-expanded":"true","aria-hidden":"false"}),this.visibleSubMenus.push(t),this.$root.triggerHandler("show.smapi",t[0])}},popupHide:function(t){this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0);var e=this;this.hideTimeout=setTimeout(function(){e.menuHideAll()},t?1:this.opts.hideTimeout)},popupShow:function(t,e){if(!this.opts.isPopup)return alert('SmartMenus jQuery Error:\n\nIf you want to show this menu via the "popupShow" method, set the isPopup:true option.'),void 0;if(this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0),this.$root.dataSM("shown-before",!0),canAnimate&&this.$root.stop(!0,!0),!this.$root.is(":visible")){this.$root.css({left:t,top:e});var i=this,s=function(){i.$root.css("overflow","")};canAnimate&&this.opts.showFunction?this.opts.showFunction.call(this,this.$root,s):this.$root.show(this.opts.showDuration,s),this.visibleSubMenus[0]=this.$root}},refresh:function(){this.destroy(!0),this.init(!0)},rootKeyDown:function(t){if(this.handleEvents())switch(t.keyCode){case 27:var e=this.activatedItems[0];if(e){this.menuHideAll(),e[0].focus();var i=e.dataSM("sub");i&&this.menuHide(i)}break;case 32:var s=$(t.target);if(s.is("a")&&this.handleItemEvents(s)){var i=s.dataSM("sub");i&&!i.is(":visible")&&(this.itemClick({currentTarget:t.target}),t.preventDefault())}}},rootOut:function(t){if(this.handleEvents()&&!this.isTouchMode()&&t.target!=this.$root[0]&&(this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0),!this.opts.showOnClick||!this.opts.hideOnClick)){var e=this;this.hideTimeout=setTimeout(function(){e.menuHideAll()},this.opts.hideTimeout)}},rootOver:function(t){this.handleEvents()&&!this.isTouchMode()&&t.target!=this.$root[0]&&this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0)},winResize:function(t){if(this.handleEvents()){if(!("onorientationchange"in window)||"orientationchange"==t.type){var e=this.isCollapsible();this.wasCollapsible&&e||(this.activatedItems.length&&this.activatedItems[this.activatedItems.length-1][0].blur(),this.menuHideAll()),this.wasCollapsible=e}}else if(this.$disableOverlay){var i=this.$root.offset();this.$disableOverlay.css({top:i.top,left:i.left,width:this.$root.outerWidth(),height:this.$root.outerHeight()})}}}}),$.fn.dataSM=function(t,e){return e?this.data(t+"_smartmenus",e):this.data(t+"_smartmenus")},$.fn.removeDataSM=function(t){return this.removeData(t+"_smartmenus")},$.fn.smartmenus=function(options){if("string"==typeof options){var args=arguments,method=options;return Array.prototype.shift.call(args),this.each(function(){var t=$(this).data("smartmenus");t&&t[method]&&t[method].apply(t,args)})}return this.each(function(){var dataOpts=$(this).data("sm-options")||null;if(dataOpts)try{dataOpts=eval("("+dataOpts+")")}catch(e){dataOpts=null,alert('ERROR\n\nSmartMenus jQuery init:\nInvalid "data-sm-options" attribute value syntax.')}new $.SmartMenus(this,$.extend({},$.fn.smartmenus.defaults,options,dataOpts))})},$.fn.smartmenus.defaults={isPopup:!1,mainMenuSubOffsetX:0,mainMenuSubOffsetY:0,subMenusSubOffsetX:0,subMenusSubOffsetY:0,subMenusMinWidth:"10em",subMenusMaxWidth:"20em",subIndicators:!0,subIndicatorsPos:"append",subIndicatorsText:"",scrollStep:30,scrollAccelerate:!0,showTimeout:250,hideTimeout:500,showDuration:0,showFunction:null,hideDuration:0,hideFunction:function(t,e){t.fadeOut(200,e)},collapsibleShowDuration:0,collapsibleShowFunction:function(t,e){t.slideDown(200,e)},collapsibleHideDuration:0,collapsibleHideFunction:function(t,e){t.slideUp(200,e)},showOnClick:!1,hideOnClick:!0,noMouseOver:!1,keepInViewport:!0,keepHighlighted:!0,markCurrentItem:!1,markCurrentTree:!0,rightToLeftSubMenus:!1,bottomToTopSubMenus:!1,collapsibleBehavior:"default"},$});
\ No newline at end of file
diff --git a/docs/cpp/menu.js b/docs/cpp/menu.js
new file mode 100644
index 00000000..b0b26936
--- /dev/null
+++ b/docs/cpp/menu.js
@@ -0,0 +1,136 @@
+/*
+ @licstart  The following is the entire license notice for the JavaScript code in this file.
+
+ The MIT License (MIT)
+
+ Copyright (C) 1997-2020 by Dimitri van Heesch
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ and associated documentation files (the "Software"), to deal in the Software without restriction,
+ including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all copies or
+ substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+ @licend  The above is the entire license notice for the JavaScript code in this file
+ */
+function initMenu(relPath,searchEnabled,serverSide,searchPage,search) {
+  function makeTree(data,relPath) {
+    var result='';
+    if ('children' in data) {
+      result+='<ul>';
+      for (var i in data.children) {
+        var url;
+        var link;
+        link = data.children[i].url;
+        if (link.substring(0,1)=='^') {
+          url = link.substring(1);
+        } else {
+          url = relPath+link;
+        }
+        result+='<li><a href="'+url+'">'+
+                                data.children[i].text+'</a>'+
+                                makeTree(data.children[i],relPath)+'</li>';
+      }
+      result+='</ul>';
+    }
+    return result;
+  }
+  var searchBoxHtml;
+  if (searchEnabled) {
+    if (serverSide) {
+      searchBoxHtml='<div id="MSearchBox" class="MSearchBoxInactive">'+
+                 '<div class="left">'+
+                  '<form id="FSearchBox" action="'+relPath+searchPage+
+                    '" method="get"><span id="MSearchSelectExt">&#160;</span>'+
+                  '<input type="text" id="MSearchField" name="query" value="" placeholder="'+search+
+                    '" size="20" accesskey="S" onfocus="searchBox.OnSearchFieldFocus(true)"'+
+                    ' onblur="searchBox.OnSearchFieldFocus(false)"/>'+
+                  '</form>'+
+                 '</div>'+
+                 '<div class="right"></div>'+
+                '</div>';
+    } else {
+      searchBoxHtml='<div id="MSearchBox" class="MSearchBoxInactive">'+
+                 '<span class="left">'+
+                  '<span id="MSearchSelect" onmouseover="return searchBox.OnSearchSelectShow()"'+
+                     ' onmouseout="return searchBox.OnSearchSelectHide()">&#160;</span>'+
+                  '<input type="text" id="MSearchField" value="" placeholder="'+search+
+                    '" accesskey="S" onfocus="searchBox.OnSearchFieldFocus(true)" '+
+                    'onblur="searchBox.OnSearchFieldFocus(false)" '+
+                    'onkeyup="searchBox.OnSearchFieldChange(event)"/>'+
+                 '</span>'+
+                 '<span class="right"><a id="MSearchClose" '+
+                  'href="javascript:searchBox.CloseResultsWindow()">'+
+                  '<img id="MSearchCloseImg" border="0" src="'+relPath+
+                  'search/close.svg" alt=""/></a>'+
+                 '</span>'+
+                '</div>';
+    }
+  }
+
+  $('#main-nav').before('<div class="sm sm-dox"><input id="main-menu-state" type="checkbox"/>'+
+                        '<label class="main-menu-btn" for="main-menu-state">'+
+                        '<span class="main-menu-btn-icon"></span> '+
+                        'Toggle main menu visibility</label>'+
+                        '<span id="searchBoxPos1" style="position:absolute;right:8px;top:8px;height:36px;"></span>'+
+                        '</div>');
+  $('#main-nav').append(makeTree(menudata,relPath));
+  $('#main-nav').children(':first').addClass('sm sm-dox').attr('id','main-menu');
+  if (searchBoxHtml) {
+    $('#main-menu').append('<li id="searchBoxPos2" style="float:right"></li>');
+  }
+  var $mainMenuState = $('#main-menu-state');
+  var prevWidth = 0;
+  if ($mainMenuState.length) {
+    function initResizableIfExists() {
+      if (typeof initResizable==='function') initResizable();
+    }
+    // animate mobile menu
+    $mainMenuState.change(function(e) {
+      var $menu = $('#main-menu');
+      var options = { duration: 250, step: initResizableIfExists };
+      if (this.checked) {
+        options['complete'] = function() { $menu.css('display', 'block') };
+        $menu.hide().slideDown(options);
+      } else {
+        options['complete'] = function() { $menu.css('display', 'none') };
+        $menu.show().slideUp(options);
+      }
+    });
+    // set default menu visibility
+    function resetState() {
+      var $menu = $('#main-menu');
+      var $mainMenuState = $('#main-menu-state');
+      var newWidth = $(window).outerWidth();
+      if (newWidth!=prevWidth) {
+        if ($(window).outerWidth()<768) {
+          $mainMenuState.prop('checked',false); $menu.hide();
+          $('#searchBoxPos1').html(searchBoxHtml);
+          $('#searchBoxPos2').hide();
+        } else {
+          $menu.show();
+          $('#searchBoxPos1').empty();
+          $('#searchBoxPos2').html(searchBoxHtml);
+          $('#searchBoxPos2').show();
+        }
+        if (typeof searchBox!=='undefined') {
+          searchBox.CloseResultsWindow();
+        }
+        prevWidth = newWidth;
+      }
+    }
+    $(window).ready(function() { resetState(); initResizableIfExists(); });
+    $(window).resize(resetState);
+  }
+  $('#main-menu').smartmenus();
+}
+/* @license-end */
diff --git a/docs/cpp/menudata.js b/docs/cpp/menudata.js
new file mode 100644
index 00000000..ffbb7d5b
--- /dev/null
+++ b/docs/cpp/menudata.js
@@ -0,0 +1,61 @@
+/*
+ @licstart  The following is the entire license notice for the JavaScript code in this file.
+
+ The MIT License (MIT)
+
+ Copyright (C) 1997-2020 by Dimitri van Heesch
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ and associated documentation files (the "Software"), to deal in the Software without restriction,
+ including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all copies or
+ substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+ @licend  The above is the entire license notice for the JavaScript code in this file
+*/
+var menudata={children:[
+{text:"Main Page",url:"index.html"},
+{text:"Classes",url:"annotated.html",children:[
+{text:"Class List",url:"annotated.html"},
+{text:"Class Index",url:"classes.html"},
+{text:"Class Hierarchy",url:"hierarchy.html"},
+{text:"Class Members",url:"functions.html",children:[
+{text:"All",url:"functions.html",children:[
+{text:"b",url:"functions.html#index_b"},
+{text:"c",url:"functions.html#index_c"},
+{text:"e",url:"functions.html#index_e"},
+{text:"f",url:"functions.html#index_f"},
+{text:"g",url:"functions.html#index_g"},
+{text:"h",url:"functions.html#index_h"},
+{text:"i",url:"functions.html#index_i"},
+{text:"n",url:"functions.html#index_n"},
+{text:"o",url:"functions.html#index_o"},
+{text:"p",url:"functions.html#index_p"},
+{text:"r",url:"functions.html#index_r"},
+{text:"s",url:"functions.html#index_s"},
+{text:"w",url:"functions.html#index_w"}]},
+{text:"Functions",url:"functions_func.html",children:[
+{text:"b",url:"functions_func.html#index_b"},
+{text:"c",url:"functions_func.html#index_c"},
+{text:"e",url:"functions_func.html#index_e"},
+{text:"f",url:"functions_func.html#index_f"},
+{text:"g",url:"functions_func.html#index_g"},
+{text:"h",url:"functions_func.html#index_h"},
+{text:"i",url:"functions_func.html#index_i"},
+{text:"n",url:"functions_func.html#index_n"},
+{text:"o",url:"functions_func.html#index_o"},
+{text:"p",url:"functions_func.html#index_p"},
+{text:"r",url:"functions_func.html#index_r"},
+{text:"s",url:"functions_func.html#index_s"},
+{text:"w",url:"functions_func.html#index_w"}]}]}]},
+{text:"Files",url:"files.html",children:[
+{text:"File List",url:"files.html"}]}]}
diff --git a/docs/cpp/nav_f.png b/docs/cpp/nav_f.png
new file mode 100644
index 0000000000000000000000000000000000000000..72a58a529ed3a9ed6aa0c51a79cf207e026deee2
GIT binary patch
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CM>z8U

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diff --git a/docs/cpp/nav_fd.png b/docs/cpp/nav_fd.png
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index 0000000000000000000000000000000000000000..032fbdd4c54f54fa9a2e6423b94ef4b2ebdfaceb
GIT binary patch
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literal 0
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diff --git a/docs/cpp/nav_g.png b/docs/cpp/nav_g.png
new file mode 100644
index 0000000000000000000000000000000000000000..2093a237a94f6c83e19ec6e5fd42f7ddabdafa81
GIT binary patch
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literal 0
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diff --git a/docs/cpp/nav_h.png b/docs/cpp/nav_h.png
new file mode 100644
index 0000000000000000000000000000000000000000..33389b101d9cd9b4c98ad286b5d9c46a6671f650
GIT binary patch
literal 98
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literal 0
HcmV?d00001

diff --git a/docs/cpp/nav_hd.png b/docs/cpp/nav_hd.png
new file mode 100644
index 0000000000000000000000000000000000000000..de80f18ad6488b9990303f267a76fdc83f0ffd80
GIT binary patch
literal 114
zcmeAS@N?(olHy`uVBq!ia0vp^j6lr8!2~3AUOE6t21`#D$B+ufw|9379#G(63FK{W
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literal 0
HcmV?d00001

diff --git a/docs/cpp/navtree.css b/docs/cpp/navtree.css
new file mode 100644
index 00000000..c8a7766a
--- /dev/null
+++ b/docs/cpp/navtree.css
@@ -0,0 +1,150 @@
+#nav-tree .children_ul {
+  margin:0;
+  padding:4px;
+}
+
+#nav-tree ul {
+  list-style:none outside none;
+  margin:0px;
+  padding:0px;
+}
+
+#nav-tree li {
+  white-space:nowrap;
+  margin:0px;
+  padding:0px;
+}
+
+#nav-tree .plus {
+  margin:0px;
+}
+
+#nav-tree .selected {
+  background-image: url('tab_a.png');
+  background-repeat:repeat-x;
+  color: var(--nav-text-active-color);
+  text-shadow: var(--nav-text-active-shadow);
+}
+
+#nav-tree .selected .arrow {
+  color: var(--nav-arrow-selected-color);
+  text-shadow: none;
+}
+
+#nav-tree img {
+  margin:0px;
+  padding:0px;
+  border:0px;
+  vertical-align: middle;
+}
+
+#nav-tree a {
+  text-decoration:none;
+  padding:0px;
+  margin:0px;
+  outline:none;
+}
+
+#nav-tree .label {
+  margin:0px;
+  padding:0px;
+  font: 12px var(--font-family-nav);
+}
+
+#nav-tree .label a {
+  padding:2px;
+}
+
+#nav-tree .selected a {
+  text-decoration:none;
+  color:var(--nav-text-active-color);
+}
+
+#nav-tree .children_ul {
+  margin:0px;
+  padding:0px;
+}
+
+#nav-tree .item {
+  margin:0px;
+  padding:0px;
+}
+
+#nav-tree {
+  padding: 0px 0px;
+  font-size:14px;
+  overflow:auto;
+}
+
+#doc-content {
+  overflow:auto;
+  display:block;
+  padding:0px;
+  margin:0px;
+  -webkit-overflow-scrolling : touch; /* iOS 5+ */
+}
+
+#side-nav {
+  padding:0 6px 0 0;
+  margin: 0px;
+  display:block;
+  position: absolute;
+  left: 0px;
+  width: $width;
+  overflow : hidden;
+}
+
+.ui-resizable .ui-resizable-handle {
+  display:block;
+}
+
+.ui-resizable-e {
+  background-image:var(--nav-splitbar-image);
+  background-size:100%;
+  background-repeat:repeat-y;
+  background-attachment: scroll;
+  cursor:ew-resize;
+  height:100%;
+  right:0;
+  top:0;
+  width:6px;
+}
+
+.ui-resizable-handle {
+  display:none;
+  font-size:0.1px;
+  position:absolute;
+  z-index:1;
+}
+
+#nav-tree-contents {
+  margin: 6px 0px 0px 0px;
+}
+
+#nav-tree {
+  background-repeat:repeat-x;
+  background-color: var(--nav-background-color);
+  -webkit-overflow-scrolling : touch; /* iOS 5+ */
+}
+
+#nav-sync {
+  position:absolute;
+  top:5px;
+  right:24px;
+  z-index:0;
+}
+
+#nav-sync img {
+  opacity:0.3;
+}
+
+#nav-sync img:hover {
+  opacity:0.9;
+}
+
+@media print
+{
+  #nav-tree { display: none; }
+  div.ui-resizable-handle { display: none; position: relative; }
+}
+
diff --git a/docs/cpp/navtree.js b/docs/cpp/navtree.js
new file mode 100644
index 00000000..27983687
--- /dev/null
+++ b/docs/cpp/navtree.js
@@ -0,0 +1,549 @@
+/*
+ @licstart  The following is the entire license notice for the JavaScript code in this file.
+
+ The MIT License (MIT)
+
+ Copyright (C) 1997-2020 by Dimitri van Heesch
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ and associated documentation files (the "Software"), to deal in the Software without restriction,
+ including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all copies or
+ substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+ @licend  The above is the entire license notice for the JavaScript code in this file
+ */
+var navTreeSubIndices = new Array();
+var arrowDown = '&#9660;';
+var arrowRight = '&#9658;';
+
+function getData(varName)
+{
+  var i = varName.lastIndexOf('/');
+  var n = i>=0 ? varName.substring(i+1) : varName;
+  return eval(n.replace(/\-/g,'_'));
+}
+
+function stripPath(uri)
+{
+  return uri.substring(uri.lastIndexOf('/')+1);
+}
+
+function stripPath2(uri)
+{
+  var i = uri.lastIndexOf('/');
+  var s = uri.substring(i+1);
+  var m = uri.substring(0,i+1).match(/\/d\w\/d\w\w\/$/);
+  return m ? uri.substring(i-6) : s;
+}
+
+function hashValue()
+{
+  return $(location).attr('hash').substring(1).replace(/[^\w\-]/g,'');
+}
+
+function hashUrl()
+{
+  return '#'+hashValue();
+}
+
+function pathName()
+{
+  return $(location).attr('pathname').replace(/[^-A-Za-z0-9+&@#/%?=~_|!:,.;\(\)]/g, '');
+}
+
+function localStorageSupported()
+{
+  try {
+    return 'localStorage' in window && window['localStorage'] !== null && window.localStorage.getItem;
+  }
+  catch(e) {
+    return false;
+  }
+}
+
+function storeLink(link)
+{
+  if (!$("#nav-sync").hasClass('sync') && localStorageSupported()) {
+      window.localStorage.setItem('navpath',link);
+  }
+}
+
+function deleteLink()
+{
+  if (localStorageSupported()) {
+    window.localStorage.setItem('navpath','');
+  }
+}
+
+function cachedLink()
+{
+  if (localStorageSupported()) {
+    return window.localStorage.getItem('navpath');
+  } else {
+    return '';
+  }
+}
+
+function getScript(scriptName,func,show)
+{
+  var head = document.getElementsByTagName("head")[0];
+  var script = document.createElement('script');
+  script.id = scriptName;
+  script.type = 'text/javascript';
+  script.onload = func;
+  script.src = scriptName+'.js';
+  head.appendChild(script);
+}
+
+function createIndent(o,domNode,node,level)
+{
+  var level=-1;
+  var n = node;
+  while (n.parentNode) { level++; n=n.parentNode; }
+  if (node.childrenData) {
+    var imgNode = document.createElement("span");
+    imgNode.className = 'arrow';
+    imgNode.style.paddingLeft=(16*level).toString()+'px';
+    imgNode.innerHTML=arrowRight;
+    node.plus_img = imgNode;
+    node.expandToggle = document.createElement("a");
+    node.expandToggle.href = "javascript:void(0)";
+    node.expandToggle.onclick = function() {
+      if (node.expanded) {
+        $(node.getChildrenUL()).slideUp("fast");
+        node.plus_img.innerHTML=arrowRight;
+        node.expanded = false;
+      } else {
+        expandNode(o, node, false, false);
+      }
+    }
+    node.expandToggle.appendChild(imgNode);
+    domNode.appendChild(node.expandToggle);
+  } else {
+    var span = document.createElement("span");
+    span.className = 'arrow';
+    span.style.width   = 16*(level+1)+'px';
+    span.innerHTML = '&#160;';
+    domNode.appendChild(span);
+  }
+}
+
+var animationInProgress = false;
+
+function gotoAnchor(anchor,aname,updateLocation)
+{
+  var pos, docContent = $('#doc-content');
+  var ancParent = $(anchor.parent());
+  if (ancParent.hasClass('memItemLeft') ||
+      ancParent.hasClass('memtitle') ||
+      ancParent.hasClass('fieldname') ||
+      ancParent.hasClass('fieldtype') ||
+      ancParent.is(':header'))
+  {
+    pos = ancParent.position().top;
+  } else if (anchor.position()) {
+    pos = anchor.position().top;
+  }
+  if (pos) {
+    var dist = Math.abs(Math.min(
+               pos-docContent.offset().top,
+               docContent[0].scrollHeight-
+               docContent.height()-docContent.scrollTop()));
+    animationInProgress=true;
+    docContent.animate({
+      scrollTop: pos + docContent.scrollTop() - docContent.offset().top
+    },Math.max(50,Math.min(500,dist)),function(){
+      if (updateLocation) window.location.href=aname;
+      animationInProgress=false;
+    });
+  }
+}
+
+function newNode(o, po, text, link, childrenData, lastNode)
+{
+  var node = new Object();
+  node.children = Array();
+  node.childrenData = childrenData;
+  node.depth = po.depth + 1;
+  node.relpath = po.relpath;
+  node.isLast = lastNode;
+
+  node.li = document.createElement("li");
+  po.getChildrenUL().appendChild(node.li);
+  node.parentNode = po;
+
+  node.itemDiv = document.createElement("div");
+  node.itemDiv.className = "item";
+
+  node.labelSpan = document.createElement("span");
+  node.labelSpan.className = "label";
+
+  createIndent(o,node.itemDiv,node,0);
+  node.itemDiv.appendChild(node.labelSpan);
+  node.li.appendChild(node.itemDiv);
+
+  var a = document.createElement("a");
+  node.labelSpan.appendChild(a);
+  node.label = document.createTextNode(text);
+  node.expanded = false;
+  a.appendChild(node.label);
+  if (link) {
+    var url;
+    if (link.substring(0,1)=='^') {
+      url = link.substring(1);
+      link = url;
+    } else {
+      url = node.relpath+link;
+    }
+    a.className = stripPath(link.replace('#',':'));
+    if (link.indexOf('#')!=-1) {
+      var aname = '#'+link.split('#')[1];
+      var srcPage = stripPath(pathName());
+      var targetPage = stripPath(link.split('#')[0]);
+      a.href = srcPage!=targetPage ? url : "javascript:void(0)";
+      a.onclick = function(){
+        storeLink(link);
+        if (!$(a).parent().parent().hasClass('selected'))
+        {
+          $('.item').removeClass('selected');
+          $('.item').removeAttr('id');
+          $(a).parent().parent().addClass('selected');
+          $(a).parent().parent().attr('id','selected');
+        }
+        var anchor = $(aname);
+        gotoAnchor(anchor,aname,true);
+      };
+    } else {
+      a.href = url;
+      a.onclick = function() { storeLink(link); }
+    }
+  } else {
+    if (childrenData != null)
+    {
+      a.className = "nolink";
+      a.href = "javascript:void(0)";
+      a.onclick = node.expandToggle.onclick;
+    }
+  }
+
+  node.childrenUL = null;
+  node.getChildrenUL = function() {
+    if (!node.childrenUL) {
+      node.childrenUL = document.createElement("ul");
+      node.childrenUL.className = "children_ul";
+      node.childrenUL.style.display = "none";
+      node.li.appendChild(node.childrenUL);
+    }
+    return node.childrenUL;
+  };
+
+  return node;
+}
+
+function showRoot()
+{
+  var headerHeight = $("#top").height();
+  var footerHeight = $("#nav-path").height();
+  var windowHeight = $(window).height() - headerHeight - footerHeight;
+  (function (){ // retry until we can scroll to the selected item
+    try {
+      var navtree=$('#nav-tree');
+      navtree.scrollTo('#selected',100,{offset:-windowHeight/2});
+    } catch (err) {
+      setTimeout(arguments.callee, 0);
+    }
+  })();
+}
+
+function expandNode(o, node, imm, showRoot)
+{
+  if (node.childrenData && !node.expanded) {
+    if (typeof(node.childrenData)==='string') {
+      var varName    = node.childrenData;
+      getScript(node.relpath+varName,function(){
+        node.childrenData = getData(varName);
+        expandNode(o, node, imm, showRoot);
+      }, showRoot);
+    } else {
+      if (!node.childrenVisited) {
+        getNode(o, node);
+      }
+      $(node.getChildrenUL()).slideDown("fast");
+      node.plus_img.innerHTML = arrowDown;
+      node.expanded = true;
+    }
+  }
+}
+
+function glowEffect(n,duration)
+{
+  n.addClass('glow').delay(duration).queue(function(next){
+    $(this).removeClass('glow');next();
+  });
+}
+
+function highlightAnchor()
+{
+  var aname = hashUrl();
+  var anchor = $(aname);
+  if (anchor.parent().attr('class')=='memItemLeft'){
+    var rows = $('.memberdecls tr[class$="'+hashValue()+'"]');
+    glowEffect(rows.children(),300); // member without details
+  } else if (anchor.parent().attr('class')=='fieldname'){
+    glowEffect(anchor.parent().parent(),1000); // enum value
+  } else if (anchor.parent().attr('class')=='fieldtype'){
+    glowEffect(anchor.parent().parent(),1000); // struct field
+  } else if (anchor.parent().is(":header")) {
+    glowEffect(anchor.parent(),1000); // section header
+  } else {
+    glowEffect(anchor.next(),1000); // normal member
+  }
+}
+
+function selectAndHighlight(hash,n)
+{
+  var a;
+  if (hash) {
+    var link=stripPath(pathName())+':'+hash.substring(1);
+    a=$('.item a[class$="'+link+'"]');
+  }
+  if (a && a.length) {
+    a.parent().parent().addClass('selected');
+    a.parent().parent().attr('id','selected');
+    highlightAnchor();
+  } else if (n) {
+    $(n.itemDiv).addClass('selected');
+    $(n.itemDiv).attr('id','selected');
+  }
+  var topOffset=5;
+  if (typeof page_layout!=='undefined' && page_layout==1) {
+    topOffset+=$('#top').outerHeight();
+  }
+  if ($('#nav-tree-contents .item:first').hasClass('selected')) {
+    topOffset+=25;
+  }
+  $('#nav-sync').css('top',topOffset+'px');
+  showRoot();
+}
+
+function showNode(o, node, index, hash)
+{
+  if (node && node.childrenData) {
+    if (typeof(node.childrenData)==='string') {
+      var varName    = node.childrenData;
+      getScript(node.relpath+varName,function(){
+        node.childrenData = getData(varName);
+        showNode(o,node,index,hash);
+      },true);
+    } else {
+      if (!node.childrenVisited) {
+        getNode(o, node);
+      }
+      $(node.getChildrenUL()).css({'display':'block'});
+      node.plus_img.innerHTML = arrowDown;
+      node.expanded = true;
+      var n = node.children[o.breadcrumbs[index]];
+      if (index+1<o.breadcrumbs.length) {
+        showNode(o,n,index+1,hash);
+      } else {
+        if (typeof(n.childrenData)==='string') {
+          var varName = n.childrenData;
+          getScript(n.relpath+varName,function(){
+            n.childrenData = getData(varName);
+            node.expanded=false;
+            showNode(o,node,index,hash); // retry with child node expanded
+          },true);
+        } else {
+          var rootBase = stripPath(o.toroot.replace(/\..+$/, ''));
+          if (rootBase=="index" || rootBase=="pages" || rootBase=="search") {
+            expandNode(o, n, true, true);
+          }
+          selectAndHighlight(hash,n);
+        }
+      }
+    }
+  } else {
+    selectAndHighlight(hash);
+  }
+}
+
+function removeToInsertLater(element) {
+  var parentNode = element.parentNode;
+  var nextSibling = element.nextSibling;
+  parentNode.removeChild(element);
+  return function() {
+    if (nextSibling) {
+      parentNode.insertBefore(element, nextSibling);
+    } else {
+      parentNode.appendChild(element);
+    }
+  };
+}
+
+function getNode(o, po)
+{
+  var insertFunction = removeToInsertLater(po.li);
+  po.childrenVisited = true;
+  var l = po.childrenData.length-1;
+  for (var i in po.childrenData) {
+    var nodeData = po.childrenData[i];
+    po.children[i] = newNode(o, po, nodeData[0], nodeData[1], nodeData[2],
+      i==l);
+  }
+  insertFunction();
+}
+
+function gotoNode(o,subIndex,root,hash,relpath)
+{
+  var nti = navTreeSubIndices[subIndex][root+hash];
+  o.breadcrumbs = $.extend(true, [], nti ? nti : navTreeSubIndices[subIndex][root]);
+  if (!o.breadcrumbs && root!=NAVTREE[0][1]) { // fallback: show index
+    navTo(o,NAVTREE[0][1],"",relpath);
+    $('.item').removeClass('selected');
+    $('.item').removeAttr('id');
+  }
+  if (o.breadcrumbs) {
+    o.breadcrumbs.unshift(0); // add 0 for root node
+    showNode(o, o.node, 0, hash);
+  }
+}
+
+function navTo(o,root,hash,relpath)
+{
+  var link = cachedLink();
+  if (link) {
+    var parts = link.split('#');
+    root = parts[0];
+    if (parts.length>1) hash = '#'+parts[1].replace(/[^\w\-]/g,'');
+    else hash='';
+  }
+  if (hash.match(/^#l\d+$/)) {
+    var anchor=$('a[name='+hash.substring(1)+']');
+    glowEffect(anchor.parent(),1000); // line number
+    hash=''; // strip line number anchors
+  }
+  var url=root+hash;
+  var i=-1;
+  while (NAVTREEINDEX[i+1]<=url) i++;
+  if (i==-1) { i=0; root=NAVTREE[0][1]; } // fallback: show index
+  if (navTreeSubIndices[i]) {
+    gotoNode(o,i,root,hash,relpath)
+  } else {
+    getScript(relpath+'navtreeindex'+i,function(){
+      navTreeSubIndices[i] = eval('NAVTREEINDEX'+i);
+      if (navTreeSubIndices[i]) {
+        gotoNode(o,i,root,hash,relpath);
+      }
+    },true);
+  }
+}
+
+function showSyncOff(n,relpath)
+{
+    n.html('<img src="'+relpath+'sync_off.png" title="'+SYNCOFFMSG+'"/>');
+}
+
+function showSyncOn(n,relpath)
+{
+    n.html('<img src="'+relpath+'sync_on.png" title="'+SYNCONMSG+'"/>');
+}
+
+function toggleSyncButton(relpath)
+{
+  var navSync = $('#nav-sync');
+  if (navSync.hasClass('sync')) {
+    navSync.removeClass('sync');
+    showSyncOff(navSync,relpath);
+    storeLink(stripPath2(pathName())+hashUrl());
+  } else {
+    navSync.addClass('sync');
+    showSyncOn(navSync,relpath);
+    deleteLink();
+  }
+}
+
+var loadTriggered = false;
+var readyTriggered = false;
+var loadObject,loadToRoot,loadUrl,loadRelPath;
+
+$(window).on('load',function(){
+  if (readyTriggered) { // ready first
+    navTo(loadObject,loadToRoot,loadUrl,loadRelPath);
+    showRoot();
+  }
+  loadTriggered=true;
+});
+
+function initNavTree(toroot,relpath)
+{
+  var o = new Object();
+  o.toroot = toroot;
+  o.node = new Object();
+  o.node.li = document.getElementById("nav-tree-contents");
+  o.node.childrenData = NAVTREE;
+  o.node.children = new Array();
+  o.node.childrenUL = document.createElement("ul");
+  o.node.getChildrenUL = function() { return o.node.childrenUL; };
+  o.node.li.appendChild(o.node.childrenUL);
+  o.node.depth = 0;
+  o.node.relpath = relpath;
+  o.node.expanded = false;
+  o.node.isLast = true;
+  o.node.plus_img = document.createElement("span");
+  o.node.plus_img.className = 'arrow';
+  o.node.plus_img.innerHTML = arrowRight;
+
+  if (localStorageSupported()) {
+    var navSync = $('#nav-sync');
+    if (cachedLink()) {
+      showSyncOff(navSync,relpath);
+      navSync.removeClass('sync');
+    } else {
+      showSyncOn(navSync,relpath);
+    }
+    navSync.click(function(){ toggleSyncButton(relpath); });
+  }
+
+  if (loadTriggered) { // load before ready
+    navTo(o,toroot,hashUrl(),relpath);
+    showRoot();
+  } else { // ready before load
+    loadObject  = o;
+    loadToRoot  = toroot;
+    loadUrl     = hashUrl();
+    loadRelPath = relpath;
+    readyTriggered=true;
+  }
+
+  $(window).bind('hashchange', function(){
+     if (window.location.hash && window.location.hash.length>1){
+       var a;
+       if ($(location).attr('hash')){
+         var clslink=stripPath(pathName())+':'+hashValue();
+         a=$('.item a[class$="'+clslink.replace(/</g,'\\3c ')+'"]');
+       }
+       if (a==null || !$(a).parent().parent().hasClass('selected')){
+         $('.item').removeClass('selected');
+         $('.item').removeAttr('id');
+       }
+       var link=stripPath2(pathName());
+       navTo(o,link,hashUrl(),relpath);
+     } else if (!animationInProgress) {
+       $('#doc-content').scrollTop(0);
+       $('.item').removeClass('selected');
+       $('.item').removeAttr('id');
+       navTo(o,toroot,hashUrl(),relpath);
+     }
+  })
+}
+/* @license-end */
diff --git a/docs/cpp/navtreedata.js b/docs/cpp/navtreedata.js
new file mode 100644
index 00000000..77581b72
--- /dev/null
+++ b/docs/cpp/navtreedata.js
@@ -0,0 +1,56 @@
+/*
+ @licstart  The following is the entire license notice for the JavaScript code in this file.
+
+ The MIT License (MIT)
+
+ Copyright (C) 1997-2020 by Dimitri van Heesch
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ and associated documentation files (the "Software"), to deal in the Software without restriction,
+ including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all copies or
+ substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+ @licend  The above is the entire license notice for the JavaScript code in this file
+*/
+var NAVTREE =
+[
+  [ "PathPlannerLib", "index.html", [
+    [ "PathPlanner", "index.html#autotoc_md0", [
+      [ "About", "index.html#autotoc_md1", null ],
+      [ "Usage and Documentation", "index.html#autotoc_md2", [
+        [ "<a href=\"https://github.com/mjansen4857/pathplanner/wiki\" >Check the Wiki</a>", "index.html#autotoc_md3", null ]
+      ] ],
+      [ "How to build manually:", "index.html#autotoc_md4", null ]
+    ] ],
+    [ "Classes", "annotated.html", [
+      [ "Class List", "annotated.html", "annotated_dup" ],
+      [ "Class Index", "classes.html", null ],
+      [ "Class Hierarchy", "hierarchy.html", "hierarchy" ],
+      [ "Class Members", "functions.html", [
+        [ "All", "functions.html", null ],
+        [ "Functions", "functions_func.html", null ]
+      ] ]
+    ] ],
+    [ "Files", "files.html", [
+      [ "File List", "files.html", "files_dup" ]
+    ] ]
+  ] ]
+];
+
+var NAVTREEINDEX =
+[
+"ADStar_8h_source.html"
+];
+
+var SYNCONMSG = 'click to disable panel synchronisation';
+var SYNCOFFMSG = 'click to enable panel synchronisation';
\ No newline at end of file
diff --git a/docs/cpp/navtreeindex0.js b/docs/cpp/navtreeindex0.js
new file mode 100644
index 00000000..3350117a
--- /dev/null
+++ b/docs/cpp/navtreeindex0.js
@@ -0,0 +1,216 @@
+var NAVTREEINDEX0 =
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+/*
+ @licstart  The following is the entire license notice for the JavaScript code in this file.
+
+ The MIT License (MIT)
+
+ Copyright (C) 1997-2020 by Dimitri van Heesch
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ and associated documentation files (the "Software"), to deal in the Software without restriction,
+ including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all copies or
+ substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+ @licend  The above is the entire license notice for the JavaScript code in this file
+ */
+var once=1;
+function initResizable()
+{
+  var cookie_namespace = 'doxygen';
+  var sidenav,navtree,content,header,barWidth=6,desktop_vp=768,titleHeight;
+
+  function readSetting(cookie)
+  {
+    if (window.chrome) {
+      var val = localStorage.getItem(cookie_namespace+'_width');
+      if (val) return val;
+    } else {
+      var myCookie = cookie_namespace+"_"+cookie+"=";
+      if (document.cookie) {
+        var index = document.cookie.indexOf(myCookie);
+        if (index != -1) {
+          var valStart = index + myCookie.length;
+          var valEnd = document.cookie.indexOf(";", valStart);
+          if (valEnd == -1) {
+            valEnd = document.cookie.length;
+          }
+          var val = document.cookie.substring(valStart, valEnd);
+          return val;
+        }
+      }
+    }
+    return 250;
+  }
+
+  function writeSetting(cookie, val)
+  {
+    if (window.chrome) {
+      localStorage.setItem(cookie_namespace+"_width",val);
+    } else {
+      var date = new Date();
+      date.setTime(date.getTime()+(10*365*24*60*60*1000)); // default expiration is one week
+      expiration = date.toGMTString();
+      document.cookie = cookie_namespace + "_" + cookie + "=" + val + "; SameSite=Lax; expires=" + expiration+"; path=/";
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+  function resizeWidth()
+  {
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+    if (typeof page_layout!=='undefined' && page_layout==1) {
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+    if (typeof page_layout!=='undefined' && page_layout==1) {
+      footer.css({marginLeft:parseInt(navWidth)+barWidth+"px"});
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+    sidenav.css({width:navWidth + "px"});
+  }
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+  function resizeHeight()
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+    var headerHeight = header.outerHeight();
+    var footerHeight = footer.outerHeight();
+    var windowHeight = $(window).height();
+    var contentHeight,navtreeHeight,sideNavHeight;
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+      sideNavHeight = contentHeight;
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+      navtreeHeight = windowHeight - headerHeight;
+      sideNavHeight = windowHeight;
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+    navtree.css({height:navtreeHeight + "px"});
+    sidenav.css({height:sideNavHeight + "px"});
+    if (location.hash.slice(1)) {
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+  header  = $("#top");
+  sidenav = $("#side-nav");
+  content = $("#doc-content");
+  navtree = $("#nav-tree");
+  footer  = $("#nav-path");
+  $(".side-nav-resizable").resizable({resize: function(e, ui) { resizeWidth(); } });
+  $(sidenav).resizable({ minWidth: 0 });
+  $(window).resize(function() { resizeHeight(); });
+  var device = navigator.userAgent.toLowerCase();
+  var touch_device = device.match(/(iphone|ipod|ipad|android)/);
+  if (touch_device) { /* wider split bar for touch only devices */
+    $(sidenav).css({ paddingRight:'20px' });
+    $('.ui-resizable-e').css({ width:'20px' });
+    $('#nav-sync').css({ right:'34px' });
+    barWidth=20;
+  }
+  var width = readSetting('width');
+  if (width) { restoreWidth(width); } else { resizeWidth(); }
+  resizeHeight();
+  var url = location.href;
+  var i=url.indexOf("#");
+  if (i>=0) window.location.hash=url.substr(i);
+  var _preventDefault = function(evt) { evt.preventDefault(); };
+  $("#splitbar").bind("dragstart", _preventDefault).bind("selectstart", _preventDefault);
+  if (once) {
+    $(".ui-resizable-handle").dblclick(collapseExpand);
+    once=0
+  }
+  $(window).on('load',resizeHeight);
+}
+/* @license-end */
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+  ['sample_0',['sample',['../classpathplanner_1_1PathPlannerTrajectory.html#a2a6b514d0f95d7890a8e3ed150a2036a',1,'pathplanner::PathPlannerTrajectory']]],
+  ['setenabled_1',['setEnabled',['../classpathplanner_1_1PPHolonomicDriveController.html#ae3da3b9e5ef33855f01d8653ccc11ef7',1,'pathplanner::PPHolonomicDriveController']]],
+  ['setmarkerposition_2',['setMarkerPosition',['../classpathplanner_1_1EventMarker.html#a328b5edeb7af5f88f7a54a945ba2f683',1,'pathplanner::EventMarker']]],
+  ['setratelimits_3',['setRateLimits',['../classpathplanner_1_1ChassisSpeedsRateLimiter.html#a16c38975d1ce985e50cdf90b54863577',1,'pathplanner::ChassisSpeedsRateLimiter']]],
+  ['shouldtrigger_4',['shouldTrigger',['../classpathplanner_1_1EventMarker.html#a0c027f6fdcf0f364a89565a1ccd35090',1,'pathplanner::EventMarker']]]
+];
diff --git a/docs/cpp/search/functions_c.js b/docs/cpp/search/functions_c.js
new file mode 100644
index 00000000..13d09861
--- /dev/null
+++ b/docs/cpp/search/functions_c.js
@@ -0,0 +1,4 @@
+var searchData=
+[
+  ['wrappedeventcommand_0',['wrappedEventCommand',['../classpathplanner_1_1CommandUtil.html#a084caee4b421f3596d4a9d0e8bc6b82e',1,'pathplanner::CommandUtil']]]
+];
diff --git a/docs/cpp/search/mag.svg b/docs/cpp/search/mag.svg
new file mode 100644
index 00000000..9f46b301
--- /dev/null
+++ b/docs/cpp/search/mag.svg
@@ -0,0 +1,37 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   viewBox="0 0 20 19"
+   height="19"
+   width="20"
+   id="svg2"
+   version="1.1">
+  <metadata
+     id="metadata8">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title></dc:title>
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <defs
+     id="defs6" />
+  <circle
+     r="3.5"
+     cy="8.5"
+     cx="5.5"
+     id="path4611"
+     style="fill:#000000;fill-opacity:0;stroke:#656565;stroke-width:1.4;stroke-opacity:1;stroke-miterlimit:4;stroke-dasharray:none" />
+  <path
+     id="path4630"
+     d="m 8.1085854,11.109059 2.7823556,2.782356"
+     style="fill:none;stroke:#656565;stroke-width:1.4;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" />
+</svg>
diff --git a/docs/cpp/search/mag_d.svg b/docs/cpp/search/mag_d.svg
new file mode 100644
index 00000000..b9a814c7
--- /dev/null
+++ b/docs/cpp/search/mag_d.svg
@@ -0,0 +1,37 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   viewBox="0 0 20 19"
+   height="19"
+   width="20"
+   id="svg2"
+   version="1.1">
+  <metadata
+     id="metadata8">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title></dc:title>
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <defs
+     id="defs6" />
+  <circle
+     r="3.5"
+     cy="8.5"
+     cx="5.5"
+     id="path4611"
+     style="fill:#000000;fill-opacity:0;stroke:#C5C5C5;stroke-width:1.4;stroke-opacity:1;stroke-miterlimit:4;stroke-dasharray:none" />
+  <path
+     id="path4630"
+     d="m 8.1085854,11.109059 2.7823556,2.782356"
+     style="fill:none;stroke:#C5C5C5;stroke-width:1.4;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" />
+</svg>
diff --git a/docs/cpp/search/mag_sel.svg b/docs/cpp/search/mag_sel.svg
new file mode 100644
index 00000000..03626f64
--- /dev/null
+++ b/docs/cpp/search/mag_sel.svg
@@ -0,0 +1,74 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   version="1.1"
+   id="svg2"
+   width="20"
+   height="19"
+   viewBox="0 0 20 19"
+   sodipodi:docname="mag_sel.svg"
+   inkscape:version="0.92.5 (2060ec1f9f, 2020-04-08)">
+  <metadata
+     id="metadata8">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title></dc:title>
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <defs
+     id="defs6" />
+  <sodipodi:namedview
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1"
+     objecttolerance="10"
+     gridtolerance="10"
+     guidetolerance="10"
+     inkscape:pageopacity="0"
+     inkscape:pageshadow="2"
+     inkscape:window-width="1920"
+     inkscape:window-height="2096"
+     id="namedview4"
+     showgrid="false"
+     fit-margin-top="0"
+     fit-margin-left="0"
+     fit-margin-right="0"
+     fit-margin-bottom="0"
+     inkscape:zoom="32"
+     inkscape:cx="5.9792688"
+     inkscape:cy="1.1436277"
+     inkscape:window-x="1920"
+     inkscape:window-y="27"
+     inkscape:window-maximized="0"
+     inkscape:current-layer="svg2" />
+  <circle
+     style="fill:#000000;fill-opacity:0;stroke:#656565;stroke-width:1.4;stroke-opacity:1;stroke-miterlimit:4;stroke-dasharray:none"
+     id="path4611"
+     cx="5.5"
+     cy="8.5"
+     r="3.5" />
+  <path
+     style="fill:#656565;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+     d="M 11,7 13.5,10 16,7 Z"
+     id="path4609"
+     inkscape:connector-curvature="0"
+     sodipodi:nodetypes="cccc" />
+  <path
+     style="fill:none;stroke:#656565;stroke-width:1.4;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
+     d="m 8.1085854,11.109059 2.7823556,2.782356"
+     id="path4630"
+     inkscape:connector-curvature="0" />
+</svg>
diff --git a/docs/cpp/search/mag_seld.svg b/docs/cpp/search/mag_seld.svg
new file mode 100644
index 00000000..6e720dcc
--- /dev/null
+++ b/docs/cpp/search/mag_seld.svg
@@ -0,0 +1,74 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   version="1.1"
+   id="svg2"
+   width="20"
+   height="19"
+   viewBox="0 0 20 19"
+   sodipodi:docname="mag_sel.svg"
+   inkscape:version="0.92.5 (2060ec1f9f, 2020-04-08)">
+  <metadata
+     id="metadata8">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title></dc:title>
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <defs
+     id="defs6" />
+  <sodipodi:namedview
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1"
+     objecttolerance="10"
+     gridtolerance="10"
+     guidetolerance="10"
+     inkscape:pageopacity="0"
+     inkscape:pageshadow="2"
+     inkscape:window-width="1920"
+     inkscape:window-height="2096"
+     id="namedview4"
+     showgrid="false"
+     fit-margin-top="0"
+     fit-margin-left="0"
+     fit-margin-right="0"
+     fit-margin-bottom="0"
+     inkscape:zoom="32"
+     inkscape:cx="5.9792688"
+     inkscape:cy="1.1436277"
+     inkscape:window-x="1920"
+     inkscape:window-y="27"
+     inkscape:window-maximized="0"
+     inkscape:current-layer="svg2" />
+  <circle
+     style="fill:#000000;fill-opacity:0;stroke:#C5C5C5;stroke-width:1.4;stroke-opacity:1;stroke-miterlimit:4;stroke-dasharray:none"
+     id="path4611"
+     cx="5.5"
+     cy="8.5"
+     r="3.5" />
+  <path
+     style="fill:#C5C5C5;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+     d="M 11,7 13.5,10 16,7 Z"
+     id="path4609"
+     inkscape:connector-curvature="0"
+     sodipodi:nodetypes="cccc" />
+  <path
+     style="fill:none;stroke:#C5C5C5;stroke-width:1.4;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
+     d="m 8.1085854,11.109059 2.7823556,2.782356"
+     id="path4630"
+     inkscape:connector-curvature="0" />
+</svg>
diff --git a/docs/cpp/search/pages_0.js b/docs/cpp/search/pages_0.js
new file mode 100644
index 00000000..126fc690
--- /dev/null
+++ b/docs/cpp/search/pages_0.js
@@ -0,0 +1,4 @@
+var searchData=
+[
+  ['pathplannerlib_0',['PathPlannerLib',['../index.html',1,'']]]
+];
diff --git a/docs/cpp/search/search.css b/docs/cpp/search/search.css
new file mode 100644
index 00000000..19f76f9d
--- /dev/null
+++ b/docs/cpp/search/search.css
@@ -0,0 +1,291 @@
+/*---------------- Search Box positioning */
+
+#main-menu > li:last-child {
+    /* This <li> object is the parent of the search bar */
+    display: flex;
+    justify-content: center;
+    align-items: center;
+    height: 36px;
+    margin-right: 1em;
+}
+
+/*---------------- Search box styling */
+
+.SRPage * {
+    font-weight: normal;
+    line-height: normal;
+}
+
+dark-mode-toggle {
+    margin-left: 5px;
+    display: flex;
+    float: right;
+}
+
+#MSearchBox {
+    display: inline-block;
+    white-space : nowrap;
+    background: var(--search-background-color);
+    border-radius: 0.65em;
+    box-shadow: var(--search-box-shadow);
+    z-index: 102;
+}
+
+#MSearchBox .left {
+    display: inline-block;
+    vertical-align: middle;
+    height: 1.4em;
+}
+
+#MSearchSelect {
+    display: inline-block;
+    vertical-align: middle;
+    width: 20px;
+    height: 19px;
+    background-image: var(--search-magnification-select-image);
+    margin: 0 0 0 0.3em;
+    padding: 0;
+}
+
+#MSearchSelectExt {
+    display: inline-block;
+    vertical-align: middle;
+    width: 10px;
+    height: 19px;
+    background-image: var(--search-magnification-image);
+    margin: 0 0 0 0.5em;
+    padding: 0;
+}
+
+
+#MSearchField {
+    display: inline-block;
+    vertical-align: middle;
+    width: 7.5em;
+    height: 19px;
+    margin: 0 0.15em;
+    padding: 0;
+    line-height: 1em;
+    border:none;
+    color: var(--search-foreground-color);
+    outline: none;
+    font-family: var(--font-family-search);
+    -webkit-border-radius: 0px;
+    border-radius: 0px;
+    background: none;
+}
+
+@media(hover: none) {
+    /* to avoid zooming on iOS */
+    #MSearchField {
+        font-size: 16px;
+    }
+}
+
+#MSearchBox .right {
+    display: inline-block;
+    vertical-align: middle;
+    width: 1.4em;
+    height: 1.4em;
+}
+
+#MSearchClose {
+    display: none;
+    font-size: inherit;
+    background : none;
+    border: none;
+    margin: 0;
+    padding: 0;
+    outline: none;
+
+}
+
+#MSearchCloseImg {
+    padding: 0.3em;
+    margin: 0;
+}
+
+.MSearchBoxActive #MSearchField {
+    color: var(--search-active-color);
+}
+
+
+
+/*---------------- Search filter selection */
+
+#MSearchSelectWindow {
+    display: none;
+    position: absolute;
+    left: 0; top: 0;
+    border: 1px solid var(--search-filter-border-color);
+    background-color: var(--search-filter-background-color);
+    z-index: 10001;
+    padding-top: 4px;
+    padding-bottom: 4px;
+    -moz-border-radius: 4px;
+    -webkit-border-top-left-radius: 4px;
+    -webkit-border-top-right-radius: 4px;
+    -webkit-border-bottom-left-radius: 4px;
+    -webkit-border-bottom-right-radius: 4px;
+    -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+}
+
+.SelectItem {
+    font: 8pt var(--font-family-search);
+    padding-left:  2px;
+    padding-right: 12px;
+    border: 0px;
+}
+
+span.SelectionMark {
+    margin-right: 4px;
+    font-family: var(--font-family-monospace);
+    outline-style: none;
+    text-decoration: none;
+}
+
+a.SelectItem {
+    display: block;
+    outline-style: none;
+    color: var(--search-filter-foreground-color);
+    text-decoration: none;
+    padding-left:   6px;
+    padding-right: 12px;
+}
+
+a.SelectItem:focus,
+a.SelectItem:active {
+    color: var(--search-filter-foreground-color);
+    outline-style: none;
+    text-decoration: none;
+}
+
+a.SelectItem:hover {
+    color: var(--search-filter-highlight-text-color);
+    background-color: var(--search-filter-highlight-bg-color);
+    outline-style: none;
+    text-decoration: none;
+    cursor: pointer;
+    display: block;
+}
+
+/*---------------- Search results window */
+
+iframe#MSearchResults {
+    /*width: 60ex;*/
+    height: 15em;
+}
+
+#MSearchResultsWindow {
+    display: none;
+    position: absolute;
+    left: 0; top: 0;
+    border: 1px solid var(--search-results-border-color);
+    background-color: var(--search-results-background-color);
+    z-index:10000;
+    width: 300px;
+    height: 400px;
+    overflow: auto;
+}
+
+/* ----------------------------------- */
+
+
+#SRIndex {
+    clear:both; 
+}
+
+.SREntry {
+    font-size: 10pt;
+    padding-left: 1ex;
+}
+
+.SRPage .SREntry {
+    font-size: 8pt;
+    padding: 1px 5px;
+}
+
+div.SRPage {
+    margin: 5px 2px;
+    background-color: var(--search-results-background-color);
+}
+
+.SRChildren {
+    padding-left: 3ex; padding-bottom: .5em 
+}
+
+.SRPage .SRChildren {
+    display: none;
+}
+
+.SRSymbol {
+    font-weight: bold;
+    color: var(--search-results-foreground-color);
+    font-family: var(--font-family-search);
+    text-decoration: none;
+    outline: none;
+}
+
+a.SRScope {
+    display: block;
+    color: var(--search-results-foreground-color);
+    font-family: var(--font-family-search);
+    font-size: 8pt;
+    text-decoration: none;
+    outline: none;
+}
+
+a.SRSymbol:focus, a.SRSymbol:active,
+a.SRScope:focus, a.SRScope:active {
+    text-decoration: underline;
+}
+
+span.SRScope {
+    padding-left: 4px;
+    font-family: var(--font-family-search);
+}
+
+.SRPage .SRStatus {
+    padding: 2px 5px;
+    font-size: 8pt;
+    font-style: italic;
+    font-family: var(--font-family-search);
+}
+
+.SRResult {
+    display: none;
+}
+
+div.searchresults {
+    margin-left: 10px;
+    margin-right: 10px;
+}
+
+/*---------------- External search page results */
+
+.pages b {
+   color: white;
+   padding: 5px 5px 3px 5px;
+   background-image: var(--nav-gradient-active-image-parent);
+   background-repeat: repeat-x;
+   text-shadow: 0 1px 1px #000000;
+}
+
+.pages {
+    line-height: 17px;
+    margin-left: 4px;
+    text-decoration: none;
+}
+
+.hl {
+    font-weight: bold;
+}
+
+#searchresults {
+    margin-bottom: 20px;
+}
+
+.searchpages {
+    margin-top: 10px;
+}
+
diff --git a/docs/cpp/search/search.js b/docs/cpp/search/search.js
new file mode 100644
index 00000000..e103a262
--- /dev/null
+++ b/docs/cpp/search/search.js
@@ -0,0 +1,816 @@
+/*
+ @licstart  The following is the entire license notice for the JavaScript code in this file.
+
+ The MIT License (MIT)
+
+ Copyright (C) 1997-2020 by Dimitri van Heesch
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ and associated documentation files (the "Software"), to deal in the Software without restriction,
+ including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all copies or
+ substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+ @licend  The above is the entire license notice for the JavaScript code in this file
+ */
+function convertToId(search)
+{
+  var result = '';
+  for (i=0;i<search.length;i++)
+  {
+    var c = search.charAt(i);
+    var cn = c.charCodeAt(0);
+    if (c.match(/[a-z0-9\u0080-\uFFFF]/))
+    {
+      result+=c;
+    }
+    else if (cn<16)
+    {
+      result+="_0"+cn.toString(16);
+    }
+    else
+    {
+      result+="_"+cn.toString(16);
+    }
+  }
+  return result;
+}
+
+function getXPos(item)
+{
+  var x = 0;
+  if (item.offsetWidth)
+  {
+    while (item && item!=document.body)
+    {
+      x   += item.offsetLeft;
+      item = item.offsetParent;
+    }
+  }
+  return x;
+}
+
+function getYPos(item)
+{
+  var y = 0;
+  if (item.offsetWidth)
+  {
+     while (item && item!=document.body)
+     {
+       y   += item.offsetTop;
+       item = item.offsetParent;
+     }
+  }
+  return y;
+}
+
+var searchResults = new SearchResults("searchResults");
+
+/* A class handling everything associated with the search panel.
+
+   Parameters:
+   name - The name of the global variable that will be
+          storing this instance.  Is needed to be able to set timeouts.
+   resultPath - path to use for external files
+*/
+function SearchBox(name, resultsPath, extension)
+{
+  if (!name || !resultsPath) {  alert("Missing parameters to SearchBox."); }
+  if (!extension || extension == "") { extension = ".html"; }
+
+  // ---------- Instance variables
+  this.name                  = name;
+  this.resultsPath           = resultsPath;
+  this.keyTimeout            = 0;
+  this.keyTimeoutLength      = 500;
+  this.closeSelectionTimeout = 300;
+  this.lastSearchValue       = "";
+  this.lastResultsPage       = "";
+  this.hideTimeout           = 0;
+  this.searchIndex           = 0;
+  this.searchActive          = false;
+  this.extension             = extension;
+
+  // ----------- DOM Elements
+
+  this.DOMSearchField = function()
+  {  return document.getElementById("MSearchField");  }
+
+  this.DOMSearchSelect = function()
+  {  return document.getElementById("MSearchSelect");  }
+
+  this.DOMSearchSelectWindow = function()
+  {  return document.getElementById("MSearchSelectWindow");  }
+
+  this.DOMPopupSearchResults = function()
+  {  return document.getElementById("MSearchResults");  }
+
+  this.DOMPopupSearchResultsWindow = function()
+  {  return document.getElementById("MSearchResultsWindow");  }
+
+  this.DOMSearchClose = function()
+  {  return document.getElementById("MSearchClose"); }
+
+  this.DOMSearchBox = function()
+  {  return document.getElementById("MSearchBox");  }
+
+  // ------------ Event Handlers
+
+  // Called when focus is added or removed from the search field.
+  this.OnSearchFieldFocus = function(isActive)
+  {
+    this.Activate(isActive);
+  }
+
+  this.OnSearchSelectShow = function()
+  {
+    var searchSelectWindow = this.DOMSearchSelectWindow();
+    var searchField        = this.DOMSearchSelect();
+
+    var left = getXPos(searchField);
+    var top  = getYPos(searchField);
+    top += searchField.offsetHeight;
+
+    // show search selection popup
+    searchSelectWindow.style.display='block';
+    searchSelectWindow.style.left =  left + 'px';
+    searchSelectWindow.style.top  =  top  + 'px';
+
+    // stop selection hide timer
+    if (this.hideTimeout)
+    {
+      clearTimeout(this.hideTimeout);
+      this.hideTimeout=0;
+    }
+    return false; // to avoid "image drag" default event
+  }
+
+  this.OnSearchSelectHide = function()
+  {
+    this.hideTimeout = setTimeout(this.name +".CloseSelectionWindow()",
+                                  this.closeSelectionTimeout);
+  }
+
+  // Called when the content of the search field is changed.
+  this.OnSearchFieldChange = function(evt)
+  {
+    if (this.keyTimeout) // kill running timer
+    {
+      clearTimeout(this.keyTimeout);
+      this.keyTimeout = 0;
+    }
+
+    var e  = (evt) ? evt : window.event; // for IE
+    if (e.keyCode==40 || e.keyCode==13)
+    {
+      if (e.shiftKey==1)
+      {
+        this.OnSearchSelectShow();
+        var win=this.DOMSearchSelectWindow();
+        for (i=0;i<win.childNodes.length;i++)
+        {
+          var child = win.childNodes[i]; // get span within a
+          if (child.className=='SelectItem')
+          {
+            child.focus();
+            return;
+          }
+        }
+        return;
+      }
+      else
+      {
+        var elem = searchResults.NavNext(0);
+        if (elem) elem.focus();
+      }
+    }
+    else if (e.keyCode==27) // Escape out of the search field
+    {
+      this.DOMSearchField().blur();
+      this.DOMPopupSearchResultsWindow().style.display = 'none';
+      this.DOMSearchClose().style.display = 'none';
+      this.lastSearchValue = '';
+      this.Activate(false);
+      return;
+    }
+
+    // strip whitespaces
+    var searchValue = this.DOMSearchField().value.replace(/ +/g, "");
+
+    if (searchValue != this.lastSearchValue) // search value has changed
+    {
+      if (searchValue != "") // non-empty search
+      {
+        // set timer for search update
+        this.keyTimeout = setTimeout(this.name + '.Search()',
+                                     this.keyTimeoutLength);
+      }
+      else // empty search field
+      {
+        this.DOMPopupSearchResultsWindow().style.display = 'none';
+        this.DOMSearchClose().style.display = 'none';
+        this.lastSearchValue = '';
+      }
+    }
+  }
+
+  this.SelectItemCount = function(id)
+  {
+    var count=0;
+    var win=this.DOMSearchSelectWindow();
+    for (i=0;i<win.childNodes.length;i++)
+    {
+      var child = win.childNodes[i]; // get span within a
+      if (child.className=='SelectItem')
+      {
+        count++;
+      }
+    }
+    return count;
+  }
+
+  this.SelectItemSet = function(id)
+  {
+    var i,j=0;
+    var win=this.DOMSearchSelectWindow();
+    for (i=0;i<win.childNodes.length;i++)
+    {
+      var child = win.childNodes[i]; // get span within a
+      if (child.className=='SelectItem')
+      {
+        var node = child.firstChild;
+        if (j==id)
+        {
+          node.innerHTML='&#8226;';
+        }
+        else
+        {
+          node.innerHTML='&#160;';
+        }
+        j++;
+      }
+    }
+  }
+
+  // Called when an search filter selection is made.
+  // set item with index id as the active item
+  this.OnSelectItem = function(id)
+  {
+    this.searchIndex = id;
+    this.SelectItemSet(id);
+    var searchValue = this.DOMSearchField().value.replace(/ +/g, "");
+    if (searchValue!="" && this.searchActive) // something was found -> do a search
+    {
+      this.Search();
+    }
+  }
+
+  this.OnSearchSelectKey = function(evt)
+  {
+    var e = (evt) ? evt : window.event; // for IE
+    if (e.keyCode==40 && this.searchIndex<this.SelectItemCount()) // Down
+    {
+      this.searchIndex++;
+      this.OnSelectItem(this.searchIndex);
+    }
+    else if (e.keyCode==38 && this.searchIndex>0) // Up
+    {
+      this.searchIndex--;
+      this.OnSelectItem(this.searchIndex);
+    }
+    else if (e.keyCode==13 || e.keyCode==27)
+    {
+      this.OnSelectItem(this.searchIndex);
+      this.CloseSelectionWindow();
+      this.DOMSearchField().focus();
+    }
+    return false;
+  }
+
+  // --------- Actions
+
+  // Closes the results window.
+  this.CloseResultsWindow = function()
+  {
+    this.DOMPopupSearchResultsWindow().style.display = 'none';
+    this.DOMSearchClose().style.display = 'none';
+    this.Activate(false);
+  }
+
+  this.CloseSelectionWindow = function()
+  {
+    this.DOMSearchSelectWindow().style.display = 'none';
+  }
+
+  // Performs a search.
+  this.Search = function()
+  {
+    this.keyTimeout = 0;
+
+    // strip leading whitespace
+    var searchValue = this.DOMSearchField().value.replace(/^ +/, "");
+
+    var code = searchValue.toLowerCase().charCodeAt(0);
+    var idxChar = searchValue.substr(0, 1).toLowerCase();
+    if ( 0xD800 <= code && code <= 0xDBFF && searchValue > 1) // surrogate pair
+    {
+      idxChar = searchValue.substr(0, 2);
+    }
+
+    var jsFile;
+
+    var idx = indexSectionsWithContent[this.searchIndex].indexOf(idxChar);
+    if (idx!=-1)
+    {
+       var hexCode=idx.toString(16);
+       jsFile = this.resultsPath + indexSectionNames[this.searchIndex] + '_' + hexCode + '.js';
+    }
+
+    var loadJS = function(url, impl, loc){
+      var scriptTag = document.createElement('script');
+      scriptTag.src = url;
+      scriptTag.onload = impl;
+      scriptTag.onreadystatechange = impl;
+      loc.appendChild(scriptTag);
+    }
+
+    var domPopupSearchResultsWindow = this.DOMPopupSearchResultsWindow();
+    var domSearchBox = this.DOMSearchBox();
+    var domPopupSearchResults = this.DOMPopupSearchResults();
+    var domSearchClose = this.DOMSearchClose();
+    var resultsPath = this.resultsPath;
+
+    var handleResults = function() {
+      document.getElementById("Loading").style.display="none";
+      if (typeof searchData !== 'undefined') {
+        createResults(resultsPath);
+        document.getElementById("NoMatches").style.display="none";
+      }
+ 
+      searchResults.Search(searchValue);
+
+      if (domPopupSearchResultsWindow.style.display!='block')
+      {
+        domSearchClose.style.display = 'inline-block';
+        var left = getXPos(domSearchBox) + 150;
+        var top  = getYPos(domSearchBox) + 20;
+        domPopupSearchResultsWindow.style.display = 'block';
+        left -= domPopupSearchResults.offsetWidth;
+        var maxWidth  = document.body.clientWidth;
+        var maxHeight = document.body.clientHeight;
+        var width = 300;
+        if (left<10) left=10;
+        if (width+left+8>maxWidth) width=maxWidth-left-8;
+        var height = 400;
+        if (height+top+8>maxHeight) height=maxHeight-top-8;
+        domPopupSearchResultsWindow.style.top     = top  + 'px';
+        domPopupSearchResultsWindow.style.left    = left + 'px';
+        domPopupSearchResultsWindow.style.width   = width + 'px';
+        domPopupSearchResultsWindow.style.height  = height + 'px';
+      }
+    }
+
+    if (jsFile) {
+      loadJS(jsFile, handleResults, this.DOMPopupSearchResultsWindow());
+    } else {
+      handleResults();
+    }
+
+    this.lastSearchValue = searchValue;
+  }
+
+  // -------- Activation Functions
+
+  // Activates or deactivates the search panel, resetting things to
+  // their default values if necessary.
+  this.Activate = function(isActive)
+  {
+    if (isActive || // open it
+        this.DOMPopupSearchResultsWindow().style.display == 'block'
+       )
+    {
+      this.DOMSearchBox().className = 'MSearchBoxActive';
+      this.searchActive = true;
+    }
+    else if (!isActive) // directly remove the panel
+    {
+      this.DOMSearchBox().className = 'MSearchBoxInactive';
+      this.searchActive             = false;
+      this.lastSearchValue          = ''
+      this.lastResultsPage          = '';
+      this.DOMSearchField().value   = '';
+    }
+  }
+}
+
+// -----------------------------------------------------------------------
+
+// The class that handles everything on the search results page.
+function SearchResults(name)
+{
+    // The number of matches from the last run of <Search()>.
+    this.lastMatchCount = 0;
+    this.lastKey = 0;
+    this.repeatOn = false;
+
+    // Toggles the visibility of the passed element ID.
+    this.FindChildElement = function(id)
+    {
+      var parentElement = document.getElementById(id);
+      var element = parentElement.firstChild;
+
+      while (element && element!=parentElement)
+      {
+        if (element.nodeName.toLowerCase() == 'div' && element.className == 'SRChildren')
+        {
+          return element;
+        }
+
+        if (element.nodeName.toLowerCase() == 'div' && element.hasChildNodes())
+        {
+           element = element.firstChild;
+        }
+        else if (element.nextSibling)
+        {
+           element = element.nextSibling;
+        }
+        else
+        {
+          do
+          {
+            element = element.parentNode;
+          }
+          while (element && element!=parentElement && !element.nextSibling);
+
+          if (element && element!=parentElement)
+          {
+            element = element.nextSibling;
+          }
+        }
+      }
+    }
+
+    this.Toggle = function(id)
+    {
+      var element = this.FindChildElement(id);
+      if (element)
+      {
+        if (element.style.display == 'block')
+        {
+          element.style.display = 'none';
+        }
+        else
+        {
+          element.style.display = 'block';
+        }
+      }
+    }
+
+    // Searches for the passed string.  If there is no parameter,
+    // it takes it from the URL query.
+    //
+    // Always returns true, since other documents may try to call it
+    // and that may or may not be possible.
+    this.Search = function(search)
+    {
+      if (!search) // get search word from URL
+      {
+        search = window.location.search;
+        search = search.substring(1);  // Remove the leading '?'
+        search = unescape(search);
+      }
+
+      search = search.replace(/^ +/, ""); // strip leading spaces
+      search = search.replace(/ +$/, ""); // strip trailing spaces
+      search = search.toLowerCase();
+      search = convertToId(search);
+
+      var resultRows = document.getElementsByTagName("div");
+      var matches = 0;
+
+      var i = 0;
+      while (i < resultRows.length)
+      {
+        var row = resultRows.item(i);
+        if (row.className == "SRResult")
+        {
+          var rowMatchName = row.id.toLowerCase();
+          rowMatchName = rowMatchName.replace(/^sr\d*_/, ''); // strip 'sr123_'
+
+          if (search.length<=rowMatchName.length &&
+             rowMatchName.substr(0, search.length)==search)
+          {
+            row.style.display = 'block';
+            matches++;
+          }
+          else
+          {
+            row.style.display = 'none';
+          }
+        }
+        i++;
+      }
+      document.getElementById("Searching").style.display='none';
+      if (matches == 0) // no results
+      {
+        document.getElementById("NoMatches").style.display='block';
+      }
+      else // at least one result
+      {
+        document.getElementById("NoMatches").style.display='none';
+      }
+      this.lastMatchCount = matches;
+      return true;
+    }
+
+    // return the first item with index index or higher that is visible
+    this.NavNext = function(index)
+    {
+      var focusItem;
+      while (1)
+      {
+        var focusName = 'Item'+index;
+        focusItem = document.getElementById(focusName);
+        if (focusItem && focusItem.parentNode.parentNode.style.display=='block')
+        {
+          break;
+        }
+        else if (!focusItem) // last element
+        {
+          break;
+        }
+        focusItem=null;
+        index++;
+      }
+      return focusItem;
+    }
+
+    this.NavPrev = function(index)
+    {
+      var focusItem;
+      while (1)
+      {
+        var focusName = 'Item'+index;
+        focusItem = document.getElementById(focusName);
+        if (focusItem && focusItem.parentNode.parentNode.style.display=='block')
+        {
+          break;
+        }
+        else if (!focusItem) // last element
+        {
+          break;
+        }
+        focusItem=null;
+        index--;
+      }
+      return focusItem;
+    }
+
+    this.ProcessKeys = function(e)
+    {
+      if (e.type == "keydown")
+      {
+        this.repeatOn = false;
+        this.lastKey = e.keyCode;
+      }
+      else if (e.type == "keypress")
+      {
+        if (!this.repeatOn)
+        {
+          if (this.lastKey) this.repeatOn = true;
+          return false; // ignore first keypress after keydown
+        }
+      }
+      else if (e.type == "keyup")
+      {
+        this.lastKey = 0;
+        this.repeatOn = false;
+      }
+      return this.lastKey!=0;
+    }
+
+    this.Nav = function(evt,itemIndex)
+    {
+      var e  = (evt) ? evt : window.event; // for IE
+      if (e.keyCode==13) return true;
+      if (!this.ProcessKeys(e)) return false;
+
+      if (this.lastKey==38) // Up
+      {
+        var newIndex = itemIndex-1;
+        var focusItem = this.NavPrev(newIndex);
+        if (focusItem)
+        {
+          var child = this.FindChildElement(focusItem.parentNode.parentNode.id);
+          if (child && child.style.display == 'block') // children visible
+          {
+            var n=0;
+            var tmpElem;
+            while (1) // search for last child
+            {
+              tmpElem = document.getElementById('Item'+newIndex+'_c'+n);
+              if (tmpElem)
+              {
+                focusItem = tmpElem;
+              }
+              else // found it!
+              {
+                break;
+              }
+              n++;
+            }
+          }
+        }
+        if (focusItem)
+        {
+          focusItem.focus();
+        }
+        else // return focus to search field
+        {
+           document.getElementById("MSearchField").focus();
+        }
+      }
+      else if (this.lastKey==40) // Down
+      {
+        var newIndex = itemIndex+1;
+        var focusItem;
+        var item = document.getElementById('Item'+itemIndex);
+        var elem = this.FindChildElement(item.parentNode.parentNode.id);
+        if (elem && elem.style.display == 'block') // children visible
+        {
+          focusItem = document.getElementById('Item'+itemIndex+'_c0');
+        }
+        if (!focusItem) focusItem = this.NavNext(newIndex);
+        if (focusItem)  focusItem.focus();
+      }
+      else if (this.lastKey==39) // Right
+      {
+        var item = document.getElementById('Item'+itemIndex);
+        var elem = this.FindChildElement(item.parentNode.parentNode.id);
+        if (elem) elem.style.display = 'block';
+      }
+      else if (this.lastKey==37) // Left
+      {
+        var item = document.getElementById('Item'+itemIndex);
+        var elem = this.FindChildElement(item.parentNode.parentNode.id);
+        if (elem) elem.style.display = 'none';
+      }
+      else if (this.lastKey==27) // Escape
+      {
+        searchBox.CloseResultsWindow();
+        document.getElementById("MSearchField").focus();
+      }
+      else if (this.lastKey==13) // Enter
+      {
+        return true;
+      }
+      return false;
+    }
+
+    this.NavChild = function(evt,itemIndex,childIndex)
+    {
+      var e  = (evt) ? evt : window.event; // for IE
+      if (e.keyCode==13) return true;
+      if (!this.ProcessKeys(e)) return false;
+
+      if (this.lastKey==38) // Up
+      {
+        if (childIndex>0)
+        {
+          var newIndex = childIndex-1;
+          document.getElementById('Item'+itemIndex+'_c'+newIndex).focus();
+        }
+        else // already at first child, jump to parent
+        {
+          document.getElementById('Item'+itemIndex).focus();
+        }
+      }
+      else if (this.lastKey==40) // Down
+      {
+        var newIndex = childIndex+1;
+        var elem = document.getElementById('Item'+itemIndex+'_c'+newIndex);
+        if (!elem) // last child, jump to parent next parent
+        {
+          elem = this.NavNext(itemIndex+1);
+        }
+        if (elem)
+        {
+          elem.focus();
+        }
+      }
+      else if (this.lastKey==27) // Escape
+      {
+        searchBox.CloseResultsWindow();
+        document.getElementById("MSearchField").focus();
+      }
+      else if (this.lastKey==13) // Enter
+      {
+        return true;
+      }
+      return false;
+    }
+}
+
+function setKeyActions(elem,action)
+{
+  elem.setAttribute('onkeydown',action);
+  elem.setAttribute('onkeypress',action);
+  elem.setAttribute('onkeyup',action);
+}
+
+function setClassAttr(elem,attr)
+{
+  elem.setAttribute('class',attr);
+  elem.setAttribute('className',attr);
+}
+
+function createResults(resultsPath)
+{
+  var results = document.getElementById("SRResults");
+  results.innerHTML = '';
+  for (var e=0; e<searchData.length; e++)
+  {
+    var id = searchData[e][0];
+    var srResult = document.createElement('div');
+    srResult.setAttribute('id','SR_'+id);
+    setClassAttr(srResult,'SRResult');
+    var srEntry = document.createElement('div');
+    setClassAttr(srEntry,'SREntry');
+    var srLink = document.createElement('a');
+    srLink.setAttribute('id','Item'+e);
+    setKeyActions(srLink,'return searchResults.Nav(event,'+e+')');
+    setClassAttr(srLink,'SRSymbol');
+    srLink.innerHTML = searchData[e][1][0];
+    srEntry.appendChild(srLink);
+    if (searchData[e][1].length==2) // single result
+    {
+      srLink.setAttribute('href',resultsPath+searchData[e][1][1][0]);
+      srLink.setAttribute('onclick','searchBox.CloseResultsWindow()');
+      if (searchData[e][1][1][1])
+      {
+       srLink.setAttribute('target','_parent');
+      }
+      else
+      {
+       srLink.setAttribute('target','_blank');
+      }
+      var srScope = document.createElement('span');
+      setClassAttr(srScope,'SRScope');
+      srScope.innerHTML = searchData[e][1][1][2];
+      srEntry.appendChild(srScope);
+    }
+    else // multiple results
+    {
+      srLink.setAttribute('href','javascript:searchResults.Toggle("SR_'+id+'")');
+      var srChildren = document.createElement('div');
+      setClassAttr(srChildren,'SRChildren');
+      for (var c=0; c<searchData[e][1].length-1; c++)
+      {
+        var srChild = document.createElement('a');
+        srChild.setAttribute('id','Item'+e+'_c'+c);
+        setKeyActions(srChild,'return searchResults.NavChild(event,'+e+','+c+')');
+        setClassAttr(srChild,'SRScope');
+        srChild.setAttribute('href',resultsPath+searchData[e][1][c+1][0]);
+        srChild.setAttribute('onclick','searchBox.CloseResultsWindow()');
+        if (searchData[e][1][c+1][1])
+        {
+         srChild.setAttribute('target','_parent');
+        }
+        else
+        {
+         srChild.setAttribute('target','_blank');
+        }
+        srChild.innerHTML = searchData[e][1][c+1][2];
+        srChildren.appendChild(srChild);
+      }
+      srEntry.appendChild(srChildren);
+    }
+    srResult.appendChild(srEntry);
+    results.appendChild(srResult);
+  }
+}
+
+function init_search()
+{
+  var results = document.getElementById("MSearchSelectWindow");
+  for (var key in indexSectionLabels)
+  {
+    var link = document.createElement('a');
+    link.setAttribute('class','SelectItem');
+    link.setAttribute('onclick','searchBox.OnSelectItem('+key+')');
+    link.href='javascript:void(0)';
+    link.innerHTML='<span class="SelectionMark">&#160;</span>'+indexSectionLabels[key];
+    results.appendChild(link);
+  }
+  searchBox.OnSelectItem(0);
+}
+/* @license-end */
diff --git a/docs/cpp/search/searchdata.js b/docs/cpp/search/searchdata.js
new file mode 100644
index 00000000..d49abb6e
--- /dev/null
+++ b/docs/cpp/search/searchdata.js
@@ -0,0 +1,24 @@
+var indexSectionsWithContent =
+{
+  0: "abcefghinoprsw",
+  1: "acefghnprs",
+  2: "bcefghinoprsw",
+  3: "p"
+};
+
+var indexSectionNames =
+{
+  0: "all",
+  1: "classes",
+  2: "functions",
+  3: "pages"
+};
+
+var indexSectionLabels =
+{
+  0: "All",
+  1: "Classes",
+  2: "Functions",
+  3: "Pages"
+};
+
diff --git a/docs/cpp/splitbar.png b/docs/cpp/splitbar.png
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diff --git a/docs/cpp/structstd_1_1hash_3_01pathplanner_1_1ADStar_1_1GridPosition_01_4.html b/docs/cpp/structstd_1_1hash_3_01pathplanner_1_1ADStar_1_1GridPosition_01_4.html
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+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="All Classes (pathplannerlib API)";
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+var data = {"i0":2,"i1":2,"i2":2,"i3":1,"i4":1,"i5":8,"i6":2,"i7":2,"i8":2,"i9":2,"i10":2,"i11":2,"i12":2,"i13":2,"i14":2,"i15":2,"i16":2,"i17":2,"i18":2,"i19":2,"i20":2,"i21":2,"i22":2,"i23":2,"i24":2,"i25":2,"i26":2,"i27":1,"i28":2,"i29":2,"i30":2,"i31":2,"i32":2,"i33":2,"i34":2,"i35":2,"i36":2,"i37":2,"i38":2,"i39":2,"i40":2,"i41":2};
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+<li><a href="index.html">Overview</a></li>
+<li>Package</li>
+<li>Class</li>
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+</div>
+<div class="allClassesContainer">
+<ul class="blockList">
+<li class="blockList">
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+<caption><span id="t0" class="activeTableTab"><span>All Classes</span><span class="tabEnd">&nbsp;</span></span><span id="t1" class="tableTab"><span><a href="javascript:show(1);">Interface Summary</a></span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Class Summary</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Exception Summary</a></span><span class="tabEnd">&nbsp;</span></span></caption>
+<tr>
+<th class="colFirst" scope="col">Class</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr id="i0" class="altColor">
+<td class="colFirst"><a href="com/pathplanner/lib/pathfinding/ADStar.html" title="class in com.pathplanner.lib.pathfinding">ADStar</a></td>
+<th class="colLast" scope="row">
+<div class="block">Implementation of the AD* pathfinding algorithm</div>
+</th>
+</tr>
+<tr id="i1" class="rowColor">
+<td class="colFirst"><a href="com/pathplanner/lib/pathfinding/ADStar.GridPosition.html" title="class in com.pathplanner.lib.pathfinding">ADStar.GridPosition</a></td>
+<th class="colLast" scope="row">
+<div class="block">Represents a node in the pathfinding grid</div>
+</th>
+</tr>
+<tr id="i2" class="altColor">
+<td class="colFirst"><a href="com/pathplanner/lib/auto/AutoBuilder.html" title="class in com.pathplanner.lib.auto">AutoBuilder</a></td>
+<th class="colLast" scope="row">
+<div class="block">Utility class used to build auto routines</div>
+</th>
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+<tr id="i3" class="rowColor">
+<td class="colFirst"><a href="com/pathplanner/lib/auto/AutoBuilder.QuadFunction.html" title="interface in com.pathplanner.lib.auto">AutoBuilder.QuadFunction</a>&lt;<a href="com/pathplanner/lib/auto/AutoBuilder.QuadFunction.html" title="type parameter in AutoBuilder.QuadFunction">In1</a>,&#8203;<a href="com/pathplanner/lib/auto/AutoBuilder.QuadFunction.html" title="type parameter in AutoBuilder.QuadFunction">In2</a>,&#8203;<a href="com/pathplanner/lib/auto/AutoBuilder.QuadFunction.html" title="type parameter in AutoBuilder.QuadFunction">In3</a>,&#8203;<a href="com/pathplanner/lib/auto/AutoBuilder.QuadFunction.html" title="type parameter in AutoBuilder.QuadFunction">In4</a>,&#8203;<a href="com/pathplanner/lib/auto/AutoBuilder.QuadFunction.html" title="type parameter in AutoBuilder.QuadFunction">Out</a>&gt;</td>
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+<div class="block">Functional interface for a function that takes 4 inputs</div>
+</th>
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+<tr id="i4" class="altColor">
+<td class="colFirst"><a href="com/pathplanner/lib/auto/AutoBuilder.TriFunction.html" title="interface in com.pathplanner.lib.auto">AutoBuilder.TriFunction</a>&lt;<a href="com/pathplanner/lib/auto/AutoBuilder.TriFunction.html" title="type parameter in AutoBuilder.TriFunction">In1</a>,&#8203;<a href="com/pathplanner/lib/auto/AutoBuilder.TriFunction.html" title="type parameter in AutoBuilder.TriFunction">In2</a>,&#8203;<a href="com/pathplanner/lib/auto/AutoBuilder.TriFunction.html" title="type parameter in AutoBuilder.TriFunction">In3</a>,&#8203;<a href="com/pathplanner/lib/auto/AutoBuilder.TriFunction.html" title="type parameter in AutoBuilder.TriFunction">Out</a>&gt;</td>
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+<th class="colLast" scope="row">
+<div class="block">An exception while building autos</div>
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+<tr id="i6" class="altColor">
+<td class="colFirst"><a href="com/pathplanner/lib/util/ChassisSpeedsRateLimiter.html" title="class in com.pathplanner.lib.util">ChassisSpeedsRateLimiter</a></td>
+<th class="colLast" scope="row">
+<div class="block">Essentially a slew rate limiter for chassis speeds</div>
+</th>
+</tr>
+<tr id="i7" class="rowColor">
+<td class="colFirst"><a href="com/pathplanner/lib/auto/CommandUtil.html" title="class in com.pathplanner.lib.auto">CommandUtil</a></td>
+<th class="colLast" scope="row">
+<div class="block">Utility class for building commands used in autos</div>
+</th>
+</tr>
+<tr id="i8" class="altColor">
+<td class="colFirst"><a href="com/pathplanner/lib/path/ConstraintsZone.html" title="class in com.pathplanner.lib.path">ConstraintsZone</a></td>
+<th class="colLast" scope="row">
+<div class="block">A zone on a path with different kinematic constraints</div>
+</th>
+</tr>
+<tr id="i9" class="rowColor">
+<td class="colFirst"><a href="com/pathplanner/lib/path/EventMarker.html" title="class in com.pathplanner.lib.path">EventMarker</a></td>
+<th class="colLast" scope="row">
+<div class="block">Position along the path that will trigger a command when reached</div>
+</th>
+</tr>
+<tr id="i10" class="altColor">
+<td class="colFirst"><a href="com/pathplanner/lib/commands/FollowPathCommand.html" title="class in com.pathplanner.lib.commands">FollowPathCommand</a></td>
+<th class="colLast" scope="row">
+<div class="block">Base command for following a path</div>
+</th>
+</tr>
+<tr id="i11" class="rowColor">
+<td class="colFirst"><a href="com/pathplanner/lib/commands/FollowPathHolonomic.html" title="class in com.pathplanner.lib.commands">FollowPathHolonomic</a></td>
+<th class="colLast" scope="row">
+<div class="block">Follow a path using a PPHolonomicDriveController</div>
+</th>
+</tr>
+<tr id="i12" class="altColor">
+<td class="colFirst"><a href="com/pathplanner/lib/commands/FollowPathLTV.html" title="class in com.pathplanner.lib.commands">FollowPathLTV</a></td>
+<th class="colLast" scope="row">
+<div class="block">Follow a path using a PPLTVController</div>
+</th>
+</tr>
+<tr id="i13" class="rowColor">
+<td class="colFirst"><a href="com/pathplanner/lib/commands/FollowPathRamsete.html" title="class in com.pathplanner.lib.commands">FollowPathRamsete</a></td>
+<th class="colLast" scope="row">
+<div class="block">Follow a path using a PPRamseteController</div>
+</th>
+</tr>
+<tr id="i14" class="altColor">
+<td class="colFirst"><a href="com/pathplanner/lib/commands/FollowPathWithEvents.html" title="class in com.pathplanner.lib.commands">FollowPathWithEvents</a></td>
+<th class="colLast" scope="row">
+<div class="block">Command that will run a path following command and trigger event markers along the way</div>
+</th>
+</tr>
+<tr id="i15" class="rowColor">
+<td class="colFirst"><a href="com/pathplanner/lib/util/GeometryUtil.html" title="class in com.pathplanner.lib.util">GeometryUtil</a></td>
+<th class="colLast" scope="row">
+<div class="block">Utility class for various geometry functions used during generation</div>
+</th>
+</tr>
+<tr id="i16" class="altColor">
+<td class="colFirst"><a href="com/pathplanner/lib/path/GoalEndState.html" title="class in com.pathplanner.lib.path">GoalEndState</a></td>
+<th class="colLast" scope="row">
+<div class="block">Describes the goal end state of the robot when finishing a path</div>
+</th>
+</tr>
+<tr id="i17" class="rowColor">
+<td class="colFirst"><a href="com/pathplanner/lib/util/HolonomicPathFollowerConfig.html" title="class in com.pathplanner.lib.util">HolonomicPathFollowerConfig</a></td>
+<th class="colLast" scope="row">
+<div class="block">Configuration for the holonomic path following commands</div>
+</th>
+</tr>
+<tr id="i18" class="altColor">
+<td class="colFirst"><a href="com/pathplanner/lib/auto/NamedCommands.html" title="class in com.pathplanner.lib.auto">NamedCommands</a></td>
+<th class="colLast" scope="row">
+<div class="block">Utility class for managing named commands</div>
+</th>
+</tr>
+<tr id="i19" class="rowColor">
+<td class="colFirst"><a href="com/pathplanner/lib/path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a></td>
+<th class="colLast" scope="row">
+<div class="block">Kinematic path following constraints</div>
+</th>
+</tr>
+<tr id="i20" class="altColor">
+<td class="colFirst"><a href="com/pathplanner/lib/commands/PathfindHolonomic.html" title="class in com.pathplanner.lib.commands">PathfindHolonomic</a></td>
+<th class="colLast" scope="row">
+<div class="block">Pathfind and follow the path with a PPHolonomicDriveController</div>
+</th>
+</tr>
+<tr id="i21" class="rowColor">
+<td class="colFirst"><a href="com/pathplanner/lib/commands/PathfindingCommand.html" title="class in com.pathplanner.lib.commands">PathfindingCommand</a></td>
+<th class="colLast" scope="row">
+<div class="block">Base pathfinding command</div>
+</th>
+</tr>
+<tr id="i22" class="altColor">
+<td class="colFirst"><a href="com/pathplanner/lib/commands/PathfindLTV.html" title="class in com.pathplanner.lib.commands">PathfindLTV</a></td>
+<th class="colLast" scope="row">
+<div class="block">Pathfind and follow the path with a PPLTVController</div>
+</th>
+</tr>
+<tr id="i23" class="rowColor">
+<td class="colFirst"><a href="com/pathplanner/lib/commands/PathfindRamsete.html" title="class in com.pathplanner.lib.commands">PathfindRamsete</a></td>
+<th class="colLast" scope="row">
+<div class="block">Pathfind and follow the path with a PPRamseteController</div>
+</th>
+</tr>
+<tr id="i24" class="altColor">
+<td class="colFirst"><a href="com/pathplanner/lib/commands/PathfindThenFollowPathHolonomic.html" title="class in com.pathplanner.lib.commands">PathfindThenFollowPathHolonomic</a></td>
+<th class="colLast" scope="row">
+<div class="block">A command group that first pathfinds to a goal path and then follows the goal path.</div>
+</th>
+</tr>
+<tr id="i25" class="rowColor">
+<td class="colFirst"><a href="com/pathplanner/lib/commands/PathfindThenFollowPathLTV.html" title="class in com.pathplanner.lib.commands">PathfindThenFollowPathLTV</a></td>
+<th class="colLast" scope="row">
+<div class="block">A command group that first pathfinds to a goal path and then follows the goal path.</div>
+</th>
+</tr>
+<tr id="i26" class="altColor">
+<td class="colFirst"><a href="com/pathplanner/lib/commands/PathfindThenFollowPathRamsete.html" title="class in com.pathplanner.lib.commands">PathfindThenFollowPathRamsete</a></td>
+<th class="colLast" scope="row">
+<div class="block">A command group that first pathfinds to a goal path and then follows the goal path.</div>
+</th>
+</tr>
+<tr id="i27" class="rowColor">
+<td class="colFirst"><a href="com/pathplanner/lib/controllers/PathFollowingController.html" title="interface in com.pathplanner.lib.controllers">PathFollowingController</a></td>
+<th class="colLast" scope="row">
+<div class="block">Interface used by path following controllers</div>
+</th>
+</tr>
+<tr id="i28" class="altColor">
+<td class="colFirst"><a href="com/pathplanner/lib/commands/PathPlannerAuto.html" title="class in com.pathplanner.lib.commands">PathPlannerAuto</a></td>
+<th class="colLast" scope="row">
+<div class="block">A command that loads and runs an autonomous routine built using PathPlanner.</div>
+</th>
+</tr>
+<tr id="i29" class="rowColor">
+<td class="colFirst"><a href="com/pathplanner/lib/util/PathPlannerLogging.html" title="class in com.pathplanner.lib.util">PathPlannerLogging</a></td>
+<th class="colLast" scope="row">
+<div class="block">Utility class for handling custom logging callbacks</div>
+</th>
+</tr>
+<tr id="i30" class="altColor">
+<td class="colFirst"><a href="com/pathplanner/lib/path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a></td>
+<th class="colLast" scope="row">
+<div class="block">A PathPlanner path.</div>
+</th>
+</tr>
+<tr id="i31" class="rowColor">
+<td class="colFirst"><a href="com/pathplanner/lib/path/PathPlannerTrajectory.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory</a></td>
+<th class="colLast" scope="row">
+<div class="block">Trajectory created from a pathplanner path</div>
+</th>
+</tr>
+<tr id="i32" class="altColor">
+<td class="colFirst"><a href="com/pathplanner/lib/path/PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory.State</a></td>
+<th class="colLast" scope="row">
+<div class="block">A state along the trajectory</div>
+</th>
+</tr>
+<tr id="i33" class="rowColor">
+<td class="colFirst"><a href="com/pathplanner/lib/path/PathPoint.html" title="class in com.pathplanner.lib.path">PathPoint</a></td>
+<th class="colLast" scope="row">
+<div class="block">A point along a pathplanner path</div>
+</th>
+</tr>
+<tr id="i34" class="altColor">
+<td class="colFirst"><a href="com/pathplanner/lib/path/PathSegment.html" title="class in com.pathplanner.lib.path">PathSegment</a></td>
+<th class="colLast" scope="row">
+<div class="block">A bezier curve segment</div>
+</th>
+</tr>
+<tr id="i35" class="rowColor">
+<td class="colFirst"><a href="com/pathplanner/lib/util/PIDConstants.html" title="class in com.pathplanner.lib.util">PIDConstants</a></td>
+<th class="colLast" scope="row">
+<div class="block">PID constants used to create PID controllers</div>
+</th>
+</tr>
+<tr id="i36" class="altColor">
+<td class="colFirst"><a href="com/pathplanner/lib/controllers/PPHolonomicDriveController.html" title="class in com.pathplanner.lib.controllers">PPHolonomicDriveController</a></td>
+<th class="colLast" scope="row">
+<div class="block">Path following controller for holonomic drive trains</div>
+</th>
+</tr>
+<tr id="i37" class="rowColor">
+<td class="colFirst"><a href="com/pathplanner/lib/util/PPLibTelemetry.html" title="class in com.pathplanner.lib.util">PPLibTelemetry</a></td>
+<th class="colLast" scope="row">
+<div class="block">Utility class for sending data to the PathPlanner app via NT4</div>
+</th>
+</tr>
+<tr id="i38" class="altColor">
+<td class="colFirst"><a href="com/pathplanner/lib/controllers/PPLTVController.html" title="class in com.pathplanner.lib.controllers">PPLTVController</a></td>
+<th class="colLast" scope="row">
+<div class="block">LTV following controller</div>
+</th>
+</tr>
+<tr id="i39" class="rowColor">
+<td class="colFirst"><a href="com/pathplanner/lib/controllers/PPRamseteController.html" title="class in com.pathplanner.lib.controllers">PPRamseteController</a></td>
+<th class="colLast" scope="row">
+<div class="block">Ramsete path following controller</div>
+</th>
+</tr>
+<tr id="i40" class="altColor">
+<td class="colFirst"><a href="com/pathplanner/lib/util/ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a></td>
+<th class="colLast" scope="row">
+<div class="block">Configuration for path replanning</div>
+</th>
+</tr>
+<tr id="i41" class="rowColor">
+<td class="colFirst"><a href="com/pathplanner/lib/path/RotationTarget.html" title="class in com.pathplanner.lib.path">RotationTarget</a></td>
+<th class="colLast" scope="row">
+<div class="block">A target holonomic rotation at a position along a path</div>
+</th>
+</tr>
+</table>
+</li>
+</ul>
+</div>
+</main>
+<footer role="contentinfo">
+<nav role="navigation">
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a id="navbar.bottom">
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+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_bottom">
+<li><a href="allclasses.html">All&nbsp;Classes</a></li>
+</ul>
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+<script type="text/javascript"><!--
+  allClassesLink = document.getElementById("allclasses_navbar_bottom");
+  if(window==top) {
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diff --git a/docs/java/allclasses.html b/docs/java/allclasses.html
new file mode 100644
index 00000000..2f4f869f
--- /dev/null
+++ b/docs/java/allclasses.html
@@ -0,0 +1,71 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc -->
+<title>All Classes (pathplannerlib API)</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="jquery/jquery-ui.min.css" title="Style">
+<link rel="stylesheet" type="text/css" href="jquery-ui.overrides.css" title="Style">
+<script type="text/javascript" src="script.js"></script>
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+</head>
+<body>
+<main role="main">
+<h1 class="bar">All&nbsp;Classes</h1>
+<div class="indexContainer">
+<ul>
+<li><a href="com/pathplanner/lib/pathfinding/ADStar.html" title="class in com.pathplanner.lib.pathfinding">ADStar</a></li>
+<li><a href="com/pathplanner/lib/pathfinding/ADStar.GridPosition.html" title="class in com.pathplanner.lib.pathfinding">ADStar.GridPosition</a></li>
+<li><a href="com/pathplanner/lib/auto/AutoBuilder.html" title="class in com.pathplanner.lib.auto">AutoBuilder</a></li>
+<li><a href="com/pathplanner/lib/auto/AutoBuilder.QuadFunction.html" title="interface in com.pathplanner.lib.auto"><span class="interfaceName">AutoBuilder.QuadFunction</span></a></li>
+<li><a href="com/pathplanner/lib/auto/AutoBuilder.TriFunction.html" title="interface in com.pathplanner.lib.auto"><span class="interfaceName">AutoBuilder.TriFunction</span></a></li>
+<li><a href="com/pathplanner/lib/auto/AutoBuilderException.html" title="class in com.pathplanner.lib.auto">AutoBuilderException</a></li>
+<li><a href="com/pathplanner/lib/util/ChassisSpeedsRateLimiter.html" title="class in com.pathplanner.lib.util">ChassisSpeedsRateLimiter</a></li>
+<li><a href="com/pathplanner/lib/auto/CommandUtil.html" title="class in com.pathplanner.lib.auto">CommandUtil</a></li>
+<li><a href="com/pathplanner/lib/path/ConstraintsZone.html" title="class in com.pathplanner.lib.path">ConstraintsZone</a></li>
+<li><a href="com/pathplanner/lib/path/EventMarker.html" title="class in com.pathplanner.lib.path">EventMarker</a></li>
+<li><a href="com/pathplanner/lib/commands/FollowPathCommand.html" title="class in com.pathplanner.lib.commands">FollowPathCommand</a></li>
+<li><a href="com/pathplanner/lib/commands/FollowPathHolonomic.html" title="class in com.pathplanner.lib.commands">FollowPathHolonomic</a></li>
+<li><a href="com/pathplanner/lib/commands/FollowPathLTV.html" title="class in com.pathplanner.lib.commands">FollowPathLTV</a></li>
+<li><a href="com/pathplanner/lib/commands/FollowPathRamsete.html" title="class in com.pathplanner.lib.commands">FollowPathRamsete</a></li>
+<li><a href="com/pathplanner/lib/commands/FollowPathWithEvents.html" title="class in com.pathplanner.lib.commands">FollowPathWithEvents</a></li>
+<li><a href="com/pathplanner/lib/util/GeometryUtil.html" title="class in com.pathplanner.lib.util">GeometryUtil</a></li>
+<li><a href="com/pathplanner/lib/path/GoalEndState.html" title="class in com.pathplanner.lib.path">GoalEndState</a></li>
+<li><a href="com/pathplanner/lib/util/HolonomicPathFollowerConfig.html" title="class in com.pathplanner.lib.util">HolonomicPathFollowerConfig</a></li>
+<li><a href="com/pathplanner/lib/auto/NamedCommands.html" title="class in com.pathplanner.lib.auto">NamedCommands</a></li>
+<li><a href="com/pathplanner/lib/path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a></li>
+<li><a href="com/pathplanner/lib/commands/PathfindHolonomic.html" title="class in com.pathplanner.lib.commands">PathfindHolonomic</a></li>
+<li><a href="com/pathplanner/lib/commands/PathfindingCommand.html" title="class in com.pathplanner.lib.commands">PathfindingCommand</a></li>
+<li><a href="com/pathplanner/lib/commands/PathfindLTV.html" title="class in com.pathplanner.lib.commands">PathfindLTV</a></li>
+<li><a href="com/pathplanner/lib/commands/PathfindRamsete.html" title="class in com.pathplanner.lib.commands">PathfindRamsete</a></li>
+<li><a href="com/pathplanner/lib/commands/PathfindThenFollowPathHolonomic.html" title="class in com.pathplanner.lib.commands">PathfindThenFollowPathHolonomic</a></li>
+<li><a href="com/pathplanner/lib/commands/PathfindThenFollowPathLTV.html" title="class in com.pathplanner.lib.commands">PathfindThenFollowPathLTV</a></li>
+<li><a href="com/pathplanner/lib/commands/PathfindThenFollowPathRamsete.html" title="class in com.pathplanner.lib.commands">PathfindThenFollowPathRamsete</a></li>
+<li><a href="com/pathplanner/lib/controllers/PathFollowingController.html" title="interface in com.pathplanner.lib.controllers"><span class="interfaceName">PathFollowingController</span></a></li>
+<li><a href="com/pathplanner/lib/commands/PathPlannerAuto.html" title="class in com.pathplanner.lib.commands">PathPlannerAuto</a></li>
+<li><a href="com/pathplanner/lib/util/PathPlannerLogging.html" title="class in com.pathplanner.lib.util">PathPlannerLogging</a></li>
+<li><a href="com/pathplanner/lib/path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a></li>
+<li><a href="com/pathplanner/lib/path/PathPlannerTrajectory.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory</a></li>
+<li><a href="com/pathplanner/lib/path/PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory.State</a></li>
+<li><a href="com/pathplanner/lib/path/PathPoint.html" title="class in com.pathplanner.lib.path">PathPoint</a></li>
+<li><a href="com/pathplanner/lib/path/PathSegment.html" title="class in com.pathplanner.lib.path">PathSegment</a></li>
+<li><a href="com/pathplanner/lib/util/PIDConstants.html" title="class in com.pathplanner.lib.util">PIDConstants</a></li>
+<li><a href="com/pathplanner/lib/controllers/PPHolonomicDriveController.html" title="class in com.pathplanner.lib.controllers">PPHolonomicDriveController</a></li>
+<li><a href="com/pathplanner/lib/util/PPLibTelemetry.html" title="class in com.pathplanner.lib.util">PPLibTelemetry</a></li>
+<li><a href="com/pathplanner/lib/controllers/PPLTVController.html" title="class in com.pathplanner.lib.controllers">PPLTVController</a></li>
+<li><a href="com/pathplanner/lib/controllers/PPRamseteController.html" title="class in com.pathplanner.lib.controllers">PPRamseteController</a></li>
+<li><a href="com/pathplanner/lib/util/ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a></li>
+<li><a href="com/pathplanner/lib/path/RotationTarget.html" title="class in com.pathplanner.lib.path">RotationTarget</a></li>
+</ul>
+</div>
+</main>
+</body>
+</html>
diff --git a/docs/java/allpackages-index.html b/docs/java/allpackages-index.html
new file mode 100644
index 00000000..dc8b489f
--- /dev/null
+++ b/docs/java/allpackages-index.html
@@ -0,0 +1,184 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc -->
+<title>All Packages (pathplannerlib API)</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
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+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="All Packages (pathplannerlib API)";
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+var pathtoroot = "./";
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diff --git a/docs/java/com/pathplanner/lib/auto/AutoBuilder.QuadFunction.html b/docs/java/com/pathplanner/lib/auto/AutoBuilder.QuadFunction.html
new file mode 100644
index 00000000..3d3865d8
--- /dev/null
+++ b/docs/java/com/pathplanner/lib/auto/AutoBuilder.QuadFunction.html
@@ -0,0 +1,278 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
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+<!-- Generated by javadoc -->
+<title>AutoBuilder.QuadFunction (pathplannerlib API)</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
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+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="AutoBuilder.QuadFunction (pathplannerlib API)";
+        }
+    }
+    catch(err) {
+    }
+//-->
+var data = {"i0":6};
+var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],4:["t3","Abstract Methods"]};
+var altColor = "altColor";
+var rowColor = "rowColor";
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+//-->
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+<!-- ======== START OF CLASS DATA ======== -->
+<main role="main">
+<div class="header">
+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">com.pathplanner.lib.auto</a></div>
+<h2 title="Interface AutoBuilder.QuadFunction" class="title">Interface AutoBuilder.QuadFunction&lt;In1,&#8203;In2,&#8203;In3,&#8203;In4,&#8203;Out&gt;</h2>
+</div>
+<div class="contentContainer">
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<dl>
+<dt>Enclosing class:</dt>
+<dd><a href="AutoBuilder.html" title="class in com.pathplanner.lib.auto">AutoBuilder</a></dd>
+</dl>
+<dl>
+<dt>Functional Interface:</dt>
+<dd>This is a functional interface and can therefore be used as the assignment target for a lambda expression or method reference.</dd>
+</dl>
+<hr>
+<pre><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/FunctionalInterface.html?is-external=true" title="class or interface in java.lang" class="externalLink">@FunctionalInterface</a>
+public static interface <span class="typeNameLabel">AutoBuilder.QuadFunction&lt;In1,&#8203;In2,&#8203;In3,&#8203;In4,&#8203;Out&gt;</span></pre>
+<div class="block">Functional interface for a function that takes 4 inputs</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- ========== METHOD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.summary">
+<!--   -->
+</a>
+<h3>Method Summary</h3>
+<table class="memberSummary">
+<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t3" class="tableTab"><span><a href="javascript:show(4);">Abstract Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr id="i0" class="altColor">
+<td class="colFirst"><code><a href="AutoBuilder.QuadFunction.html" title="type parameter in AutoBuilder.QuadFunction">Out</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#apply(In1,In2,In3,In4)">apply</a></span>&#8203;(<a href="AutoBuilder.QuadFunction.html" title="type parameter in AutoBuilder.QuadFunction">In1</a>&nbsp;in1,
+     <a href="AutoBuilder.QuadFunction.html" title="type parameter in AutoBuilder.QuadFunction">In2</a>&nbsp;in2,
+     <a href="AutoBuilder.QuadFunction.html" title="type parameter in AutoBuilder.QuadFunction">In3</a>&nbsp;in3,
+     <a href="AutoBuilder.QuadFunction.html" title="type parameter in AutoBuilder.QuadFunction">In4</a>&nbsp;in4)</code></th>
+<td class="colLast">
+<div class="block">Apply the inputs to this function</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+<div class="details">
+<ul class="blockList">
+<li class="blockList">
+<!-- ============ METHOD DETAIL ========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.detail">
+<!--   -->
+</a>
+<h3>Method Detail</h3>
+<a id="apply(java.lang.Object,java.lang.Object,java.lang.Object,java.lang.Object)">
+<!--   -->
+</a><a id="apply(In1,In2,In3,In4)">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>apply</h4>
+<pre class="methodSignature"><a href="AutoBuilder.QuadFunction.html" title="type parameter in AutoBuilder.QuadFunction">Out</a>&nbsp;apply&#8203;(<a href="AutoBuilder.QuadFunction.html" title="type parameter in AutoBuilder.QuadFunction">In1</a>&nbsp;in1,
+          <a href="AutoBuilder.QuadFunction.html" title="type parameter in AutoBuilder.QuadFunction">In2</a>&nbsp;in2,
+          <a href="AutoBuilder.QuadFunction.html" title="type parameter in AutoBuilder.QuadFunction">In3</a>&nbsp;in3,
+          <a href="AutoBuilder.QuadFunction.html" title="type parameter in AutoBuilder.QuadFunction">In4</a>&nbsp;in4)</pre>
+<div class="block">Apply the inputs to this function</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>in1</code> - Input 1</dd>
+<dd><code>in2</code> - Input 2</dd>
+<dd><code>in3</code> - Input 3</dd>
+<dd><code>in4</code> - Input 4</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>Output</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+</div>
+</main>
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+<li class="navBarCell1Rev">Class</li>
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+<li><a href="../../../../deprecated-list.html">Deprecated</a></li>
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diff --git a/docs/java/com/pathplanner/lib/auto/AutoBuilder.TriFunction.html b/docs/java/com/pathplanner/lib/auto/AutoBuilder.TriFunction.html
new file mode 100644
index 00000000..e037cdc1
--- /dev/null
+++ b/docs/java/com/pathplanner/lib/auto/AutoBuilder.TriFunction.html
@@ -0,0 +1,275 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc -->
+<title>AutoBuilder.TriFunction (pathplannerlib API)</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.min.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../jquery-ui.overrides.css" title="Style">
+<script type="text/javascript" src="../../../../script.js"></script>
+<script type="text/javascript" src="../../../../jquery/jszip/dist/jszip.min.js"></script>
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+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="AutoBuilder.TriFunction (pathplannerlib API)";
+        }
+    }
+    catch(err) {
+    }
+//-->
+var data = {"i0":6};
+var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],4:["t3","Abstract Methods"]};
+var altColor = "altColor";
+var rowColor = "rowColor";
+var tableTab = "tableTab";
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+$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
+//-->
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+</nav>
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+<!-- ======== START OF CLASS DATA ======== -->
+<main role="main">
+<div class="header">
+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">com.pathplanner.lib.auto</a></div>
+<h2 title="Interface AutoBuilder.TriFunction" class="title">Interface AutoBuilder.TriFunction&lt;In1,&#8203;In2,&#8203;In3,&#8203;Out&gt;</h2>
+</div>
+<div class="contentContainer">
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<dl>
+<dt>Enclosing class:</dt>
+<dd><a href="AutoBuilder.html" title="class in com.pathplanner.lib.auto">AutoBuilder</a></dd>
+</dl>
+<dl>
+<dt>Functional Interface:</dt>
+<dd>This is a functional interface and can therefore be used as the assignment target for a lambda expression or method reference.</dd>
+</dl>
+<hr>
+<pre><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/FunctionalInterface.html?is-external=true" title="class or interface in java.lang" class="externalLink">@FunctionalInterface</a>
+public static interface <span class="typeNameLabel">AutoBuilder.TriFunction&lt;In1,&#8203;In2,&#8203;In3,&#8203;Out&gt;</span></pre>
+<div class="block">Functional interface for a function that takes 3 inputs</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- ========== METHOD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.summary">
+<!--   -->
+</a>
+<h3>Method Summary</h3>
+<table class="memberSummary">
+<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t3" class="tableTab"><span><a href="javascript:show(4);">Abstract Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr id="i0" class="altColor">
+<td class="colFirst"><code><a href="AutoBuilder.TriFunction.html" title="type parameter in AutoBuilder.TriFunction">Out</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#apply(In1,In2,In3)">apply</a></span>&#8203;(<a href="AutoBuilder.TriFunction.html" title="type parameter in AutoBuilder.TriFunction">In1</a>&nbsp;in1,
+     <a href="AutoBuilder.TriFunction.html" title="type parameter in AutoBuilder.TriFunction">In2</a>&nbsp;in2,
+     <a href="AutoBuilder.TriFunction.html" title="type parameter in AutoBuilder.TriFunction">In3</a>&nbsp;in3)</code></th>
+<td class="colLast">
+<div class="block">Apply the inputs to this function</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+<div class="details">
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+<!-- ============ METHOD DETAIL ========== -->
+<section>
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+<!--   -->
+</a>
+<h3>Method Detail</h3>
+<a id="apply(java.lang.Object,java.lang.Object,java.lang.Object)">
+<!--   -->
+</a><a id="apply(In1,In2,In3)">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>apply</h4>
+<pre class="methodSignature"><a href="AutoBuilder.TriFunction.html" title="type parameter in AutoBuilder.TriFunction">Out</a>&nbsp;apply&#8203;(<a href="AutoBuilder.TriFunction.html" title="type parameter in AutoBuilder.TriFunction">In1</a>&nbsp;in1,
+          <a href="AutoBuilder.TriFunction.html" title="type parameter in AutoBuilder.TriFunction">In2</a>&nbsp;in2,
+          <a href="AutoBuilder.TriFunction.html" title="type parameter in AutoBuilder.TriFunction">In3</a>&nbsp;in3)</pre>
+<div class="block">Apply the inputs to this function</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>in1</code> - Input 1</dd>
+<dd><code>in2</code> - Input 2</dd>
+<dd><code>in3</code> - Input 3</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>Output</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
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diff --git a/docs/java/com/pathplanner/lib/auto/AutoBuilder.html b/docs/java/com/pathplanner/lib/auto/AutoBuilder.html
new file mode 100644
index 00000000..a5362d0d
--- /dev/null
+++ b/docs/java/com/pathplanner/lib/auto/AutoBuilder.html
@@ -0,0 +1,853 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc -->
+<title>AutoBuilder (pathplannerlib API)</title>
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+        if (location.href.indexOf('is-external=true') == -1) {
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+    catch(err) {
+    }
+//-->
+var data = {"i0":9,"i1":9,"i2":9,"i3":9,"i4":9,"i5":9,"i6":9,"i7":9,"i8":9,"i9":9,"i10":9,"i11":9,"i12":9,"i13":9,"i14":9,"i15":9,"i16":9};
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+<li>Field&nbsp;|&nbsp;</li>
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+//-->
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+</nav>
+</header>
+<!-- ======== START OF CLASS DATA ======== -->
+<main role="main">
+<div class="header">
+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">com.pathplanner.lib.auto</a></div>
+<h2 title="Class AutoBuilder" class="title">Class AutoBuilder</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
+<li>
+<ul class="inheritance">
+<li>com.pathplanner.lib.auto.AutoBuilder</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<hr>
+<pre>public class <span class="typeNameLabel">AutoBuilder</span>
+extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
+<div class="block">Utility class used to build auto routines</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- ======== NESTED CLASS SUMMARY ======== -->
+<section>
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+<!--   -->
+</a>
+<h3>Nested Class Summary</h3>
+<table class="memberSummary">
+<caption><span>Nested Classes</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Class</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><code>static interface&nbsp;</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="AutoBuilder.QuadFunction.html" title="interface in com.pathplanner.lib.auto">AutoBuilder.QuadFunction</a>&lt;<a href="AutoBuilder.QuadFunction.html" title="type parameter in AutoBuilder.QuadFunction">In1</a>,&#8203;<a href="AutoBuilder.QuadFunction.html" title="type parameter in AutoBuilder.QuadFunction">In2</a>,&#8203;<a href="AutoBuilder.QuadFunction.html" title="type parameter in AutoBuilder.QuadFunction">In3</a>,&#8203;<a href="AutoBuilder.QuadFunction.html" title="type parameter in AutoBuilder.QuadFunction">In4</a>,&#8203;<a href="AutoBuilder.QuadFunction.html" title="type parameter in AutoBuilder.QuadFunction">Out</a>&gt;</span></code></th>
+<td class="colLast">
+<div class="block">Functional interface for a function that takes 4 inputs</div>
+</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code>static interface&nbsp;</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="AutoBuilder.TriFunction.html" title="interface in com.pathplanner.lib.auto">AutoBuilder.TriFunction</a>&lt;<a href="AutoBuilder.TriFunction.html" title="type parameter in AutoBuilder.TriFunction">In1</a>,&#8203;<a href="AutoBuilder.TriFunction.html" title="type parameter in AutoBuilder.TriFunction">In2</a>,&#8203;<a href="AutoBuilder.TriFunction.html" title="type parameter in AutoBuilder.TriFunction">In3</a>,&#8203;<a href="AutoBuilder.TriFunction.html" title="type parameter in AutoBuilder.TriFunction">Out</a>&gt;</span></code></th>
+<td class="colLast">
+<div class="block">Functional interface for a function that takes 3 inputs</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.summary">
+<!--   -->
+</a>
+<h3>Constructor Summary</h3>
+<table class="memberSummary">
+<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">AutoBuilder</a></span>()</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ========== METHOD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.summary">
+<!--   -->
+</a>
+<h3>Method Summary</h3>
+<table class="memberSummary">
+<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t1" class="tableTab"><span><a href="javascript:show(1);">Static Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr id="i0" class="altColor">
+<td class="colFirst"><code>static <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#buildAuto(java.lang.String)">buildAuto</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;autoName)</code></th>
+<td class="colLast">
+<div class="block">Builds an auto command for the given auto name.</div>
+</td>
+</tr>
+<tr id="i1" class="rowColor">
+<td class="colFirst"><code>static void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#configureCustom(java.util.function.Function,java.util.function.Supplier,java.util.function.Consumer)">configureCustom</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Function.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Function</a>&lt;<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>,&#8203;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a>&gt;&nbsp;pathFollowingCommandBuilder,
+               <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+               <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;resetPose)</code></th>
+<td class="colLast">
+<div class="block">Configures the AutoBuilder with custom path following command builder.</div>
+</td>
+</tr>
+<tr id="i2" class="altColor">
+<td class="colFirst"><code>static void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#configureHolonomic(java.util.function.Supplier,java.util.function.Consumer,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.HolonomicPathFollowerConfig,edu.wpi.first.wpilibj2.command.Subsystem)">configureHolonomic</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                  <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;resetPose,
+                  <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;robotRelativeSpeedsSupplier,
+                  <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;robotRelativeOutput,
+                  <a href="../util/HolonomicPathFollowerConfig.html" title="class in com.pathplanner.lib.util">HolonomicPathFollowerConfig</a>&nbsp;config,
+                  <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>&nbsp;driveSubsystem)</code></th>
+<td class="colLast">
+<div class="block">Configures the AutoBuilder for a holonomic drivetrain.</div>
+</td>
+</tr>
+<tr id="i3" class="rowColor">
+<td class="colFirst"><code>static void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#configureLTV(java.util.function.Supplier,java.util.function.Consumer,java.util.function.Supplier,java.util.function.Consumer,double,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem)">configureLTV</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+            <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;resetPose,
+            <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;speedsSupplier,
+            <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+            double&nbsp;dt,
+            <a href="../util/ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a>&nbsp;replanningConfig,
+            <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>&nbsp;driveSubsystem)</code></th>
+<td class="colLast">
+<div class="block">Configures the AutoBuilder for a differential drivetrain using a LTVUnicycleController path
+ follower.</div>
+</td>
+</tr>
+<tr id="i4" class="altColor">
+<td class="colFirst"><code>static void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#configureLTV(java.util.function.Supplier,java.util.function.Consumer,java.util.function.Supplier,java.util.function.Consumer,edu.wpi.first.math.Vector,edu.wpi.first.math.Vector,double,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem)">configureLTV</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+            <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;resetPose,
+            <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;speedsSupplier,
+            <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+            <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/Vector.html?is-external=true" title="class or interface in edu.wpi.first.math" class="externalLink">Vector</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/numbers/N3.html?is-external=true" title="class or interface in edu.wpi.first.math.numbers" class="externalLink">N3</a>&gt;&nbsp;qelems,
+            <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/Vector.html?is-external=true" title="class or interface in edu.wpi.first.math" class="externalLink">Vector</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/numbers/N2.html?is-external=true" title="class or interface in edu.wpi.first.math.numbers" class="externalLink">N2</a>&gt;&nbsp;relems,
+            double&nbsp;dt,
+            <a href="../util/ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a>&nbsp;replanningConfig,
+            <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>&nbsp;driveSubsystem)</code></th>
+<td class="colLast">
+<div class="block">Configures the AutoBuilder for a differential drivetrain using a LTVUnicycleController path
+ follower.</div>
+</td>
+</tr>
+<tr id="i5" class="rowColor">
+<td class="colFirst"><code>static void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#configureRamsete(java.util.function.Supplier,java.util.function.Consumer,java.util.function.Supplier,java.util.function.Consumer,double,double,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem)">configureRamsete</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;resetPose,
+                <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;speedsSupplier,
+                <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+                double&nbsp;b,
+                double&nbsp;zeta,
+                <a href="../util/ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a>&nbsp;replanningConfig,
+                <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>&nbsp;driveSubsystem)</code></th>
+<td class="colLast">
+<div class="block">Configures the AutoBuilder for a differential drivetrain using a RAMSETE path follower.</div>
+</td>
+</tr>
+<tr id="i6" class="altColor">
+<td class="colFirst"><code>static void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#configureRamsete(java.util.function.Supplier,java.util.function.Consumer,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem)">configureRamsete</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;resetPose,
+                <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;speedsSupplier,
+                <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+                <a href="../util/ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a>&nbsp;replanningConfig,
+                <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>&nbsp;driveSubsystem)</code></th>
+<td class="colLast">
+<div class="block">Configures the AutoBuilder for a differential drivetrain using a RAMSETE path follower.</div>
+</td>
+</tr>
+<tr id="i7" class="rowColor">
+<td class="colFirst"><code>static <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#followPathWithEvents(com.pathplanner.lib.path.PathPlannerPath)">followPathWithEvents</a></span>&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;path)</code></th>
+<td class="colLast">
+<div class="block">Builds a command to follow a path with event markers.</div>
+</td>
+</tr>
+<tr id="i8" class="altColor">
+<td class="colFirst"><code>static <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getAutoCommandFromJson(org.json.simple.JSONObject)">getAutoCommandFromJson</a></span>&#8203;(org.json.simple.JSONObject&nbsp;autoJson)</code></th>
+<td class="colLast">
+<div class="block">Builds an auto command from the given JSON object.</div>
+</td>
+</tr>
+<tr id="i9" class="rowColor">
+<td class="colFirst"><code>static <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getStartingPoseFromJson(org.json.simple.JSONObject)">getStartingPoseFromJson</a></span>&#8203;(org.json.simple.JSONObject&nbsp;startingPoseJson)</code></th>
+<td class="colLast">
+<div class="block">Get the starting pose from its JSON representation.</div>
+</td>
+</tr>
+<tr id="i10" class="altColor">
+<td class="colFirst"><code>static boolean</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#isConfigured()">isConfigured</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Returns whether the AutoBuilder has been configured.</div>
+</td>
+</tr>
+<tr id="i11" class="rowColor">
+<td class="colFirst"><code>static boolean</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#isPathfindingConfigured()">isPathfindingConfigured</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Returns whether the AutoBuilder has been configured for pathfinding.</div>
+</td>
+</tr>
+<tr id="i12" class="altColor">
+<td class="colFirst"><code>static <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#pathfindThenFollowPath(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints)">pathfindThenFollowPath</a></span>&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;goalPath,
+                      <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;pathfindingConstraints)</code></th>
+<td class="colLast">
+<div class="block">Build a command to pathfind to a given path, then follow that path.</div>
+</td>
+</tr>
+<tr id="i13" class="rowColor">
+<td class="colFirst"><code>static <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#pathfindThenFollowPath(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints,double)">pathfindThenFollowPath</a></span>&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;goalPath,
+                      <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;pathfindingConstraints,
+                      double&nbsp;rotationDelayDistance)</code></th>
+<td class="colLast">
+<div class="block">Build a command to pathfind to a given path, then follow that path.</div>
+</td>
+</tr>
+<tr id="i14" class="altColor">
+<td class="colFirst"><code>static <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#pathfindToPose(edu.wpi.first.math.geometry.Pose2d,com.pathplanner.lib.path.PathConstraints)">pathfindToPose</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;pose,
+              <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints)</code></th>
+<td class="colLast">
+<div class="block">Build a command to pathfind to a given pose.</div>
+</td>
+</tr>
+<tr id="i15" class="rowColor">
+<td class="colFirst"><code>static <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#pathfindToPose(edu.wpi.first.math.geometry.Pose2d,com.pathplanner.lib.path.PathConstraints,double)">pathfindToPose</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;pose,
+              <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+              double&nbsp;goalEndVelocity)</code></th>
+<td class="colLast">
+<div class="block">Build a command to pathfind to a given pose.</div>
+</td>
+</tr>
+<tr id="i16" class="altColor">
+<td class="colFirst"><code>static <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#pathfindToPose(edu.wpi.first.math.geometry.Pose2d,com.pathplanner.lib.path.PathConstraints,double,double)">pathfindToPose</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;pose,
+              <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+              double&nbsp;goalEndVelocity,
+              double&nbsp;rotationDelayDistance)</code></th>
+<td class="colLast">
+<div class="block">Build a command to pathfind to a given pose.</div>
+</td>
+</tr>
+</table>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
+<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+<div class="details">
+<ul class="blockList">
+<li class="blockList">
+<!-- ========= CONSTRUCTOR DETAIL ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.detail">
+<!--   -->
+</a>
+<h3>Constructor Detail</h3>
+<a id="&lt;init&gt;()">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>AutoBuilder</h4>
+<pre>public&nbsp;AutoBuilder()</pre>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- ============ METHOD DETAIL ========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.detail">
+<!--   -->
+</a>
+<h3>Method Detail</h3>
+<a id="configureHolonomic(java.util.function.Supplier,java.util.function.Consumer,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.HolonomicPathFollowerConfig,edu.wpi.first.wpilibj2.command.Subsystem)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>configureHolonomic</h4>
+<pre class="methodSignature">public static&nbsp;void&nbsp;configureHolonomic&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                                      <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;resetPose,
+                                      <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;robotRelativeSpeedsSupplier,
+                                      <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;robotRelativeOutput,
+                                      <a href="../util/HolonomicPathFollowerConfig.html" title="class in com.pathplanner.lib.util">HolonomicPathFollowerConfig</a>&nbsp;config,
+                                      <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>&nbsp;driveSubsystem)</pre>
+<div class="block">Configures the AutoBuilder for a holonomic drivetrain.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>poseSupplier</code> - a supplier for the robot's current pose</dd>
+<dd><code>resetPose</code> - a consumer for resetting the robot's pose</dd>
+<dd><code>robotRelativeSpeedsSupplier</code> - a supplier for the robot's current robot relative chassis
+     speeds</dd>
+<dd><code>robotRelativeOutput</code> - a consumer for setting the robot's field-relative chassis speeds</dd>
+<dd><code>config</code> - <a href="../util/HolonomicPathFollowerConfig.html" title="class in com.pathplanner.lib.util"><code>HolonomicPathFollowerConfig</code></a> for configuring the
+     path following commands</dd>
+<dd><code>driveSubsystem</code> - the subsystem for the robot's drive</dd>
+<dt><span class="throwsLabel">Throws:</span></dt>
+<dd><code><a href="AutoBuilderException.html" title="class in com.pathplanner.lib.auto">AutoBuilderException</a></code> - if AutoBuilder has already been configured</dd>
+</dl>
+</li>
+</ul>
+<a id="configureRamsete(java.util.function.Supplier,java.util.function.Consumer,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>configureRamsete</h4>
+<pre class="methodSignature">public static&nbsp;void&nbsp;configureRamsete&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                                    <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;resetPose,
+                                    <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;speedsSupplier,
+                                    <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+                                    <a href="../util/ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a>&nbsp;replanningConfig,
+                                    <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>&nbsp;driveSubsystem)</pre>
+<div class="block">Configures the AutoBuilder for a differential drivetrain using a RAMSETE path follower.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>poseSupplier</code> - a supplier for the robot's current pose</dd>
+<dd><code>resetPose</code> - a consumer for resetting the robot's pose</dd>
+<dd><code>speedsSupplier</code> - a supplier for the robot's current chassis speeds</dd>
+<dd><code>output</code> - a consumer for setting the robot's chassis speeds</dd>
+<dd><code>replanningConfig</code> - Path replanning configuration</dd>
+<dd><code>driveSubsystem</code> - the subsystem for the robot's drive</dd>
+<dt><span class="throwsLabel">Throws:</span></dt>
+<dd><code><a href="AutoBuilderException.html" title="class in com.pathplanner.lib.auto">AutoBuilderException</a></code> - if AutoBuilder has already been configured</dd>
+</dl>
+</li>
+</ul>
+<a id="configureRamsete(java.util.function.Supplier,java.util.function.Consumer,java.util.function.Supplier,java.util.function.Consumer,double,double,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>configureRamsete</h4>
+<pre class="methodSignature">public static&nbsp;void&nbsp;configureRamsete&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                                    <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;resetPose,
+                                    <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;speedsSupplier,
+                                    <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+                                    double&nbsp;b,
+                                    double&nbsp;zeta,
+                                    <a href="../util/ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a>&nbsp;replanningConfig,
+                                    <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>&nbsp;driveSubsystem)</pre>
+<div class="block">Configures the AutoBuilder for a differential drivetrain using a RAMSETE path follower.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>poseSupplier</code> - a supplier for the robot's current pose</dd>
+<dd><code>resetPose</code> - a consumer for resetting the robot's pose</dd>
+<dd><code>speedsSupplier</code> - a supplier for the robot's current chassis speeds</dd>
+<dd><code>output</code> - a consumer for setting the robot's chassis speeds</dd>
+<dd><code>b</code> - Tuning parameter (b &gt; 0 rad^2/m^2) for which larger values make convergence more
+     aggressive like a proportional term.</dd>
+<dd><code>zeta</code> - Tuning parameter (0 rad^-1 &lt; zeta &lt; 1 rad^-1) for which larger values provide
+     more damping in response.</dd>
+<dd><code>replanningConfig</code> - Path replanning configuration</dd>
+<dd><code>driveSubsystem</code> - the subsystem for the robot's drive</dd>
+<dt><span class="throwsLabel">Throws:</span></dt>
+<dd><code><a href="AutoBuilderException.html" title="class in com.pathplanner.lib.auto">AutoBuilderException</a></code> - if AutoBuilder has already been configured</dd>
+</dl>
+</li>
+</ul>
+<a id="configureLTV(java.util.function.Supplier,java.util.function.Consumer,java.util.function.Supplier,java.util.function.Consumer,double,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>configureLTV</h4>
+<pre class="methodSignature">public static&nbsp;void&nbsp;configureLTV&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                                <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;resetPose,
+                                <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;speedsSupplier,
+                                <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+                                double&nbsp;dt,
+                                <a href="../util/ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a>&nbsp;replanningConfig,
+                                <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>&nbsp;driveSubsystem)</pre>
+<div class="block">Configures the AutoBuilder for a differential drivetrain using a LTVUnicycleController path
+ follower.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>poseSupplier</code> - a supplier for the robot's current pose</dd>
+<dd><code>resetPose</code> - a consumer for resetting the robot's pose</dd>
+<dd><code>speedsSupplier</code> - a supplier for the robot's current chassis speeds</dd>
+<dd><code>output</code> - a consumer for setting the robot's chassis speeds</dd>
+<dd><code>dt</code> - Period of the robot control loop in seconds (default 0.02)</dd>
+<dd><code>replanningConfig</code> - Path replanning configuration</dd>
+<dd><code>driveSubsystem</code> - the subsystem for the robot's drive</dd>
+<dt><span class="throwsLabel">Throws:</span></dt>
+<dd><code><a href="AutoBuilderException.html" title="class in com.pathplanner.lib.auto">AutoBuilderException</a></code> - if AutoBuilder has already been configured</dd>
+</dl>
+</li>
+</ul>
+<a id="configureLTV(java.util.function.Supplier,java.util.function.Consumer,java.util.function.Supplier,java.util.function.Consumer,edu.wpi.first.math.Vector,edu.wpi.first.math.Vector,double,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>configureLTV</h4>
+<pre class="methodSignature">public static&nbsp;void&nbsp;configureLTV&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                                <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;resetPose,
+                                <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;speedsSupplier,
+                                <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+                                <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/Vector.html?is-external=true" title="class or interface in edu.wpi.first.math" class="externalLink">Vector</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/numbers/N3.html?is-external=true" title="class or interface in edu.wpi.first.math.numbers" class="externalLink">N3</a>&gt;&nbsp;qelems,
+                                <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/Vector.html?is-external=true" title="class or interface in edu.wpi.first.math" class="externalLink">Vector</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/numbers/N2.html?is-external=true" title="class or interface in edu.wpi.first.math.numbers" class="externalLink">N2</a>&gt;&nbsp;relems,
+                                double&nbsp;dt,
+                                <a href="../util/ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a>&nbsp;replanningConfig,
+                                <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>&nbsp;driveSubsystem)</pre>
+<div class="block">Configures the AutoBuilder for a differential drivetrain using a LTVUnicycleController path
+ follower.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>poseSupplier</code> - a supplier for the robot's current pose</dd>
+<dd><code>resetPose</code> - a consumer for resetting the robot's pose</dd>
+<dd><code>speedsSupplier</code> - a supplier for the robot's current chassis speeds</dd>
+<dd><code>output</code> - a consumer for setting the robot's chassis speeds</dd>
+<dd><code>qelems</code> - The maximum desired error tolerance for each state.</dd>
+<dd><code>relems</code> - The maximum desired control effort for each input.</dd>
+<dd><code>dt</code> - Period of the robot control loop in seconds (default 0.02)</dd>
+<dd><code>replanningConfig</code> - Path replanning configuration</dd>
+<dd><code>driveSubsystem</code> - the subsystem for the robot's drive</dd>
+<dt><span class="throwsLabel">Throws:</span></dt>
+<dd><code><a href="AutoBuilderException.html" title="class in com.pathplanner.lib.auto">AutoBuilderException</a></code> - if AutoBuilder has already been configured</dd>
+</dl>
+</li>
+</ul>
+<a id="configureCustom(java.util.function.Function,java.util.function.Supplier,java.util.function.Consumer)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>configureCustom</h4>
+<pre class="methodSignature">public static&nbsp;void&nbsp;configureCustom&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Function.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Function</a>&lt;<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>,&#8203;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a>&gt;&nbsp;pathFollowingCommandBuilder,
+                                   <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                                   <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;resetPose)</pre>
+<div class="block">Configures the AutoBuilder with custom path following command builder. Building pathfinding
+ commands is not supported if using a custom command builder.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>pathFollowingCommandBuilder</code> - a function that builds a command to follow a given path</dd>
+<dd><code>poseSupplier</code> - a supplier for the robot's current pose</dd>
+<dd><code>resetPose</code> - a consumer for resetting the robot's pose</dd>
+<dt><span class="throwsLabel">Throws:</span></dt>
+<dd><code><a href="AutoBuilderException.html" title="class in com.pathplanner.lib.auto">AutoBuilderException</a></code> - if AutoBuilder has already been configured</dd>
+</dl>
+</li>
+</ul>
+<a id="isConfigured()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>isConfigured</h4>
+<pre class="methodSignature">public static&nbsp;boolean&nbsp;isConfigured()</pre>
+<div class="block">Returns whether the AutoBuilder has been configured.</div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>true if the AutoBuilder has been configured, false otherwise</dd>
+</dl>
+</li>
+</ul>
+<a id="isPathfindingConfigured()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>isPathfindingConfigured</h4>
+<pre class="methodSignature">public static&nbsp;boolean&nbsp;isPathfindingConfigured()</pre>
+<div class="block">Returns whether the AutoBuilder has been configured for pathfinding.</div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>true if the AutoBuilder has been configured for pathfinding, false otherwise</dd>
+</dl>
+</li>
+</ul>
+<a id="followPathWithEvents(com.pathplanner.lib.path.PathPlannerPath)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>followPathWithEvents</h4>
+<pre class="methodSignature">public static&nbsp;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a>&nbsp;followPathWithEvents&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;path)</pre>
+<div class="block">Builds a command to follow a path with event markers.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>path</code> - the path to follow</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>a path following command with events for the given path</dd>
+<dt><span class="throwsLabel">Throws:</span></dt>
+<dd><code><a href="AutoBuilderException.html" title="class in com.pathplanner.lib.auto">AutoBuilderException</a></code> - if the AutoBuilder has not been configured</dd>
+</dl>
+</li>
+</ul>
+<a id="pathfindToPose(edu.wpi.first.math.geometry.Pose2d,com.pathplanner.lib.path.PathConstraints,double,double)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>pathfindToPose</h4>
+<pre class="methodSignature">public static&nbsp;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a>&nbsp;pathfindToPose&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;pose,
+                                     <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+                                     double&nbsp;goalEndVelocity,
+                                     double&nbsp;rotationDelayDistance)</pre>
+<div class="block">Build a command to pathfind to a given pose. If not using a holonomic drivetrain, the pose
+ rotation and rotation delay distance will have no effect.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>pose</code> - The pose to pathfind to</dd>
+<dd><code>constraints</code> - The constraints to use while pathfinding</dd>
+<dd><code>goalEndVelocity</code> - The goal end velocity of the robot when reaching the target pose</dd>
+<dd><code>rotationDelayDistance</code> - The distance the robot should move from the start position before
+     attempting to rotate to the final rotation</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>A command to pathfind to a given pose</dd>
+</dl>
+</li>
+</ul>
+<a id="pathfindToPose(edu.wpi.first.math.geometry.Pose2d,com.pathplanner.lib.path.PathConstraints,double)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>pathfindToPose</h4>
+<pre class="methodSignature">public static&nbsp;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a>&nbsp;pathfindToPose&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;pose,
+                                     <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+                                     double&nbsp;goalEndVelocity)</pre>
+<div class="block">Build a command to pathfind to a given pose. If not using a holonomic drivetrain, the pose
+ rotation will have no effect.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>pose</code> - The pose to pathfind to</dd>
+<dd><code>constraints</code> - The constraints to use while pathfinding</dd>
+<dd><code>goalEndVelocity</code> - The goal end velocity of the robot when reaching the target pose</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>A command to pathfind to a given pose</dd>
+</dl>
+</li>
+</ul>
+<a id="pathfindToPose(edu.wpi.first.math.geometry.Pose2d,com.pathplanner.lib.path.PathConstraints)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>pathfindToPose</h4>
+<pre class="methodSignature">public static&nbsp;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a>&nbsp;pathfindToPose&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;pose,
+                                     <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints)</pre>
+<div class="block">Build a command to pathfind to a given pose. If not using a holonomic drivetrain, the pose
+ rotation will have no effect.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>pose</code> - The pose to pathfind to</dd>
+<dd><code>constraints</code> - The constraints to use while pathfinding</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>A command to pathfind to a given pose</dd>
+</dl>
+</li>
+</ul>
+<a id="pathfindThenFollowPath(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints,double)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>pathfindThenFollowPath</h4>
+<pre class="methodSignature">public static&nbsp;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a>&nbsp;pathfindThenFollowPath&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;goalPath,
+                                             <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;pathfindingConstraints,
+                                             double&nbsp;rotationDelayDistance)</pre>
+<div class="block">Build a command to pathfind to a given path, then follow that path. If not using a holonomic
+ drivetrain, the pose rotation delay distance will have no effect.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>goalPath</code> - The path to pathfind to, then follow</dd>
+<dd><code>pathfindingConstraints</code> - The constraints to use while pathfinding</dd>
+<dd><code>rotationDelayDistance</code> - The distance the robot should move from the start position before
+     attempting to rotate to the final rotation</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>A command to pathfind to a given path, then follow the path</dd>
+</dl>
+</li>
+</ul>
+<a id="pathfindThenFollowPath(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>pathfindThenFollowPath</h4>
+<pre class="methodSignature">public static&nbsp;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a>&nbsp;pathfindThenFollowPath&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;goalPath,
+                                             <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;pathfindingConstraints)</pre>
+<div class="block">Build a command to pathfind to a given path, then follow that path.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>goalPath</code> - The path to pathfind to, then follow</dd>
+<dd><code>pathfindingConstraints</code> - The constraints to use while pathfinding</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>A command to pathfind to a given path, then follow the path</dd>
+</dl>
+</li>
+</ul>
+<a id="getStartingPoseFromJson(org.json.simple.JSONObject)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>getStartingPoseFromJson</h4>
+<pre class="methodSignature">public static&nbsp;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;getStartingPoseFromJson&#8203;(org.json.simple.JSONObject&nbsp;startingPoseJson)</pre>
+<div class="block">Get the starting pose from its JSON representation. This is only used internally.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>startingPoseJson</code> - JSON object representing a starting pose.</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>The Pose2d starting pose</dd>
+</dl>
+</li>
+</ul>
+<a id="buildAuto(java.lang.String)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>buildAuto</h4>
+<pre class="methodSignature">public static&nbsp;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a>&nbsp;buildAuto&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;autoName)</pre>
+<div class="block">Builds an auto command for the given auto name.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>autoName</code> - the name of the auto to build</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>an auto command for the given auto name</dd>
+</dl>
+</li>
+</ul>
+<a id="getAutoCommandFromJson(org.json.simple.JSONObject)">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>getAutoCommandFromJson</h4>
+<pre class="methodSignature">public static&nbsp;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a>&nbsp;getAutoCommandFromJson&#8203;(org.json.simple.JSONObject&nbsp;autoJson)</pre>
+<div class="block">Builds an auto command from the given JSON object.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>autoJson</code> - the JSON object to build the command from</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>an auto command built from the JSON object</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+</div>
+</main>
+<!-- ========= END OF CLASS DATA ========= -->
+<footer role="contentinfo">
+<nav role="navigation">
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diff --git a/docs/java/com/pathplanner/lib/auto/AutoBuilderException.html b/docs/java/com/pathplanner/lib/auto/AutoBuilderException.html
new file mode 100644
index 00000000..7cf783a8
--- /dev/null
+++ b/docs/java/com/pathplanner/lib/auto/AutoBuilderException.html
@@ -0,0 +1,304 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc -->
+<title>AutoBuilderException (pathplannerlib API)</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.min.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../jquery-ui.overrides.css" title="Style">
+<script type="text/javascript" src="../../../../script.js"></script>
+<script type="text/javascript" src="../../../../jquery/jszip/dist/jszip.min.js"></script>
+<script type="text/javascript" src="../../../../jquery/jszip-utils/dist/jszip-utils.min.js"></script>
+<!--[if IE]>
+<script type="text/javascript" src="../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
+<![endif]-->
+<script type="text/javascript" src="../../../../jquery/jquery-3.6.1.min.js"></script>
+<script type="text/javascript" src="../../../../jquery/jquery-ui.min.js"></script>
+</head>
+<body>
+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="AutoBuilderException (pathplannerlib API)";
+        }
+    }
+    catch(err) {
+    }
+//-->
+var pathtoroot = "../../../../";
+var useModuleDirectories = true;
+loadScripts(document, 'script');</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<header role="banner">
+<nav role="navigation">
+<div class="fixedNav">
+<!-- ========= START OF TOP NAVBAR ======= -->
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+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.top.firstrow">
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+<ul class="navList" title="Navigation">
+<li><a href="../../../../index.html">Overview</a></li>
+<li><a href="package-summary.html">Package</a></li>
+<li class="navBarCell1Rev">Class</li>
+<li><a href="package-tree.html">Tree</a></li>
+<li><a href="../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../index-all.html">Index</a></li>
+<li><a href="../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_top">
+<li><a href="../../../../allclasses.html">All&nbsp;Classes</a></li>
+</ul>
+<ul class="navListSearch">
+<li><label for="search">SEARCH:</label>
+<input type="text" id="search" value="search" disabled="disabled">
+<input type="reset" id="reset" value="reset" disabled="disabled">
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+  if(window==top) {
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+</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<div>
+<ul class="subNavList">
+<li>Summary:&nbsp;</li>
+<li>Nested&nbsp;|&nbsp;</li>
+<li>Field&nbsp;|&nbsp;</li>
+<li><a href="#constructor.summary">Constr</a>&nbsp;|&nbsp;</li>
+<li><a href="#method.summary">Method</a></li>
+</ul>
+<ul class="subNavList">
+<li>Detail:&nbsp;</li>
+<li>Field&nbsp;|&nbsp;</li>
+<li><a href="#constructor.detail">Constr</a>&nbsp;|&nbsp;</li>
+<li>Method</li>
+</ul>
+</div>
+<a id="skip.navbar.top">
+<!--   -->
+</a></div>
+<!-- ========= END OF TOP NAVBAR ========= -->
+</div>
+<div class="navPadding">&nbsp;</div>
+<script type="text/javascript"><!--
+$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
+//-->
+</script>
+</nav>
+</header>
+<!-- ======== START OF CLASS DATA ======== -->
+<main role="main">
+<div class="header">
+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">com.pathplanner.lib.auto</a></div>
+<h2 title="Class AutoBuilderException" class="title">Class AutoBuilderException</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
+<li>
+<ul class="inheritance">
+<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Throwable.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Throwable</a></li>
+<li>
+<ul class="inheritance">
+<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Exception.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Exception</a></li>
+<li>
+<ul class="inheritance">
+<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/RuntimeException.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.RuntimeException</a></li>
+<li>
+<ul class="inheritance">
+<li>com.pathplanner.lib.auto.AutoBuilderException</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<dl>
+<dt>All Implemented Interfaces:</dt>
+<dd><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/io/Serializable.html?is-external=true" title="class or interface in java.io" class="externalLink">Serializable</a></code></dd>
+</dl>
+<hr>
+<pre>public class <span class="typeNameLabel">AutoBuilderException</span>
+extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/RuntimeException.html?is-external=true" title="class or interface in java.lang" class="externalLink">RuntimeException</a></pre>
+<div class="block">An exception while building autos</div>
+<dl>
+<dt><span class="seeLabel">See Also:</span></dt>
+<dd><a href="../../../../serialized-form.html#com.pathplanner.lib.auto.AutoBuilderException">Serialized Form</a></dd>
+</dl>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.summary">
+<!--   -->
+</a>
+<h3>Constructor Summary</h3>
+<table class="memberSummary">
+<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(java.lang.String)">AutoBuilderException</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;message)</code></th>
+<td class="colLast">
+<div class="block">Create a new auto builder exception</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ========== METHOD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.summary">
+<!--   -->
+</a>
+<h3>Method Summary</h3>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.java.lang.Throwable">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Throwable.html?is-external=true" title="class or interface in java.lang" class="externalLink">Throwable</a></h3>
+<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Throwable.html?is-external=true#addSuppressed(java.lang.Throwable)" title="class or interface in java.lang" class="externalLink">addSuppressed</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Throwable.html?is-external=true#fillInStackTrace()" title="class or interface in java.lang" class="externalLink">fillInStackTrace</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Throwable.html?is-external=true#getCause()" title="class or interface in java.lang" class="externalLink">getCause</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Throwable.html?is-external=true#getLocalizedMessage()" title="class or interface in java.lang" class="externalLink">getLocalizedMessage</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Throwable.html?is-external=true#getMessage()" title="class or interface in java.lang" class="externalLink">getMessage</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Throwable.html?is-external=true#getStackTrace()" title="class or interface in java.lang" class="externalLink">getStackTrace</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Throwable.html?is-external=true#getSuppressed()" title="class or interface in java.lang" class="externalLink">getSuppressed</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Throwable.html?is-external=true#initCause(java.lang.Throwable)" title="class or interface in java.lang" class="externalLink">initCause</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Throwable.html?is-external=true#printStackTrace()" title="class or interface in java.lang" class="externalLink">printStackTrace</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Throwable.html?is-external=true#printStackTrace(java.io.PrintStream)" title="class or interface in java.lang" class="externalLink">printStackTrace</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Throwable.html?is-external=true#printStackTrace(java.io.PrintWriter)" title="class or interface in java.lang" class="externalLink">printStackTrace</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Throwable.html?is-external=true#setStackTrace(java.lang.StackTraceElement%5B%5D)" title="class or interface in java.lang" class="externalLink">setStackTrace</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Throwable.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a></code></li>
+</ul>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
+<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+<div class="details">
+<ul class="blockList">
+<li class="blockList">
+<!-- ========= CONSTRUCTOR DETAIL ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.detail">
+<!--   -->
+</a>
+<h3>Constructor Detail</h3>
+<a id="&lt;init&gt;(java.lang.String)">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>AutoBuilderException</h4>
+<pre>public&nbsp;AutoBuilderException&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;message)</pre>
+<div class="block">Create a new auto builder exception</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>message</code> - Error message</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+</div>
+</main>
+<!-- ========= END OF CLASS DATA ========= -->
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+<li><a href="../../../../deprecated-list.html">Deprecated</a></li>
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diff --git a/docs/java/com/pathplanner/lib/auto/CommandUtil.html b/docs/java/com/pathplanner/lib/auto/CommandUtil.html
new file mode 100644
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+++ b/docs/java/com/pathplanner/lib/auto/CommandUtil.html
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+<!DOCTYPE HTML>
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+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">com.pathplanner.lib.auto</a></div>
+<h2 title="Class CommandUtil" class="title">Class CommandUtil</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
+<li>
+<ul class="inheritance">
+<li>com.pathplanner.lib.auto.CommandUtil</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<hr>
+<pre>public class <span class="typeNameLabel">CommandUtil</span>
+extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
+<div class="block">Utility class for building commands used in autos</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.summary">
+<!--   -->
+</a>
+<h3>Constructor Summary</h3>
+<table class="memberSummary">
+<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">CommandUtil</a></span>()</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ========== METHOD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.summary">
+<!--   -->
+</a>
+<h3>Method Summary</h3>
+<table class="memberSummary">
+<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t1" class="tableTab"><span><a href="javascript:show(1);">Static Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr id="i0" class="altColor">
+<td class="colFirst"><code>static <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#commandFromJson(org.json.simple.JSONObject)">commandFromJson</a></span>&#8203;(org.json.simple.JSONObject&nbsp;commandJson)</code></th>
+<td class="colLast">
+<div class="block">Builds a command from the given JSON object.</div>
+</td>
+</tr>
+<tr id="i1" class="rowColor">
+<td class="colFirst"><code>static <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#wrappedEventCommand(edu.wpi.first.wpilibj2.command.Command)">wrappedEventCommand</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a>&nbsp;eventCommand)</code></th>
+<td class="colLast">
+<div class="block">Wraps a command with a functional command that calls the command's initialize, execute, end,
+ and isFinished methods.</div>
+</td>
+</tr>
+</table>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
+<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+<div class="details">
+<ul class="blockList">
+<li class="blockList">
+<!-- ========= CONSTRUCTOR DETAIL ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.detail">
+<!--   -->
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+<h3>Constructor Detail</h3>
+<a id="&lt;init&gt;()">
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+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>CommandUtil</h4>
+<pre>public&nbsp;CommandUtil()</pre>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- ============ METHOD DETAIL ========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.detail">
+<!--   -->
+</a>
+<h3>Method Detail</h3>
+<a id="wrappedEventCommand(edu.wpi.first.wpilibj2.command.Command)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>wrappedEventCommand</h4>
+<pre class="methodSignature">public static&nbsp;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a>&nbsp;wrappedEventCommand&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a>&nbsp;eventCommand)</pre>
+<div class="block">Wraps a command with a functional command that calls the command's initialize, execute, end,
+ and isFinished methods. This allows a command in the event map to be reused multiple times in
+ different command groups</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>eventCommand</code> - the command to wrap</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>a functional command that wraps the given command</dd>
+</dl>
+</li>
+</ul>
+<a id="commandFromJson(org.json.simple.JSONObject)">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>commandFromJson</h4>
+<pre class="methodSignature">public static&nbsp;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a>&nbsp;commandFromJson&#8203;(org.json.simple.JSONObject&nbsp;commandJson)</pre>
+<div class="block">Builds a command from the given JSON object.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>commandJson</code> - the JSON object to build the command from</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>a command built from the JSON object</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+</div>
+</main>
+<!-- ========= END OF CLASS DATA ========= -->
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diff --git a/docs/java/com/pathplanner/lib/auto/NamedCommands.html b/docs/java/com/pathplanner/lib/auto/NamedCommands.html
new file mode 100644
index 00000000..222a7f00
--- /dev/null
+++ b/docs/java/com/pathplanner/lib/auto/NamedCommands.html
@@ -0,0 +1,404 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc -->
+<title>NamedCommands (pathplannerlib API)</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.min.css" title="Style">
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+<script type="text/javascript" src="../../../../script.js"></script>
+<script type="text/javascript" src="../../../../jquery/jszip/dist/jszip.min.js"></script>
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+<!--[if IE]>
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+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">com.pathplanner.lib.auto</a></div>
+<h2 title="Class NamedCommands" class="title">Class NamedCommands</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
+<li>
+<ul class="inheritance">
+<li>com.pathplanner.lib.auto.NamedCommands</li>
+</ul>
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+<div class="description">
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+<pre>public class <span class="typeNameLabel">NamedCommands</span>
+extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
+<div class="block">Utility class for managing named commands</div>
+</li>
+</ul>
+</div>
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+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
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+<!--   -->
+</a>
+<h3>Constructor Summary</h3>
+<table class="memberSummary">
+<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">NamedCommands</a></span>()</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+</table>
+</li>
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+<!-- ========== METHOD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.summary">
+<!--   -->
+</a>
+<h3>Method Summary</h3>
+<table class="memberSummary">
+<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t1" class="tableTab"><span><a href="javascript:show(1);">Static Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr id="i0" class="altColor">
+<td class="colFirst"><code>static <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getCommand(java.lang.String)">getCommand</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;name)</code></th>
+<td class="colLast">
+<div class="block">Returns the command with the given name.</div>
+</td>
+</tr>
+<tr id="i1" class="rowColor">
+<td class="colFirst"><code>static boolean</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#hasCommand(java.lang.String)">hasCommand</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;name)</code></th>
+<td class="colLast">
+<div class="block">Returns whether a command with the given name has been registered.</div>
+</td>
+</tr>
+<tr id="i2" class="altColor">
+<td class="colFirst"><code>static void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#registerCommand(java.lang.String,edu.wpi.first.wpilibj2.command.Command)">registerCommand</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;name,
+               <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a>&nbsp;command)</code></th>
+<td class="colLast">
+<div class="block">Registers a command with the given name.</div>
+</td>
+</tr>
+<tr id="i3" class="rowColor">
+<td class="colFirst"><code>static void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#registerCommands(java.util.List)">registerCommands</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/List.html?is-external=true" title="class or interface in java.util" class="externalLink">List</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/Pair.html?is-external=true" title="class or interface in edu.wpi.first.math" class="externalLink">Pair</a>&lt;<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>,&#8203;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a>&gt;&gt;&nbsp;commands)</code></th>
+<td class="colLast">
+<div class="block">Registers a list of commands with their associated names.</div>
+</td>
+</tr>
+<tr id="i4" class="altColor">
+<td class="colFirst"><code>static void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#registerCommands(java.util.Map)">registerCommands</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/Map.html?is-external=true" title="class or interface in java.util" class="externalLink">Map</a>&lt;<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>,&#8203;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a>&gt;&nbsp;commands)</code></th>
+<td class="colLast">
+<div class="block">Registers a map of commands with their associated names.</div>
+</td>
+</tr>
+</table>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
+<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
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+<ul class="blockList">
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+<!-- ========= CONSTRUCTOR DETAIL ======== -->
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+<ul class="blockList">
+<li class="blockList"><a id="constructor.detail">
+<!--   -->
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+<h3>Constructor Detail</h3>
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+<h4>NamedCommands</h4>
+<pre>public&nbsp;NamedCommands()</pre>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- ============ METHOD DETAIL ========== -->
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+<ul class="blockList">
+<li class="blockList"><a id="method.detail">
+<!--   -->
+</a>
+<h3>Method Detail</h3>
+<a id="registerCommand(java.lang.String,edu.wpi.first.wpilibj2.command.Command)">
+<!--   -->
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+<ul class="blockList">
+<li class="blockList">
+<h4>registerCommand</h4>
+<pre class="methodSignature">public static&nbsp;void&nbsp;registerCommand&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;name,
+                                   <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a>&nbsp;command)</pre>
+<div class="block">Registers a command with the given name.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>name</code> - the name of the command</dd>
+<dd><code>command</code> - the command to register</dd>
+</dl>
+</li>
+</ul>
+<a id="registerCommands(java.util.List)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>registerCommands</h4>
+<pre class="methodSignature">public static&nbsp;void&nbsp;registerCommands&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/List.html?is-external=true" title="class or interface in java.util" class="externalLink">List</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/Pair.html?is-external=true" title="class or interface in edu.wpi.first.math" class="externalLink">Pair</a>&lt;<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>,&#8203;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a>&gt;&gt;&nbsp;commands)</pre>
+<div class="block">Registers a list of commands with their associated names.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>commands</code> - the list of commands to register</dd>
+</dl>
+</li>
+</ul>
+<a id="registerCommands(java.util.Map)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>registerCommands</h4>
+<pre class="methodSignature">public static&nbsp;void&nbsp;registerCommands&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/Map.html?is-external=true" title="class or interface in java.util" class="externalLink">Map</a>&lt;<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>,&#8203;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a>&gt;&nbsp;commands)</pre>
+<div class="block">Registers a map of commands with their associated names.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>commands</code> - the map of commands to register</dd>
+</dl>
+</li>
+</ul>
+<a id="hasCommand(java.lang.String)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>hasCommand</h4>
+<pre class="methodSignature">public static&nbsp;boolean&nbsp;hasCommand&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;name)</pre>
+<div class="block">Returns whether a command with the given name has been registered.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>name</code> - the name of the command to check</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>true if a command with the given name has been registered, false otherwise</dd>
+</dl>
+</li>
+</ul>
+<a id="getCommand(java.lang.String)">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>getCommand</h4>
+<pre class="methodSignature">public static&nbsp;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a>&nbsp;getCommand&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;name)</pre>
+<div class="block">Returns the command with the given name.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>name</code> - the name of the command to get</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>the command with the given name, wrapped in a functional command, or a none command if
+     it has not been registered</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+</div>
+</main>
+<!-- ========= END OF CLASS DATA ========= -->
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diff --git a/docs/java/com/pathplanner/lib/auto/package-summary.html b/docs/java/com/pathplanner/lib/auto/package-summary.html
new file mode 100644
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--- /dev/null
+++ b/docs/java/com/pathplanner/lib/auto/package-summary.html
@@ -0,0 +1,218 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
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+<title>com.pathplanner.lib.auto (pathplannerlib API)</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
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+//-->
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+<h2 title="Class Hierarchy">Class Hierarchy</h2>
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+<li class="circle">java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink"><span class="typeNameLink">Object</span></a>
+<ul>
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+<li class="circle">com.pathplanner.lib.auto.<a href="CommandUtil.html" title="class in com.pathplanner.lib.auto"><span class="typeNameLink">CommandUtil</span></a></li>
+<li class="circle">com.pathplanner.lib.auto.<a href="NamedCommands.html" title="class in com.pathplanner.lib.auto"><span class="typeNameLink">NamedCommands</span></a></li>
+<li class="circle">java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Throwable.html?is-external=true" title="class or interface in java.lang" class="externalLink"><span class="typeNameLink">Throwable</span></a> (implements java.io.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/io/Serializable.html?is-external=true" title="class or interface in java.io" class="externalLink">Serializable</a>)
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+</section>
+<section>
+<h2 title="Interface Hierarchy">Interface Hierarchy</h2>
+<ul>
+<li class="circle">com.pathplanner.lib.auto.<a href="AutoBuilder.QuadFunction.html" title="interface in com.pathplanner.lib.auto"><span class="typeNameLink">AutoBuilder.QuadFunction</span></a>&lt;In1,&#8203;In2,&#8203;In3,&#8203;In4,&#8203;Out&gt;</li>
+<li class="circle">com.pathplanner.lib.auto.<a href="AutoBuilder.TriFunction.html" title="interface in com.pathplanner.lib.auto"><span class="typeNameLink">AutoBuilder.TriFunction</span></a>&lt;In1,&#8203;In2,&#8203;In3,&#8203;Out&gt;</li>
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diff --git a/docs/java/com/pathplanner/lib/commands/FollowPathCommand.html b/docs/java/com/pathplanner/lib/commands/FollowPathCommand.html
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+    }
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+<li>Summary:&nbsp;</li>
+<li><a href="#nested.class.summary">Nested</a>&nbsp;|&nbsp;</li>
+<li><a href="#field.summary">Field</a>&nbsp;|&nbsp;</li>
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+<div class="header">
+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">com.pathplanner.lib.commands</a></div>
+<h2 title="Class FollowPathCommand" class="title">Class FollowPathCommand</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
+<li>
+<ul class="inheritance">
+<li><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">edu.wpi.first.wpilibj2.command.Command</a></li>
+<li>
+<ul class="inheritance">
+<li>com.pathplanner.lib.commands.FollowPathCommand</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<dl>
+<dt>All Implemented Interfaces:</dt>
+<dd><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/util/sendable/Sendable.html?is-external=true" title="class or interface in edu.wpi.first.util.sendable" class="externalLink">Sendable</a></code></dd>
+</dl>
+<dl>
+<dt>Direct Known Subclasses:</dt>
+<dd><code><a href="FollowPathHolonomic.html" title="class in com.pathplanner.lib.commands">FollowPathHolonomic</a></code>, <code><a href="FollowPathLTV.html" title="class in com.pathplanner.lib.commands">FollowPathLTV</a></code>, <code><a href="FollowPathRamsete.html" title="class in com.pathplanner.lib.commands">FollowPathRamsete</a></code></dd>
+</dl>
+<hr>
+<pre>public class <span class="typeNameLabel">FollowPathCommand</span>
+extends <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></pre>
+<div class="block">Base command for following a path</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- ======== NESTED CLASS SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="nested.class.summary">
+<!--   -->
+</a>
+<h3>Nested Class Summary</h3>
+<ul class="blockList">
+<li class="blockList"><a id="nested.classes.inherited.from.class.edu.wpi.first.wpilibj2.command.Command">
+<!--   -->
+</a>
+<h3>Nested classes/interfaces inherited from class&nbsp;edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.InterruptionBehavior.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command.InterruptionBehavior</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- =========== FIELD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="field.summary">
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+</a>
+<h3>Field Summary</h3>
+<ul class="blockList">
+<li class="blockList"><a id="fields.inherited.from.class.edu.wpi.first.wpilibj2.command.Command">
+<!--   -->
+</a>
+<h3>Fields inherited from class&nbsp;edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#m_requirements" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">m_requirements</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.summary">
+<!--   -->
+</a>
+<h3>Constructor Summary</h3>
+<table class="memberSummary">
+<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.controllers.PathFollowingController,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">FollowPathCommand</a></span>&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;path,
+                 <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                 <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;speedsSupplier,
+                 <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;outputRobotRelative,
+                 <a href="../controllers/PathFollowingController.html" title="interface in com.pathplanner.lib.controllers">PathFollowingController</a>&nbsp;controller,
+                 <a href="../util/ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a>&nbsp;replanningConfig,
+                 <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</code></th>
+<td class="colLast">
+<div class="block">Construct a base path following command</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ========== METHOD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.summary">
+<!--   -->
+</a>
+<h3>Method Summary</h3>
+<table class="memberSummary">
+<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr id="i0" class="altColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#end(boolean)">end</a></span>&#8203;(boolean&nbsp;interrupted)</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr id="i1" class="rowColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#execute()">execute</a></span>()</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr id="i2" class="altColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#initialize()">initialize</a></span>()</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr id="i3" class="rowColor">
+<td class="colFirst"><code>boolean</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#isFinished()">isFinished</a></span>()</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+</table>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.edu.wpi.first.wpilibj2.command.Command">
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+</a>
+<h3>Methods inherited from class&nbsp;edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#addRequirements(edu.wpi.first.wpilibj2.command.Subsystem...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">addRequirements</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#alongWith(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">alongWith</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#andThen(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">andThen</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#andThen(java.lang.Runnable,edu.wpi.first.wpilibj2.command.Subsystem...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">andThen</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#asProxy()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">asProxy</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#beforeStarting(edu.wpi.first.wpilibj2.command.Command)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">beforeStarting</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#beforeStarting(java.lang.Runnable,edu.wpi.first.wpilibj2.command.Subsystem...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">beforeStarting</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#cancel()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">cancel</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#deadlineWith(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">deadlineWith</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#finallyDo(edu.wpi.first.util.function.BooleanConsumer)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">finallyDo</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getInterruptionBehavior()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getInterruptionBehavior</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getName()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getName</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getRequirements()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getRequirements</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getSubsystem()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getSubsystem</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#handleInterrupt(java.lang.Runnable)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">handleInterrupt</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#hasRequirement(edu.wpi.first.wpilibj2.command.Subsystem)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">hasRequirement</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#ignoringDisable(boolean)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">ignoringDisable</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#initSendable(edu.wpi.first.util.sendable.SendableBuilder)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">initSendable</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#isScheduled()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">isScheduled</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#onlyIf(java.util.function.BooleanSupplier)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">onlyIf</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#onlyWhile(java.util.function.BooleanSupplier)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">onlyWhile</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#raceWith(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">raceWith</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#repeatedly()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">repeatedly</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#runsWhenDisabled()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">runsWhenDisabled</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#schedule()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">schedule</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#setName(java.lang.String)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">setName</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#setSubsystem(java.lang.String)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">setSubsystem</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#unless(java.util.function.BooleanSupplier)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">unless</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#until(java.util.function.BooleanSupplier)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">until</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#withInterruptBehavior(edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">withInterruptBehavior</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#withName(java.lang.String)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">withName</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#withTimeout(double)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">withTimeout</a></code></li>
+</ul>
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+</a>
+<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
+<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+<div class="details">
+<ul class="blockList">
+<li class="blockList">
+<!-- ========= CONSTRUCTOR DETAIL ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.detail">
+<!--   -->
+</a>
+<h3>Constructor Detail</h3>
+<a id="&lt;init&gt;(com.pathplanner.lib.path.PathPlannerPath,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.controllers.PathFollowingController,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">
+<!--   -->
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+<h4>FollowPathCommand</h4>
+<pre>public&nbsp;FollowPathCommand&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;path,
+                         <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                         <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;speedsSupplier,
+                         <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;outputRobotRelative,
+                         <a href="../controllers/PathFollowingController.html" title="interface in com.pathplanner.lib.controllers">PathFollowingController</a>&nbsp;controller,
+                         <a href="../util/ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a>&nbsp;replanningConfig,
+                         <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</pre>
+<div class="block">Construct a base path following command</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>path</code> - The path to follow</dd>
+<dd><code>poseSupplier</code> - Function that supplies the current field-relative pose of the robot</dd>
+<dd><code>speedsSupplier</code> - Function that supplies the current robot-relative chassis speeds</dd>
+<dd><code>outputRobotRelative</code> - Function that will apply the robot-relative output speeds of this
+     command</dd>
+<dd><code>controller</code> - Path following controller that will be used to follow the path</dd>
+<dd><code>replanningConfig</code> - Path replanning configuration</dd>
+<dd><code>requirements</code> - Subsystems required by this command, usually just the drive subsystem</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- ============ METHOD DETAIL ========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.detail">
+<!--   -->
+</a>
+<h3>Method Detail</h3>
+<a id="initialize()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>initialize</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;initialize()</pre>
+<dl>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#initialize()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">initialize</a></code>&nbsp;in class&nbsp;<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></code></dd>
+</dl>
+</li>
+</ul>
+<a id="execute()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>execute</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;execute()</pre>
+<dl>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#execute()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">execute</a></code>&nbsp;in class&nbsp;<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></code></dd>
+</dl>
+</li>
+</ul>
+<a id="isFinished()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>isFinished</h4>
+<pre class="methodSignature">public&nbsp;boolean&nbsp;isFinished()</pre>
+<dl>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#isFinished()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">isFinished</a></code>&nbsp;in class&nbsp;<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></code></dd>
+</dl>
+</li>
+</ul>
+<a id="end(boolean)">
+<!--   -->
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+<li class="blockList">
+<h4>end</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;end&#8203;(boolean&nbsp;interrupted)</pre>
+<dl>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#end(boolean)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">end</a></code>&nbsp;in class&nbsp;<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></code></dd>
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diff --git a/docs/java/com/pathplanner/lib/commands/FollowPathHolonomic.html b/docs/java/com/pathplanner/lib/commands/FollowPathHolonomic.html
new file mode 100644
index 00000000..d172a62d
--- /dev/null
+++ b/docs/java/com/pathplanner/lib/commands/FollowPathHolonomic.html
@@ -0,0 +1,461 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
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+<title>FollowPathHolonomic (pathplannerlib API)</title>
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+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">com.pathplanner.lib.commands</a></div>
+<h2 title="Class FollowPathHolonomic" class="title">Class FollowPathHolonomic</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
+<li>
+<ul class="inheritance">
+<li><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">edu.wpi.first.wpilibj2.command.Command</a></li>
+<li>
+<ul class="inheritance">
+<li><a href="FollowPathCommand.html" title="class in com.pathplanner.lib.commands">com.pathplanner.lib.commands.FollowPathCommand</a></li>
+<li>
+<ul class="inheritance">
+<li>com.pathplanner.lib.commands.FollowPathHolonomic</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<dl>
+<dt>All Implemented Interfaces:</dt>
+<dd><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/util/sendable/Sendable.html?is-external=true" title="class or interface in edu.wpi.first.util.sendable" class="externalLink">Sendable</a></code></dd>
+</dl>
+<hr>
+<pre>public class <span class="typeNameLabel">FollowPathHolonomic</span>
+extends <a href="FollowPathCommand.html" title="class in com.pathplanner.lib.commands">FollowPathCommand</a></pre>
+<div class="block">Follow a path using a PPHolonomicDriveController</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- ======== NESTED CLASS SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="nested.class.summary">
+<!--   -->
+</a>
+<h3>Nested Class Summary</h3>
+<ul class="blockList">
+<li class="blockList"><a id="nested.classes.inherited.from.class.edu.wpi.first.wpilibj2.command.Command">
+<!--   -->
+</a>
+<h3>Nested classes/interfaces inherited from class&nbsp;edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.InterruptionBehavior.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command.InterruptionBehavior</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- =========== FIELD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="field.summary">
+<!--   -->
+</a>
+<h3>Field Summary</h3>
+<ul class="blockList">
+<li class="blockList"><a id="fields.inherited.from.class.edu.wpi.first.wpilibj2.command.Command">
+<!--   -->
+</a>
+<h3>Fields inherited from class&nbsp;edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#m_requirements" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">m_requirements</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.summary">
+<!--   -->
+</a>
+<h3>Constructor Summary</h3>
+<table class="memberSummary">
+<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.HolonomicPathFollowerConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">FollowPathHolonomic</a></span>&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;path,
+                   <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                   <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;speedsSupplier,
+                   <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;outputRobotRelative,
+                   <a href="../util/HolonomicPathFollowerConfig.html" title="class in com.pathplanner.lib.util">HolonomicPathFollowerConfig</a>&nbsp;config,
+                   <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</code></th>
+<td class="colLast">
+<div class="block">Construct a path following command that will use a holonomic drive controller for holonomic
+ drive trains</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.PIDConstants,com.pathplanner.lib.util.PIDConstants,double,double,double,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">FollowPathHolonomic</a></span>&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;path,
+                   <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                   <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;speedsSupplier,
+                   <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;outputRobotRelative,
+                   <a href="../util/PIDConstants.html" title="class in com.pathplanner.lib.util">PIDConstants</a>&nbsp;translationConstants,
+                   <a href="../util/PIDConstants.html" title="class in com.pathplanner.lib.util">PIDConstants</a>&nbsp;rotationConstants,
+                   double&nbsp;maxModuleSpeed,
+                   double&nbsp;driveBaseRadius,
+                   double&nbsp;period,
+                   <a href="../util/ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a>&nbsp;replanningConfig,
+                   <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</code></th>
+<td class="colLast">
+<div class="block">Construct a path following command that will use a holonomic drive controller for holonomic
+ drive trains</div>
+</td>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.PIDConstants,com.pathplanner.lib.util.PIDConstants,double,double,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">FollowPathHolonomic</a></span>&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;path,
+                   <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                   <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;speedsSupplier,
+                   <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;outputRobotRelative,
+                   <a href="../util/PIDConstants.html" title="class in com.pathplanner.lib.util">PIDConstants</a>&nbsp;translationConstants,
+                   <a href="../util/PIDConstants.html" title="class in com.pathplanner.lib.util">PIDConstants</a>&nbsp;rotationConstants,
+                   double&nbsp;maxModuleSpeed,
+                   double&nbsp;driveBaseRadius,
+                   <a href="../util/ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a>&nbsp;replanningConfig,
+                   <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</code></th>
+<td class="colLast">
+<div class="block">Construct a path following command that will use a holonomic drive controller for holonomic
+ drive trains</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ========== METHOD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.summary">
+<!--   -->
+</a>
+<h3>Method Summary</h3>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.com.pathplanner.lib.commands.FollowPathCommand">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;com.pathplanner.lib.commands.<a href="FollowPathCommand.html" title="class in com.pathplanner.lib.commands">FollowPathCommand</a></h3>
+<code><a href="FollowPathCommand.html#end(boolean)">end</a>, <a href="FollowPathCommand.html#execute()">execute</a>, <a href="FollowPathCommand.html#initialize()">initialize</a>, <a href="FollowPathCommand.html#isFinished()">isFinished</a></code></li>
+</ul>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.edu.wpi.first.wpilibj2.command.Command">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#addRequirements(edu.wpi.first.wpilibj2.command.Subsystem...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">addRequirements</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#alongWith(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">alongWith</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#andThen(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">andThen</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#andThen(java.lang.Runnable,edu.wpi.first.wpilibj2.command.Subsystem...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">andThen</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#asProxy()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">asProxy</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#beforeStarting(edu.wpi.first.wpilibj2.command.Command)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">beforeStarting</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#beforeStarting(java.lang.Runnable,edu.wpi.first.wpilibj2.command.Subsystem...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">beforeStarting</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#cancel()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">cancel</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#deadlineWith(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">deadlineWith</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#finallyDo(edu.wpi.first.util.function.BooleanConsumer)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">finallyDo</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getInterruptionBehavior()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getInterruptionBehavior</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getName()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getName</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getRequirements()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getRequirements</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getSubsystem()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getSubsystem</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#handleInterrupt(java.lang.Runnable)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">handleInterrupt</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#hasRequirement(edu.wpi.first.wpilibj2.command.Subsystem)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">hasRequirement</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#ignoringDisable(boolean)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">ignoringDisable</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#initSendable(edu.wpi.first.util.sendable.SendableBuilder)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">initSendable</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#isScheduled()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">isScheduled</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#onlyIf(java.util.function.BooleanSupplier)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">onlyIf</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#onlyWhile(java.util.function.BooleanSupplier)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">onlyWhile</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#raceWith(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">raceWith</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#repeatedly()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">repeatedly</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#runsWhenDisabled()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">runsWhenDisabled</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#schedule()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">schedule</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#setName(java.lang.String)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">setName</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#setSubsystem(java.lang.String)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">setSubsystem</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#unless(java.util.function.BooleanSupplier)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">unless</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#until(java.util.function.BooleanSupplier)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">until</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#withInterruptBehavior(edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">withInterruptBehavior</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#withName(java.lang.String)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">withName</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#withTimeout(double)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">withTimeout</a></code></li>
+</ul>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
+<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+<div class="details">
+<ul class="blockList">
+<li class="blockList">
+<!-- ========= CONSTRUCTOR DETAIL ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.detail">
+<!--   -->
+</a>
+<h3>Constructor Detail</h3>
+<a id="&lt;init&gt;(com.pathplanner.lib.path.PathPlannerPath,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.PIDConstants,com.pathplanner.lib.util.PIDConstants,double,double,double,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>FollowPathHolonomic</h4>
+<pre>public&nbsp;FollowPathHolonomic&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;path,
+                           <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                           <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;speedsSupplier,
+                           <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;outputRobotRelative,
+                           <a href="../util/PIDConstants.html" title="class in com.pathplanner.lib.util">PIDConstants</a>&nbsp;translationConstants,
+                           <a href="../util/PIDConstants.html" title="class in com.pathplanner.lib.util">PIDConstants</a>&nbsp;rotationConstants,
+                           double&nbsp;maxModuleSpeed,
+                           double&nbsp;driveBaseRadius,
+                           double&nbsp;period,
+                           <a href="../util/ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a>&nbsp;replanningConfig,
+                           <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</pre>
+<div class="block">Construct a path following command that will use a holonomic drive controller for holonomic
+ drive trains</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>path</code> - The path to follow</dd>
+<dd><code>poseSupplier</code> - Function that supplies the current field-relative pose of the robot</dd>
+<dd><code>speedsSupplier</code> - Function that supplies the current robot-relative chassis speeds</dd>
+<dd><code>outputRobotRelative</code> - Function that will apply the robot-relative output speeds of this
+     command</dd>
+<dd><code>translationConstants</code> - PID constants for the translation PID controllers</dd>
+<dd><code>rotationConstants</code> - PID constants for the rotation controller</dd>
+<dd><code>maxModuleSpeed</code> - The max speed of a drive module in meters/sec</dd>
+<dd><code>driveBaseRadius</code> - The radius of the drive base in meters. For swerve drive, this is the
+     distance from the center of the robot to the furthest module. For mecanum, this is the
+     drive base width / 2</dd>
+<dd><code>period</code> - Period of the control loop in seconds, default is 0.02s</dd>
+<dd><code>replanningConfig</code> - Path replanning configuration</dd>
+<dd><code>requirements</code> - Subsystems required by this command, usually just the drive subsystem</dd>
+</dl>
+</li>
+</ul>
+<a id="&lt;init&gt;(com.pathplanner.lib.path.PathPlannerPath,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.PIDConstants,com.pathplanner.lib.util.PIDConstants,double,double,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>FollowPathHolonomic</h4>
+<pre>public&nbsp;FollowPathHolonomic&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;path,
+                           <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                           <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;speedsSupplier,
+                           <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;outputRobotRelative,
+                           <a href="../util/PIDConstants.html" title="class in com.pathplanner.lib.util">PIDConstants</a>&nbsp;translationConstants,
+                           <a href="../util/PIDConstants.html" title="class in com.pathplanner.lib.util">PIDConstants</a>&nbsp;rotationConstants,
+                           double&nbsp;maxModuleSpeed,
+                           double&nbsp;driveBaseRadius,
+                           <a href="../util/ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a>&nbsp;replanningConfig,
+                           <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</pre>
+<div class="block">Construct a path following command that will use a holonomic drive controller for holonomic
+ drive trains</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>path</code> - The path to follow</dd>
+<dd><code>poseSupplier</code> - Function that supplies the current field-relative pose of the robot</dd>
+<dd><code>speedsSupplier</code> - Function that supplies the current robot-relative chassis speeds</dd>
+<dd><code>outputRobotRelative</code> - Function that will apply the robot-relative output speeds of this
+     command</dd>
+<dd><code>translationConstants</code> - PID constants for the translation PID controllers</dd>
+<dd><code>rotationConstants</code> - PID constants for the rotation controller</dd>
+<dd><code>maxModuleSpeed</code> - The max speed of a drive module in meters/sec</dd>
+<dd><code>driveBaseRadius</code> - The radius of the drive base in meters. For swerve drive, this is the
+     distance from the center of the robot to the furthest module. For mecanum, this is the
+     drive base width / 2</dd>
+<dd><code>replanningConfig</code> - Path replanning configuration</dd>
+<dd><code>requirements</code> - Subsystems required by this command, usually just the drive subsystem</dd>
+</dl>
+</li>
+</ul>
+<a id="&lt;init&gt;(com.pathplanner.lib.path.PathPlannerPath,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.HolonomicPathFollowerConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>FollowPathHolonomic</h4>
+<pre>public&nbsp;FollowPathHolonomic&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;path,
+                           <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                           <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;speedsSupplier,
+                           <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;outputRobotRelative,
+                           <a href="../util/HolonomicPathFollowerConfig.html" title="class in com.pathplanner.lib.util">HolonomicPathFollowerConfig</a>&nbsp;config,
+                           <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</pre>
+<div class="block">Construct a path following command that will use a holonomic drive controller for holonomic
+ drive trains</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>path</code> - The path to follow</dd>
+<dd><code>poseSupplier</code> - Function that supplies the current field-relative pose of the robot</dd>
+<dd><code>speedsSupplier</code> - Function that supplies the current robot-relative chassis speeds</dd>
+<dd><code>outputRobotRelative</code> - Function that will apply the robot-relative output speeds of this
+     command</dd>
+<dd><code>config</code> - Holonomic path follower configuration</dd>
+<dd><code>requirements</code> - Subsystems required by this command, usually just the drive subsystem</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+</div>
+</main>
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diff --git a/docs/java/com/pathplanner/lib/commands/FollowPathLTV.html b/docs/java/com/pathplanner/lib/commands/FollowPathLTV.html
new file mode 100644
index 00000000..d140a2f2
--- /dev/null
+++ b/docs/java/com/pathplanner/lib/commands/FollowPathLTV.html
@@ -0,0 +1,402 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
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+<title>FollowPathLTV (pathplannerlib API)</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
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+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">com.pathplanner.lib.commands</a></div>
+<h2 title="Class FollowPathLTV" class="title">Class FollowPathLTV</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
+<li>
+<ul class="inheritance">
+<li><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">edu.wpi.first.wpilibj2.command.Command</a></li>
+<li>
+<ul class="inheritance">
+<li><a href="FollowPathCommand.html" title="class in com.pathplanner.lib.commands">com.pathplanner.lib.commands.FollowPathCommand</a></li>
+<li>
+<ul class="inheritance">
+<li>com.pathplanner.lib.commands.FollowPathLTV</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<dl>
+<dt>All Implemented Interfaces:</dt>
+<dd><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/util/sendable/Sendable.html?is-external=true" title="class or interface in edu.wpi.first.util.sendable" class="externalLink">Sendable</a></code></dd>
+</dl>
+<hr>
+<pre>public class <span class="typeNameLabel">FollowPathLTV</span>
+extends <a href="FollowPathCommand.html" title="class in com.pathplanner.lib.commands">FollowPathCommand</a></pre>
+<div class="block">Follow a path using a PPLTVController</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- ======== NESTED CLASS SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="nested.class.summary">
+<!--   -->
+</a>
+<h3>Nested Class Summary</h3>
+<ul class="blockList">
+<li class="blockList"><a id="nested.classes.inherited.from.class.edu.wpi.first.wpilibj2.command.Command">
+<!--   -->
+</a>
+<h3>Nested classes/interfaces inherited from class&nbsp;edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.InterruptionBehavior.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command.InterruptionBehavior</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- =========== FIELD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="field.summary">
+<!--   -->
+</a>
+<h3>Field Summary</h3>
+<ul class="blockList">
+<li class="blockList"><a id="fields.inherited.from.class.edu.wpi.first.wpilibj2.command.Command">
+<!--   -->
+</a>
+<h3>Fields inherited from class&nbsp;edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#m_requirements" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">m_requirements</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.summary">
+<!--   -->
+</a>
+<h3>Constructor Summary</h3>
+<table class="memberSummary">
+<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,double,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">FollowPathLTV</a></span>&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;path,
+             <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+             <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;speedsSupplier,
+             <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+             double&nbsp;dt,
+             <a href="../util/ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a>&nbsp;replanningConfig,
+             <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</code></th>
+<td class="colLast">
+<div class="block">Create a path following command that will use an LTV unicycle controller for differential drive
+ trains</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,edu.wpi.first.math.Vector,edu.wpi.first.math.Vector,double,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">FollowPathLTV</a></span>&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;path,
+             <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+             <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;speedsSupplier,
+             <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+             <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/Vector.html?is-external=true" title="class or interface in edu.wpi.first.math" class="externalLink">Vector</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/numbers/N3.html?is-external=true" title="class or interface in edu.wpi.first.math.numbers" class="externalLink">N3</a>&gt;&nbsp;qelems,
+             <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/Vector.html?is-external=true" title="class or interface in edu.wpi.first.math" class="externalLink">Vector</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/numbers/N2.html?is-external=true" title="class or interface in edu.wpi.first.math.numbers" class="externalLink">N2</a>&gt;&nbsp;relems,
+             double&nbsp;dt,
+             <a href="../util/ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a>&nbsp;replanningConfig,
+             <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</code></th>
+<td class="colLast">
+<div class="block">Create a path following command that will use an LTV unicycle controller for differential drive
+ trains</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ========== METHOD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.summary">
+<!--   -->
+</a>
+<h3>Method Summary</h3>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.com.pathplanner.lib.commands.FollowPathCommand">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;com.pathplanner.lib.commands.<a href="FollowPathCommand.html" title="class in com.pathplanner.lib.commands">FollowPathCommand</a></h3>
+<code><a href="FollowPathCommand.html#end(boolean)">end</a>, <a href="FollowPathCommand.html#execute()">execute</a>, <a href="FollowPathCommand.html#initialize()">initialize</a>, <a href="FollowPathCommand.html#isFinished()">isFinished</a></code></li>
+</ul>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.edu.wpi.first.wpilibj2.command.Command">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#addRequirements(edu.wpi.first.wpilibj2.command.Subsystem...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">addRequirements</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#alongWith(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">alongWith</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#andThen(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">andThen</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#andThen(java.lang.Runnable,edu.wpi.first.wpilibj2.command.Subsystem...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">andThen</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#asProxy()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">asProxy</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#beforeStarting(edu.wpi.first.wpilibj2.command.Command)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">beforeStarting</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#beforeStarting(java.lang.Runnable,edu.wpi.first.wpilibj2.command.Subsystem...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">beforeStarting</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#cancel()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">cancel</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#deadlineWith(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">deadlineWith</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#finallyDo(edu.wpi.first.util.function.BooleanConsumer)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">finallyDo</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getInterruptionBehavior()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getInterruptionBehavior</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getName()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getName</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getRequirements()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getRequirements</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getSubsystem()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getSubsystem</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#handleInterrupt(java.lang.Runnable)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">handleInterrupt</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#hasRequirement(edu.wpi.first.wpilibj2.command.Subsystem)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">hasRequirement</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#ignoringDisable(boolean)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">ignoringDisable</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#initSendable(edu.wpi.first.util.sendable.SendableBuilder)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">initSendable</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#isScheduled()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">isScheduled</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#onlyIf(java.util.function.BooleanSupplier)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">onlyIf</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#onlyWhile(java.util.function.BooleanSupplier)" title="class or interface in 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title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">until</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#withInterruptBehavior(edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">withInterruptBehavior</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#withName(java.lang.String)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">withName</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#withTimeout(double)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">withTimeout</a></code></li>
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+<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
+</ul>
+</li>
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+</li>
+</ul>
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+<div class="details">
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+<li class="blockList">
+<!-- ========= CONSTRUCTOR DETAIL ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.detail">
+<!--   -->
+</a>
+<h3>Constructor Detail</h3>
+<a id="&lt;init&gt;(com.pathplanner.lib.path.PathPlannerPath,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,double,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>FollowPathLTV</h4>
+<pre>public&nbsp;FollowPathLTV&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;path,
+                     <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                     <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;speedsSupplier,
+                     <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+                     double&nbsp;dt,
+                     <a href="../util/ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a>&nbsp;replanningConfig,
+                     <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</pre>
+<div class="block">Create a path following command that will use an LTV unicycle controller for differential drive
+ trains</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>path</code> - The path to follow</dd>
+<dd><code>poseSupplier</code> - Function that supplies the current field-relative pose of the robot</dd>
+<dd><code>speedsSupplier</code> - Function that supplies the current robot-relative chassis speeds</dd>
+<dd><code>output</code> - Function that will apply the robot-relative output speeds of this command</dd>
+<dd><code>dt</code> - The amount of time between each robot control loop, default is 0.02s</dd>
+<dd><code>replanningConfig</code> - Path replanning configuration</dd>
+<dd><code>requirements</code> - Subsystems required by this command, usually just the drive subsystem</dd>
+</dl>
+</li>
+</ul>
+<a id="&lt;init&gt;(com.pathplanner.lib.path.PathPlannerPath,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,edu.wpi.first.math.Vector,edu.wpi.first.math.Vector,double,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>FollowPathLTV</h4>
+<pre>public&nbsp;FollowPathLTV&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;path,
+                     <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                     <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;speedsSupplier,
+                     <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+                     <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/Vector.html?is-external=true" title="class or interface in edu.wpi.first.math" class="externalLink">Vector</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/numbers/N3.html?is-external=true" title="class or interface in edu.wpi.first.math.numbers" class="externalLink">N3</a>&gt;&nbsp;qelems,
+                     <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/Vector.html?is-external=true" title="class or interface in edu.wpi.first.math" class="externalLink">Vector</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/numbers/N2.html?is-external=true" title="class or interface in edu.wpi.first.math.numbers" class="externalLink">N2</a>&gt;&nbsp;relems,
+                     double&nbsp;dt,
+                     <a href="../util/ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a>&nbsp;replanningConfig,
+                     <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</pre>
+<div class="block">Create a path following command that will use an LTV unicycle controller for differential drive
+ trains</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>path</code> - The path to follow</dd>
+<dd><code>poseSupplier</code> - Function that supplies the current field-relative pose of the robot</dd>
+<dd><code>speedsSupplier</code> - Function that supplies the current robot-relative chassis speeds</dd>
+<dd><code>output</code> - Function that will apply the robot-relative output speeds of this command</dd>
+<dd><code>qelems</code> - The maximum desired error tolerance for each state.</dd>
+<dd><code>relems</code> - The maximum desired control effort for each input.</dd>
+<dd><code>dt</code> - The amount of time between each robot control loop, default is 0.02s</dd>
+<dd><code>replanningConfig</code> - Path replanning configuration</dd>
+<dd><code>requirements</code> - Subsystems required by this command, usually just the drive subsystem</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+</div>
+</main>
+<!-- ========= END OF CLASS DATA ========= -->
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diff --git a/docs/java/com/pathplanner/lib/commands/FollowPathRamsete.html b/docs/java/com/pathplanner/lib/commands/FollowPathRamsete.html
new file mode 100644
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--- /dev/null
+++ b/docs/java/com/pathplanner/lib/commands/FollowPathRamsete.html
@@ -0,0 +1,398 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
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+<!-- ======== START OF CLASS DATA ======== -->
+<main role="main">
+<div class="header">
+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">com.pathplanner.lib.commands</a></div>
+<h2 title="Class FollowPathRamsete" class="title">Class FollowPathRamsete</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
+<li>
+<ul class="inheritance">
+<li><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">edu.wpi.first.wpilibj2.command.Command</a></li>
+<li>
+<ul class="inheritance">
+<li><a href="FollowPathCommand.html" title="class in com.pathplanner.lib.commands">com.pathplanner.lib.commands.FollowPathCommand</a></li>
+<li>
+<ul class="inheritance">
+<li>com.pathplanner.lib.commands.FollowPathRamsete</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<dl>
+<dt>All Implemented Interfaces:</dt>
+<dd><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/util/sendable/Sendable.html?is-external=true" title="class or interface in edu.wpi.first.util.sendable" class="externalLink">Sendable</a></code></dd>
+</dl>
+<hr>
+<pre>public class <span class="typeNameLabel">FollowPathRamsete</span>
+extends <a href="FollowPathCommand.html" title="class in com.pathplanner.lib.commands">FollowPathCommand</a></pre>
+<div class="block">Follow a path using a PPRamseteController</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- ======== NESTED CLASS SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="nested.class.summary">
+<!--   -->
+</a>
+<h3>Nested Class Summary</h3>
+<ul class="blockList">
+<li class="blockList"><a id="nested.classes.inherited.from.class.edu.wpi.first.wpilibj2.command.Command">
+<!--   -->
+</a>
+<h3>Nested classes/interfaces inherited from class&nbsp;edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.InterruptionBehavior.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command.InterruptionBehavior</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- =========== FIELD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="field.summary">
+<!--   -->
+</a>
+<h3>Field Summary</h3>
+<ul class="blockList">
+<li class="blockList"><a id="fields.inherited.from.class.edu.wpi.first.wpilibj2.command.Command">
+<!--   -->
+</a>
+<h3>Fields inherited from class&nbsp;edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#m_requirements" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">m_requirements</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.summary">
+<!--   -->
+</a>
+<h3>Constructor Summary</h3>
+<table class="memberSummary">
+<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,double,double,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">FollowPathRamsete</a></span>&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;path,
+                 <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                 <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;speedsSupplier,
+                 <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+                 double&nbsp;b,
+                 double&nbsp;zeta,
+                 <a href="../util/ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a>&nbsp;replanningConfig,
+                 <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</code></th>
+<td class="colLast">
+<div class="block">Construct a path following command that will use a Ramsete path following controller for
+ differential drive trains</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">FollowPathRamsete</a></span>&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;path,
+                 <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                 <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;speedsSupplier,
+                 <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+                 <a href="../util/ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a>&nbsp;replanningConfig,
+                 <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</code></th>
+<td class="colLast">
+<div class="block">Construct a path following command that will use a Ramsete path following controller for
+ differential drive trains</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ========== METHOD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.summary">
+<!--   -->
+</a>
+<h3>Method Summary</h3>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.com.pathplanner.lib.commands.FollowPathCommand">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;com.pathplanner.lib.commands.<a href="FollowPathCommand.html" title="class in com.pathplanner.lib.commands">FollowPathCommand</a></h3>
+<code><a href="FollowPathCommand.html#end(boolean)">end</a>, <a href="FollowPathCommand.html#execute()">execute</a>, <a href="FollowPathCommand.html#initialize()">initialize</a>, <a href="FollowPathCommand.html#isFinished()">isFinished</a></code></li>
+</ul>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.edu.wpi.first.wpilibj2.command.Command">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#addRequirements(edu.wpi.first.wpilibj2.command.Subsystem...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">addRequirements</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#alongWith(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">alongWith</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#andThen(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">andThen</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#andThen(java.lang.Runnable,edu.wpi.first.wpilibj2.command.Subsystem...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">andThen</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#asProxy()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">asProxy</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#beforeStarting(edu.wpi.first.wpilibj2.command.Command)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">beforeStarting</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#beforeStarting(java.lang.Runnable,edu.wpi.first.wpilibj2.command.Subsystem...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">beforeStarting</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#cancel()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">cancel</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#deadlineWith(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">deadlineWith</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#finallyDo(edu.wpi.first.util.function.BooleanConsumer)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">finallyDo</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getInterruptionBehavior()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getInterruptionBehavior</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getName()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getName</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getRequirements()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getRequirements</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getSubsystem()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getSubsystem</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#handleInterrupt(java.lang.Runnable)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">handleInterrupt</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#hasRequirement(edu.wpi.first.wpilibj2.command.Subsystem)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">hasRequirement</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#ignoringDisable(boolean)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">ignoringDisable</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#initSendable(edu.wpi.first.util.sendable.SendableBuilder)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">initSendable</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#isScheduled()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">isScheduled</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#onlyIf(java.util.function.BooleanSupplier)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">onlyIf</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#onlyWhile(java.util.function.BooleanSupplier)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">onlyWhile</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#raceWith(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">raceWith</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#repeatedly()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">repeatedly</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#runsWhenDisabled()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">runsWhenDisabled</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#schedule()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">schedule</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#setName(java.lang.String)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">setName</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#setSubsystem(java.lang.String)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">setSubsystem</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#unless(java.util.function.BooleanSupplier)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">unless</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#until(java.util.function.BooleanSupplier)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">until</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#withInterruptBehavior(edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">withInterruptBehavior</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#withName(java.lang.String)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">withName</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#withTimeout(double)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">withTimeout</a></code></li>
+</ul>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
+<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+<div class="details">
+<ul class="blockList">
+<li class="blockList">
+<!-- ========= CONSTRUCTOR DETAIL ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.detail">
+<!--   -->
+</a>
+<h3>Constructor Detail</h3>
+<a id="&lt;init&gt;(com.pathplanner.lib.path.PathPlannerPath,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,double,double,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>FollowPathRamsete</h4>
+<pre>public&nbsp;FollowPathRamsete&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;path,
+                         <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                         <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;speedsSupplier,
+                         <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+                         double&nbsp;b,
+                         double&nbsp;zeta,
+                         <a href="../util/ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a>&nbsp;replanningConfig,
+                         <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</pre>
+<div class="block">Construct a path following command that will use a Ramsete path following controller for
+ differential drive trains</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>path</code> - The path to follow</dd>
+<dd><code>poseSupplier</code> - Function that supplies the current field-relative pose of the robot</dd>
+<dd><code>speedsSupplier</code> - Function that supplies the current robot-relative chassis speeds</dd>
+<dd><code>output</code> - Function that will apply the robot-relative output speeds of this command</dd>
+<dd><code>b</code> - Tuning parameter (b &gt; 0 rad^2/m^2) for which larger values make convergence more
+     aggressive like a proportional term.</dd>
+<dd><code>zeta</code> - Tuning parameter (0 rad^-1 &lt; zeta &lt; 1 rad^-1) for which larger values provide
+     more damping in response.</dd>
+<dd><code>replanningConfig</code> - Path replanning configuration</dd>
+<dd><code>requirements</code> - Subsystems required by this command, usually just the drive subsystem</dd>
+</dl>
+</li>
+</ul>
+<a id="&lt;init&gt;(com.pathplanner.lib.path.PathPlannerPath,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>FollowPathRamsete</h4>
+<pre>public&nbsp;FollowPathRamsete&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;path,
+                         <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                         <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;speedsSupplier,
+                         <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+                         <a href="../util/ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a>&nbsp;replanningConfig,
+                         <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</pre>
+<div class="block">Construct a path following command that will use a Ramsete path following controller for
+ differential drive trains</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>path</code> - The path to follow</dd>
+<dd><code>poseSupplier</code> - Function that supplies the current field-relative pose of the robot</dd>
+<dd><code>speedsSupplier</code> - Function that supplies the current robot-relative chassis speeds</dd>
+<dd><code>output</code> - Function that will apply the robot-relative output speeds of this command</dd>
+<dd><code>replanningConfig</code> - Path replanning configuration</dd>
+<dd><code>requirements</code> - Subsystems required by this command, usually just the drive subsystem</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+</div>
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diff --git a/docs/java/com/pathplanner/lib/commands/FollowPathWithEvents.html b/docs/java/com/pathplanner/lib/commands/FollowPathWithEvents.html
new file mode 100644
index 00000000..3c2f7979
--- /dev/null
+++ b/docs/java/com/pathplanner/lib/commands/FollowPathWithEvents.html
@@ -0,0 +1,428 @@
+<!DOCTYPE HTML>
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+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">com.pathplanner.lib.commands</a></div>
+<h2 title="Class FollowPathWithEvents" class="title">Class FollowPathWithEvents</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
+<li>
+<ul class="inheritance">
+<li><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">edu.wpi.first.wpilibj2.command.Command</a></li>
+<li>
+<ul class="inheritance">
+<li>com.pathplanner.lib.commands.FollowPathWithEvents</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<dl>
+<dt>All Implemented Interfaces:</dt>
+<dd><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/util/sendable/Sendable.html?is-external=true" title="class or interface in edu.wpi.first.util.sendable" class="externalLink">Sendable</a></code></dd>
+</dl>
+<hr>
+<pre>public class <span class="typeNameLabel">FollowPathWithEvents</span>
+extends <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></pre>
+<div class="block">Command that will run a path following command and trigger event markers along the way</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- ======== NESTED CLASS SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="nested.class.summary">
+<!--   -->
+</a>
+<h3>Nested Class Summary</h3>
+<ul class="blockList">
+<li class="blockList"><a id="nested.classes.inherited.from.class.edu.wpi.first.wpilibj2.command.Command">
+<!--   -->
+</a>
+<h3>Nested classes/interfaces inherited from class&nbsp;edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.InterruptionBehavior.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command.InterruptionBehavior</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- =========== FIELD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="field.summary">
+<!--   -->
+</a>
+<h3>Field Summary</h3>
+<ul class="blockList">
+<li class="blockList"><a id="fields.inherited.from.class.edu.wpi.first.wpilibj2.command.Command">
+<!--   -->
+</a>
+<h3>Fields inherited from class&nbsp;edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#m_requirements" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">m_requirements</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.summary">
+<!--   -->
+</a>
+<h3>Constructor Summary</h3>
+<table class="memberSummary">
+<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(edu.wpi.first.wpilibj2.command.Command,com.pathplanner.lib.path.PathPlannerPath,java.util.function.Supplier)">FollowPathWithEvents</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a>&nbsp;pathFollowingCommand,
+                    <a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;path,
+                    <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier)</code></th>
+<td class="colLast">
+<div class="block">Constructs a new FollowPathWithEvents command.</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ========== METHOD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.summary">
+<!--   -->
+</a>
+<h3>Method Summary</h3>
+<table class="memberSummary">
+<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr id="i0" class="altColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#end(boolean)">end</a></span>&#8203;(boolean&nbsp;interrupted)</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr id="i1" class="rowColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#execute()">execute</a></span>()</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr id="i2" class="altColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#initialize()">initialize</a></span>()</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr id="i3" class="rowColor">
+<td class="colFirst"><code>boolean</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#isFinished()">isFinished</a></span>()</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+</table>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.edu.wpi.first.wpilibj2.command.Command">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#addRequirements(edu.wpi.first.wpilibj2.command.Subsystem...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">addRequirements</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#alongWith(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">alongWith</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#andThen(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">andThen</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#andThen(java.lang.Runnable,edu.wpi.first.wpilibj2.command.Subsystem...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">andThen</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#asProxy()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">asProxy</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#beforeStarting(edu.wpi.first.wpilibj2.command.Command)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">beforeStarting</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#beforeStarting(java.lang.Runnable,edu.wpi.first.wpilibj2.command.Subsystem...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">beforeStarting</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#cancel()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">cancel</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#deadlineWith(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">deadlineWith</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#finallyDo(edu.wpi.first.util.function.BooleanConsumer)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">finallyDo</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getInterruptionBehavior()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getInterruptionBehavior</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getName()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getName</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getRequirements()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getRequirements</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getSubsystem()" title="class or interface 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+<h4>FollowPathWithEvents</h4>
+<pre>public&nbsp;FollowPathWithEvents&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a>&nbsp;pathFollowingCommand,
+                            <a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;path,
+                            <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier)</pre>
+<div class="block">Constructs a new FollowPathWithEvents command.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>pathFollowingCommand</code> - the command to follow the path</dd>
+<dd><code>path</code> - the path to follow</dd>
+<dd><code>poseSupplier</code> - a supplier for the robot's current pose</dd>
+<dt><span class="throwsLabel">Throws:</span></dt>
+<dd><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/IllegalArgumentException.html?is-external=true" title="class or interface in java.lang" class="externalLink">IllegalArgumentException</a></code> - if an event command requires the drive subsystem</dd>
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diff --git a/docs/java/com/pathplanner/lib/commands/PathPlannerAuto.html b/docs/java/com/pathplanner/lib/commands/PathPlannerAuto.html
new file mode 100644
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+    }
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+<h2 title="Class PathPlannerAuto" class="title">Class PathPlannerAuto</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
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+<li>
+<ul class="inheritance">
+<li>com.pathplanner.lib.commands.PathPlannerAuto</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<dl>
+<dt>All Implemented Interfaces:</dt>
+<dd><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/util/sendable/Sendable.html?is-external=true" title="class or interface in edu.wpi.first.util.sendable" class="externalLink">Sendable</a></code></dd>
+</dl>
+<hr>
+<pre>public class <span class="typeNameLabel">PathPlannerAuto</span>
+extends <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></pre>
+<div class="block">A command that loads and runs an autonomous routine built using PathPlanner.</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- ======== NESTED CLASS SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="nested.class.summary">
+<!--   -->
+</a>
+<h3>Nested Class Summary</h3>
+<ul class="blockList">
+<li class="blockList"><a id="nested.classes.inherited.from.class.edu.wpi.first.wpilibj2.command.Command">
+<!--   -->
+</a>
+<h3>Nested classes/interfaces inherited from class&nbsp;edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.InterruptionBehavior.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command.InterruptionBehavior</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- =========== FIELD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="field.summary">
+<!--   -->
+</a>
+<h3>Field Summary</h3>
+<ul class="blockList">
+<li class="blockList"><a id="fields.inherited.from.class.edu.wpi.first.wpilibj2.command.Command">
+<!--   -->
+</a>
+<h3>Fields inherited from class&nbsp;edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#m_requirements" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">m_requirements</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.summary">
+<!--   -->
+</a>
+<h3>Constructor Summary</h3>
+<table class="memberSummary">
+<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(java.lang.String)">PathPlannerAuto</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;autoName)</code></th>
+<td class="colLast">
+<div class="block">Constructs a new PathPlannerAuto command.</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ========== METHOD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.summary">
+<!--   -->
+</a>
+<h3>Method Summary</h3>
+<table class="memberSummary">
+<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t1" class="tableTab"><span><a href="javascript:show(1);">Static Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr id="i0" class="altColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#end(boolean)">end</a></span>&#8203;(boolean&nbsp;interrupted)</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr id="i1" class="rowColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#execute()">execute</a></span>()</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr id="i2" class="altColor">
+<td class="colFirst"><code>static <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/List.html?is-external=true" title="class or interface in java.util" class="externalLink">List</a>&lt;<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&gt;</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getPathGroupFromAutoFile(java.lang.String)">getPathGroupFromAutoFile</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;autoName)</code></th>
+<td class="colLast">
+<div class="block">Get a list of every path in the given auto (depth first)</div>
+</td>
+</tr>
+<tr id="i3" class="rowColor">
+<td class="colFirst"><code>static <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getStaringPoseFromAutoFile(java.lang.String)">getStaringPoseFromAutoFile</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;autoName)</code></th>
+<td class="colLast">
+<div class="block">Get the starting pose from the given auto file</div>
+</td>
+</tr>
+<tr id="i4" class="altColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#hotReload(org.json.simple.JSONObject)">hotReload</a></span>&#8203;(org.json.simple.JSONObject&nbsp;autoJson)</code></th>
+<td class="colLast">
+<div class="block">Reloads the autonomous routine with the given JSON object and updates the requirements of this
+ command.</div>
+</td>
+</tr>
+<tr id="i5" class="rowColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#initialize()">initialize</a></span>()</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr id="i6" class="altColor">
+<td class="colFirst"><code>boolean</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#isFinished()">isFinished</a></span>()</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+</table>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.edu.wpi.first.wpilibj2.command.Command">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#addRequirements(edu.wpi.first.wpilibj2.command.Subsystem...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">addRequirements</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#alongWith(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">alongWith</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#andThen(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">andThen</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#andThen(java.lang.Runnable,edu.wpi.first.wpilibj2.command.Subsystem...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">andThen</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#asProxy()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">asProxy</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#beforeStarting(edu.wpi.first.wpilibj2.command.Command)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">beforeStarting</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#beforeStarting(java.lang.Runnable,edu.wpi.first.wpilibj2.command.Subsystem...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">beforeStarting</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#cancel()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">cancel</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#deadlineWith(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">deadlineWith</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#finallyDo(edu.wpi.first.util.function.BooleanConsumer)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">finallyDo</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getInterruptionBehavior()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getInterruptionBehavior</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getName()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getName</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getRequirements()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getRequirements</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getSubsystem()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getSubsystem</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#handleInterrupt(java.lang.Runnable)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">handleInterrupt</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#hasRequirement(edu.wpi.first.wpilibj2.command.Subsystem)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">hasRequirement</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#ignoringDisable(boolean)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">ignoringDisable</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#initSendable(edu.wpi.first.util.sendable.SendableBuilder)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">initSendable</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#isScheduled()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">isScheduled</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#onlyIf(java.util.function.BooleanSupplier)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">onlyIf</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#onlyWhile(java.util.function.BooleanSupplier)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">onlyWhile</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#raceWith(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">raceWith</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#repeatedly()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">repeatedly</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#runsWhenDisabled()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">runsWhenDisabled</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#schedule()" title="class or interface in 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title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">until</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#withInterruptBehavior(edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">withInterruptBehavior</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#withName(java.lang.String)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">withName</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#withTimeout(double)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">withTimeout</a></code></li>
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+</a>
+<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
+<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+<div class="details">
+<ul class="blockList">
+<li class="blockList">
+<!-- ========= CONSTRUCTOR DETAIL ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.detail">
+<!--   -->
+</a>
+<h3>Constructor Detail</h3>
+<a id="&lt;init&gt;(java.lang.String)">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>PathPlannerAuto</h4>
+<pre>public&nbsp;PathPlannerAuto&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;autoName)</pre>
+<div class="block">Constructs a new PathPlannerAuto command.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>autoName</code> - the name of the autonomous routine to load and run</dd>
+<dt><span class="throwsLabel">Throws:</span></dt>
+<dd><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/RuntimeException.html?is-external=true" title="class or interface in java.lang" class="externalLink">RuntimeException</a></code> - if AutoBuilder is not configured before attempting to load the
+     autonomous routine</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- ============ METHOD DETAIL ========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.detail">
+<!--   -->
+</a>
+<h3>Method Detail</h3>
+<a id="getStaringPoseFromAutoFile(java.lang.String)">
+<!--   -->
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+<ul class="blockList">
+<li class="blockList">
+<h4>getStaringPoseFromAutoFile</h4>
+<pre class="methodSignature">public static&nbsp;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;getStaringPoseFromAutoFile&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;autoName)</pre>
+<div class="block">Get the starting pose from the given auto file</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>autoName</code> - Name of the auto to get the pose from</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>Starting pose from the given auto</dd>
+</dl>
+</li>
+</ul>
+<a id="getPathGroupFromAutoFile(java.lang.String)">
+<!--   -->
+</a>
+<ul class="blockList">
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+<h4>getPathGroupFromAutoFile</h4>
+<pre class="methodSignature">public static&nbsp;<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/List.html?is-external=true" title="class or interface in java.util" class="externalLink">List</a>&lt;<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&gt;&nbsp;getPathGroupFromAutoFile&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;autoName)</pre>
+<div class="block">Get a list of every path in the given auto (depth first)</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>autoName</code> - Name of the auto to get the path group from</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>List of paths in the auto</dd>
+</dl>
+</li>
+</ul>
+<a id="hotReload(org.json.simple.JSONObject)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
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+<pre class="methodSignature">public&nbsp;void&nbsp;hotReload&#8203;(org.json.simple.JSONObject&nbsp;autoJson)</pre>
+<div class="block">Reloads the autonomous routine with the given JSON object and updates the requirements of this
+ command.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>autoJson</code> - the JSON object representing the updated autonomous routine</dd>
+</dl>
+</li>
+</ul>
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+<pre class="methodSignature">public&nbsp;void&nbsp;initialize()</pre>
+<dl>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#initialize()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">initialize</a></code>&nbsp;in class&nbsp;<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></code></dd>
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+<h4>execute</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;execute()</pre>
+<dl>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#execute()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">execute</a></code>&nbsp;in class&nbsp;<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></code></dd>
+</dl>
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+<pre class="methodSignature">public&nbsp;boolean&nbsp;isFinished()</pre>
+<dl>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#isFinished()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">isFinished</a></code>&nbsp;in class&nbsp;<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></code></dd>
+</dl>
+</li>
+</ul>
+<a id="end(boolean)">
+<!--   -->
+</a>
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+<li class="blockList">
+<h4>end</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;end&#8203;(boolean&nbsp;interrupted)</pre>
+<dl>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#end(boolean)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">end</a></code>&nbsp;in class&nbsp;<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></code></dd>
+</dl>
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diff --git a/docs/java/com/pathplanner/lib/commands/PathfindHolonomic.html b/docs/java/com/pathplanner/lib/commands/PathfindHolonomic.html
new file mode 100644
index 00000000..f56c43dd
--- /dev/null
+++ b/docs/java/com/pathplanner/lib/commands/PathfindHolonomic.html
@@ -0,0 +1,579 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
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+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">com.pathplanner.lib.commands</a></div>
+<h2 title="Class PathfindHolonomic" class="title">Class PathfindHolonomic</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
+<li>
+<ul class="inheritance">
+<li><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">edu.wpi.first.wpilibj2.command.Command</a></li>
+<li>
+<ul class="inheritance">
+<li><a href="PathfindingCommand.html" title="class in com.pathplanner.lib.commands">com.pathplanner.lib.commands.PathfindingCommand</a></li>
+<li>
+<ul class="inheritance">
+<li>com.pathplanner.lib.commands.PathfindHolonomic</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<dl>
+<dt>All Implemented Interfaces:</dt>
+<dd><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/util/sendable/Sendable.html?is-external=true" title="class or interface in edu.wpi.first.util.sendable" class="externalLink">Sendable</a></code></dd>
+</dl>
+<hr>
+<pre>public class <span class="typeNameLabel">PathfindHolonomic</span>
+extends <a href="PathfindingCommand.html" title="class in com.pathplanner.lib.commands">PathfindingCommand</a></pre>
+<div class="block">Pathfind and follow the path with a PPHolonomicDriveController</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- ======== NESTED CLASS SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="nested.class.summary">
+<!--   -->
+</a>
+<h3>Nested Class Summary</h3>
+<ul class="blockList">
+<li class="blockList"><a id="nested.classes.inherited.from.class.edu.wpi.first.wpilibj2.command.Command">
+<!--   -->
+</a>
+<h3>Nested classes/interfaces inherited from class&nbsp;edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.InterruptionBehavior.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command.InterruptionBehavior</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- =========== FIELD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="field.summary">
+<!--   -->
+</a>
+<h3>Field Summary</h3>
+<ul class="blockList">
+<li class="blockList"><a id="fields.inherited.from.class.edu.wpi.first.wpilibj2.command.Command">
+<!--   -->
+</a>
+<h3>Fields inherited from class&nbsp;edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#m_requirements" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">m_requirements</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.summary">
+<!--   -->
+</a>
+<h3>Constructor Summary</h3>
+<table class="memberSummary">
+<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.HolonomicPathFollowerConfig,double,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindHolonomic</a></span>&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;targetPath,
+                 <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+                 <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                 <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+                 <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+                 <a href="../util/HolonomicPathFollowerConfig.html" title="class in com.pathplanner.lib.util">HolonomicPathFollowerConfig</a>&nbsp;config,
+                 double&nbsp;rotationDelayDistance,
+                 <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</code></th>
+<td class="colLast">
+<div class="block">Constructs a new PathfindHolonomic command that will generate a path towards the given path.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.HolonomicPathFollowerConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindHolonomic</a></span>&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;targetPath,
+                 <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+                 <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                 <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+                 <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+                 <a href="../util/HolonomicPathFollowerConfig.html" title="class in com.pathplanner.lib.util">HolonomicPathFollowerConfig</a>&nbsp;config,
+                 <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</code></th>
+<td class="colLast">
+<div class="block">Constructs a new PathfindHolonomic command that will generate a path towards the given path.</div>
+</td>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(edu.wpi.first.math.geometry.Pose2d,com.pathplanner.lib.path.PathConstraints,double,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.HolonomicPathFollowerConfig,double,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindHolonomic</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;targetPose,
+                 <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+                 double&nbsp;goalEndVel,
+                 <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                 <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+                 <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+                 <a href="../util/HolonomicPathFollowerConfig.html" title="class in com.pathplanner.lib.util">HolonomicPathFollowerConfig</a>&nbsp;config,
+                 double&nbsp;rotationDelayDistance,
+                 <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</code></th>
+<td class="colLast">
+<div class="block">Constructs a new PathfindHolonomic command that will generate a path towards the given pose.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(edu.wpi.first.math.geometry.Pose2d,com.pathplanner.lib.path.PathConstraints,double,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.HolonomicPathFollowerConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindHolonomic</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;targetPose,
+                 <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+                 double&nbsp;goalEndVel,
+                 <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                 <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+                 <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+                 <a href="../util/HolonomicPathFollowerConfig.html" title="class in com.pathplanner.lib.util">HolonomicPathFollowerConfig</a>&nbsp;config,
+                 <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</code></th>
+<td class="colLast">
+<div class="block">Constructs a new PathfindHolonomic command that will generate a path towards the given pose.</div>
+</td>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(edu.wpi.first.math.geometry.Pose2d,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.HolonomicPathFollowerConfig,double,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindHolonomic</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;targetPose,
+                 <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+                 <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                 <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+                 <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+                 <a href="../util/HolonomicPathFollowerConfig.html" title="class in com.pathplanner.lib.util">HolonomicPathFollowerConfig</a>&nbsp;config,
+                 double&nbsp;rotationDelayDistance,
+                 <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</code></th>
+<td class="colLast">
+<div class="block">Constructs a new PathfindHolonomic command that will generate a path towards the given pose and
+ stop.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(edu.wpi.first.math.geometry.Pose2d,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.HolonomicPathFollowerConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindHolonomic</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;targetPose,
+                 <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+                 <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                 <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+                 <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+                 <a href="../util/HolonomicPathFollowerConfig.html" title="class in com.pathplanner.lib.util">HolonomicPathFollowerConfig</a>&nbsp;config,
+                 <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</code></th>
+<td class="colLast">
+<div class="block">Constructs a new PathfindHolonomic command that will generate a path towards the given pose and
+ stop.</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ========== METHOD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.summary">
+<!--   -->
+</a>
+<h3>Method Summary</h3>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.com.pathplanner.lib.commands.PathfindingCommand">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;com.pathplanner.lib.commands.<a href="PathfindingCommand.html" title="class in com.pathplanner.lib.commands">PathfindingCommand</a></h3>
+<code><a href="PathfindingCommand.html#end(boolean)">end</a>, <a href="PathfindingCommand.html#execute()">execute</a>, <a href="PathfindingCommand.html#initialize()">initialize</a>, <a href="PathfindingCommand.html#isFinished()">isFinished</a></code></li>
+</ul>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.edu.wpi.first.wpilibj2.command.Command">
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+</a>
+<h3>Methods inherited from class&nbsp;edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#addRequirements(edu.wpi.first.wpilibj2.command.Subsystem...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">addRequirements</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#alongWith(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">alongWith</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#andThen(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">andThen</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#andThen(java.lang.Runnable,edu.wpi.first.wpilibj2.command.Subsystem...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">andThen</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#asProxy()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">asProxy</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#beforeStarting(edu.wpi.first.wpilibj2.command.Command)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">beforeStarting</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#beforeStarting(java.lang.Runnable,edu.wpi.first.wpilibj2.command.Subsystem...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">beforeStarting</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#cancel()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">cancel</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#deadlineWith(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">deadlineWith</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#finallyDo(edu.wpi.first.util.function.BooleanConsumer)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">finallyDo</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getInterruptionBehavior()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getInterruptionBehavior</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getName()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getName</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getRequirements()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getRequirements</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getSubsystem()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getSubsystem</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#handleInterrupt(java.lang.Runnable)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">handleInterrupt</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#hasRequirement(edu.wpi.first.wpilibj2.command.Subsystem)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">hasRequirement</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#ignoringDisable(boolean)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">ignoringDisable</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#initSendable(edu.wpi.first.util.sendable.SendableBuilder)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">initSendable</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#isScheduled()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">isScheduled</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#onlyIf(java.util.function.BooleanSupplier)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">onlyIf</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#onlyWhile(java.util.function.BooleanSupplier)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">onlyWhile</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#raceWith(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">raceWith</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#repeatedly()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">repeatedly</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#runsWhenDisabled()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">runsWhenDisabled</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#schedule()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">schedule</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#setName(java.lang.String)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">setName</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#setSubsystem(java.lang.String)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">setSubsystem</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#unless(java.util.function.BooleanSupplier)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">unless</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#until(java.util.function.BooleanSupplier)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">until</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#withInterruptBehavior(edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">withInterruptBehavior</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#withName(java.lang.String)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">withName</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#withTimeout(double)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">withTimeout</a></code></li>
+</ul>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
+<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+<div class="details">
+<ul class="blockList">
+<li class="blockList">
+<!-- ========= CONSTRUCTOR DETAIL ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.detail">
+<!--   -->
+</a>
+<h3>Constructor Detail</h3>
+<a id="&lt;init&gt;(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.HolonomicPathFollowerConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>PathfindHolonomic</h4>
+<pre>public&nbsp;PathfindHolonomic&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;targetPath,
+                         <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+                         <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                         <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+                         <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+                         <a href="../util/HolonomicPathFollowerConfig.html" title="class in com.pathplanner.lib.util">HolonomicPathFollowerConfig</a>&nbsp;config,
+                         <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</pre>
+<div class="block">Constructs a new PathfindHolonomic command that will generate a path towards the given path.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>targetPath</code> - the path to pathfind to</dd>
+<dd><code>constraints</code> - the path constraints to use while pathfinding</dd>
+<dd><code>poseSupplier</code> - a supplier for the robot's current pose</dd>
+<dd><code>currentRobotRelativeSpeeds</code> - a supplier for the robot's current robot relative speeds</dd>
+<dd><code>output</code> - a consumer for the output speeds (robot relative)</dd>
+<dd><code>config</code> - HolonomicPathFollowerConfig object with the configuration parameters for path
+     following</dd>
+<dd><code>requirements</code> - the subsystems required by this command</dd>
+</dl>
+</li>
+</ul>
+<a id="&lt;init&gt;(edu.wpi.first.math.geometry.Pose2d,com.pathplanner.lib.path.PathConstraints,double,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.HolonomicPathFollowerConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>PathfindHolonomic</h4>
+<pre>public&nbsp;PathfindHolonomic&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;targetPose,
+                         <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+                         double&nbsp;goalEndVel,
+                         <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                         <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+                         <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+                         <a href="../util/HolonomicPathFollowerConfig.html" title="class in com.pathplanner.lib.util">HolonomicPathFollowerConfig</a>&nbsp;config,
+                         <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</pre>
+<div class="block">Constructs a new PathfindHolonomic command that will generate a path towards the given pose.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>targetPose</code> - the pose to pathfind to</dd>
+<dd><code>constraints</code> - the path constraints to use while pathfinding</dd>
+<dd><code>goalEndVel</code> - The goal end velocity when reaching the given pose</dd>
+<dd><code>poseSupplier</code> - a supplier for the robot's current pose</dd>
+<dd><code>currentRobotRelativeSpeeds</code> - a supplier for the robot's current robot relative speeds</dd>
+<dd><code>output</code> - a consumer for the output speeds (field relative if holonomic, robot relative if
+     differential)</dd>
+<dd><code>config</code> - HolonomicPathFollowerConfig object with the configuration parameters for path
+     following</dd>
+<dd><code>requirements</code> - the subsystems required by this command</dd>
+</dl>
+</li>
+</ul>
+<a id="&lt;init&gt;(edu.wpi.first.math.geometry.Pose2d,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.HolonomicPathFollowerConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>PathfindHolonomic</h4>
+<pre>public&nbsp;PathfindHolonomic&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;targetPose,
+                         <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+                         <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                         <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+                         <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+                         <a href="../util/HolonomicPathFollowerConfig.html" title="class in com.pathplanner.lib.util">HolonomicPathFollowerConfig</a>&nbsp;config,
+                         <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</pre>
+<div class="block">Constructs a new PathfindHolonomic command that will generate a path towards the given pose and
+ stop.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>targetPose</code> - the pose to pathfind to</dd>
+<dd><code>constraints</code> - the path constraints to use while pathfinding</dd>
+<dd><code>poseSupplier</code> - a supplier for the robot's current pose</dd>
+<dd><code>currentRobotRelativeSpeeds</code> - a supplier for the robot's current robot relative speeds</dd>
+<dd><code>output</code> - a consumer for the output speeds (field relative if holonomic, robot relative if
+     differential)</dd>
+<dd><code>config</code> - HolonomicPathFollowerConfig object with the configuration parameters for path
+     following</dd>
+<dd><code>requirements</code> - the subsystems required by this command</dd>
+</dl>
+</li>
+</ul>
+<a id="&lt;init&gt;(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.HolonomicPathFollowerConfig,double,edu.wpi.first.wpilibj2.command.Subsystem...)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>PathfindHolonomic</h4>
+<pre>public&nbsp;PathfindHolonomic&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;targetPath,
+                         <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+                         <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                         <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+                         <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+                         <a href="../util/HolonomicPathFollowerConfig.html" title="class in com.pathplanner.lib.util">HolonomicPathFollowerConfig</a>&nbsp;config,
+                         double&nbsp;rotationDelayDistance,
+                         <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</pre>
+<div class="block">Constructs a new PathfindHolonomic command that will generate a path towards the given path.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>targetPath</code> - the path to pathfind to</dd>
+<dd><code>constraints</code> - the path constraints to use while pathfinding</dd>
+<dd><code>poseSupplier</code> - a supplier for the robot's current pose</dd>
+<dd><code>currentRobotRelativeSpeeds</code> - a supplier for the robot's current robot relative speeds</dd>
+<dd><code>output</code> - a consumer for the output speeds (robot relative)</dd>
+<dd><code>config</code> - HolonomicPathFollowerConfig object with the configuration parameters for path
+     following</dd>
+<dd><code>rotationDelayDistance</code> - Distance to delay the target rotation of the robot. This will
+     cause the robot to hold its current rotation until it reaches the given distance along the
+     path.</dd>
+<dd><code>requirements</code> - the subsystems required by this command</dd>
+</dl>
+</li>
+</ul>
+<a id="&lt;init&gt;(edu.wpi.first.math.geometry.Pose2d,com.pathplanner.lib.path.PathConstraints,double,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.HolonomicPathFollowerConfig,double,edu.wpi.first.wpilibj2.command.Subsystem...)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>PathfindHolonomic</h4>
+<pre>public&nbsp;PathfindHolonomic&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;targetPose,
+                         <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+                         double&nbsp;goalEndVel,
+                         <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                         <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+                         <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+                         <a href="../util/HolonomicPathFollowerConfig.html" title="class in com.pathplanner.lib.util">HolonomicPathFollowerConfig</a>&nbsp;config,
+                         double&nbsp;rotationDelayDistance,
+                         <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</pre>
+<div class="block">Constructs a new PathfindHolonomic command that will generate a path towards the given pose.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>targetPose</code> - the pose to pathfind to</dd>
+<dd><code>constraints</code> - the path constraints to use while pathfinding</dd>
+<dd><code>goalEndVel</code> - The goal end velocity when reaching the given pose</dd>
+<dd><code>poseSupplier</code> - a supplier for the robot's current pose</dd>
+<dd><code>currentRobotRelativeSpeeds</code> - a supplier for the robot's current robot relative speeds</dd>
+<dd><code>output</code> - a consumer for the output speeds (field relative if holonomic, robot relative if
+     differential)</dd>
+<dd><code>config</code> - HolonomicPathFollowerConfig object with the configuration parameters for path
+     following</dd>
+<dd><code>rotationDelayDistance</code> - Distance to delay the target rotation of the robot. This will
+     cause the robot to hold its current rotation until it reaches the given distance along the
+     path.</dd>
+<dd><code>requirements</code> - the subsystems required by this command</dd>
+</dl>
+</li>
+</ul>
+<a id="&lt;init&gt;(edu.wpi.first.math.geometry.Pose2d,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.HolonomicPathFollowerConfig,double,edu.wpi.first.wpilibj2.command.Subsystem...)">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>PathfindHolonomic</h4>
+<pre>public&nbsp;PathfindHolonomic&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;targetPose,
+                         <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+                         <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                         <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+                         <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+                         <a href="../util/HolonomicPathFollowerConfig.html" title="class in com.pathplanner.lib.util">HolonomicPathFollowerConfig</a>&nbsp;config,
+                         double&nbsp;rotationDelayDistance,
+                         <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</pre>
+<div class="block">Constructs a new PathfindHolonomic command that will generate a path towards the given pose and
+ stop.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>targetPose</code> - the pose to pathfind to</dd>
+<dd><code>constraints</code> - the path constraints to use while pathfinding</dd>
+<dd><code>poseSupplier</code> - a supplier for the robot's current pose</dd>
+<dd><code>currentRobotRelativeSpeeds</code> - a supplier for the robot's current robot relative speeds</dd>
+<dd><code>output</code> - a consumer for the output speeds (field relative if holonomic, robot relative if
+     differential)</dd>
+<dd><code>config</code> - HolonomicPathFollowerConfig object with the configuration parameters for path
+     following</dd>
+<dd><code>rotationDelayDistance</code> - Distance to delay the target rotation of the robot. This will
+     cause the robot to hold its current rotation until it reaches the given distance along the
+     path.</dd>
+<dd><code>requirements</code> - the subsystems required by this command</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+</div>
+</main>
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new file mode 100644
index 00000000..30db84b5
--- /dev/null
+++ b/docs/java/com/pathplanner/lib/commands/PathfindLTV.html
@@ -0,0 +1,576 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
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+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">com.pathplanner.lib.commands</a></div>
+<h2 title="Class PathfindLTV" class="title">Class PathfindLTV</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
+<li>
+<ul class="inheritance">
+<li><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">edu.wpi.first.wpilibj2.command.Command</a></li>
+<li>
+<ul class="inheritance">
+<li><a href="PathfindingCommand.html" title="class in com.pathplanner.lib.commands">com.pathplanner.lib.commands.PathfindingCommand</a></li>
+<li>
+<ul class="inheritance">
+<li>com.pathplanner.lib.commands.PathfindLTV</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<dl>
+<dt>All Implemented Interfaces:</dt>
+<dd><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/util/sendable/Sendable.html?is-external=true" title="class or interface in edu.wpi.first.util.sendable" class="externalLink">Sendable</a></code></dd>
+</dl>
+<hr>
+<pre>public class <span class="typeNameLabel">PathfindLTV</span>
+extends <a href="PathfindingCommand.html" title="class in com.pathplanner.lib.commands">PathfindingCommand</a></pre>
+<div class="block">Pathfind and follow the path with a PPLTVController</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- ======== NESTED CLASS SUMMARY ======== -->
+<section>
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+<!--   -->
+</a>
+<h3>Nested Class Summary</h3>
+<ul class="blockList">
+<li class="blockList"><a id="nested.classes.inherited.from.class.edu.wpi.first.wpilibj2.command.Command">
+<!--   -->
+</a>
+<h3>Nested classes/interfaces inherited from class&nbsp;edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.InterruptionBehavior.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command.InterruptionBehavior</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- =========== FIELD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="field.summary">
+<!--   -->
+</a>
+<h3>Field Summary</h3>
+<ul class="blockList">
+<li class="blockList"><a id="fields.inherited.from.class.edu.wpi.first.wpilibj2.command.Command">
+<!--   -->
+</a>
+<h3>Fields inherited from class&nbsp;edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#m_requirements" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">m_requirements</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.summary">
+<!--   -->
+</a>
+<h3>Constructor Summary</h3>
+<table class="memberSummary">
+<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,double,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindLTV</a></span>&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;targetPath,
+           <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+           <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+           <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+           <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+           double&nbsp;dt,
+           <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</code></th>
+<td class="colLast">
+<div class="block">Constructs a new PathfindLTV command that will generate a path towards the given path.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,edu.wpi.first.math.Vector,edu.wpi.first.math.Vector,double,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindLTV</a></span>&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;targetPath,
+           <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+           <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+           <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+           <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+           <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/Vector.html?is-external=true" title="class or interface in edu.wpi.first.math" class="externalLink">Vector</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/numbers/N3.html?is-external=true" title="class or interface in edu.wpi.first.math.numbers" class="externalLink">N3</a>&gt;&nbsp;qelems,
+           <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/Vector.html?is-external=true" title="class or interface in edu.wpi.first.math" class="externalLink">Vector</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/numbers/N2.html?is-external=true" title="class or interface in edu.wpi.first.math.numbers" class="externalLink">N2</a>&gt;&nbsp;relems,
+           double&nbsp;dt,
+           <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</code></th>
+<td class="colLast">
+<div class="block">Constructs a new PathfindLTV command that will generate a path towards the given path.</div>
+</td>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(edu.wpi.first.math.geometry.Translation2d,com.pathplanner.lib.path.PathConstraints,double,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,double,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindLTV</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;targetPosition,
+           <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+           double&nbsp;goalEndVel,
+           <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+           <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+           <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+           double&nbsp;dt,
+           <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</code></th>
+<td class="colLast">
+<div class="block">Constructs a new PathfindLTV command that will generate a path towards the given position.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(edu.wpi.first.math.geometry.Translation2d,com.pathplanner.lib.path.PathConstraints,double,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,edu.wpi.first.math.Vector,edu.wpi.first.math.Vector,double,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindLTV</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;targetPosition,
+           <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+           double&nbsp;goalEndVel,
+           <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+           <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+           <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+           <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/Vector.html?is-external=true" title="class or interface in edu.wpi.first.math" class="externalLink">Vector</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/numbers/N3.html?is-external=true" title="class or interface in edu.wpi.first.math.numbers" class="externalLink">N3</a>&gt;&nbsp;qelems,
+           <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/Vector.html?is-external=true" title="class or interface in edu.wpi.first.math" class="externalLink">Vector</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/numbers/N2.html?is-external=true" title="class or interface in edu.wpi.first.math.numbers" class="externalLink">N2</a>&gt;&nbsp;relems,
+           double&nbsp;dt,
+           <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</code></th>
+<td class="colLast">
+<div class="block">Constructs a new PathfindLTV command that will generate a path towards the given position.</div>
+</td>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(edu.wpi.first.math.geometry.Translation2d,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,double,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindLTV</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;targetPosition,
+           <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+           <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+           <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+           <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+           double&nbsp;dt,
+           <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</code></th>
+<td class="colLast">
+<div class="block">Constructs a new PathfindLTV command that will generate a path towards the given position and
+ stop.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(edu.wpi.first.math.geometry.Translation2d,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,edu.wpi.first.math.Vector,edu.wpi.first.math.Vector,double,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindLTV</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;targetPosition,
+           <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+           <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+           <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+           <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+           <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/Vector.html?is-external=true" title="class or interface in edu.wpi.first.math" class="externalLink">Vector</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/numbers/N3.html?is-external=true" title="class or interface in edu.wpi.first.math.numbers" class="externalLink">N3</a>&gt;&nbsp;qelems,
+           <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/Vector.html?is-external=true" title="class or interface in edu.wpi.first.math" class="externalLink">Vector</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/numbers/N2.html?is-external=true" title="class or interface in edu.wpi.first.math.numbers" class="externalLink">N2</a>&gt;&nbsp;relems,
+           double&nbsp;dt,
+           <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</code></th>
+<td class="colLast">
+<div class="block">Constructs a new PathfindLTV command that will generate a path towards the given position and
+ stop.</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ========== METHOD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.summary">
+<!--   -->
+</a>
+<h3>Method Summary</h3>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.com.pathplanner.lib.commands.PathfindingCommand">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;com.pathplanner.lib.commands.<a href="PathfindingCommand.html" title="class in com.pathplanner.lib.commands">PathfindingCommand</a></h3>
+<code><a href="PathfindingCommand.html#end(boolean)">end</a>, <a href="PathfindingCommand.html#execute()">execute</a>, <a href="PathfindingCommand.html#initialize()">initialize</a>, <a href="PathfindingCommand.html#isFinished()">isFinished</a></code></li>
+</ul>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.edu.wpi.first.wpilibj2.command.Command">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#addRequirements(edu.wpi.first.wpilibj2.command.Subsystem...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">addRequirements</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#alongWith(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">alongWith</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#andThen(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">andThen</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#andThen(java.lang.Runnable,edu.wpi.first.wpilibj2.command.Subsystem...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">andThen</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#asProxy()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">asProxy</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#beforeStarting(edu.wpi.first.wpilibj2.command.Command)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">beforeStarting</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#beforeStarting(java.lang.Runnable,edu.wpi.first.wpilibj2.command.Subsystem...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">beforeStarting</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#cancel()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">cancel</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#deadlineWith(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">deadlineWith</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#finallyDo(edu.wpi.first.util.function.BooleanConsumer)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">finallyDo</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getInterruptionBehavior()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getInterruptionBehavior</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getName()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getName</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getRequirements()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getRequirements</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getSubsystem()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getSubsystem</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#handleInterrupt(java.lang.Runnable)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">handleInterrupt</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#hasRequirement(edu.wpi.first.wpilibj2.command.Subsystem)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">hasRequirement</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#ignoringDisable(boolean)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">ignoringDisable</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#initSendable(edu.wpi.first.util.sendable.SendableBuilder)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">initSendable</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#isScheduled()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">isScheduled</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#onlyIf(java.util.function.BooleanSupplier)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">onlyIf</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#onlyWhile(java.util.function.BooleanSupplier)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">onlyWhile</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#raceWith(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">raceWith</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#repeatedly()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">repeatedly</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#runsWhenDisabled()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">runsWhenDisabled</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#schedule()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">schedule</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#setName(java.lang.String)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">setName</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#setSubsystem(java.lang.String)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">setSubsystem</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#unless(java.util.function.BooleanSupplier)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">unless</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#until(java.util.function.BooleanSupplier)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">until</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#withInterruptBehavior(edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">withInterruptBehavior</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#withName(java.lang.String)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">withName</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#withTimeout(double)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">withTimeout</a></code></li>
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+<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+<div class="details">
+<ul class="blockList">
+<li class="blockList">
+<!-- ========= CONSTRUCTOR DETAIL ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.detail">
+<!--   -->
+</a>
+<h3>Constructor Detail</h3>
+<a id="&lt;init&gt;(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,edu.wpi.first.math.Vector,edu.wpi.first.math.Vector,double,edu.wpi.first.wpilibj2.command.Subsystem...)">
+<!--   -->
+</a>
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+<h4>PathfindLTV</h4>
+<pre>public&nbsp;PathfindLTV&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;targetPath,
+                   <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+                   <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                   <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+                   <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+                   <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/Vector.html?is-external=true" title="class or interface in edu.wpi.first.math" class="externalLink">Vector</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/numbers/N3.html?is-external=true" title="class or interface in edu.wpi.first.math.numbers" class="externalLink">N3</a>&gt;&nbsp;qelems,
+                   <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/Vector.html?is-external=true" title="class or interface in edu.wpi.first.math" class="externalLink">Vector</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/numbers/N2.html?is-external=true" title="class or interface in edu.wpi.first.math.numbers" class="externalLink">N2</a>&gt;&nbsp;relems,
+                   double&nbsp;dt,
+                   <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</pre>
+<div class="block">Constructs a new PathfindLTV command that will generate a path towards the given path.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>targetPath</code> - the path to pathfind to</dd>
+<dd><code>constraints</code> - the path constraints to use while pathfinding</dd>
+<dd><code>poseSupplier</code> - a supplier for the robot's current pose</dd>
+<dd><code>currentRobotRelativeSpeeds</code> - a supplier for the robot's current robot relative speeds</dd>
+<dd><code>output</code> - a consumer for the output speeds (robot relative)</dd>
+<dd><code>qelems</code> - The maximum desired error tolerance for each state.</dd>
+<dd><code>relems</code> - The maximum desired control effort for each input.</dd>
+<dd><code>dt</code> - Period of the robot control loop in seconds (default 0.02)</dd>
+<dd><code>requirements</code> - the subsystems required by this command</dd>
+</dl>
+</li>
+</ul>
+<a id="&lt;init&gt;(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,double,edu.wpi.first.wpilibj2.command.Subsystem...)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>PathfindLTV</h4>
+<pre>public&nbsp;PathfindLTV&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;targetPath,
+                   <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+                   <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                   <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+                   <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+                   double&nbsp;dt,
+                   <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</pre>
+<div class="block">Constructs a new PathfindLTV command that will generate a path towards the given path.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>targetPath</code> - the path to pathfind to</dd>
+<dd><code>constraints</code> - the path constraints to use while pathfinding</dd>
+<dd><code>poseSupplier</code> - a supplier for the robot's current pose</dd>
+<dd><code>currentRobotRelativeSpeeds</code> - a supplier for the robot's current robot relative speeds</dd>
+<dd><code>output</code> - a consumer for the output speeds (robot relative)</dd>
+<dd><code>dt</code> - Period of the robot control loop in seconds (default 0.02)</dd>
+<dd><code>requirements</code> - the subsystems required by this command</dd>
+</dl>
+</li>
+</ul>
+<a id="&lt;init&gt;(edu.wpi.first.math.geometry.Translation2d,com.pathplanner.lib.path.PathConstraints,double,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,edu.wpi.first.math.Vector,edu.wpi.first.math.Vector,double,edu.wpi.first.wpilibj2.command.Subsystem...)">
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+</a>
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+<h4>PathfindLTV</h4>
+<pre>public&nbsp;PathfindLTV&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;targetPosition,
+                   <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+                   double&nbsp;goalEndVel,
+                   <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                   <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+                   <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+                   <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/Vector.html?is-external=true" title="class or interface in edu.wpi.first.math" class="externalLink">Vector</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/numbers/N3.html?is-external=true" title="class or interface in edu.wpi.first.math.numbers" class="externalLink">N3</a>&gt;&nbsp;qelems,
+                   <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/Vector.html?is-external=true" title="class or interface in edu.wpi.first.math" class="externalLink">Vector</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/numbers/N2.html?is-external=true" title="class or interface in edu.wpi.first.math.numbers" class="externalLink">N2</a>&gt;&nbsp;relems,
+                   double&nbsp;dt,
+                   <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</pre>
+<div class="block">Constructs a new PathfindLTV command that will generate a path towards the given position.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>targetPosition</code> - the position to pathfind to</dd>
+<dd><code>constraints</code> - the path constraints to use while pathfinding</dd>
+<dd><code>goalEndVel</code> - The goal end velocity when reaching the given pose</dd>
+<dd><code>poseSupplier</code> - a supplier for the robot's current pose</dd>
+<dd><code>currentRobotRelativeSpeeds</code> - a supplier for the robot's current robot relative speeds</dd>
+<dd><code>output</code> - a consumer for the output speeds (field relative if holonomic, robot relative if
+     differential)</dd>
+<dd><code>qelems</code> - The maximum desired error tolerance for each state.</dd>
+<dd><code>relems</code> - The maximum desired control effort for each input.</dd>
+<dd><code>dt</code> - Period of the robot control loop in seconds (default 0.02)</dd>
+<dd><code>requirements</code> - the subsystems required by this command</dd>
+</dl>
+</li>
+</ul>
+<a id="&lt;init&gt;(edu.wpi.first.math.geometry.Translation2d,com.pathplanner.lib.path.PathConstraints,double,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,double,edu.wpi.first.wpilibj2.command.Subsystem...)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>PathfindLTV</h4>
+<pre>public&nbsp;PathfindLTV&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;targetPosition,
+                   <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+                   double&nbsp;goalEndVel,
+                   <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                   <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+                   <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+                   double&nbsp;dt,
+                   <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</pre>
+<div class="block">Constructs a new PathfindLTV command that will generate a path towards the given position.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>targetPosition</code> - the position to pathfind to</dd>
+<dd><code>constraints</code> - the path constraints to use while pathfinding</dd>
+<dd><code>goalEndVel</code> - The goal end velocity when reaching the given pose</dd>
+<dd><code>poseSupplier</code> - a supplier for the robot's current pose</dd>
+<dd><code>currentRobotRelativeSpeeds</code> - a supplier for the robot's current robot relative speeds</dd>
+<dd><code>output</code> - a consumer for the output speeds (field relative if holonomic, robot relative if
+     differential)</dd>
+<dd><code>dt</code> - Period of the robot control loop in seconds (default 0.02)</dd>
+<dd><code>requirements</code> - the subsystems required by this command</dd>
+</dl>
+</li>
+</ul>
+<a id="&lt;init&gt;(edu.wpi.first.math.geometry.Translation2d,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,edu.wpi.first.math.Vector,edu.wpi.first.math.Vector,double,edu.wpi.first.wpilibj2.command.Subsystem...)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>PathfindLTV</h4>
+<pre>public&nbsp;PathfindLTV&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;targetPosition,
+                   <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+                   <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                   <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+                   <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+                   <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/Vector.html?is-external=true" title="class or interface in edu.wpi.first.math" class="externalLink">Vector</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/numbers/N3.html?is-external=true" title="class or interface in edu.wpi.first.math.numbers" class="externalLink">N3</a>&gt;&nbsp;qelems,
+                   <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/Vector.html?is-external=true" title="class or interface in edu.wpi.first.math" class="externalLink">Vector</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/numbers/N2.html?is-external=true" title="class or interface in edu.wpi.first.math.numbers" class="externalLink">N2</a>&gt;&nbsp;relems,
+                   double&nbsp;dt,
+                   <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</pre>
+<div class="block">Constructs a new PathfindLTV command that will generate a path towards the given position and
+ stop.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>targetPosition</code> - the position to pathfind to</dd>
+<dd><code>constraints</code> - the path constraints to use while pathfinding</dd>
+<dd><code>poseSupplier</code> - a supplier for the robot's current pose</dd>
+<dd><code>currentRobotRelativeSpeeds</code> - a supplier for the robot's current robot relative speeds</dd>
+<dd><code>output</code> - a consumer for the output speeds (field relative if holonomic, robot relative if
+     differential)</dd>
+<dd><code>qelems</code> - The maximum desired error tolerance for each state.</dd>
+<dd><code>relems</code> - The maximum desired control effort for each input.</dd>
+<dd><code>dt</code> - Period of the robot control loop in seconds (default 0.02)</dd>
+<dd><code>requirements</code> - the subsystems required by this command</dd>
+</dl>
+</li>
+</ul>
+<a id="&lt;init&gt;(edu.wpi.first.math.geometry.Translation2d,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,double,edu.wpi.first.wpilibj2.command.Subsystem...)">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>PathfindLTV</h4>
+<pre>public&nbsp;PathfindLTV&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;targetPosition,
+                   <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+                   <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                   <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+                   <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+                   double&nbsp;dt,
+                   <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</pre>
+<div class="block">Constructs a new PathfindLTV command that will generate a path towards the given position and
+ stop.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>targetPosition</code> - the position to pathfind to</dd>
+<dd><code>constraints</code> - the path constraints to use while pathfinding</dd>
+<dd><code>poseSupplier</code> - a supplier for the robot's current pose</dd>
+<dd><code>currentRobotRelativeSpeeds</code> - a supplier for the robot's current robot relative speeds</dd>
+<dd><code>output</code> - a consumer for the output speeds (field relative if holonomic, robot relative if
+     differential)</dd>
+<dd><code>dt</code> - Period of the robot control loop in seconds (default 0.02)</dd>
+<dd><code>requirements</code> - the subsystems required by this command</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+</div>
+</main>
+<!-- ========= END OF CLASS DATA ========= -->
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diff --git a/docs/java/com/pathplanner/lib/commands/PathfindRamsete.html b/docs/java/com/pathplanner/lib/commands/PathfindRamsete.html
new file mode 100644
index 00000000..85abae4b
--- /dev/null
+++ b/docs/java/com/pathplanner/lib/commands/PathfindRamsete.html
@@ -0,0 +1,564 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
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+<!-- ======== START OF CLASS DATA ======== -->
+<main role="main">
+<div class="header">
+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">com.pathplanner.lib.commands</a></div>
+<h2 title="Class PathfindRamsete" class="title">Class PathfindRamsete</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
+<li>
+<ul class="inheritance">
+<li><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">edu.wpi.first.wpilibj2.command.Command</a></li>
+<li>
+<ul class="inheritance">
+<li><a href="PathfindingCommand.html" title="class in com.pathplanner.lib.commands">com.pathplanner.lib.commands.PathfindingCommand</a></li>
+<li>
+<ul class="inheritance">
+<li>com.pathplanner.lib.commands.PathfindRamsete</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<dl>
+<dt>All Implemented Interfaces:</dt>
+<dd><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/util/sendable/Sendable.html?is-external=true" title="class or interface in edu.wpi.first.util.sendable" class="externalLink">Sendable</a></code></dd>
+</dl>
+<hr>
+<pre>public class <span class="typeNameLabel">PathfindRamsete</span>
+extends <a href="PathfindingCommand.html" title="class in com.pathplanner.lib.commands">PathfindingCommand</a></pre>
+<div class="block">Pathfind and follow the path with a PPRamseteController</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- ======== NESTED CLASS SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="nested.class.summary">
+<!--   -->
+</a>
+<h3>Nested Class Summary</h3>
+<ul class="blockList">
+<li class="blockList"><a id="nested.classes.inherited.from.class.edu.wpi.first.wpilibj2.command.Command">
+<!--   -->
+</a>
+<h3>Nested classes/interfaces inherited from class&nbsp;edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.InterruptionBehavior.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command.InterruptionBehavior</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- =========== FIELD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="field.summary">
+<!--   -->
+</a>
+<h3>Field Summary</h3>
+<ul class="blockList">
+<li class="blockList"><a id="fields.inherited.from.class.edu.wpi.first.wpilibj2.command.Command">
+<!--   -->
+</a>
+<h3>Fields inherited from class&nbsp;edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#m_requirements" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">m_requirements</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.summary">
+<!--   -->
+</a>
+<h3>Constructor Summary</h3>
+<table class="memberSummary">
+<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,double,double,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindRamsete</a></span>&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;targetPath,
+               <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+               <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+               <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+               <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+               double&nbsp;b,
+               double&nbsp;zeta,
+               <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</code></th>
+<td class="colLast">
+<div class="block">Constructs a new PathfindRamsete command that will generate a path towards the given path.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindRamsete</a></span>&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;targetPath,
+               <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+               <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+               <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+               <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+               <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</code></th>
+<td class="colLast">
+<div class="block">Constructs a new PathfindRamsete command that will generate a path towards the given path.</div>
+</td>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(edu.wpi.first.math.geometry.Translation2d,com.pathplanner.lib.path.PathConstraints,double,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,double,double,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindRamsete</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;targetPosition,
+               <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+               double&nbsp;goalEndVel,
+               <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+               <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+               <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+               double&nbsp;b,
+               double&nbsp;zeta,
+               <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</code></th>
+<td class="colLast">
+<div class="block">Constructs a new PathfindRamsete command that will generate a path towards the given position.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(edu.wpi.first.math.geometry.Translation2d,com.pathplanner.lib.path.PathConstraints,double,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindRamsete</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;targetPosition,
+               <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+               double&nbsp;goalEndVel,
+               <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+               <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+               <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+               <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</code></th>
+<td class="colLast">
+<div class="block">Constructs a new PathfindRamsete command that will generate a path towards the given position.</div>
+</td>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(edu.wpi.first.math.geometry.Translation2d,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,double,double,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindRamsete</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;targetPosition,
+               <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+               <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+               <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+               <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+               double&nbsp;b,
+               double&nbsp;zeta,
+               <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</code></th>
+<td class="colLast">
+<div class="block">Constructs a new PathfindRamsete command that will generate a path towards the given position
+ and stop.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(edu.wpi.first.math.geometry.Translation2d,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindRamsete</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;targetPosition,
+               <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+               <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+               <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+               <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+               <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</code></th>
+<td class="colLast">
+<div class="block">Constructs a new PathfindRamsete command that will generate a path towards the given position
+ and stop.</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ========== METHOD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.summary">
+<!--   -->
+</a>
+<h3>Method Summary</h3>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.com.pathplanner.lib.commands.PathfindingCommand">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;com.pathplanner.lib.commands.<a href="PathfindingCommand.html" title="class in com.pathplanner.lib.commands">PathfindingCommand</a></h3>
+<code><a href="PathfindingCommand.html#end(boolean)">end</a>, <a href="PathfindingCommand.html#execute()">execute</a>, <a href="PathfindingCommand.html#initialize()">initialize</a>, <a href="PathfindingCommand.html#isFinished()">isFinished</a></code></li>
+</ul>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.edu.wpi.first.wpilibj2.command.Command">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#addRequirements(edu.wpi.first.wpilibj2.command.Subsystem...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">addRequirements</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#alongWith(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">alongWith</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#andThen(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">andThen</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#andThen(java.lang.Runnable,edu.wpi.first.wpilibj2.command.Subsystem...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">andThen</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#asProxy()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">asProxy</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#beforeStarting(edu.wpi.first.wpilibj2.command.Command)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">beforeStarting</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#beforeStarting(java.lang.Runnable,edu.wpi.first.wpilibj2.command.Subsystem...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">beforeStarting</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#cancel()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">cancel</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#deadlineWith(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">deadlineWith</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#finallyDo(edu.wpi.first.util.function.BooleanConsumer)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">finallyDo</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getInterruptionBehavior()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getInterruptionBehavior</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getName()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getName</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getRequirements()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getRequirements</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getSubsystem()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getSubsystem</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#handleInterrupt(java.lang.Runnable)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">handleInterrupt</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#hasRequirement(edu.wpi.first.wpilibj2.command.Subsystem)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">hasRequirement</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#ignoringDisable(boolean)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">ignoringDisable</a>, <a 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+<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
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+<section>
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+<a id="&lt;init&gt;(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,double,double,edu.wpi.first.wpilibj2.command.Subsystem...)">
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+<h4>PathfindRamsete</h4>
+<pre>public&nbsp;PathfindRamsete&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;targetPath,
+                       <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+                       <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                       <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+                       <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+                       double&nbsp;b,
+                       double&nbsp;zeta,
+                       <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</pre>
+<div class="block">Constructs a new PathfindRamsete command that will generate a path towards the given path.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>targetPath</code> - the path to pathfind to</dd>
+<dd><code>constraints</code> - the path constraints to use while pathfinding</dd>
+<dd><code>poseSupplier</code> - a supplier for the robot's current pose</dd>
+<dd><code>currentRobotRelativeSpeeds</code> - a supplier for the robot's current robot relative speeds</dd>
+<dd><code>output</code> - a consumer for the output speeds (robot relative)</dd>
+<dd><code>b</code> - Tuning parameter (b &gt; 0 rad^2/m^2) for which larger values make convergence more
+     aggressive like a proportional term.</dd>
+<dd><code>zeta</code> - Tuning parameter (0 rad^-1 &lt; zeta &lt; 1 rad^-1) for which larger values provide
+     more damping in response.</dd>
+<dd><code>requirements</code> - the subsystems required by this command</dd>
+</dl>
+</li>
+</ul>
+<a id="&lt;init&gt;(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,edu.wpi.first.wpilibj2.command.Subsystem...)">
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+<pre>public&nbsp;PathfindRamsete&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;targetPath,
+                       <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+                       <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                       <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+                       <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+                       <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</pre>
+<div class="block">Constructs a new PathfindRamsete command that will generate a path towards the given path.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>targetPath</code> - the path to pathfind to</dd>
+<dd><code>constraints</code> - the path constraints to use while pathfinding</dd>
+<dd><code>poseSupplier</code> - a supplier for the robot's current pose</dd>
+<dd><code>currentRobotRelativeSpeeds</code> - a supplier for the robot's current robot relative speeds</dd>
+<dd><code>output</code> - a consumer for the output speeds (robot relative)</dd>
+<dd><code>requirements</code> - the subsystems required by this command</dd>
+</dl>
+</li>
+</ul>
+<a id="&lt;init&gt;(edu.wpi.first.math.geometry.Translation2d,com.pathplanner.lib.path.PathConstraints,double,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,double,double,edu.wpi.first.wpilibj2.command.Subsystem...)">
+<!--   -->
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+<h4>PathfindRamsete</h4>
+<pre>public&nbsp;PathfindRamsete&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;targetPosition,
+                       <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+                       double&nbsp;goalEndVel,
+                       <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                       <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+                       <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+                       double&nbsp;b,
+                       double&nbsp;zeta,
+                       <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</pre>
+<div class="block">Constructs a new PathfindRamsete command that will generate a path towards the given position.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>targetPosition</code> - the position to pathfind to</dd>
+<dd><code>constraints</code> - the path constraints to use while pathfinding</dd>
+<dd><code>goalEndVel</code> - The goal end velocity when reaching the given pose</dd>
+<dd><code>poseSupplier</code> - a supplier for the robot's current pose</dd>
+<dd><code>currentRobotRelativeSpeeds</code> - a supplier for the robot's current robot relative speeds</dd>
+<dd><code>output</code> - a consumer for the output speeds (field relative if holonomic, robot relative if
+     differential)</dd>
+<dd><code>b</code> - Tuning parameter (b &gt; 0 rad^2/m^2) for which larger values make convergence more
+     aggressive like a proportional term.</dd>
+<dd><code>zeta</code> - Tuning parameter (0 rad^-1 &lt; zeta &lt; 1 rad^-1) for which larger values provide
+     more damping in response.</dd>
+<dd><code>requirements</code> - the subsystems required by this command</dd>
+</dl>
+</li>
+</ul>
+<a id="&lt;init&gt;(edu.wpi.first.math.geometry.Translation2d,com.pathplanner.lib.path.PathConstraints,double,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,edu.wpi.first.wpilibj2.command.Subsystem...)">
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+<h4>PathfindRamsete</h4>
+<pre>public&nbsp;PathfindRamsete&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;targetPosition,
+                       <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+                       double&nbsp;goalEndVel,
+                       <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                       <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+                       <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+                       <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</pre>
+<div class="block">Constructs a new PathfindRamsete command that will generate a path towards the given position.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>targetPosition</code> - the position to pathfind to</dd>
+<dd><code>constraints</code> - the path constraints to use while pathfinding</dd>
+<dd><code>goalEndVel</code> - The goal end velocity when reaching the given pose</dd>
+<dd><code>poseSupplier</code> - a supplier for the robot's current pose</dd>
+<dd><code>currentRobotRelativeSpeeds</code> - a supplier for the robot's current robot relative speeds</dd>
+<dd><code>output</code> - a consumer for the output speeds (field relative if holonomic, robot relative if
+     differential)</dd>
+<dd><code>requirements</code> - the subsystems required by this command</dd>
+</dl>
+</li>
+</ul>
+<a id="&lt;init&gt;(edu.wpi.first.math.geometry.Translation2d,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,double,double,edu.wpi.first.wpilibj2.command.Subsystem...)">
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+<h4>PathfindRamsete</h4>
+<pre>public&nbsp;PathfindRamsete&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;targetPosition,
+                       <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+                       <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                       <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+                       <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+                       double&nbsp;b,
+                       double&nbsp;zeta,
+                       <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</pre>
+<div class="block">Constructs a new PathfindRamsete command that will generate a path towards the given position
+ and stop.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>targetPosition</code> - the position to pathfind to</dd>
+<dd><code>constraints</code> - the path constraints to use while pathfinding</dd>
+<dd><code>poseSupplier</code> - a supplier for the robot's current pose</dd>
+<dd><code>currentRobotRelativeSpeeds</code> - a supplier for the robot's current robot relative speeds</dd>
+<dd><code>output</code> - a consumer for the output speeds (field relative if holonomic, robot relative if
+     differential)</dd>
+<dd><code>b</code> - Tuning parameter (b &gt; 0 rad^2/m^2) for which larger values make convergence more
+     aggressive like a proportional term.</dd>
+<dd><code>zeta</code> - Tuning parameter (0 rad^-1 &lt; zeta &lt; 1 rad^-1) for which larger values provide
+     more damping in response.</dd>
+<dd><code>requirements</code> - the subsystems required by this command</dd>
+</dl>
+</li>
+</ul>
+<a id="&lt;init&gt;(edu.wpi.first.math.geometry.Translation2d,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,edu.wpi.first.wpilibj2.command.Subsystem...)">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>PathfindRamsete</h4>
+<pre>public&nbsp;PathfindRamsete&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;targetPosition,
+                       <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+                       <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                       <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+                       <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;output,
+                       <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</pre>
+<div class="block">Constructs a new PathfindRamsete command that will generate a path towards the given position
+ and stop.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>targetPosition</code> - the position to pathfind to</dd>
+<dd><code>constraints</code> - the path constraints to use while pathfinding</dd>
+<dd><code>poseSupplier</code> - a supplier for the robot's current pose</dd>
+<dd><code>currentRobotRelativeSpeeds</code> - a supplier for the robot's current robot relative speeds</dd>
+<dd><code>output</code> - a consumer for the output speeds (field relative if holonomic, robot relative if
+     differential)</dd>
+<dd><code>requirements</code> - the subsystems required by this command</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+</div>
+</main>
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diff --git a/docs/java/com/pathplanner/lib/commands/PathfindThenFollowPathHolonomic.html b/docs/java/com/pathplanner/lib/commands/PathfindThenFollowPathHolonomic.html
new file mode 100644
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--- /dev/null
+++ b/docs/java/com/pathplanner/lib/commands/PathfindThenFollowPathHolonomic.html
@@ -0,0 +1,399 @@
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+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">com.pathplanner.lib.commands</a></div>
+<h2 title="Class PathfindThenFollowPathHolonomic" class="title">Class PathfindThenFollowPathHolonomic</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
+<li>
+<ul class="inheritance">
+<li><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">edu.wpi.first.wpilibj2.command.Command</a></li>
+<li>
+<ul class="inheritance">
+<li><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">edu.wpi.first.wpilibj2.command.SequentialCommandGroup</a></li>
+<li>
+<ul class="inheritance">
+<li>com.pathplanner.lib.commands.PathfindThenFollowPathHolonomic</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<dl>
+<dt>All Implemented Interfaces:</dt>
+<dd><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/util/sendable/Sendable.html?is-external=true" title="class or interface in edu.wpi.first.util.sendable" class="externalLink">Sendable</a></code></dd>
+</dl>
+<hr>
+<pre>public class <span class="typeNameLabel">PathfindThenFollowPathHolonomic</span>
+extends <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">SequentialCommandGroup</a></pre>
+<div class="block">A command group that first pathfinds to a goal path and then follows the goal path.</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- ======== NESTED CLASS SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="nested.class.summary">
+<!--   -->
+</a>
+<h3>Nested Class Summary</h3>
+<ul class="blockList">
+<li class="blockList"><a id="nested.classes.inherited.from.class.edu.wpi.first.wpilibj2.command.Command">
+<!--   -->
+</a>
+<h3>Nested classes/interfaces inherited from class&nbsp;edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.InterruptionBehavior.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command.InterruptionBehavior</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- =========== FIELD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="field.summary">
+<!--   -->
+</a>
+<h3>Field Summary</h3>
+<ul class="blockList">
+<li class="blockList"><a id="fields.inherited.from.class.edu.wpi.first.wpilibj2.command.Command">
+<!--   -->
+</a>
+<h3>Fields inherited from class&nbsp;edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#m_requirements" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">m_requirements</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.summary">
+<!--   -->
+</a>
+<h3>Constructor Summary</h3>
+<table class="memberSummary">
+<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.HolonomicPathFollowerConfig,double,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindThenFollowPathHolonomic</a></span>&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;goalPath,
+                               <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;pathfindingConstraints,
+                               <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                               <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+                               <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;robotRelativeOutput,
+                               <a href="../util/HolonomicPathFollowerConfig.html" title="class in com.pathplanner.lib.util">HolonomicPathFollowerConfig</a>&nbsp;config,
+                               double&nbsp;rotationDelayDistance,
+                               <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</code></th>
+<td class="colLast">
+<div class="block">Constructs a new PathfindThenFollowPathHolonomic command group.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.HolonomicPathFollowerConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindThenFollowPathHolonomic</a></span>&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;goalPath,
+                               <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;pathfindingConstraints,
+                               <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                               <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+                               <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;robotRelativeOutput,
+                               <a href="../util/HolonomicPathFollowerConfig.html" title="class in com.pathplanner.lib.util">HolonomicPathFollowerConfig</a>&nbsp;config,
+                               <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</code></th>
+<td class="colLast">
+<div class="block">Constructs a new PathfindThenFollowPathHolonomic command group.</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ========== METHOD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.summary">
+<!--   -->
+</a>
+<h3>Method Summary</h3>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.edu.wpi.first.wpilibj2.command.SequentialCommandGroup">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">SequentialCommandGroup</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.html?is-external=true#addCommands(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">addCommands</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.html?is-external=true#end(boolean)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">end</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.html?is-external=true#execute()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">execute</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.html?is-external=true#getInterruptionBehavior()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getInterruptionBehavior</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.html?is-external=true#initialize()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">initialize</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.html?is-external=true#initSendable(edu.wpi.first.util.sendable.SendableBuilder)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">initSendable</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.html?is-external=true#isFinished()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">isFinished</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.html?is-external=true#runsWhenDisabled()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">runsWhenDisabled</a></code></li>
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+<h3>Methods inherited from class&nbsp;edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#addRequirements(edu.wpi.first.wpilibj2.command.Subsystem...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">addRequirements</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#alongWith(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">alongWith</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#andThen(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">andThen</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#andThen(java.lang.Runnable,edu.wpi.first.wpilibj2.command.Subsystem...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">andThen</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#asProxy()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">asProxy</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#beforeStarting(edu.wpi.first.wpilibj2.command.Command)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">beforeStarting</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#beforeStarting(java.lang.Runnable,edu.wpi.first.wpilibj2.command.Subsystem...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">beforeStarting</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#cancel()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">cancel</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#deadlineWith(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">deadlineWith</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#finallyDo(edu.wpi.first.util.function.BooleanConsumer)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">finallyDo</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getName()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getName</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getRequirements()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getRequirements</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getSubsystem()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getSubsystem</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#handleInterrupt(java.lang.Runnable)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">handleInterrupt</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#hasRequirement(edu.wpi.first.wpilibj2.command.Subsystem)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">hasRequirement</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#ignoringDisable(boolean)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">ignoringDisable</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#isScheduled()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">isScheduled</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#onlyIf(java.util.function.BooleanSupplier)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">onlyIf</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#onlyWhile(java.util.function.BooleanSupplier)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">onlyWhile</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#raceWith(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">raceWith</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#repeatedly()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">repeatedly</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#schedule()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">schedule</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#setName(java.lang.String)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">setName</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#setSubsystem(java.lang.String)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">setSubsystem</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#unless(java.util.function.BooleanSupplier)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">unless</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#until(java.util.function.BooleanSupplier)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">until</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#withInterruptBehavior(edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">withInterruptBehavior</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#withName(java.lang.String)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">withName</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#withTimeout(double)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">withTimeout</a></code></li>
+</ul>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
+<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+<div class="details">
+<ul class="blockList">
+<li class="blockList">
+<!-- ========= CONSTRUCTOR DETAIL ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.detail">
+<!--   -->
+</a>
+<h3>Constructor Detail</h3>
+<a id="&lt;init&gt;(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.HolonomicPathFollowerConfig,double,edu.wpi.first.wpilibj2.command.Subsystem...)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>PathfindThenFollowPathHolonomic</h4>
+<pre>public&nbsp;PathfindThenFollowPathHolonomic&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;goalPath,
+                                       <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;pathfindingConstraints,
+                                       <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                                       <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+                                       <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;robotRelativeOutput,
+                                       <a href="../util/HolonomicPathFollowerConfig.html" title="class in com.pathplanner.lib.util">HolonomicPathFollowerConfig</a>&nbsp;config,
+                                       double&nbsp;rotationDelayDistance,
+                                       <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</pre>
+<div class="block">Constructs a new PathfindThenFollowPathHolonomic command group.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>goalPath</code> - the goal path to follow</dd>
+<dd><code>pathfindingConstraints</code> - the path constraints for pathfinding</dd>
+<dd><code>poseSupplier</code> - a supplier for the robot's current pose</dd>
+<dd><code>currentRobotRelativeSpeeds</code> - a supplier for the robot's current robot relative speeds</dd>
+<dd><code>robotRelativeOutput</code> - a consumer for the output speeds (robot relative)</dd>
+<dd><code>config</code> - <a href="../util/HolonomicPathFollowerConfig.html" title="class in com.pathplanner.lib.util"><code>HolonomicPathFollowerConfig</code></a> for configuring the
+     path following commands</dd>
+<dd><code>rotationDelayDistance</code> - Distance to delay the target rotation of the robot. This will
+     cause the robot to hold its current rotation until it reaches the given distance along the
+     path.</dd>
+<dd><code>requirements</code> - the subsystems required by this command (drive subsystem)</dd>
+</dl>
+</li>
+</ul>
+<a id="&lt;init&gt;(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.HolonomicPathFollowerConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>PathfindThenFollowPathHolonomic</h4>
+<pre>public&nbsp;PathfindThenFollowPathHolonomic&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;goalPath,
+                                       <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;pathfindingConstraints,
+                                       <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                                       <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+                                       <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;robotRelativeOutput,
+                                       <a href="../util/HolonomicPathFollowerConfig.html" title="class in com.pathplanner.lib.util">HolonomicPathFollowerConfig</a>&nbsp;config,
+                                       <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</pre>
+<div class="block">Constructs a new PathfindThenFollowPathHolonomic command group.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>goalPath</code> - the goal path to follow</dd>
+<dd><code>pathfindingConstraints</code> - the path constraints for pathfinding</dd>
+<dd><code>poseSupplier</code> - a supplier for the robot's current pose</dd>
+<dd><code>currentRobotRelativeSpeeds</code> - a supplier for the robot's current robot relative speeds</dd>
+<dd><code>robotRelativeOutput</code> - a consumer for the output speeds (robot relative)</dd>
+<dd><code>config</code> - <a href="../util/HolonomicPathFollowerConfig.html" title="class in com.pathplanner.lib.util"><code>HolonomicPathFollowerConfig</code></a> for configuring the
+     path following commands</dd>
+<dd><code>requirements</code> - the subsystems required by this command (drive subsystem)</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+</div>
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diff --git a/docs/java/com/pathplanner/lib/commands/PathfindThenFollowPathLTV.html b/docs/java/com/pathplanner/lib/commands/PathfindThenFollowPathLTV.html
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+++ b/docs/java/com/pathplanner/lib/commands/PathfindThenFollowPathLTV.html
@@ -0,0 +1,404 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
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+<title>PathfindThenFollowPathLTV (pathplannerlib API)</title>
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+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">com.pathplanner.lib.commands</a></div>
+<h2 title="Class PathfindThenFollowPathLTV" class="title">Class PathfindThenFollowPathLTV</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
+<li>
+<ul class="inheritance">
+<li><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">edu.wpi.first.wpilibj2.command.Command</a></li>
+<li>
+<ul class="inheritance">
+<li><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">edu.wpi.first.wpilibj2.command.SequentialCommandGroup</a></li>
+<li>
+<ul class="inheritance">
+<li>com.pathplanner.lib.commands.PathfindThenFollowPathLTV</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<dl>
+<dt>All Implemented Interfaces:</dt>
+<dd><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/util/sendable/Sendable.html?is-external=true" title="class or interface in edu.wpi.first.util.sendable" class="externalLink">Sendable</a></code></dd>
+</dl>
+<hr>
+<pre>public class <span class="typeNameLabel">PathfindThenFollowPathLTV</span>
+extends <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">SequentialCommandGroup</a></pre>
+<div class="block">A command group that first pathfinds to a goal path and then follows the goal path.</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- ======== NESTED CLASS SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="nested.class.summary">
+<!--   -->
+</a>
+<h3>Nested Class Summary</h3>
+<ul class="blockList">
+<li class="blockList"><a id="nested.classes.inherited.from.class.edu.wpi.first.wpilibj2.command.Command">
+<!--   -->
+</a>
+<h3>Nested classes/interfaces inherited from class&nbsp;edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.InterruptionBehavior.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command.InterruptionBehavior</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- =========== FIELD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="field.summary">
+<!--   -->
+</a>
+<h3>Field Summary</h3>
+<ul class="blockList">
+<li class="blockList"><a id="fields.inherited.from.class.edu.wpi.first.wpilibj2.command.Command">
+<!--   -->
+</a>
+<h3>Fields inherited from class&nbsp;edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#m_requirements" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">m_requirements</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.summary">
+<!--   -->
+</a>
+<h3>Constructor Summary</h3>
+<table class="memberSummary">
+<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,double,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindThenFollowPathLTV</a></span>&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;goalPath,
+                         <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;pathfindingConstraints,
+                         <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                         <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+                         <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;robotRelativeOutput,
+                         double&nbsp;dt,
+                         <a href="../util/ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a>&nbsp;replanningConfig,
+                         <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</code></th>
+<td class="colLast">
+<div class="block">Constructs a new PathfindThenFollowPathLTV command group.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,edu.wpi.first.math.Vector,edu.wpi.first.math.Vector,double,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindThenFollowPathLTV</a></span>&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;goalPath,
+                         <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;pathfindingConstraints,
+                         <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                         <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+                         <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;robotRelativeOutput,
+                         <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/Vector.html?is-external=true" title="class or interface in edu.wpi.first.math" class="externalLink">Vector</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/numbers/N3.html?is-external=true" title="class or interface in edu.wpi.first.math.numbers" class="externalLink">N3</a>&gt;&nbsp;qelems,
+                         <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/Vector.html?is-external=true" title="class or interface in edu.wpi.first.math" class="externalLink">Vector</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/numbers/N2.html?is-external=true" title="class or interface in edu.wpi.first.math.numbers" class="externalLink">N2</a>&gt;&nbsp;relems,
+                         double&nbsp;dt,
+                         <a href="../util/ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a>&nbsp;replanningConfig,
+                         <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</code></th>
+<td class="colLast">
+<div class="block">Constructs a new PathfindThenFollowPathLTV command group.</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ========== METHOD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.summary">
+<!--   -->
+</a>
+<h3>Method Summary</h3>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.edu.wpi.first.wpilibj2.command.SequentialCommandGroup">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">SequentialCommandGroup</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.html?is-external=true#addCommands(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">addCommands</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.html?is-external=true#end(boolean)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">end</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.html?is-external=true#execute()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">execute</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.html?is-external=true#getInterruptionBehavior()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getInterruptionBehavior</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.html?is-external=true#initialize()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">initialize</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.html?is-external=true#initSendable(edu.wpi.first.util.sendable.SendableBuilder)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">initSendable</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.html?is-external=true#isFinished()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">isFinished</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.html?is-external=true#runsWhenDisabled()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">runsWhenDisabled</a></code></li>
+</ul>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.edu.wpi.first.wpilibj2.command.Command">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#addRequirements(edu.wpi.first.wpilibj2.command.Subsystem...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">addRequirements</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#alongWith(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">alongWith</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#andThen(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">andThen</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#andThen(java.lang.Runnable,edu.wpi.first.wpilibj2.command.Subsystem...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">andThen</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#asProxy()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">asProxy</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#beforeStarting(edu.wpi.first.wpilibj2.command.Command)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">beforeStarting</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#beforeStarting(java.lang.Runnable,edu.wpi.first.wpilibj2.command.Subsystem...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">beforeStarting</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#cancel()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">cancel</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#deadlineWith(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">deadlineWith</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#finallyDo(edu.wpi.first.util.function.BooleanConsumer)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">finallyDo</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getName()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getName</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getRequirements()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getRequirements</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getSubsystem()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getSubsystem</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#handleInterrupt(java.lang.Runnable)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">handleInterrupt</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#hasRequirement(edu.wpi.first.wpilibj2.command.Subsystem)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">hasRequirement</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#ignoringDisable(boolean)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">ignoringDisable</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#isScheduled()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">isScheduled</a>, <a 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+</a>
+<h3>Constructor Detail</h3>
+<a id="&lt;init&gt;(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,edu.wpi.first.math.Vector,edu.wpi.first.math.Vector,double,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">
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+<h4>PathfindThenFollowPathLTV</h4>
+<pre>public&nbsp;PathfindThenFollowPathLTV&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;goalPath,
+                                 <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;pathfindingConstraints,
+                                 <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                                 <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+                                 <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;robotRelativeOutput,
+                                 <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/Vector.html?is-external=true" title="class or interface in edu.wpi.first.math" class="externalLink">Vector</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/numbers/N3.html?is-external=true" title="class or interface in edu.wpi.first.math.numbers" class="externalLink">N3</a>&gt;&nbsp;qelems,
+                                 <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/Vector.html?is-external=true" title="class or interface in edu.wpi.first.math" class="externalLink">Vector</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/numbers/N2.html?is-external=true" title="class or interface in edu.wpi.first.math.numbers" class="externalLink">N2</a>&gt;&nbsp;relems,
+                                 double&nbsp;dt,
+                                 <a href="../util/ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a>&nbsp;replanningConfig,
+                                 <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</pre>
+<div class="block">Constructs a new PathfindThenFollowPathLTV command group.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>goalPath</code> - the goal path to follow</dd>
+<dd><code>pathfindingConstraints</code> - the path constraints for pathfinding</dd>
+<dd><code>poseSupplier</code> - a supplier for the robot's current pose</dd>
+<dd><code>currentRobotRelativeSpeeds</code> - a supplier for the robot's current robot relative speeds</dd>
+<dd><code>robotRelativeOutput</code> - a consumer for the output speeds (robot relative)</dd>
+<dd><code>qelems</code> - The maximum desired error tolerance for each state.</dd>
+<dd><code>relems</code> - The maximum desired control effort for each input.</dd>
+<dd><code>dt</code> - Period of the robot control loop in seconds (default 0.02)</dd>
+<dd><code>replanningConfig</code> - Path replanning configuration</dd>
+<dd><code>requirements</code> - the subsystems required by this command (drive subsystem)</dd>
+</dl>
+</li>
+</ul>
+<a id="&lt;init&gt;(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,double,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>PathfindThenFollowPathLTV</h4>
+<pre>public&nbsp;PathfindThenFollowPathLTV&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;goalPath,
+                                 <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;pathfindingConstraints,
+                                 <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                                 <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+                                 <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;robotRelativeOutput,
+                                 double&nbsp;dt,
+                                 <a href="../util/ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a>&nbsp;replanningConfig,
+                                 <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</pre>
+<div class="block">Constructs a new PathfindThenFollowPathLTV command group.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>goalPath</code> - the goal path to follow</dd>
+<dd><code>pathfindingConstraints</code> - the path constraints for pathfinding</dd>
+<dd><code>poseSupplier</code> - a supplier for the robot's current pose</dd>
+<dd><code>currentRobotRelativeSpeeds</code> - a supplier for the robot's current robot relative speeds</dd>
+<dd><code>robotRelativeOutput</code> - a consumer for the output speeds (robot relative)</dd>
+<dd><code>dt</code> - Period of the robot control loop in seconds (default 0.02)</dd>
+<dd><code>replanningConfig</code> - Path replanning configuration</dd>
+<dd><code>requirements</code> - the subsystems required by this command (drive subsystem)</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+</div>
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diff --git a/docs/java/com/pathplanner/lib/commands/PathfindThenFollowPathRamsete.html b/docs/java/com/pathplanner/lib/commands/PathfindThenFollowPathRamsete.html
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+<h2 title="Class PathfindThenFollowPathRamsete" class="title">Class PathfindThenFollowPathRamsete</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
+<li>
+<ul class="inheritance">
+<li><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">edu.wpi.first.wpilibj2.command.Command</a></li>
+<li>
+<ul class="inheritance">
+<li><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">edu.wpi.first.wpilibj2.command.SequentialCommandGroup</a></li>
+<li>
+<ul class="inheritance">
+<li>com.pathplanner.lib.commands.PathfindThenFollowPathRamsete</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<dl>
+<dt>All Implemented Interfaces:</dt>
+<dd><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/util/sendable/Sendable.html?is-external=true" title="class or interface in edu.wpi.first.util.sendable" class="externalLink">Sendable</a></code></dd>
+</dl>
+<hr>
+<pre>public class <span class="typeNameLabel">PathfindThenFollowPathRamsete</span>
+extends <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">SequentialCommandGroup</a></pre>
+<div class="block">A command group that first pathfinds to a goal path and then follows the goal path.</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- ======== NESTED CLASS SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="nested.class.summary">
+<!--   -->
+</a>
+<h3>Nested Class Summary</h3>
+<ul class="blockList">
+<li class="blockList"><a id="nested.classes.inherited.from.class.edu.wpi.first.wpilibj2.command.Command">
+<!--   -->
+</a>
+<h3>Nested classes/interfaces inherited from class&nbsp;edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.InterruptionBehavior.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command.InterruptionBehavior</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- =========== FIELD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="field.summary">
+<!--   -->
+</a>
+<h3>Field Summary</h3>
+<ul class="blockList">
+<li class="blockList"><a id="fields.inherited.from.class.edu.wpi.first.wpilibj2.command.Command">
+<!--   -->
+</a>
+<h3>Fields inherited from class&nbsp;edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#m_requirements" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">m_requirements</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.summary">
+<!--   -->
+</a>
+<h3>Constructor Summary</h3>
+<table class="memberSummary">
+<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,double,double,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindThenFollowPathRamsete</a></span>&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;goalPath,
+                             <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;pathfindingConstraints,
+                             <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                             <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+                             <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;robotRelativeOutput,
+                             double&nbsp;b,
+                             double&nbsp;zeta,
+                             <a href="../util/ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a>&nbsp;replanningConfig,
+                             <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</code></th>
+<td class="colLast">
+<div class="block">Constructs a new PathfindThenFollowPathRamsete command group.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindThenFollowPathRamsete</a></span>&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;goalPath,
+                             <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;pathfindingConstraints,
+                             <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                             <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+                             <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;robotRelativeOutput,
+                             <a href="../util/ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a>&nbsp;replanningConfig,
+                             <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</code></th>
+<td class="colLast">
+<div class="block">Constructs a new PathfindThenFollowPathRamsete command group.</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ========== METHOD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.summary">
+<!--   -->
+</a>
+<h3>Method Summary</h3>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.edu.wpi.first.wpilibj2.command.SequentialCommandGroup">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">SequentialCommandGroup</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.html?is-external=true#addCommands(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">addCommands</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.html?is-external=true#end(boolean)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">end</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.html?is-external=true#execute()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">execute</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.html?is-external=true#getInterruptionBehavior()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getInterruptionBehavior</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.html?is-external=true#initialize()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">initialize</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.html?is-external=true#initSendable(edu.wpi.first.util.sendable.SendableBuilder)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">initSendable</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.html?is-external=true#isFinished()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">isFinished</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.html?is-external=true#runsWhenDisabled()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">runsWhenDisabled</a></code></li>
+</ul>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.edu.wpi.first.wpilibj2.command.Command">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#addRequirements(edu.wpi.first.wpilibj2.command.Subsystem...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">addRequirements</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#alongWith(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">alongWith</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#andThen(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">andThen</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#andThen(java.lang.Runnable,edu.wpi.first.wpilibj2.command.Subsystem...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">andThen</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#asProxy()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">asProxy</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#beforeStarting(edu.wpi.first.wpilibj2.command.Command)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">beforeStarting</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#beforeStarting(java.lang.Runnable,edu.wpi.first.wpilibj2.command.Subsystem...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">beforeStarting</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#cancel()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">cancel</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#deadlineWith(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">deadlineWith</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#finallyDo(edu.wpi.first.util.function.BooleanConsumer)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">finallyDo</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getName()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getName</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getRequirements()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getRequirements</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getSubsystem()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getSubsystem</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#handleInterrupt(java.lang.Runnable)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">handleInterrupt</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#hasRequirement(edu.wpi.first.wpilibj2.command.Subsystem)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">hasRequirement</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#ignoringDisable(boolean)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">ignoringDisable</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#isScheduled()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">isScheduled</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#onlyIf(java.util.function.BooleanSupplier)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">onlyIf</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#onlyWhile(java.util.function.BooleanSupplier)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">onlyWhile</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#raceWith(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">raceWith</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#repeatedly()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">repeatedly</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#schedule()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">schedule</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#setName(java.lang.String)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">setName</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#setSubsystem(java.lang.String)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">setSubsystem</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#unless(java.util.function.BooleanSupplier)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">unless</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#until(java.util.function.BooleanSupplier)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">until</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#withInterruptBehavior(edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">withInterruptBehavior</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#withName(java.lang.String)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">withName</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#withTimeout(double)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">withTimeout</a></code></li>
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+<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
+<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
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+<h3>Constructor Detail</h3>
+<a id="&lt;init&gt;(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,double,double,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">
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+</a>
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+<li class="blockList">
+<h4>PathfindThenFollowPathRamsete</h4>
+<pre>public&nbsp;PathfindThenFollowPathRamsete&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;goalPath,
+                                     <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;pathfindingConstraints,
+                                     <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                                     <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+                                     <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;robotRelativeOutput,
+                                     double&nbsp;b,
+                                     double&nbsp;zeta,
+                                     <a href="../util/ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a>&nbsp;replanningConfig,
+                                     <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</pre>
+<div class="block">Constructs a new PathfindThenFollowPathRamsete command group.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>goalPath</code> - the goal path to follow</dd>
+<dd><code>pathfindingConstraints</code> - the path constraints for pathfinding</dd>
+<dd><code>poseSupplier</code> - a supplier for the robot's current pose</dd>
+<dd><code>currentRobotRelativeSpeeds</code> - a supplier for the robot's current robot relative speeds</dd>
+<dd><code>robotRelativeOutput</code> - a consumer for the output speeds (robot relative)</dd>
+<dd><code>b</code> - Tuning parameter (b &gt; 0 rad^2/m^2) for which larger values make convergence more
+     aggressive like a proportional term.</dd>
+<dd><code>zeta</code> - Tuning parameter (0 rad^-1 &lt; zeta &lt; 1 rad^-1) for which larger values provide
+     more damping in response.</dd>
+<dd><code>replanningConfig</code> - Path replanning configuration</dd>
+<dd><code>requirements</code> - the subsystems required by this command (drive subsystem)</dd>
+</dl>
+</li>
+</ul>
+<a id="&lt;init&gt;(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>PathfindThenFollowPathRamsete</h4>
+<pre>public&nbsp;PathfindThenFollowPathRamsete&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;goalPath,
+                                     <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;pathfindingConstraints,
+                                     <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                                     <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;currentRobotRelativeSpeeds,
+                                     <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;robotRelativeOutput,
+                                     <a href="../util/ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a>&nbsp;replanningConfig,
+                                     <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</pre>
+<div class="block">Constructs a new PathfindThenFollowPathRamsete command group.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>goalPath</code> - the goal path to follow</dd>
+<dd><code>pathfindingConstraints</code> - the path constraints for pathfinding</dd>
+<dd><code>poseSupplier</code> - a supplier for the robot's current pose</dd>
+<dd><code>currentRobotRelativeSpeeds</code> - a supplier for the robot's current robot relative speeds</dd>
+<dd><code>robotRelativeOutput</code> - a consumer for the output speeds (robot relative)</dd>
+<dd><code>replanningConfig</code> - Path replanning configuration</dd>
+<dd><code>requirements</code> - the subsystems required by this command (drive subsystem)</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+</div>
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diff --git a/docs/java/com/pathplanner/lib/commands/PathfindingCommand.html b/docs/java/com/pathplanner/lib/commands/PathfindingCommand.html
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+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">com.pathplanner.lib.commands</a></div>
+<h2 title="Class PathfindingCommand" class="title">Class PathfindingCommand</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
+<li>
+<ul class="inheritance">
+<li><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">edu.wpi.first.wpilibj2.command.Command</a></li>
+<li>
+<ul class="inheritance">
+<li>com.pathplanner.lib.commands.PathfindingCommand</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<dl>
+<dt>All Implemented Interfaces:</dt>
+<dd><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/util/sendable/Sendable.html?is-external=true" title="class or interface in edu.wpi.first.util.sendable" class="externalLink">Sendable</a></code></dd>
+</dl>
+<dl>
+<dt>Direct Known Subclasses:</dt>
+<dd><code><a href="PathfindHolonomic.html" title="class in com.pathplanner.lib.commands">PathfindHolonomic</a></code>, <code><a href="PathfindLTV.html" title="class in com.pathplanner.lib.commands">PathfindLTV</a></code>, <code><a href="PathfindRamsete.html" title="class in com.pathplanner.lib.commands">PathfindRamsete</a></code></dd>
+</dl>
+<hr>
+<pre>public class <span class="typeNameLabel">PathfindingCommand</span>
+extends <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></pre>
+<div class="block">Base pathfinding command</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- ======== NESTED CLASS SUMMARY ======== -->
+<section>
+<ul class="blockList">
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+<!--   -->
+</a>
+<h3>Nested Class Summary</h3>
+<ul class="blockList">
+<li class="blockList"><a id="nested.classes.inherited.from.class.edu.wpi.first.wpilibj2.command.Command">
+<!--   -->
+</a>
+<h3>Nested classes/interfaces inherited from class&nbsp;edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.InterruptionBehavior.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command.InterruptionBehavior</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- =========== FIELD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="field.summary">
+<!--   -->
+</a>
+<h3>Field Summary</h3>
+<ul class="blockList">
+<li class="blockList"><a id="fields.inherited.from.class.edu.wpi.first.wpilibj2.command.Command">
+<!--   -->
+</a>
+<h3>Fields inherited from class&nbsp;edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#m_requirements" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">m_requirements</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.summary">
+<!--   -->
+</a>
+<h3>Constructor Summary</h3>
+<table class="memberSummary">
+<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.controllers.PathFollowingController,double,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindingCommand</a></span>&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;targetPath,
+                  <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+                  <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                  <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;speedsSupplier,
+                  <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;outputRobotRelative,
+                  <a href="../controllers/PathFollowingController.html" title="interface in com.pathplanner.lib.controllers">PathFollowingController</a>&nbsp;controller,
+                  double&nbsp;rotationDelayDistance,
+                  <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</code></th>
+<td class="colLast">
+<div class="block">Constructs a new base pathfinding command that will generate a path towards the given path.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(edu.wpi.first.math.geometry.Pose2d,com.pathplanner.lib.path.PathConstraints,double,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.controllers.PathFollowingController,double,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindingCommand</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;targetPose,
+                  <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+                  double&nbsp;goalEndVel,
+                  <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                  <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;speedsSupplier,
+                  <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;outputRobotRelative,
+                  <a href="../controllers/PathFollowingController.html" title="interface in com.pathplanner.lib.controllers">PathFollowingController</a>&nbsp;controller,
+                  double&nbsp;rotationDelayDistance,
+                  <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</code></th>
+<td class="colLast">
+<div class="block">Constructs a new base pathfinding command that will generate a path towards the given pose.</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ========== METHOD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.summary">
+<!--   -->
+</a>
+<h3>Method Summary</h3>
+<table class="memberSummary">
+<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr id="i0" class="altColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#end(boolean)">end</a></span>&#8203;(boolean&nbsp;interrupted)</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr id="i1" class="rowColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#execute()">execute</a></span>()</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr id="i2" class="altColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#initialize()">initialize</a></span>()</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr id="i3" class="rowColor">
+<td class="colFirst"><code>boolean</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#isFinished()">isFinished</a></span>()</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+</table>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.edu.wpi.first.wpilibj2.command.Command">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#addRequirements(edu.wpi.first.wpilibj2.command.Subsystem...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">addRequirements</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#alongWith(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">alongWith</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#andThen(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">andThen</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#andThen(java.lang.Runnable,edu.wpi.first.wpilibj2.command.Subsystem...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">andThen</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#asProxy()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">asProxy</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#beforeStarting(edu.wpi.first.wpilibj2.command.Command)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">beforeStarting</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#beforeStarting(java.lang.Runnable,edu.wpi.first.wpilibj2.command.Subsystem...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">beforeStarting</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#cancel()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">cancel</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#deadlineWith(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">deadlineWith</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#finallyDo(edu.wpi.first.util.function.BooleanConsumer)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">finallyDo</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getInterruptionBehavior()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getInterruptionBehavior</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getName()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getName</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getRequirements()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getRequirements</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#getSubsystem()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">getSubsystem</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#handleInterrupt(java.lang.Runnable)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">handleInterrupt</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#hasRequirement(edu.wpi.first.wpilibj2.command.Subsystem)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">hasRequirement</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#ignoringDisable(boolean)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">ignoringDisable</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#initSendable(edu.wpi.first.util.sendable.SendableBuilder)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">initSendable</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#isScheduled()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">isScheduled</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#onlyIf(java.util.function.BooleanSupplier)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">onlyIf</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#onlyWhile(java.util.function.BooleanSupplier)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">onlyWhile</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#raceWith(edu.wpi.first.wpilibj2.command.Command...)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">raceWith</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#repeatedly()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">repeatedly</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#runsWhenDisabled()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">runsWhenDisabled</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#schedule()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">schedule</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#setName(java.lang.String)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">setName</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#setSubsystem(java.lang.String)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">setSubsystem</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#unless(java.util.function.BooleanSupplier)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">unless</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#until(java.util.function.BooleanSupplier)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">until</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#withInterruptBehavior(edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">withInterruptBehavior</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#withName(java.lang.String)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">withName</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#withTimeout(double)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">withTimeout</a></code></li>
+</ul>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
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+</a>
+<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
+<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+<div class="details">
+<ul class="blockList">
+<li class="blockList">
+<!-- ========= CONSTRUCTOR DETAIL ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.detail">
+<!--   -->
+</a>
+<h3>Constructor Detail</h3>
+<a id="&lt;init&gt;(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.controllers.PathFollowingController,double,edu.wpi.first.wpilibj2.command.Subsystem...)">
+<!--   -->
+</a>
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+<h4>PathfindingCommand</h4>
+<pre>public&nbsp;PathfindingCommand&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;targetPath,
+                          <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+                          <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                          <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;speedsSupplier,
+                          <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;outputRobotRelative,
+                          <a href="../controllers/PathFollowingController.html" title="interface in com.pathplanner.lib.controllers">PathFollowingController</a>&nbsp;controller,
+                          double&nbsp;rotationDelayDistance,
+                          <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</pre>
+<div class="block">Constructs a new base pathfinding command that will generate a path towards the given path.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>targetPath</code> - the path to pathfind to</dd>
+<dd><code>constraints</code> - the path constraints to use while pathfinding</dd>
+<dd><code>poseSupplier</code> - a supplier for the robot's current pose</dd>
+<dd><code>speedsSupplier</code> - a supplier for the robot's current robot relative speeds</dd>
+<dd><code>outputRobotRelative</code> - a consumer for the output speeds (robot relative)</dd>
+<dd><code>controller</code> - Path following controller that will be used to follow the path</dd>
+<dd><code>rotationDelayDistance</code> - How far the robot should travel before attempting to rotate to the
+     final rotation</dd>
+<dd><code>requirements</code> - the subsystems required by this command</dd>
+</dl>
+</li>
+</ul>
+<a id="&lt;init&gt;(edu.wpi.first.math.geometry.Pose2d,com.pathplanner.lib.path.PathConstraints,double,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.controllers.PathFollowingController,double,edu.wpi.first.wpilibj2.command.Subsystem...)">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>PathfindingCommand</h4>
+<pre>public&nbsp;PathfindingCommand&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;targetPose,
+                          <a href="../path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+                          double&nbsp;goalEndVel,
+                          <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poseSupplier,
+                          <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Supplier.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Supplier</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;speedsSupplier,
+                          <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&gt;&nbsp;outputRobotRelative,
+                          <a href="../controllers/PathFollowingController.html" title="interface in com.pathplanner.lib.controllers">PathFollowingController</a>&nbsp;controller,
+                          double&nbsp;rotationDelayDistance,
+                          <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Subsystem.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Subsystem</a>...&nbsp;requirements)</pre>
+<div class="block">Constructs a new base pathfinding command that will generate a path towards the given pose.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>targetPose</code> - the pose to pathfind to, the rotation component is only relevant for
+     holonomic drive trains</dd>
+<dd><code>constraints</code> - the path constraints to use while pathfinding</dd>
+<dd><code>goalEndVel</code> - The goal end velocity when reaching the target pose</dd>
+<dd><code>poseSupplier</code> - a supplier for the robot's current pose</dd>
+<dd><code>speedsSupplier</code> - a supplier for the robot's current robot relative speeds</dd>
+<dd><code>outputRobotRelative</code> - a consumer for the output speeds (robot relative)</dd>
+<dd><code>controller</code> - Path following controller that will be used to follow the path</dd>
+<dd><code>rotationDelayDistance</code> - How far the robot should travel before attempting to rotate to the
+     final rotation</dd>
+<dd><code>requirements</code> - the subsystems required by this command</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- ============ METHOD DETAIL ========== -->
+<section>
+<ul class="blockList">
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+</a>
+<h3>Method Detail</h3>
+<a id="initialize()">
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+<h4>initialize</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;initialize()</pre>
+<dl>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#initialize()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">initialize</a></code>&nbsp;in class&nbsp;<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></code></dd>
+</dl>
+</li>
+</ul>
+<a id="execute()">
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+</a>
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+<h4>execute</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;execute()</pre>
+<dl>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#execute()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">execute</a></code>&nbsp;in class&nbsp;<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></code></dd>
+</dl>
+</li>
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+<pre class="methodSignature">public&nbsp;boolean&nbsp;isFinished()</pre>
+<dl>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#isFinished()" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">isFinished</a></code>&nbsp;in class&nbsp;<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></code></dd>
+</dl>
+</li>
+</ul>
+<a id="end(boolean)">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>end</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;end&#8203;(boolean&nbsp;interrupted)</pre>
+<dl>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true#end(boolean)" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">end</a></code>&nbsp;in class&nbsp;<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></code></dd>
+</dl>
+</li>
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+</div>
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diff --git a/docs/java/com/pathplanner/lib/commands/package-summary.html b/docs/java/com/pathplanner/lib/commands/package-summary.html
new file mode 100644
index 00000000..36a3503d
--- /dev/null
+++ b/docs/java/com/pathplanner/lib/commands/package-summary.html
@@ -0,0 +1,238 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
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+<div class="header">
+<h1 title="Package" class="title">Package&nbsp;com.pathplanner.lib.commands</h1>
+</div>
+<div class="contentContainer">
+<ul class="blockList">
+<li class="blockList">
+<table class="typeSummary">
+<caption><span>Class Summary</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Class</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<th class="colFirst" scope="row"><a href="FollowPathCommand.html" title="class in com.pathplanner.lib.commands">FollowPathCommand</a></th>
+<td class="colLast">
+<div class="block">Base command for following a path</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><a href="FollowPathHolonomic.html" title="class in com.pathplanner.lib.commands">FollowPathHolonomic</a></th>
+<td class="colLast">
+<div class="block">Follow a path using a PPHolonomicDriveController</div>
+</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><a href="FollowPathLTV.html" title="class in com.pathplanner.lib.commands">FollowPathLTV</a></th>
+<td class="colLast">
+<div class="block">Follow a path using a PPLTVController</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><a href="FollowPathRamsete.html" title="class in com.pathplanner.lib.commands">FollowPathRamsete</a></th>
+<td class="colLast">
+<div class="block">Follow a path using a PPRamseteController</div>
+</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><a href="FollowPathWithEvents.html" title="class in com.pathplanner.lib.commands">FollowPathWithEvents</a></th>
+<td class="colLast">
+<div class="block">Command that will run a path following command and trigger event markers along the way</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><a href="PathfindHolonomic.html" title="class in com.pathplanner.lib.commands">PathfindHolonomic</a></th>
+<td class="colLast">
+<div class="block">Pathfind and follow the path with a PPHolonomicDriveController</div>
+</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><a href="PathfindingCommand.html" title="class in com.pathplanner.lib.commands">PathfindingCommand</a></th>
+<td class="colLast">
+<div class="block">Base pathfinding command</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><a href="PathfindLTV.html" title="class in com.pathplanner.lib.commands">PathfindLTV</a></th>
+<td class="colLast">
+<div class="block">Pathfind and follow the path with a PPLTVController</div>
+</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><a href="PathfindRamsete.html" title="class in com.pathplanner.lib.commands">PathfindRamsete</a></th>
+<td class="colLast">
+<div class="block">Pathfind and follow the path with a PPRamseteController</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><a href="PathfindThenFollowPathHolonomic.html" title="class in com.pathplanner.lib.commands">PathfindThenFollowPathHolonomic</a></th>
+<td class="colLast">
+<div class="block">A command group that first pathfinds to a goal path and then follows the goal path.</div>
+</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><a href="PathfindThenFollowPathLTV.html" title="class in com.pathplanner.lib.commands">PathfindThenFollowPathLTV</a></th>
+<td class="colLast">
+<div class="block">A command group that first pathfinds to a goal path and then follows the goal path.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><a href="PathfindThenFollowPathRamsete.html" title="class in com.pathplanner.lib.commands">PathfindThenFollowPathRamsete</a></th>
+<td class="colLast">
+<div class="block">A command group that first pathfinds to a goal path and then follows the goal path.</div>
+</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><a href="PathPlannerAuto.html" title="class in com.pathplanner.lib.commands">PathPlannerAuto</a></th>
+<td class="colLast">
+<div class="block">A command that loads and runs an autonomous routine built using PathPlanner.</div>
+</td>
+</tr>
+</tbody>
+</table>
+</li>
+</ul>
+</div>
+</main>
+<footer role="contentinfo">
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diff --git a/docs/java/com/pathplanner/lib/commands/package-tree.html b/docs/java/com/pathplanner/lib/commands/package-tree.html
new file mode 100644
index 00000000..dafab411
--- /dev/null
+++ b/docs/java/com/pathplanner/lib/commands/package-tree.html
@@ -0,0 +1,187 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
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+<title>com.pathplanner.lib.commands Class Hierarchy (pathplannerlib API)</title>
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+<li><a href="../../../../index.html">Overview</a></li>
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+<li><a href="../../../../deprecated-list.html">Deprecated</a></li>
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+<li><a href="../../../../help-doc.html">Help</a></li>
+</ul>
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+<div class="header">
+<h1 class="title">Hierarchy For Package com.pathplanner.lib.commands</h1>
+<span class="packageHierarchyLabel">Package Hierarchies:</span>
+<ul class="horizontal">
+<li><a href="../../../../overview-tree.html">All Packages</a></li>
+</ul>
+</div>
+<div class="contentContainer">
+<section>
+<h2 title="Class Hierarchy">Class Hierarchy</h2>
+<ul>
+<li class="circle">java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink"><span class="typeNameLink">Object</span></a>
+<ul>
+<li class="circle">edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink"><span class="typeNameLink">Command</span></a> (implements edu.wpi.first.util.sendable.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/util/sendable/Sendable.html?is-external=true" title="class or interface in edu.wpi.first.util.sendable" class="externalLink">Sendable</a>)
+<ul>
+<li class="circle">com.pathplanner.lib.commands.<a href="FollowPathCommand.html" title="class in com.pathplanner.lib.commands"><span class="typeNameLink">FollowPathCommand</span></a>
+<ul>
+<li class="circle">com.pathplanner.lib.commands.<a href="FollowPathHolonomic.html" title="class in com.pathplanner.lib.commands"><span class="typeNameLink">FollowPathHolonomic</span></a></li>
+<li class="circle">com.pathplanner.lib.commands.<a href="FollowPathLTV.html" title="class in com.pathplanner.lib.commands"><span class="typeNameLink">FollowPathLTV</span></a></li>
+<li class="circle">com.pathplanner.lib.commands.<a href="FollowPathRamsete.html" title="class in com.pathplanner.lib.commands"><span class="typeNameLink">FollowPathRamsete</span></a></li>
+</ul>
+</li>
+<li class="circle">com.pathplanner.lib.commands.<a href="FollowPathWithEvents.html" title="class in com.pathplanner.lib.commands"><span class="typeNameLink">FollowPathWithEvents</span></a></li>
+<li class="circle">com.pathplanner.lib.commands.<a href="PathfindingCommand.html" title="class in com.pathplanner.lib.commands"><span class="typeNameLink">PathfindingCommand</span></a>
+<ul>
+<li class="circle">com.pathplanner.lib.commands.<a href="PathfindHolonomic.html" title="class in com.pathplanner.lib.commands"><span class="typeNameLink">PathfindHolonomic</span></a></li>
+<li class="circle">com.pathplanner.lib.commands.<a href="PathfindLTV.html" title="class in com.pathplanner.lib.commands"><span class="typeNameLink">PathfindLTV</span></a></li>
+<li class="circle">com.pathplanner.lib.commands.<a href="PathfindRamsete.html" title="class in com.pathplanner.lib.commands"><span class="typeNameLink">PathfindRamsete</span></a></li>
+</ul>
+</li>
+<li class="circle">com.pathplanner.lib.commands.<a href="PathPlannerAuto.html" title="class in com.pathplanner.lib.commands"><span class="typeNameLink">PathPlannerAuto</span></a></li>
+<li class="circle">edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink"><span class="typeNameLink">SequentialCommandGroup</span></a>
+<ul>
+<li class="circle">com.pathplanner.lib.commands.<a href="PathfindThenFollowPathHolonomic.html" title="class in com.pathplanner.lib.commands"><span class="typeNameLink">PathfindThenFollowPathHolonomic</span></a></li>
+<li class="circle">com.pathplanner.lib.commands.<a href="PathfindThenFollowPathLTV.html" title="class in com.pathplanner.lib.commands"><span class="typeNameLink">PathfindThenFollowPathLTV</span></a></li>
+<li class="circle">com.pathplanner.lib.commands.<a href="PathfindThenFollowPathRamsete.html" title="class in com.pathplanner.lib.commands"><span class="typeNameLink">PathfindThenFollowPathRamsete</span></a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+</div>
+</main>
+<footer role="contentinfo">
+<nav role="navigation">
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
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+<li>Class</li>
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+<li><a href="../../../../help-doc.html">Help</a></li>
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@@ -0,0 +1,472 @@
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+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">com.pathplanner.lib.controllers</a></div>
+<h2 title="Class PPHolonomicDriveController" class="title">Class PPHolonomicDriveController</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
+<li>
+<ul class="inheritance">
+<li>com.pathplanner.lib.controllers.PPHolonomicDriveController</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<dl>
+<dt>All Implemented Interfaces:</dt>
+<dd><code><a href="PathFollowingController.html" title="interface in com.pathplanner.lib.controllers">PathFollowingController</a></code></dd>
+</dl>
+<hr>
+<pre>public class <span class="typeNameLabel">PPHolonomicDriveController</span>
+extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a>
+implements <a href="PathFollowingController.html" title="interface in com.pathplanner.lib.controllers">PathFollowingController</a></pre>
+<div class="block">Path following controller for holonomic drive trains</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.summary">
+<!--   -->
+</a>
+<h3>Constructor Summary</h3>
+<table class="memberSummary">
+<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(com.pathplanner.lib.util.PIDConstants,com.pathplanner.lib.util.PIDConstants,double,double)">PPHolonomicDriveController</a></span>&#8203;(<a href="../util/PIDConstants.html" title="class in com.pathplanner.lib.util">PIDConstants</a>&nbsp;translationConstants,
+                          <a href="../util/PIDConstants.html" title="class in com.pathplanner.lib.util">PIDConstants</a>&nbsp;rotationConstants,
+                          double&nbsp;maxModuleSpeed,
+                          double&nbsp;driveBaseRadius)</code></th>
+<td class="colLast">
+<div class="block">Constructs a HolonomicDriveController</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(com.pathplanner.lib.util.PIDConstants,com.pathplanner.lib.util.PIDConstants,double,double,double)">PPHolonomicDriveController</a></span>&#8203;(<a href="../util/PIDConstants.html" title="class in com.pathplanner.lib.util">PIDConstants</a>&nbsp;translationConstants,
+                          <a href="../util/PIDConstants.html" title="class in com.pathplanner.lib.util">PIDConstants</a>&nbsp;rotationConstants,
+                          double&nbsp;period,
+                          double&nbsp;maxModuleSpeed,
+                          double&nbsp;driveBaseRadius)</code></th>
+<td class="colLast">
+<div class="block">Constructs a HolonomicDriveController</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ========== METHOD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.summary">
+<!--   -->
+</a>
+<h3>Method Summary</h3>
+<table class="memberSummary">
+<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr id="i0" class="altColor">
+<td class="colFirst"><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#calculateRobotRelativeSpeeds(edu.wpi.first.math.geometry.Pose2d,com.pathplanner.lib.path.PathPlannerTrajectory.State)">calculateRobotRelativeSpeeds</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;currentPose,
+                            <a href="../path/PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory.State</a>&nbsp;targetState)</code></th>
+<td class="colLast">
+<div class="block">Calculates the next output of the path following controller</div>
+</td>
+</tr>
+<tr id="i1" class="rowColor">
+<td class="colFirst"><code>double</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getPositionalError()">getPositionalError</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Get the current positional error between the robot's actual and target positions</div>
+</td>
+</tr>
+<tr id="i2" class="altColor">
+<td class="colFirst"><code>boolean</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#isHolonomic()">isHolonomic</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Is this controller for holonomic drivetrains? Used to handle some differences in functionality
+ in the path following command.</div>
+</td>
+</tr>
+<tr id="i3" class="rowColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#reset(edu.wpi.first.math.geometry.Pose2d,edu.wpi.first.math.kinematics.ChassisSpeeds)">reset</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;currentPose,
+     <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&nbsp;currentSpeeds)</code></th>
+<td class="colLast">
+<div class="block">Resets the controller based on the current state of the robot</div>
+</td>
+</tr>
+<tr id="i4" class="altColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setEnabled(boolean)">setEnabled</a></span>&#8203;(boolean&nbsp;enabled)</code></th>
+<td class="colLast">
+<div class="block">Enables and disables the controller for troubleshooting.</div>
+</td>
+</tr>
+</table>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
+<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+<div class="details">
+<ul class="blockList">
+<li class="blockList">
+<!-- ========= CONSTRUCTOR DETAIL ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.detail">
+<!--   -->
+</a>
+<h3>Constructor Detail</h3>
+<a id="&lt;init&gt;(com.pathplanner.lib.util.PIDConstants,com.pathplanner.lib.util.PIDConstants,double,double,double)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>PPHolonomicDriveController</h4>
+<pre>public&nbsp;PPHolonomicDriveController&#8203;(<a href="../util/PIDConstants.html" title="class in com.pathplanner.lib.util">PIDConstants</a>&nbsp;translationConstants,
+                                  <a href="../util/PIDConstants.html" title="class in com.pathplanner.lib.util">PIDConstants</a>&nbsp;rotationConstants,
+                                  double&nbsp;period,
+                                  double&nbsp;maxModuleSpeed,
+                                  double&nbsp;driveBaseRadius)</pre>
+<div class="block">Constructs a HolonomicDriveController</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>translationConstants</code> - PID constants for the translation PID controllers</dd>
+<dd><code>rotationConstants</code> - PID constants for the rotation controller</dd>
+<dd><code>period</code> - Period of the control loop in seconds</dd>
+<dd><code>maxModuleSpeed</code> - The max speed of a drive module in meters/sec</dd>
+<dd><code>driveBaseRadius</code> - The radius of the drive base in meters. For swerve drive, this is the
+     distance from the center of the robot to the furthest module. For mecanum, this is the
+     drive base width / 2</dd>
+</dl>
+</li>
+</ul>
+<a id="&lt;init&gt;(com.pathplanner.lib.util.PIDConstants,com.pathplanner.lib.util.PIDConstants,double,double)">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>PPHolonomicDriveController</h4>
+<pre>public&nbsp;PPHolonomicDriveController&#8203;(<a href="../util/PIDConstants.html" title="class in com.pathplanner.lib.util">PIDConstants</a>&nbsp;translationConstants,
+                                  <a href="../util/PIDConstants.html" title="class in com.pathplanner.lib.util">PIDConstants</a>&nbsp;rotationConstants,
+                                  double&nbsp;maxModuleSpeed,
+                                  double&nbsp;driveBaseRadius)</pre>
+<div class="block">Constructs a HolonomicDriveController</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>translationConstants</code> - PID constants for the translation PID controllers</dd>
+<dd><code>rotationConstants</code> - PID constants for the rotation controller</dd>
+<dd><code>maxModuleSpeed</code> - The max speed of a drive module in meters/sec</dd>
+<dd><code>driveBaseRadius</code> - The radius of the drive base in meters. For swerve drive, this is the
+     distance from the center of the robot to the furthest module. For mecanum, this is the
+     drive base width / 2</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- ============ METHOD DETAIL ========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.detail">
+<!--   -->
+</a>
+<h3>Method Detail</h3>
+<a id="setEnabled(boolean)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>setEnabled</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;setEnabled&#8203;(boolean&nbsp;enabled)</pre>
+<div class="block">Enables and disables the controller for troubleshooting. When calculate() is called on a
+ disabled controller, only feedforward values are returned.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>enabled</code> - If the controller is enabled or not</dd>
+</dl>
+</li>
+</ul>
+<a id="reset(edu.wpi.first.math.geometry.Pose2d,edu.wpi.first.math.kinematics.ChassisSpeeds)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>reset</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;reset&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;currentPose,
+                  <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&nbsp;currentSpeeds)</pre>
+<div class="block">Resets the controller based on the current state of the robot</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
+<dd><code><a href="PathFollowingController.html#reset(edu.wpi.first.math.geometry.Pose2d,edu.wpi.first.math.kinematics.ChassisSpeeds)">reset</a></code>&nbsp;in interface&nbsp;<code><a href="PathFollowingController.html" title="interface in com.pathplanner.lib.controllers">PathFollowingController</a></code></dd>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>currentPose</code> - Current robot pose</dd>
+<dd><code>currentSpeeds</code> - Current robot relative chassis speeds</dd>
+</dl>
+</li>
+</ul>
+<a id="calculateRobotRelativeSpeeds(edu.wpi.first.math.geometry.Pose2d,com.pathplanner.lib.path.PathPlannerTrajectory.State)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>calculateRobotRelativeSpeeds</h4>
+<pre class="methodSignature">public&nbsp;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&nbsp;calculateRobotRelativeSpeeds&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;currentPose,
+                                                  <a href="../path/PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory.State</a>&nbsp;targetState)</pre>
+<div class="block">Calculates the next output of the path following controller</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
+<dd><code><a href="PathFollowingController.html#calculateRobotRelativeSpeeds(edu.wpi.first.math.geometry.Pose2d,com.pathplanner.lib.path.PathPlannerTrajectory.State)">calculateRobotRelativeSpeeds</a></code>&nbsp;in interface&nbsp;<code><a href="PathFollowingController.html" title="interface in com.pathplanner.lib.controllers">PathFollowingController</a></code></dd>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>currentPose</code> - The current robot pose</dd>
+<dd><code>targetState</code> - The desired trajectory state</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>The next robot relative output of the path following controller</dd>
+</dl>
+</li>
+</ul>
+<a id="getPositionalError()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>getPositionalError</h4>
+<pre class="methodSignature">public&nbsp;double&nbsp;getPositionalError()</pre>
+<div class="block">Get the current positional error between the robot's actual and target positions</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
+<dd><code><a href="PathFollowingController.html#getPositionalError()">getPositionalError</a></code>&nbsp;in interface&nbsp;<code><a href="PathFollowingController.html" title="interface in com.pathplanner.lib.controllers">PathFollowingController</a></code></dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>Positional error, in meters</dd>
+</dl>
+</li>
+</ul>
+<a id="isHolonomic()">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>isHolonomic</h4>
+<pre class="methodSignature">public&nbsp;boolean&nbsp;isHolonomic()</pre>
+<div class="block">Is this controller for holonomic drivetrains? Used to handle some differences in functionality
+ in the path following command.</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
+<dd><code><a href="PathFollowingController.html#isHolonomic()">isHolonomic</a></code>&nbsp;in interface&nbsp;<code><a href="PathFollowingController.html" title="interface in com.pathplanner.lib.controllers">PathFollowingController</a></code></dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>True if this controller is for a holonomic drive train</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+</div>
+</main>
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diff --git a/docs/java/com/pathplanner/lib/controllers/PPLTVController.html b/docs/java/com/pathplanner/lib/controllers/PPLTVController.html
new file mode 100644
index 00000000..f739249e
--- /dev/null
+++ b/docs/java/com/pathplanner/lib/controllers/PPLTVController.html
@@ -0,0 +1,517 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
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+<main role="main">
+<div class="header">
+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">com.pathplanner.lib.controllers</a></div>
+<h2 title="Class PPLTVController" class="title">Class PPLTVController</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
+<li>
+<ul class="inheritance">
+<li><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/controller/LTVUnicycleController.html?is-external=true" title="class or interface in edu.wpi.first.math.controller" class="externalLink">edu.wpi.first.math.controller.LTVUnicycleController</a></li>
+<li>
+<ul class="inheritance">
+<li>com.pathplanner.lib.controllers.PPLTVController</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<dl>
+<dt>All Implemented Interfaces:</dt>
+<dd><code><a href="PathFollowingController.html" title="interface in com.pathplanner.lib.controllers">PathFollowingController</a></code></dd>
+</dl>
+<hr>
+<pre>public class <span class="typeNameLabel">PPLTVController</span>
+extends <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/controller/LTVUnicycleController.html?is-external=true" title="class or interface in edu.wpi.first.math.controller" class="externalLink">LTVUnicycleController</a>
+implements <a href="PathFollowingController.html" title="interface in com.pathplanner.lib.controllers">PathFollowingController</a></pre>
+<div class="block">LTV following controller</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.summary">
+<!--   -->
+</a>
+<h3>Constructor Summary</h3>
+<table class="memberSummary">
+<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double)">PPLTVController</a></span>&#8203;(double&nbsp;dt)</code></th>
+<td class="colLast">
+<div class="block">Constructs a linear time-varying unicycle controller with default maximum desired error
+ tolerances of (0.0625 m, 0.125 m, 2 rad) and default maximum desired control effort of (1 m/s,
+ 2 rad/s).</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double,double)">PPLTVController</a></span>&#8203;(double&nbsp;dt,
+               double&nbsp;maxVelocity)</code></th>
+<td class="colLast">
+<div class="block">Constructs a linear time-varying unicycle controller with default maximum desired error
+ tolerances of (0.0625 m, 0.125 m, 2 rad) and default maximum desired control effort of (1 m/s,
+ 2 rad/s).</div>
+</td>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(edu.wpi.first.math.Vector,edu.wpi.first.math.Vector,double)">PPLTVController</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/Vector.html?is-external=true" title="class or interface in edu.wpi.first.math" class="externalLink">Vector</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/numbers/N3.html?is-external=true" title="class or interface in edu.wpi.first.math.numbers" class="externalLink">N3</a>&gt;&nbsp;qelems,
+               <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/Vector.html?is-external=true" title="class or interface in edu.wpi.first.math" class="externalLink">Vector</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/numbers/N2.html?is-external=true" title="class or interface in edu.wpi.first.math.numbers" class="externalLink">N2</a>&gt;&nbsp;relems,
+               double&nbsp;dt)</code></th>
+<td class="colLast">
+<div class="block">Constructs a linear time-varying unicycle controller.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(edu.wpi.first.math.Vector,edu.wpi.first.math.Vector,double,double)">PPLTVController</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/Vector.html?is-external=true" title="class or interface in edu.wpi.first.math" class="externalLink">Vector</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/numbers/N3.html?is-external=true" title="class or interface in edu.wpi.first.math.numbers" class="externalLink">N3</a>&gt;&nbsp;qelems,
+               <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/Vector.html?is-external=true" title="class or interface in edu.wpi.first.math" class="externalLink">Vector</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/numbers/N2.html?is-external=true" title="class or interface in edu.wpi.first.math.numbers" class="externalLink">N2</a>&gt;&nbsp;relems,
+               double&nbsp;dt,
+               double&nbsp;maxVelocity)</code></th>
+<td class="colLast">
+<div class="block">Constructs a linear time-varying unicycle controller.</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ========== METHOD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.summary">
+<!--   -->
+</a>
+<h3>Method Summary</h3>
+<table class="memberSummary">
+<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr id="i0" class="altColor">
+<td class="colFirst"><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#calculateRobotRelativeSpeeds(edu.wpi.first.math.geometry.Pose2d,com.pathplanner.lib.path.PathPlannerTrajectory.State)">calculateRobotRelativeSpeeds</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;currentPose,
+                            <a href="../path/PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory.State</a>&nbsp;targetState)</code></th>
+<td class="colLast">
+<div class="block">Calculates the next output of the path following controller</div>
+</td>
+</tr>
+<tr id="i1" class="rowColor">
+<td class="colFirst"><code>double</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getPositionalError()">getPositionalError</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Get the current positional error between the robot's actual and target positions</div>
+</td>
+</tr>
+<tr id="i2" class="altColor">
+<td class="colFirst"><code>boolean</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#isHolonomic()">isHolonomic</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Is this controller for holonomic drivetrains? Used to handle some differences in functionality
+ in the path following command.</div>
+</td>
+</tr>
+<tr id="i3" class="rowColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#reset(edu.wpi.first.math.geometry.Pose2d,edu.wpi.first.math.kinematics.ChassisSpeeds)">reset</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;currentPose,
+     <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&nbsp;currentSpeeds)</code></th>
+<td class="colLast">
+<div class="block">Resets the controller based on the current state of the robot</div>
+</td>
+</tr>
+</table>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.edu.wpi.first.math.controller.LTVUnicycleController">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;edu.wpi.first.math.controller.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/controller/LTVUnicycleController.html?is-external=true" title="class or interface in edu.wpi.first.math.controller" class="externalLink">LTVUnicycleController</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/controller/LTVUnicycleController.html?is-external=true#atReference()" title="class or interface in edu.wpi.first.math.controller" class="externalLink">atReference</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/controller/LTVUnicycleController.html?is-external=true#calculate(edu.wpi.first.math.geometry.Pose2d,edu.wpi.first.math.geometry.Pose2d,double,double)" title="class or interface in edu.wpi.first.math.controller" class="externalLink">calculate</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/controller/LTVUnicycleController.html?is-external=true#calculate(edu.wpi.first.math.geometry.Pose2d,edu.wpi.first.math.trajectory.Trajectory.State)" title="class or interface in edu.wpi.first.math.controller" class="externalLink">calculate</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/controller/LTVUnicycleController.html?is-external=true#setEnabled(boolean)" title="class or interface in edu.wpi.first.math.controller" class="externalLink">setEnabled</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/controller/LTVUnicycleController.html?is-external=true#setTolerance(edu.wpi.first.math.geometry.Pose2d)" title="class or interface in edu.wpi.first.math.controller" class="externalLink">setTolerance</a></code></li>
+</ul>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
+<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+<div class="details">
+<ul class="blockList">
+<li class="blockList">
+<!-- ========= CONSTRUCTOR DETAIL ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.detail">
+<!--   -->
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+<a id="&lt;init&gt;(double)">
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+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>PPLTVController</h4>
+<pre>public&nbsp;PPLTVController&#8203;(double&nbsp;dt)</pre>
+<div class="block">Constructs a linear time-varying unicycle controller with default maximum desired error
+ tolerances of (0.0625 m, 0.125 m, 2 rad) and default maximum desired control effort of (1 m/s,
+ 2 rad/s).</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>dt</code> - Discretization timestep in seconds.</dd>
+</dl>
+</li>
+</ul>
+<a id="&lt;init&gt;(double,double)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>PPLTVController</h4>
+<pre>public&nbsp;PPLTVController&#8203;(double&nbsp;dt,
+                       double&nbsp;maxVelocity)</pre>
+<div class="block">Constructs a linear time-varying unicycle controller with default maximum desired error
+ tolerances of (0.0625 m, 0.125 m, 2 rad) and default maximum desired control effort of (1 m/s,
+ 2 rad/s).</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>dt</code> - Discretization timestep in seconds.</dd>
+<dd><code>maxVelocity</code> - The maximum velocity in meters per second for the controller gain lookup
+     table. The default is 9 m/s.</dd>
+<dt><span class="throwsLabel">Throws:</span></dt>
+<dd><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/IllegalArgumentException.html?is-external=true" title="class or interface in java.lang" class="externalLink">IllegalArgumentException</a></code> - if maxVelocity &lt;= 0.</dd>
+</dl>
+</li>
+</ul>
+<a id="&lt;init&gt;(edu.wpi.first.math.Vector,edu.wpi.first.math.Vector,double)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>PPLTVController</h4>
+<pre>public&nbsp;PPLTVController&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/Vector.html?is-external=true" title="class or interface in edu.wpi.first.math" class="externalLink">Vector</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/numbers/N3.html?is-external=true" title="class or interface in edu.wpi.first.math.numbers" class="externalLink">N3</a>&gt;&nbsp;qelems,
+                       <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/Vector.html?is-external=true" title="class or interface in edu.wpi.first.math" class="externalLink">Vector</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/numbers/N2.html?is-external=true" title="class or interface in edu.wpi.first.math.numbers" class="externalLink">N2</a>&gt;&nbsp;relems,
+                       double&nbsp;dt)</pre>
+<div class="block">Constructs a linear time-varying unicycle controller.
+
+ <p>See
+ https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning
+ for how to select the tolerances.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>qelems</code> - The maximum desired error tolerance for each state.</dd>
+<dd><code>relems</code> - The maximum desired control effort for each input.</dd>
+<dd><code>dt</code> - Discretization timestep in seconds.</dd>
+</dl>
+</li>
+</ul>
+<a id="&lt;init&gt;(edu.wpi.first.math.Vector,edu.wpi.first.math.Vector,double,double)">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>PPLTVController</h4>
+<pre>public&nbsp;PPLTVController&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/Vector.html?is-external=true" title="class or interface in edu.wpi.first.math" class="externalLink">Vector</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/numbers/N3.html?is-external=true" title="class or interface in edu.wpi.first.math.numbers" class="externalLink">N3</a>&gt;&nbsp;qelems,
+                       <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/Vector.html?is-external=true" title="class or interface in edu.wpi.first.math" class="externalLink">Vector</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/numbers/N2.html?is-external=true" title="class or interface in edu.wpi.first.math.numbers" class="externalLink">N2</a>&gt;&nbsp;relems,
+                       double&nbsp;dt,
+                       double&nbsp;maxVelocity)</pre>
+<div class="block">Constructs a linear time-varying unicycle controller.
+
+ <p>See
+ https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning
+ for how to select the tolerances.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>qelems</code> - The maximum desired error tolerance for each state.</dd>
+<dd><code>relems</code> - The maximum desired control effort for each input.</dd>
+<dd><code>dt</code> - Discretization timestep in seconds.</dd>
+<dd><code>maxVelocity</code> - The maximum velocity in meters per second for the controller gain lookup
+     table. The default is 9 m/s.</dd>
+<dt><span class="throwsLabel">Throws:</span></dt>
+<dd><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/IllegalArgumentException.html?is-external=true" title="class or interface in java.lang" class="externalLink">IllegalArgumentException</a></code> - if maxVelocity &lt;= 0 m/s or &gt;= 15 m/s.</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- ============ METHOD DETAIL ========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.detail">
+<!--   -->
+</a>
+<h3>Method Detail</h3>
+<a id="calculateRobotRelativeSpeeds(edu.wpi.first.math.geometry.Pose2d,com.pathplanner.lib.path.PathPlannerTrajectory.State)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>calculateRobotRelativeSpeeds</h4>
+<pre class="methodSignature">public&nbsp;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&nbsp;calculateRobotRelativeSpeeds&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;currentPose,
+                                                  <a href="../path/PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory.State</a>&nbsp;targetState)</pre>
+<div class="block">Calculates the next output of the path following controller</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
+<dd><code><a href="PathFollowingController.html#calculateRobotRelativeSpeeds(edu.wpi.first.math.geometry.Pose2d,com.pathplanner.lib.path.PathPlannerTrajectory.State)">calculateRobotRelativeSpeeds</a></code>&nbsp;in interface&nbsp;<code><a href="PathFollowingController.html" title="interface in com.pathplanner.lib.controllers">PathFollowingController</a></code></dd>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>currentPose</code> - The current robot pose</dd>
+<dd><code>targetState</code> - The desired trajectory state</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>The next robot relative output of the path following controller</dd>
+</dl>
+</li>
+</ul>
+<a id="reset(edu.wpi.first.math.geometry.Pose2d,edu.wpi.first.math.kinematics.ChassisSpeeds)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>reset</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;reset&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;currentPose,
+                  <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&nbsp;currentSpeeds)</pre>
+<div class="block">Resets the controller based on the current state of the robot</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
+<dd><code><a href="PathFollowingController.html#reset(edu.wpi.first.math.geometry.Pose2d,edu.wpi.first.math.kinematics.ChassisSpeeds)">reset</a></code>&nbsp;in interface&nbsp;<code><a href="PathFollowingController.html" title="interface in com.pathplanner.lib.controllers">PathFollowingController</a></code></dd>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>currentPose</code> - Current robot pose</dd>
+<dd><code>currentSpeeds</code> - Current robot relative chassis speeds</dd>
+</dl>
+</li>
+</ul>
+<a id="getPositionalError()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>getPositionalError</h4>
+<pre class="methodSignature">public&nbsp;double&nbsp;getPositionalError()</pre>
+<div class="block">Get the current positional error between the robot's actual and target positions</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
+<dd><code><a href="PathFollowingController.html#getPositionalError()">getPositionalError</a></code>&nbsp;in interface&nbsp;<code><a href="PathFollowingController.html" title="interface in com.pathplanner.lib.controllers">PathFollowingController</a></code></dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>Positional error, in meters</dd>
+</dl>
+</li>
+</ul>
+<a id="isHolonomic()">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>isHolonomic</h4>
+<pre class="methodSignature">public&nbsp;boolean&nbsp;isHolonomic()</pre>
+<div class="block">Is this controller for holonomic drivetrains? Used to handle some differences in functionality
+ in the path following command.</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
+<dd><code><a href="PathFollowingController.html#isHolonomic()">isHolonomic</a></code>&nbsp;in interface&nbsp;<code><a href="PathFollowingController.html" title="interface in com.pathplanner.lib.controllers">PathFollowingController</a></code></dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>True if this controller is for a holonomic drive train</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+</div>
+</main>
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diff --git a/docs/java/com/pathplanner/lib/controllers/PPRamseteController.html b/docs/java/com/pathplanner/lib/controllers/PPRamseteController.html
new file mode 100644
index 00000000..c73876ce
--- /dev/null
+++ b/docs/java/com/pathplanner/lib/controllers/PPRamseteController.html
@@ -0,0 +1,439 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc -->
+<title>PPRamseteController (pathplannerlib API)</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
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+    }
+    catch(err) {
+    }
+//-->
+var data = {"i0":10,"i1":10,"i2":10,"i3":10};
+var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]};
+var altColor = "altColor";
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+<li><a href="../../../../index.html">Overview</a></li>
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+<ul class="subNavList">
+<li>Summary:&nbsp;</li>
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+<li>Field&nbsp;|&nbsp;</li>
+<li><a href="#constructor.summary">Constr</a>&nbsp;|&nbsp;</li>
+<li><a href="#method.summary">Method</a></li>
+</ul>
+<ul class="subNavList">
+<li>Detail:&nbsp;</li>
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+<li><a href="#constructor.detail">Constr</a>&nbsp;|&nbsp;</li>
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+$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
+//-->
+</script>
+</nav>
+</header>
+<!-- ======== START OF CLASS DATA ======== -->
+<main role="main">
+<div class="header">
+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">com.pathplanner.lib.controllers</a></div>
+<h2 title="Class PPRamseteController" class="title">Class PPRamseteController</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
+<li>
+<ul class="inheritance">
+<li><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/controller/RamseteController.html?is-external=true" title="class or interface in edu.wpi.first.math.controller" class="externalLink">edu.wpi.first.math.controller.RamseteController</a></li>
+<li>
+<ul class="inheritance">
+<li>com.pathplanner.lib.controllers.PPRamseteController</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<dl>
+<dt>All Implemented Interfaces:</dt>
+<dd><code><a href="PathFollowingController.html" title="interface in com.pathplanner.lib.controllers">PathFollowingController</a></code></dd>
+</dl>
+<hr>
+<pre>public class <span class="typeNameLabel">PPRamseteController</span>
+extends <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/controller/RamseteController.html?is-external=true" title="class or interface in edu.wpi.first.math.controller" class="externalLink">RamseteController</a>
+implements <a href="PathFollowingController.html" title="interface in com.pathplanner.lib.controllers">PathFollowingController</a></pre>
+<div class="block">Ramsete path following controller</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.summary">
+<!--   -->
+</a>
+<h3>Constructor Summary</h3>
+<table class="memberSummary">
+<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">PPRamseteController</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Construct a Ramsete unicycle controller.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double,double)">PPRamseteController</a></span>&#8203;(double&nbsp;b,
+                   double&nbsp;zeta)</code></th>
+<td class="colLast">
+<div class="block">Construct a Ramsete unicycle controller.</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ========== METHOD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.summary">
+<!--   -->
+</a>
+<h3>Method Summary</h3>
+<table class="memberSummary">
+<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr id="i0" class="altColor">
+<td class="colFirst"><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#calculateRobotRelativeSpeeds(edu.wpi.first.math.geometry.Pose2d,com.pathplanner.lib.path.PathPlannerTrajectory.State)">calculateRobotRelativeSpeeds</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;currentPose,
+                            <a href="../path/PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory.State</a>&nbsp;targetState)</code></th>
+<td class="colLast">
+<div class="block">Calculates the next output of the path following controller</div>
+</td>
+</tr>
+<tr id="i1" class="rowColor">
+<td class="colFirst"><code>double</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getPositionalError()">getPositionalError</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Get the current positional error between the robot's actual and target positions</div>
+</td>
+</tr>
+<tr id="i2" class="altColor">
+<td class="colFirst"><code>boolean</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#isHolonomic()">isHolonomic</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Is this controller for holonomic drivetrains? Used to handle some differences in functionality
+ in the path following command.</div>
+</td>
+</tr>
+<tr id="i3" class="rowColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#reset(edu.wpi.first.math.geometry.Pose2d,edu.wpi.first.math.kinematics.ChassisSpeeds)">reset</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;currentPose,
+     <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&nbsp;currentSpeeds)</code></th>
+<td class="colLast">
+<div class="block">Resets the controller based on the current state of the robot</div>
+</td>
+</tr>
+</table>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.edu.wpi.first.math.controller.RamseteController">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;edu.wpi.first.math.controller.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/controller/RamseteController.html?is-external=true" title="class or interface in edu.wpi.first.math.controller" class="externalLink">RamseteController</a></h3>
+<code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/controller/RamseteController.html?is-external=true#atReference()" title="class or interface in edu.wpi.first.math.controller" class="externalLink">atReference</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/controller/RamseteController.html?is-external=true#calculate(edu.wpi.first.math.geometry.Pose2d,edu.wpi.first.math.geometry.Pose2d,double,double)" title="class or interface in edu.wpi.first.math.controller" class="externalLink">calculate</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/controller/RamseteController.html?is-external=true#calculate(edu.wpi.first.math.geometry.Pose2d,edu.wpi.first.math.trajectory.Trajectory.State)" title="class or interface in edu.wpi.first.math.controller" class="externalLink">calculate</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/controller/RamseteController.html?is-external=true#setEnabled(boolean)" title="class or interface in edu.wpi.first.math.controller" class="externalLink">setEnabled</a>, <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/controller/RamseteController.html?is-external=true#setTolerance(edu.wpi.first.math.geometry.Pose2d)" title="class or interface in edu.wpi.first.math.controller" class="externalLink">setTolerance</a></code></li>
+</ul>
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+<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
+<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+<div class="details">
+<ul class="blockList">
+<li class="blockList">
+<!-- ========= CONSTRUCTOR DETAIL ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.detail">
+<!--   -->
+</a>
+<h3>Constructor Detail</h3>
+<a id="&lt;init&gt;(double,double)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>PPRamseteController</h4>
+<pre>public&nbsp;PPRamseteController&#8203;(double&nbsp;b,
+                           double&nbsp;zeta)</pre>
+<div class="block">Construct a Ramsete unicycle controller.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>b</code> - Tuning parameter (b &gt; 0 rad^2/m^2) for which larger values make convergence more
+     aggressive like a proportional term.</dd>
+<dd><code>zeta</code> - Tuning parameter (0 rad^-1 &lt; zeta &lt; 1 rad^-1) for which larger values provide
+     more damping in response.</dd>
+</dl>
+</li>
+</ul>
+<a id="&lt;init&gt;()">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>PPRamseteController</h4>
+<pre>public&nbsp;PPRamseteController()</pre>
+<div class="block">Construct a Ramsete unicycle controller. The default arguments for b and zeta of 2.0 rad^2/m^2
+ and 0.7 rad^-1 have been well-tested to produce desirable results.</div>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- ============ METHOD DETAIL ========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.detail">
+<!--   -->
+</a>
+<h3>Method Detail</h3>
+<a id="calculateRobotRelativeSpeeds(edu.wpi.first.math.geometry.Pose2d,com.pathplanner.lib.path.PathPlannerTrajectory.State)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>calculateRobotRelativeSpeeds</h4>
+<pre class="methodSignature">public&nbsp;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&nbsp;calculateRobotRelativeSpeeds&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;currentPose,
+                                                  <a href="../path/PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory.State</a>&nbsp;targetState)</pre>
+<div class="block">Calculates the next output of the path following controller</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
+<dd><code><a href="PathFollowingController.html#calculateRobotRelativeSpeeds(edu.wpi.first.math.geometry.Pose2d,com.pathplanner.lib.path.PathPlannerTrajectory.State)">calculateRobotRelativeSpeeds</a></code>&nbsp;in interface&nbsp;<code><a href="PathFollowingController.html" title="interface in com.pathplanner.lib.controllers">PathFollowingController</a></code></dd>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>currentPose</code> - The current robot pose</dd>
+<dd><code>targetState</code> - The desired trajectory state</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>The next robot relative output of the path following controller</dd>
+</dl>
+</li>
+</ul>
+<a id="reset(edu.wpi.first.math.geometry.Pose2d,edu.wpi.first.math.kinematics.ChassisSpeeds)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>reset</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;reset&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;currentPose,
+                  <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&nbsp;currentSpeeds)</pre>
+<div class="block">Resets the controller based on the current state of the robot</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
+<dd><code><a href="PathFollowingController.html#reset(edu.wpi.first.math.geometry.Pose2d,edu.wpi.first.math.kinematics.ChassisSpeeds)">reset</a></code>&nbsp;in interface&nbsp;<code><a href="PathFollowingController.html" title="interface in com.pathplanner.lib.controllers">PathFollowingController</a></code></dd>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>currentPose</code> - Current robot pose</dd>
+<dd><code>currentSpeeds</code> - Current robot relative chassis speeds</dd>
+</dl>
+</li>
+</ul>
+<a id="getPositionalError()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>getPositionalError</h4>
+<pre class="methodSignature">public&nbsp;double&nbsp;getPositionalError()</pre>
+<div class="block">Get the current positional error between the robot's actual and target positions</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
+<dd><code><a href="PathFollowingController.html#getPositionalError()">getPositionalError</a></code>&nbsp;in interface&nbsp;<code><a href="PathFollowingController.html" title="interface in com.pathplanner.lib.controllers">PathFollowingController</a></code></dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>Positional error, in meters</dd>
+</dl>
+</li>
+</ul>
+<a id="isHolonomic()">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>isHolonomic</h4>
+<pre class="methodSignature">public&nbsp;boolean&nbsp;isHolonomic()</pre>
+<div class="block">Is this controller for holonomic drivetrains? Used to handle some differences in functionality
+ in the path following command.</div>
+<dl>
+<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
+<dd><code><a href="PathFollowingController.html#isHolonomic()">isHolonomic</a></code>&nbsp;in interface&nbsp;<code><a href="PathFollowingController.html" title="interface in com.pathplanner.lib.controllers">PathFollowingController</a></code></dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>True if this controller is for a holonomic drive train</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+</div>
+</main>
+<!-- ========= END OF CLASS DATA ========= -->
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diff --git a/docs/java/com/pathplanner/lib/controllers/PathFollowingController.html b/docs/java/com/pathplanner/lib/controllers/PathFollowingController.html
new file mode 100644
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--- /dev/null
+++ b/docs/java/com/pathplanner/lib/controllers/PathFollowingController.html
@@ -0,0 +1,333 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc -->
+<title>PathFollowingController (pathplannerlib API)</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
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+<link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.min.css" title="Style">
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+    catch(err) {
+    }
+//-->
+var data = {"i0":6,"i1":6,"i2":6,"i3":6};
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+loadScripts(document, 'script');</script>
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+<!-- ======== START OF CLASS DATA ======== -->
+<main role="main">
+<div class="header">
+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">com.pathplanner.lib.controllers</a></div>
+<h2 title="Interface PathFollowingController" class="title">Interface PathFollowingController</h2>
+</div>
+<div class="contentContainer">
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<dl>
+<dt>All Known Implementing Classes:</dt>
+<dd><code><a href="PPHolonomicDriveController.html" title="class in com.pathplanner.lib.controllers">PPHolonomicDriveController</a></code>, <code><a href="PPLTVController.html" title="class in com.pathplanner.lib.controllers">PPLTVController</a></code>, <code><a href="PPRamseteController.html" title="class in com.pathplanner.lib.controllers">PPRamseteController</a></code></dd>
+</dl>
+<hr>
+<pre>public interface <span class="typeNameLabel">PathFollowingController</span></pre>
+<div class="block">Interface used by path following controllers</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- ========== METHOD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.summary">
+<!--   -->
+</a>
+<h3>Method Summary</h3>
+<table class="memberSummary">
+<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t3" class="tableTab"><span><a href="javascript:show(4);">Abstract Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr id="i0" class="altColor">
+<td class="colFirst"><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#calculateRobotRelativeSpeeds(edu.wpi.first.math.geometry.Pose2d,com.pathplanner.lib.path.PathPlannerTrajectory.State)">calculateRobotRelativeSpeeds</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;currentPose,
+                            <a href="../path/PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory.State</a>&nbsp;targetState)</code></th>
+<td class="colLast">
+<div class="block">Calculates the next output of the path following controller</div>
+</td>
+</tr>
+<tr id="i1" class="rowColor">
+<td class="colFirst"><code>double</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getPositionalError()">getPositionalError</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Get the current positional error between the robot's actual and target positions</div>
+</td>
+</tr>
+<tr id="i2" class="altColor">
+<td class="colFirst"><code>boolean</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#isHolonomic()">isHolonomic</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Is this controller for holonomic drivetrains? Used to handle some differences in functionality
+ in the path following command.</div>
+</td>
+</tr>
+<tr id="i3" class="rowColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#reset(edu.wpi.first.math.geometry.Pose2d,edu.wpi.first.math.kinematics.ChassisSpeeds)">reset</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;currentPose,
+     <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&nbsp;currentSpeeds)</code></th>
+<td class="colLast">
+<div class="block">Resets the controller based on the current state of the robot</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+<div class="details">
+<ul class="blockList">
+<li class="blockList">
+<!-- ============ METHOD DETAIL ========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.detail">
+<!--   -->
+</a>
+<h3>Method Detail</h3>
+<a id="calculateRobotRelativeSpeeds(edu.wpi.first.math.geometry.Pose2d,com.pathplanner.lib.path.PathPlannerTrajectory.State)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>calculateRobotRelativeSpeeds</h4>
+<pre class="methodSignature"><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&nbsp;calculateRobotRelativeSpeeds&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;currentPose,
+                                           <a href="../path/PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory.State</a>&nbsp;targetState)</pre>
+<div class="block">Calculates the next output of the path following controller</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>currentPose</code> - The current robot pose</dd>
+<dd><code>targetState</code> - The desired trajectory state</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>The next robot relative output of the path following controller</dd>
+</dl>
+</li>
+</ul>
+<a id="reset(edu.wpi.first.math.geometry.Pose2d,edu.wpi.first.math.kinematics.ChassisSpeeds)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>reset</h4>
+<pre class="methodSignature">void&nbsp;reset&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;currentPose,
+           <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&nbsp;currentSpeeds)</pre>
+<div class="block">Resets the controller based on the current state of the robot</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>currentPose</code> - Current robot pose</dd>
+<dd><code>currentSpeeds</code> - Current robot relative chassis speeds</dd>
+</dl>
+</li>
+</ul>
+<a id="getPositionalError()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>getPositionalError</h4>
+<pre class="methodSignature">double&nbsp;getPositionalError()</pre>
+<div class="block">Get the current positional error between the robot's actual and target positions</div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>Positional error, in meters</dd>
+</dl>
+</li>
+</ul>
+<a id="isHolonomic()">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>isHolonomic</h4>
+<pre class="methodSignature">boolean&nbsp;isHolonomic()</pre>
+<div class="block">Is this controller for holonomic drivetrains? Used to handle some differences in functionality
+ in the path following command.</div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>True if this controller is for a holonomic drive train</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
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+<th class="colFirst" scope="row"><a href="PathFollowingController.html" title="interface in com.pathplanner.lib.controllers">PathFollowingController</a></th>
+<td class="colLast">
+<div class="block">Interface used by path following controllers</div>
+</td>
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+<th class="colFirst" scope="row"><a href="PPHolonomicDriveController.html" title="class in com.pathplanner.lib.controllers">PPHolonomicDriveController</a></th>
+<td class="colLast">
+<div class="block">Path following controller for holonomic drive trains</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><a href="PPLTVController.html" title="class in com.pathplanner.lib.controllers">PPLTVController</a></th>
+<td class="colLast">
+<div class="block">LTV following controller</div>
+</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><a href="PPRamseteController.html" title="class in com.pathplanner.lib.controllers">PPRamseteController</a></th>
+<td class="colLast">
+<div class="block">Ramsete path following controller</div>
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+<!DOCTYPE HTML>
+<!-- NewPage -->
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+<title>com.pathplanner.lib.controllers Class Hierarchy (pathplannerlib API)</title>
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+<li><a href="../../../../overview-tree.html">All Packages</a></li>
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+<h2 title="Class Hierarchy">Class Hierarchy</h2>
+<ul>
+<li class="circle">java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink"><span class="typeNameLink">Object</span></a>
+<ul>
+<li class="circle">edu.wpi.first.math.controller.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/controller/LTVUnicycleController.html?is-external=true" title="class or interface in edu.wpi.first.math.controller" class="externalLink"><span class="typeNameLink">LTVUnicycleController</span></a>
+<ul>
+<li class="circle">com.pathplanner.lib.controllers.<a href="PPLTVController.html" title="class in com.pathplanner.lib.controllers"><span class="typeNameLink">PPLTVController</span></a> (implements com.pathplanner.lib.controllers.<a href="PathFollowingController.html" title="interface in com.pathplanner.lib.controllers">PathFollowingController</a>)</li>
+</ul>
+</li>
+<li class="circle">com.pathplanner.lib.controllers.<a href="PPHolonomicDriveController.html" title="class in com.pathplanner.lib.controllers"><span class="typeNameLink">PPHolonomicDriveController</span></a> (implements com.pathplanner.lib.controllers.<a href="PathFollowingController.html" title="interface in com.pathplanner.lib.controllers">PathFollowingController</a>)</li>
+<li class="circle">edu.wpi.first.math.controller.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/controller/RamseteController.html?is-external=true" title="class or interface in edu.wpi.first.math.controller" class="externalLink"><span class="typeNameLink">RamseteController</span></a>
+<ul>
+<li class="circle">com.pathplanner.lib.controllers.<a href="PPRamseteController.html" title="class in com.pathplanner.lib.controllers"><span class="typeNameLink">PPRamseteController</span></a> (implements com.pathplanner.lib.controllers.<a href="PathFollowingController.html" title="interface in com.pathplanner.lib.controllers">PathFollowingController</a>)</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+<section>
+<h2 title="Interface Hierarchy">Interface Hierarchy</h2>
+<ul>
+<li class="circle">com.pathplanner.lib.controllers.<a href="PathFollowingController.html" title="interface in com.pathplanner.lib.controllers"><span class="typeNameLink">PathFollowingController</span></a></li>
+</ul>
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diff --git a/docs/java/com/pathplanner/lib/path/ConstraintsZone.html b/docs/java/com/pathplanner/lib/path/ConstraintsZone.html
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+<div class="header">
+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">com.pathplanner.lib.path</a></div>
+<h2 title="Class ConstraintsZone" class="title">Class ConstraintsZone</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
+<li>
+<ul class="inheritance">
+<li>com.pathplanner.lib.path.ConstraintsZone</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<hr>
+<pre>public class <span class="typeNameLabel">ConstraintsZone</span>
+extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
+<div class="block">A zone on a path with different kinematic constraints</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.summary">
+<!--   -->
+</a>
+<h3>Constructor Summary</h3>
+<table class="memberSummary">
+<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double,double,com.pathplanner.lib.path.PathConstraints)">ConstraintsZone</a></span>&#8203;(double&nbsp;minWaypointPos,
+               double&nbsp;maxWaypointPos,
+               <a href="PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints)</code></th>
+<td class="colLast">
+<div class="block">Create a new constraints zone</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ========== METHOD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.summary">
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+<h3>Method Summary</h3>
+<table class="memberSummary">
+<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr id="i0" class="altColor">
+<td class="colFirst"><code>boolean</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#equals(java.lang.Object)">equals</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a>&nbsp;o)</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr id="i1" class="rowColor">
+<td class="colFirst"><code><a href="ConstraintsZone.html" title="class in com.pathplanner.lib.path">ConstraintsZone</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#forSegmentIndex(int)">forSegmentIndex</a></span>&#8203;(int&nbsp;segmentIndex)</code></th>
+<td class="colLast">
+<div class="block">Transform the positions of this zone for a given segment number.</div>
+</td>
+</tr>
+<tr id="i2" class="altColor">
+<td class="colFirst"><code><a href="PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getConstraints()">getConstraints</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Get the constraints for this zone</div>
+</td>
+</tr>
+<tr id="i3" class="rowColor">
+<td class="colFirst"><code>double</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getMaxWaypointPos()">getMaxWaypointPos</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Get the end position of the zone</div>
+</td>
+</tr>
+<tr id="i4" class="altColor">
+<td class="colFirst"><code>double</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getMinWaypointPos()">getMinWaypointPos</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Get the starting position of the zone</div>
+</td>
+</tr>
+<tr id="i5" class="rowColor">
+<td class="colFirst"><code>int</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#hashCode()">hashCode</a></span>()</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr id="i6" class="altColor">
+<td class="colFirst"><code>boolean</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#isWithinZone(double)">isWithinZone</a></span>&#8203;(double&nbsp;t)</code></th>
+<td class="colLast">
+<div class="block">Get if a given waypoint relative position is within this zone</div>
+</td>
+</tr>
+<tr id="i7" class="rowColor">
+<td class="colFirst"><code>boolean</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#overlapsRange(double,double)">overlapsRange</a></span>&#8203;(double&nbsp;minPos,
+             double&nbsp;maxPos)</code></th>
+<td class="colLast">
+<div class="block">Get if this zone overlaps a given range</div>
+</td>
+</tr>
+</table>
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+</a>
+<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
+<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
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+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.detail">
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+<h3>Constructor Detail</h3>
+<a id="&lt;init&gt;(double,double,com.pathplanner.lib.path.PathConstraints)">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>ConstraintsZone</h4>
+<pre>public&nbsp;ConstraintsZone&#8203;(double&nbsp;minWaypointPos,
+                       double&nbsp;maxWaypointPos,
+                       <a href="PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints)</pre>
+<div class="block">Create a new constraints zone</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>minWaypointPos</code> - Starting position of the zone</dd>
+<dd><code>maxWaypointPos</code> - End position of the zone</dd>
+<dd><code>constraints</code> - The <a href="PathConstraints.html" title="class in com.pathplanner.lib.path"><code>PathConstraints</code></a> to apply within the
+     zone</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- ============ METHOD DETAIL ========== -->
+<section>
+<ul class="blockList">
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+</a>
+<h3>Method Detail</h3>
+<a id="getMinWaypointPos()">
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+</a>
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+<li class="blockList">
+<h4>getMinWaypointPos</h4>
+<pre class="methodSignature">public&nbsp;double&nbsp;getMinWaypointPos()</pre>
+<div class="block">Get the starting position of the zone</div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>Waypoint relative starting position</dd>
+</dl>
+</li>
+</ul>
+<a id="getMaxWaypointPos()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>getMaxWaypointPos</h4>
+<pre class="methodSignature">public&nbsp;double&nbsp;getMaxWaypointPos()</pre>
+<div class="block">Get the end position of the zone</div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>Waypoint relative end position</dd>
+</dl>
+</li>
+</ul>
+<a id="getConstraints()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>getConstraints</h4>
+<pre class="methodSignature">public&nbsp;<a href="PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;getConstraints()</pre>
+<div class="block">Get the constraints for this zone</div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>The <a href="PathConstraints.html" title="class in com.pathplanner.lib.path"><code>PathConstraints</code></a> for this zone</dd>
+</dl>
+</li>
+</ul>
+<a id="isWithinZone(double)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>isWithinZone</h4>
+<pre class="methodSignature">public&nbsp;boolean&nbsp;isWithinZone&#8203;(double&nbsp;t)</pre>
+<div class="block">Get if a given waypoint relative position is within this zone</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>t</code> - Waypoint relative position</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>True if given position is within this zone</dd>
+</dl>
+</li>
+</ul>
+<a id="overlapsRange(double,double)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>overlapsRange</h4>
+<pre class="methodSignature">public&nbsp;boolean&nbsp;overlapsRange&#8203;(double&nbsp;minPos,
+                             double&nbsp;maxPos)</pre>
+<div class="block">Get if this zone overlaps a given range</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>minPos</code> - The minimum waypoint relative position of the range</dd>
+<dd><code>maxPos</code> - The maximum waypoint relative position of the range</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>True if any part of this zone is within the given range</dd>
+</dl>
+</li>
+</ul>
+<a id="forSegmentIndex(int)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>forSegmentIndex</h4>
+<pre class="methodSignature">public&nbsp;<a href="ConstraintsZone.html" title="class in com.pathplanner.lib.path">ConstraintsZone</a>&nbsp;forSegmentIndex&#8203;(int&nbsp;segmentIndex)</pre>
+<div class="block">Transform the positions of this zone for a given segment number.
+
+ <p>For example, a zone from [1.5, 2.0] for the segment 1 will have the positions [0.5, 1.0]</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>segmentIndex</code> - The segment index to transform positions for</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>The transformed zone</dd>
+</dl>
+</li>
+</ul>
+<a id="equals(java.lang.Object)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>equals</h4>
+<pre class="methodSignature">public&nbsp;boolean&nbsp;equals&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a>&nbsp;o)</pre>
+<dl>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a></code>&nbsp;in class&nbsp;<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></code></dd>
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+<pre class="methodSignature">public&nbsp;int&nbsp;hashCode()</pre>
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+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a></code>&nbsp;in class&nbsp;<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></code></dd>
+</dl>
+</li>
+</ul>
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+</ul>
+</section>
+</li>
+</ul>
+</div>
+</div>
+</main>
+<!-- ========= END OF CLASS DATA ========= -->
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+<!-- NewPage -->
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+    }
+//-->
+var data = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10,"i5":10,"i6":10};
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+<li>Summary:&nbsp;</li>
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+<li>Field&nbsp;|&nbsp;</li>
+<li><a href="#constructor.summary">Constr</a>&nbsp;|&nbsp;</li>
+<li><a href="#method.summary">Method</a></li>
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+//-->
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+<!-- ======== START OF CLASS DATA ======== -->
+<main role="main">
+<div class="header">
+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">com.pathplanner.lib.path</a></div>
+<h2 title="Class EventMarker" class="title">Class EventMarker</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
+<li>
+<ul class="inheritance">
+<li>com.pathplanner.lib.path.EventMarker</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<hr>
+<pre>public class <span class="typeNameLabel">EventMarker</span>
+extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
+<div class="block">Position along the path that will trigger a command when reached</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.summary">
+<!--   -->
+</a>
+<h3>Constructor Summary</h3>
+<table class="memberSummary">
+<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double,edu.wpi.first.wpilibj2.command.Command)">EventMarker</a></span>&#8203;(double&nbsp;waypointRelativePos,
+           <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a>&nbsp;command)</code></th>
+<td class="colLast">
+<div class="block">Create a new event marker</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double,edu.wpi.first.wpilibj2.command.Command,double)">EventMarker</a></span>&#8203;(double&nbsp;waypointRelativePos,
+           <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a>&nbsp;command,
+           double&nbsp;minimumTriggerDistance)</code></th>
+<td class="colLast">
+<div class="block">Create a new event marker</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ========== METHOD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.summary">
+<!--   -->
+</a>
+<h3>Method Summary</h3>
+<table class="memberSummary">
+<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr id="i0" class="altColor">
+<td class="colFirst"><code>boolean</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#equals(java.lang.Object)">equals</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a>&nbsp;o)</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr id="i1" class="rowColor">
+<td class="colFirst"><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getCommand()">getCommand</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Get the command associated with this marker</div>
+</td>
+</tr>
+<tr id="i2" class="altColor">
+<td class="colFirst"><code>double</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getMinimumTriggerDistance()">getMinimumTriggerDistance</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Get the minimum trigger distance for this marker</div>
+</td>
+</tr>
+<tr id="i3" class="rowColor">
+<td class="colFirst"><code>double</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getWaypointRelativePos()">getWaypointRelativePos</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Get the waypoint relative position of this marker</div>
+</td>
+</tr>
+<tr id="i4" class="altColor">
+<td class="colFirst"><code>int</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#hashCode()">hashCode</a></span>()</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr id="i5" class="rowColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#reset(edu.wpi.first.math.geometry.Pose2d)">reset</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;robotPose)</code></th>
+<td class="colLast">
+<div class="block">Reset the current robot position</div>
+</td>
+</tr>
+<tr id="i6" class="altColor">
+<td class="colFirst"><code>boolean</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#shouldTrigger(edu.wpi.first.math.geometry.Pose2d)">shouldTrigger</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;robotPose)</code></th>
+<td class="colLast">
+<div class="block">Get if this event marker should be triggered</div>
+</td>
+</tr>
+</table>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
+<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
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+<!-- ========= CONSTRUCTOR DETAIL ======== -->
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+<ul class="blockList">
+<li class="blockList"><a id="constructor.detail">
+<!--   -->
+</a>
+<h3>Constructor Detail</h3>
+<a id="&lt;init&gt;(double,edu.wpi.first.wpilibj2.command.Command,double)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>EventMarker</h4>
+<pre>public&nbsp;EventMarker&#8203;(double&nbsp;waypointRelativePos,
+                   <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a>&nbsp;command,
+                   double&nbsp;minimumTriggerDistance)</pre>
+<div class="block">Create a new event marker</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>waypointRelativePos</code> - The waypoint relative position of the marker</dd>
+<dd><code>command</code> - The command that should be triggered at this marker</dd>
+<dd><code>minimumTriggerDistance</code> - The minimum distance the robot must be within for this marker to
+     be triggered</dd>
+</dl>
+</li>
+</ul>
+<a id="&lt;init&gt;(double,edu.wpi.first.wpilibj2.command.Command)">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>EventMarker</h4>
+<pre>public&nbsp;EventMarker&#8203;(double&nbsp;waypointRelativePos,
+                   <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a>&nbsp;command)</pre>
+<div class="block">Create a new event marker</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>waypointRelativePos</code> - The waypoint relative position of the marker</dd>
+<dd><code>command</code> - The command that should be triggered at this marker</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- ============ METHOD DETAIL ========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.detail">
+<!--   -->
+</a>
+<h3>Method Detail</h3>
+<a id="reset(edu.wpi.first.math.geometry.Pose2d)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>reset</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;reset&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;robotPose)</pre>
+<div class="block">Reset the current robot position</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>robotPose</code> - The current pose of the robot</dd>
+</dl>
+</li>
+</ul>
+<a id="shouldTrigger(edu.wpi.first.math.geometry.Pose2d)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>shouldTrigger</h4>
+<pre class="methodSignature">public&nbsp;boolean&nbsp;shouldTrigger&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;robotPose)</pre>
+<div class="block">Get if this event marker should be triggered</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>robotPose</code> - Current pose of the robot</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>True if this marker should be triggered</dd>
+</dl>
+</li>
+</ul>
+<a id="getCommand()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>getCommand</h4>
+<pre class="methodSignature">public&nbsp;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink">Command</a>&nbsp;getCommand()</pre>
+<div class="block">Get the command associated with this marker</div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>Command for this marker</dd>
+</dl>
+</li>
+</ul>
+<a id="getWaypointRelativePos()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>getWaypointRelativePos</h4>
+<pre class="methodSignature">public&nbsp;double&nbsp;getWaypointRelativePos()</pre>
+<div class="block">Get the waypoint relative position of this marker</div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>Waypoint relative position of this marker</dd>
+</dl>
+</li>
+</ul>
+<a id="getMinimumTriggerDistance()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>getMinimumTriggerDistance</h4>
+<pre class="methodSignature">public&nbsp;double&nbsp;getMinimumTriggerDistance()</pre>
+<div class="block">Get the minimum trigger distance for this marker</div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>The minimum trigger distance in meters</dd>
+</dl>
+</li>
+</ul>
+<a id="equals(java.lang.Object)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>equals</h4>
+<pre class="methodSignature">public&nbsp;boolean&nbsp;equals&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a>&nbsp;o)</pre>
+<dl>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a></code>&nbsp;in class&nbsp;<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></code></dd>
+</dl>
+</li>
+</ul>
+<a id="hashCode()">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>hashCode</h4>
+<pre class="methodSignature">public&nbsp;int&nbsp;hashCode()</pre>
+<dl>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a></code>&nbsp;in class&nbsp;<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></code></dd>
+</dl>
+</li>
+</ul>
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+</ul>
+</section>
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+</div>
+</div>
+</main>
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diff --git a/docs/java/com/pathplanner/lib/path/GoalEndState.html b/docs/java/com/pathplanner/lib/path/GoalEndState.html
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@@ -0,0 +1,397 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
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+//-->
+var data = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10};
+var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]};
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+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">com.pathplanner.lib.path</a></div>
+<h2 title="Class GoalEndState" class="title">Class GoalEndState</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
+<li>
+<ul class="inheritance">
+<li>com.pathplanner.lib.path.GoalEndState</li>
+</ul>
+</li>
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+extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
+<div class="block">Describes the goal end state of the robot when finishing a path</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
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+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
+<section>
+<ul class="blockList">
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+<h3>Constructor Summary</h3>
+<table class="memberSummary">
+<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double,edu.wpi.first.math.geometry.Rotation2d)">GoalEndState</a></span>&#8203;(double&nbsp;velocity,
+            <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Rotation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Rotation2d</a>&nbsp;rotation)</code></th>
+<td class="colLast">
+<div class="block">Create a new goal end state</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
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+<!-- ========== METHOD SUMMARY =========== -->
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+<ul class="blockList">
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+<h3>Method Summary</h3>
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+<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr id="i0" class="altColor">
+<td class="colFirst"><code>boolean</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#equals(java.lang.Object)">equals</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a>&nbsp;o)</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr id="i1" class="rowColor">
+<td class="colFirst"><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Rotation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Rotation2d</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getRotation()">getRotation</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Get the goal end rotation</div>
+</td>
+</tr>
+<tr id="i2" class="altColor">
+<td class="colFirst"><code>double</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getVelocity()">getVelocity</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Get the goal end velocity</div>
+</td>
+</tr>
+<tr id="i3" class="rowColor">
+<td class="colFirst"><code>int</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#hashCode()">hashCode</a></span>()</code></th>
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+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#toString()">toString</a></span>()</code></th>
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+<h4>GoalEndState</h4>
+<pre>public&nbsp;GoalEndState&#8203;(double&nbsp;velocity,
+                    <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Rotation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Rotation2d</a>&nbsp;rotation)</pre>
+<div class="block">Create a new goal end state</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>velocity</code> - The goal end velocity (M/S)</dd>
+<dd><code>rotation</code> - The goal rotation</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
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+<!-- ============ METHOD DETAIL ========== -->
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+<ul class="blockList">
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+<h3>Method Detail</h3>
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+<li class="blockList">
+<h4>getVelocity</h4>
+<pre class="methodSignature">public&nbsp;double&nbsp;getVelocity()</pre>
+<div class="block">Get the goal end velocity</div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>Goal end velocity (M/S)</dd>
+</dl>
+</li>
+</ul>
+<a id="getRotation()">
+<!--   -->
+</a>
+<ul class="blockList">
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+<h4>getRotation</h4>
+<pre class="methodSignature">public&nbsp;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Rotation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Rotation2d</a>&nbsp;getRotation()</pre>
+<div class="block">Get the goal end rotation</div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>Goal rotation</dd>
+</dl>
+</li>
+</ul>
+<a id="equals(java.lang.Object)">
+<!--   -->
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diff --git a/docs/java/com/pathplanner/lib/path/PathConstraints.html b/docs/java/com/pathplanner/lib/path/PathConstraints.html
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+<div class="header">
+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">com.pathplanner.lib.path</a></div>
+<h2 title="Class PathConstraints" class="title">Class PathConstraints</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
+<li>
+<ul class="inheritance">
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+</ul>
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+<pre>public class <span class="typeNameLabel">PathConstraints</span>
+extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
+<div class="block">Kinematic path following constraints</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
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+<h3>Constructor Summary</h3>
+<table class="memberSummary">
+<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double,double,double,double)">PathConstraints</a></span>&#8203;(double&nbsp;maxVelocityMps,
+               double&nbsp;maxAccelerationMpsSq,
+               double&nbsp;maxAngularVelocityRps,
+               double&nbsp;maxAngularAccelerationRpsSq)</code></th>
+<td class="colLast">
+<div class="block">Create a new path constraints object</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
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+<h3>Method Summary</h3>
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+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr id="i0" class="altColor">
+<td class="colFirst"><code>boolean</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#equals(java.lang.Object)">equals</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a>&nbsp;o)</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr id="i1" class="rowColor">
+<td class="colFirst"><code>double</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getMaxAccelerationMpsSq()">getMaxAccelerationMpsSq</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Get the max linear acceleration</div>
+</td>
+</tr>
+<tr id="i2" class="altColor">
+<td class="colFirst"><code>double</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getMaxAngularAccelerationRpsSq()">getMaxAngularAccelerationRpsSq</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Get the max angular acceleration</div>
+</td>
+</tr>
+<tr id="i3" class="rowColor">
+<td class="colFirst"><code>double</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getMaxAngularVelocityRps()">getMaxAngularVelocityRps</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Get the max angular velocity</div>
+</td>
+</tr>
+<tr id="i4" class="altColor">
+<td class="colFirst"><code>double</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getMaxVelocityMps()">getMaxVelocityMps</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Get the max linear velocity</div>
+</td>
+</tr>
+<tr id="i5" class="rowColor">
+<td class="colFirst"><code>int</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#hashCode()">hashCode</a></span>()</code></th>
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+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#toString()">toString</a></span>()</code></th>
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+<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
+</ul>
+</li>
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+</li>
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+<!-- ========= CONSTRUCTOR DETAIL ======== -->
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+<a id="&lt;init&gt;(double,double,double,double)">
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+</a>
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+<li class="blockList">
+<h4>PathConstraints</h4>
+<pre>public&nbsp;PathConstraints&#8203;(double&nbsp;maxVelocityMps,
+                       double&nbsp;maxAccelerationMpsSq,
+                       double&nbsp;maxAngularVelocityRps,
+                       double&nbsp;maxAngularAccelerationRpsSq)</pre>
+<div class="block">Create a new path constraints object</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>maxVelocityMps</code> - Max linear velocity (M/S)</dd>
+<dd><code>maxAccelerationMpsSq</code> - Max linear acceleration (M/S^2)</dd>
+<dd><code>maxAngularVelocityRps</code> - Max angular velocity (Rad/S)</dd>
+<dd><code>maxAngularAccelerationRpsSq</code> - Max angular acceleration (Rad/S^2)</dd>
+</dl>
+</li>
+</ul>
+</li>
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+<li class="blockList">
+<h4>getMaxVelocityMps</h4>
+<pre class="methodSignature">public&nbsp;double&nbsp;getMaxVelocityMps()</pre>
+<div class="block">Get the max linear velocity</div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>Max linear velocity (M/S)</dd>
+</dl>
+</li>
+</ul>
+<a id="getMaxAccelerationMpsSq()">
+<!--   -->
+</a>
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+<h4>getMaxAccelerationMpsSq</h4>
+<pre class="methodSignature">public&nbsp;double&nbsp;getMaxAccelerationMpsSq()</pre>
+<div class="block">Get the max linear acceleration</div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>Max linear acceleration (M/S^2)</dd>
+</dl>
+</li>
+</ul>
+<a id="getMaxAngularVelocityRps()">
+<!--   -->
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+<h4>getMaxAngularVelocityRps</h4>
+<pre class="methodSignature">public&nbsp;double&nbsp;getMaxAngularVelocityRps()</pre>
+<div class="block">Get the max angular velocity</div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>Max angular velocity (Rad/S)</dd>
+</dl>
+</li>
+</ul>
+<a id="getMaxAngularAccelerationRpsSq()">
+<!--   -->
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+<pre class="methodSignature">public&nbsp;double&nbsp;getMaxAngularAccelerationRpsSq()</pre>
+<div class="block">Get the max angular acceleration</div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>Max angular acceleration (Rad/S^2)</dd>
+</dl>
+</li>
+</ul>
+<a id="equals(java.lang.Object)">
+<!--   -->
+</a>
+<ul class="blockList">
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+<h4>equals</h4>
+<pre class="methodSignature">public&nbsp;boolean&nbsp;equals&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a>&nbsp;o)</pre>
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+<pre class="methodSignature">public&nbsp;int&nbsp;hashCode()</pre>
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+<dd><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a></code>&nbsp;in class&nbsp;<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></code></dd>
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+<dl>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
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diff --git a/docs/java/com/pathplanner/lib/path/PathPlannerPath.html b/docs/java/com/pathplanner/lib/path/PathPlannerPath.html
new file mode 100644
index 00000000..fd56228d
--- /dev/null
+++ b/docs/java/com/pathplanner/lib/path/PathPlannerPath.html
@@ -0,0 +1,732 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc -->
+<title>PathPlannerPath (pathplannerlib API)</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
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+<body>
+<script type="text/javascript"><!--
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+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="PathPlannerPath (pathplannerlib API)";
+        }
+    }
+    catch(err) {
+    }
+//-->
+var data = {"i0":9,"i1":9,"i2":10,"i3":9,"i4":9,"i5":10,"i6":10,"i7":10,"i8":10,"i9":10,"i10":10,"i11":10,"i12":10,"i13":10,"i14":10,"i15":10};
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+$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
+//-->
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+</nav>
+</header>
+<!-- ======== START OF CLASS DATA ======== -->
+<main role="main">
+<div class="header">
+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">com.pathplanner.lib.path</a></div>
+<h2 title="Class PathPlannerPath" class="title">Class PathPlannerPath</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
+<li>
+<ul class="inheritance">
+<li>com.pathplanner.lib.path.PathPlannerPath</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<hr>
+<pre>public class <span class="typeNameLabel">PathPlannerPath</span>
+extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
+<div class="block">A PathPlanner path. NOTE: This is not a trajectory and isn't directly followed.</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.summary">
+<!--   -->
+</a>
+<h3>Constructor Summary</h3>
+<table class="memberSummary">
+<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(java.util.List,com.pathplanner.lib.path.PathConstraints,com.pathplanner.lib.path.GoalEndState)">PathPlannerPath</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/List.html?is-external=true" title="class or interface in java.util" class="externalLink">List</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&gt;&nbsp;bezierPoints,
+               <a href="PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+               <a href="GoalEndState.html" title="class in com.pathplanner.lib.path">GoalEndState</a>&nbsp;goalEndState)</code></th>
+<td class="colLast">
+<div class="block">Simplified constructor to create a path with no rotation targets, constraint zones, or event
+ markers.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(java.util.List,com.pathplanner.lib.path.PathConstraints,com.pathplanner.lib.path.GoalEndState,boolean)">PathPlannerPath</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/List.html?is-external=true" title="class or interface in java.util" class="externalLink">List</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&gt;&nbsp;bezierPoints,
+               <a href="PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+               <a href="GoalEndState.html" title="class in com.pathplanner.lib.path">GoalEndState</a>&nbsp;goalEndState,
+               boolean&nbsp;reversed)</code></th>
+<td class="colLast">
+<div class="block">Simplified constructor to create a path with no rotation targets, constraint zones, or event
+ markers.</div>
+</td>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(java.util.List,java.util.List,java.util.List,java.util.List,com.pathplanner.lib.path.PathConstraints,com.pathplanner.lib.path.GoalEndState,boolean)">PathPlannerPath</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/List.html?is-external=true" title="class or interface in java.util" class="externalLink">List</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&gt;&nbsp;bezierPoints,
+               <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/List.html?is-external=true" title="class or interface in java.util" class="externalLink">List</a>&lt;<a href="RotationTarget.html" title="class in com.pathplanner.lib.path">RotationTarget</a>&gt;&nbsp;holonomicRotations,
+               <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/List.html?is-external=true" title="class or interface in java.util" class="externalLink">List</a>&lt;<a href="ConstraintsZone.html" title="class in com.pathplanner.lib.path">ConstraintsZone</a>&gt;&nbsp;constraintZones,
+               <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/List.html?is-external=true" title="class or interface in java.util" class="externalLink">List</a>&lt;<a href="EventMarker.html" title="class in com.pathplanner.lib.path">EventMarker</a>&gt;&nbsp;eventMarkers,
+               <a href="PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;globalConstraints,
+               <a href="GoalEndState.html" title="class in com.pathplanner.lib.path">GoalEndState</a>&nbsp;goalEndState,
+               boolean&nbsp;reversed)</code></th>
+<td class="colLast">
+<div class="block">Create a new path planner path</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ========== METHOD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.summary">
+<!--   -->
+</a>
+<h3>Method Summary</h3>
+<table class="memberSummary">
+<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t1" class="tableTab"><span><a href="javascript:show(1);">Static Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr id="i0" class="altColor">
+<td class="colFirst"><code>static <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/List.html?is-external=true" title="class or interface in java.util" class="externalLink">List</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&gt;</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#bezierFromPoses(edu.wpi.first.math.geometry.Pose2d...)">bezierFromPoses</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>...&nbsp;poses)</code></th>
+<td class="colLast">
+<div class="block">Create the bezier points necessary to create a path using a list of poses</div>
+</td>
+</tr>
+<tr id="i1" class="rowColor">
+<td class="colFirst"><code>static <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/List.html?is-external=true" title="class or interface in java.util" class="externalLink">List</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&gt;</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#bezierFromPoses(java.util.List)">bezierFromPoses</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/List.html?is-external=true" title="class or interface in java.util" class="externalLink">List</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poses)</code></th>
+<td class="colLast">
+<div class="block">Create the bezier points necessary to create a path using a list of poses</div>
+</td>
+</tr>
+<tr id="i2" class="altColor">
+<td class="colFirst"><code>boolean</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#equals(java.lang.Object)">equals</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a>&nbsp;o)</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr id="i3" class="rowColor">
+<td class="colFirst"><code>static <a href="PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#fromPathFile(java.lang.String)">fromPathFile</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;pathName)</code></th>
+<td class="colLast">
+<div class="block">Load a path from a path file in storage</div>
+</td>
+</tr>
+<tr id="i4" class="altColor">
+<td class="colFirst"><code>static <a href="PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#fromPathPoints(java.util.List,com.pathplanner.lib.path.PathConstraints,com.pathplanner.lib.path.GoalEndState)">fromPathPoints</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/List.html?is-external=true" title="class or interface in java.util" class="externalLink">List</a>&lt;<a href="PathPoint.html" title="class in com.pathplanner.lib.path">PathPoint</a>&gt;&nbsp;pathPoints,
+              <a href="PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+              <a href="GoalEndState.html" title="class in com.pathplanner.lib.path">GoalEndState</a>&nbsp;goalEndState)</code></th>
+<td class="colLast">
+<div class="block">Creat a path with pre-generated points.</div>
+</td>
+</tr>
+<tr id="i5" class="rowColor">
+<td class="colFirst"><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/List.html?is-external=true" title="class or interface in java.util" class="externalLink">List</a>&lt;<a href="PathPoint.html" title="class in com.pathplanner.lib.path">PathPoint</a>&gt;</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getAllPathPoints()">getAllPathPoints</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Get all the path points in this path</div>
+</td>
+</tr>
+<tr id="i6" class="altColor">
+<td class="colFirst"><code><a href="PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getConstraintsForPoint(int)">getConstraintsForPoint</a></span>&#8203;(int&nbsp;idx)</code></th>
+<td class="colLast">
+<div class="block">Get the constraints for a point along the path</div>
+</td>
+</tr>
+<tr id="i7" class="rowColor">
+<td class="colFirst"><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/List.html?is-external=true" title="class or interface in java.util" class="externalLink">List</a>&lt;<a href="EventMarker.html" title="class in com.pathplanner.lib.path">EventMarker</a>&gt;</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getEventMarkers()">getEventMarkers</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Get all the event markers for this path</div>
+</td>
+</tr>
+<tr id="i8" class="altColor">
+<td class="colFirst"><code><a href="PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getGlobalConstraints()">getGlobalConstraints</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Get the global constraints for this path</div>
+</td>
+</tr>
+<tr id="i9" class="rowColor">
+<td class="colFirst"><code><a href="GoalEndState.html" title="class in com.pathplanner.lib.path">GoalEndState</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getGoalEndState()">getGoalEndState</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Get the goal end state of this path</div>
+</td>
+</tr>
+<tr id="i10" class="altColor">
+<td class="colFirst"><code><a href="PathPoint.html" title="class in com.pathplanner.lib.path">PathPoint</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getPoint(int)">getPoint</a></span>&#8203;(int&nbsp;index)</code></th>
+<td class="colLast">
+<div class="block">Get a specific point along this path</div>
+</td>
+</tr>
+<tr id="i11" class="rowColor">
+<td class="colFirst"><code>int</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#hashCode()">hashCode</a></span>()</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr id="i12" class="altColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#hotReload(org.json.simple.JSONObject)">hotReload</a></span>&#8203;(org.json.simple.JSONObject&nbsp;pathJson)</code></th>
+<td class="colLast">
+<div class="block">Hot reload the path.</div>
+</td>
+</tr>
+<tr id="i13" class="rowColor">
+<td class="colFirst"><code>boolean</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#isReversed()">isReversed</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Should the path be followed reversed (differential drive only)</div>
+</td>
+</tr>
+<tr id="i14" class="altColor">
+<td class="colFirst"><code>int</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#numPoints()">numPoints</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Get the number of points in this path</div>
+</td>
+</tr>
+<tr id="i15" class="rowColor">
+<td class="colFirst"><code><a href="PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#replan(edu.wpi.first.math.geometry.Pose2d,edu.wpi.first.math.kinematics.ChassisSpeeds)">replan</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;startingPose,
+      <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&nbsp;currentSpeeds)</code></th>
+<td class="colLast">
+<div class="block">Replan this path based on the current robot position and speeds</div>
+</td>
+</tr>
+</table>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
+<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+<div class="details">
+<ul class="blockList">
+<li class="blockList">
+<!-- ========= CONSTRUCTOR DETAIL ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.detail">
+<!--   -->
+</a>
+<h3>Constructor Detail</h3>
+<a id="&lt;init&gt;(java.util.List,java.util.List,java.util.List,java.util.List,com.pathplanner.lib.path.PathConstraints,com.pathplanner.lib.path.GoalEndState,boolean)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>PathPlannerPath</h4>
+<pre>public&nbsp;PathPlannerPath&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/List.html?is-external=true" title="class or interface in java.util" class="externalLink">List</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&gt;&nbsp;bezierPoints,
+                       <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/List.html?is-external=true" title="class or interface in java.util" class="externalLink">List</a>&lt;<a href="RotationTarget.html" title="class in com.pathplanner.lib.path">RotationTarget</a>&gt;&nbsp;holonomicRotations,
+                       <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/List.html?is-external=true" title="class or interface in java.util" class="externalLink">List</a>&lt;<a href="ConstraintsZone.html" title="class in com.pathplanner.lib.path">ConstraintsZone</a>&gt;&nbsp;constraintZones,
+                       <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/List.html?is-external=true" title="class or interface in java.util" class="externalLink">List</a>&lt;<a href="EventMarker.html" title="class in com.pathplanner.lib.path">EventMarker</a>&gt;&nbsp;eventMarkers,
+                       <a href="PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;globalConstraints,
+                       <a href="GoalEndState.html" title="class in com.pathplanner.lib.path">GoalEndState</a>&nbsp;goalEndState,
+                       boolean&nbsp;reversed)</pre>
+<div class="block">Create a new path planner path</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>bezierPoints</code> - List of points representing the cubic Bezier curve of the path</dd>
+<dd><code>holonomicRotations</code> - List of rotation targets along the path</dd>
+<dd><code>constraintZones</code> - List of constraint zones along the path</dd>
+<dd><code>eventMarkers</code> - List of event markers along the path</dd>
+<dd><code>globalConstraints</code> - The global constraints of the path</dd>
+<dd><code>goalEndState</code> - The goal end state of the path</dd>
+<dd><code>reversed</code> - Should the robot follow the path reversed (differential drive only)</dd>
+</dl>
+</li>
+</ul>
+<a id="&lt;init&gt;(java.util.List,com.pathplanner.lib.path.PathConstraints,com.pathplanner.lib.path.GoalEndState,boolean)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>PathPlannerPath</h4>
+<pre>public&nbsp;PathPlannerPath&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/List.html?is-external=true" title="class or interface in java.util" class="externalLink">List</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&gt;&nbsp;bezierPoints,
+                       <a href="PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+                       <a href="GoalEndState.html" title="class in com.pathplanner.lib.path">GoalEndState</a>&nbsp;goalEndState,
+                       boolean&nbsp;reversed)</pre>
+<div class="block">Simplified constructor to create a path with no rotation targets, constraint zones, or event
+ markers.
+
+ <p>You likely want to use bezierFromPoses to create the bezier points.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>bezierPoints</code> - List of points representing the cubic Bezier curve of the path</dd>
+<dd><code>constraints</code> - The global constraints of the path</dd>
+<dd><code>goalEndState</code> - The goal end state of the path</dd>
+<dd><code>reversed</code> - Should the robot follow the path reversed (differential drive only)</dd>
+</dl>
+</li>
+</ul>
+<a id="&lt;init&gt;(java.util.List,com.pathplanner.lib.path.PathConstraints,com.pathplanner.lib.path.GoalEndState)">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>PathPlannerPath</h4>
+<pre>public&nbsp;PathPlannerPath&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/List.html?is-external=true" title="class or interface in java.util" class="externalLink">List</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&gt;&nbsp;bezierPoints,
+                       <a href="PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+                       <a href="GoalEndState.html" title="class in com.pathplanner.lib.path">GoalEndState</a>&nbsp;goalEndState)</pre>
+<div class="block">Simplified constructor to create a path with no rotation targets, constraint zones, or event
+ markers.
+
+ <p>You likely want to use bezierFromPoses to create the bezier points.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>bezierPoints</code> - List of points representing the cubic Bezier curve of the path</dd>
+<dd><code>constraints</code> - The global constraints of the path</dd>
+<dd><code>goalEndState</code> - The goal end state of the path</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- ============ METHOD DETAIL ========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.detail">
+<!--   -->
+</a>
+<h3>Method Detail</h3>
+<a id="fromPathPoints(java.util.List,com.pathplanner.lib.path.PathConstraints,com.pathplanner.lib.path.GoalEndState)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>fromPathPoints</h4>
+<pre class="methodSignature">public static&nbsp;<a href="PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;fromPathPoints&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/List.html?is-external=true" title="class or interface in java.util" class="externalLink">List</a>&lt;<a href="PathPoint.html" title="class in com.pathplanner.lib.path">PathPoint</a>&gt;&nbsp;pathPoints,
+                                             <a href="PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints,
+                                             <a href="GoalEndState.html" title="class in com.pathplanner.lib.path">GoalEndState</a>&nbsp;goalEndState)</pre>
+<div class="block">Creat a path with pre-generated points. This should already be a smooth path.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>pathPoints</code> - Path points along the smooth curve of the path</dd>
+<dd><code>constraints</code> - The global constraints of the path</dd>
+<dd><code>goalEndState</code> - The goal end state of the path</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>A PathPlannerPath following the given pathpoints</dd>
+</dl>
+</li>
+</ul>
+<a id="bezierFromPoses(java.util.List)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>bezierFromPoses</h4>
+<pre class="methodSignature">public static&nbsp;<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/List.html?is-external=true" title="class or interface in java.util" class="externalLink">List</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&gt;&nbsp;bezierFromPoses&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/List.html?is-external=true" title="class or interface in java.util" class="externalLink">List</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;poses)</pre>
+<div class="block">Create the bezier points necessary to create a path using a list of poses</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>poses</code> - List of poses. Each pose represents one waypoint.</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>Bezier points</dd>
+</dl>
+</li>
+</ul>
+<a id="bezierFromPoses(edu.wpi.first.math.geometry.Pose2d...)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>bezierFromPoses</h4>
+<pre class="methodSignature">public static&nbsp;<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/List.html?is-external=true" title="class or interface in java.util" class="externalLink">List</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&gt;&nbsp;bezierFromPoses&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>...&nbsp;poses)</pre>
+<div class="block">Create the bezier points necessary to create a path using a list of poses</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>poses</code> - List of poses. Each pose represents one waypoint.</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>Bezier points</dd>
+</dl>
+</li>
+</ul>
+<a id="hotReload(org.json.simple.JSONObject)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>hotReload</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;hotReload&#8203;(org.json.simple.JSONObject&nbsp;pathJson)</pre>
+<div class="block">Hot reload the path. This is used internally.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>pathJson</code> - Updated JSONObject for the path</dd>
+</dl>
+</li>
+</ul>
+<a id="fromPathFile(java.lang.String)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>fromPathFile</h4>
+<pre class="methodSignature">public static&nbsp;<a href="PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;fromPathFile&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;pathName)</pre>
+<div class="block">Load a path from a path file in storage</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>pathName</code> - The name of the path to load</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>PathPlannerPath created from the given file name</dd>
+</dl>
+</li>
+</ul>
+<a id="getConstraintsForPoint(int)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>getConstraintsForPoint</h4>
+<pre class="methodSignature">public&nbsp;<a href="PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;getConstraintsForPoint&#8203;(int&nbsp;idx)</pre>
+<div class="block">Get the constraints for a point along the path</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>idx</code> - Index of the point to get constraints for</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>The constraints that should apply to the point</dd>
+</dl>
+</li>
+</ul>
+<a id="getAllPathPoints()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>getAllPathPoints</h4>
+<pre class="methodSignature">public&nbsp;<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/List.html?is-external=true" title="class or interface in java.util" class="externalLink">List</a>&lt;<a href="PathPoint.html" title="class in com.pathplanner.lib.path">PathPoint</a>&gt;&nbsp;getAllPathPoints()</pre>
+<div class="block">Get all the path points in this path</div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>Path points in the path</dd>
+</dl>
+</li>
+</ul>
+<a id="numPoints()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>numPoints</h4>
+<pre class="methodSignature">public&nbsp;int&nbsp;numPoints()</pre>
+<div class="block">Get the number of points in this path</div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>Number of points in the path</dd>
+</dl>
+</li>
+</ul>
+<a id="getPoint(int)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>getPoint</h4>
+<pre class="methodSignature">public&nbsp;<a href="PathPoint.html" title="class in com.pathplanner.lib.path">PathPoint</a>&nbsp;getPoint&#8203;(int&nbsp;index)</pre>
+<div class="block">Get a specific point along this path</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>index</code> - Index of the point to get</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>The point at the given index</dd>
+</dl>
+</li>
+</ul>
+<a id="getGlobalConstraints()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>getGlobalConstraints</h4>
+<pre class="methodSignature">public&nbsp;<a href="PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;getGlobalConstraints()</pre>
+<div class="block">Get the global constraints for this path</div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>Global constraints that apply to this path</dd>
+</dl>
+</li>
+</ul>
+<a id="getGoalEndState()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>getGoalEndState</h4>
+<pre class="methodSignature">public&nbsp;<a href="GoalEndState.html" title="class in com.pathplanner.lib.path">GoalEndState</a>&nbsp;getGoalEndState()</pre>
+<div class="block">Get the goal end state of this path</div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>The goal end state</dd>
+</dl>
+</li>
+</ul>
+<a id="getEventMarkers()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>getEventMarkers</h4>
+<pre class="methodSignature">public&nbsp;<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/List.html?is-external=true" title="class or interface in java.util" class="externalLink">List</a>&lt;<a href="EventMarker.html" title="class in com.pathplanner.lib.path">EventMarker</a>&gt;&nbsp;getEventMarkers()</pre>
+<div class="block">Get all the event markers for this path</div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>The event markers for this path</dd>
+</dl>
+</li>
+</ul>
+<a id="isReversed()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>isReversed</h4>
+<pre class="methodSignature">public&nbsp;boolean&nbsp;isReversed()</pre>
+<div class="block">Should the path be followed reversed (differential drive only)</div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>True if reversed</dd>
+</dl>
+</li>
+</ul>
+<a id="replan(edu.wpi.first.math.geometry.Pose2d,edu.wpi.first.math.kinematics.ChassisSpeeds)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>replan</h4>
+<pre class="methodSignature">public&nbsp;<a href="PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;replan&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;startingPose,
+                              <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&nbsp;currentSpeeds)</pre>
+<div class="block">Replan this path based on the current robot position and speeds</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>startingPose</code> - New starting pose for the replanned path</dd>
+<dd><code>currentSpeeds</code> - Current chassis speeds of the robot</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>The replanned path</dd>
+</dl>
+</li>
+</ul>
+<a id="equals(java.lang.Object)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>equals</h4>
+<pre class="methodSignature">public&nbsp;boolean&nbsp;equals&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a>&nbsp;o)</pre>
+<dl>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a></code>&nbsp;in class&nbsp;<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></code></dd>
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+<ul class="blockListLast">
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+<h4>hashCode</h4>
+<pre class="methodSignature">public&nbsp;int&nbsp;hashCode()</pre>
+<dl>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a></code>&nbsp;in class&nbsp;<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></code></dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+</div>
+</main>
+<!-- ========= END OF CLASS DATA ========= -->
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diff --git a/docs/java/com/pathplanner/lib/path/PathPlannerTrajectory.State.html b/docs/java/com/pathplanner/lib/path/PathPlannerTrajectory.State.html
new file mode 100644
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--- /dev/null
+++ b/docs/java/com/pathplanner/lib/path/PathPlannerTrajectory.State.html
@@ -0,0 +1,571 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
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+<title>PathPlannerTrajectory.State (pathplannerlib API)</title>
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+    catch(err) {
+    }
+//-->
+var data = {"i0":10,"i1":10,"i2":10,"i3":10};
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+<ul class="subNavList">
+<li>Summary:&nbsp;</li>
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+<!-- ======== START OF CLASS DATA ======== -->
+<main role="main">
+<div class="header">
+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">com.pathplanner.lib.path</a></div>
+<h2 title="Class PathPlannerTrajectory.State" class="title">Class PathPlannerTrajectory.State</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
+<li>
+<ul class="inheritance">
+<li>com.pathplanner.lib.path.PathPlannerTrajectory.State</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<dl>
+<dt>Enclosing class:</dt>
+<dd><a href="PathPlannerTrajectory.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory</a></dd>
+</dl>
+<hr>
+<pre>public static class <span class="typeNameLabel">PathPlannerTrajectory.State</span>
+extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
+<div class="block">A state along the trajectory</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- =========== FIELD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="field.summary">
+<!--   -->
+</a>
+<h3>Field Summary</h3>
+<table class="memberSummary">
+<caption><span>Fields</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Field</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><code>double</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#accelerationMpsSq">accelerationMpsSq</a></span></code></th>
+<td class="colLast">
+<div class="block">The acceleration at this state in m/s^2</div>
+</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code><a href="PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#constraints">constraints</a></span></code></th>
+<td class="colLast">
+<div class="block">The constraints to apply at this state</div>
+</td>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><code>double</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#curvatureRadPerMeter">curvatureRadPerMeter</a></span></code></th>
+<td class="colLast">
+<div class="block">The curvature at this state in rad/m</div>
+</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Rotation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Rotation2d</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#heading">heading</a></span></code></th>
+<td class="colLast">
+<div class="block">The heading (direction of travel) at this state</div>
+</td>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><code>double</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#headingAngularVelocityRps">headingAngularVelocityRps</a></span></code></th>
+<td class="colLast">
+<div class="block">The time at this state in seconds</div>
+</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#positionMeters">positionMeters</a></span></code></th>
+<td class="colLast">
+<div class="block">The position at this state in meters</div>
+</td>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Rotation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Rotation2d</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#targetHolonomicRotation">targetHolonomicRotation</a></span></code></th>
+<td class="colLast">
+<div class="block">The target holonomic rotation at this state</div>
+</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code>double</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#timeSeconds">timeSeconds</a></span></code></th>
+<td class="colLast">
+<div class="block">The time at this state in seconds</div>
+</td>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><code>double</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#velocityMps">velocityMps</a></span></code></th>
+<td class="colLast">
+<div class="block">The velocity at this state in m/s</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.summary">
+<!--   -->
+</a>
+<h3>Constructor Summary</h3>
+<table class="memberSummary">
+<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">State</a></span>()</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ========== METHOD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.summary">
+<!--   -->
+</a>
+<h3>Method Summary</h3>
+<table class="memberSummary">
+<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr id="i0" class="altColor">
+<td class="colFirst"><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getDifferentialPose()">getDifferentialPose</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Get this pose for a differential drivetrain</div>
+</td>
+</tr>
+<tr id="i1" class="rowColor">
+<td class="colFirst"><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getTargetHolonomicPose()">getTargetHolonomicPose</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Get the target pose for a holonomic drivetrain NOTE: This is a "target" pose, meaning the
+ rotation will be the value of the next rotation target along the path, not what the rotation
+ should be at the start of the path</div>
+</td>
+</tr>
+<tr id="i2" class="altColor">
+<td class="colFirst"><code><a href="PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory.State</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#interpolate(com.pathplanner.lib.path.PathPlannerTrajectory.State,double)">interpolate</a></span>&#8203;(<a href="PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory.State</a>&nbsp;endVal,
+           double&nbsp;t)</code></th>
+<td class="colLast">
+<div class="block">Interpolate between this state and the given state</div>
+</td>
+</tr>
+<tr id="i3" class="rowColor">
+<td class="colFirst"><code><a href="PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory.State</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#reverse()">reverse</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Get the state reversed, used for following a trajectory reversed with a differential
+ drivetrain</div>
+</td>
+</tr>
+</table>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
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+</a>
+<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
+<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+<div class="details">
+<ul class="blockList">
+<li class="blockList">
+<!-- ============ FIELD DETAIL =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="field.detail">
+<!--   -->
+</a>
+<h3>Field Detail</h3>
+<a id="timeSeconds">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>timeSeconds</h4>
+<pre>public&nbsp;double timeSeconds</pre>
+<div class="block">The time at this state in seconds</div>
+</li>
+</ul>
+<a id="velocityMps">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>velocityMps</h4>
+<pre>public&nbsp;double velocityMps</pre>
+<div class="block">The velocity at this state in m/s</div>
+</li>
+</ul>
+<a id="accelerationMpsSq">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>accelerationMpsSq</h4>
+<pre>public&nbsp;double accelerationMpsSq</pre>
+<div class="block">The acceleration at this state in m/s^2</div>
+</li>
+</ul>
+<a id="headingAngularVelocityRps">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>headingAngularVelocityRps</h4>
+<pre>public&nbsp;double headingAngularVelocityRps</pre>
+<div class="block">The time at this state in seconds</div>
+</li>
+</ul>
+<a id="positionMeters">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>positionMeters</h4>
+<pre>public&nbsp;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a> positionMeters</pre>
+<div class="block">The position at this state in meters</div>
+</li>
+</ul>
+<a id="heading">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>heading</h4>
+<pre>public&nbsp;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Rotation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Rotation2d</a> heading</pre>
+<div class="block">The heading (direction of travel) at this state</div>
+</li>
+</ul>
+<a id="targetHolonomicRotation">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>targetHolonomicRotation</h4>
+<pre>public&nbsp;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Rotation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Rotation2d</a> targetHolonomicRotation</pre>
+<div class="block">The target holonomic rotation at this state</div>
+</li>
+</ul>
+<a id="curvatureRadPerMeter">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>curvatureRadPerMeter</h4>
+<pre>public&nbsp;double curvatureRadPerMeter</pre>
+<div class="block">The curvature at this state in rad/m</div>
+</li>
+</ul>
+<a id="constraints">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>constraints</h4>
+<pre>public&nbsp;<a href="PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a> constraints</pre>
+<div class="block">The constraints to apply at this state</div>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- ========= CONSTRUCTOR DETAIL ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.detail">
+<!--   -->
+</a>
+<h3>Constructor Detail</h3>
+<a id="&lt;init&gt;()">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>State</h4>
+<pre>public&nbsp;State()</pre>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- ============ METHOD DETAIL ========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.detail">
+<!--   -->
+</a>
+<h3>Method Detail</h3>
+<a id="interpolate(com.pathplanner.lib.path.PathPlannerTrajectory.State,double)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>interpolate</h4>
+<pre class="methodSignature">public&nbsp;<a href="PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory.State</a>&nbsp;interpolate&#8203;(<a href="PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory.State</a>&nbsp;endVal,
+                                               double&nbsp;t)</pre>
+<div class="block">Interpolate between this state and the given state</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>endVal</code> - State to interpolate with</dd>
+<dd><code>t</code> - Interpolation factor (0.0-1.0)</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>Interpolated state</dd>
+</dl>
+</li>
+</ul>
+<a id="getTargetHolonomicPose()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>getTargetHolonomicPose</h4>
+<pre class="methodSignature">public&nbsp;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;getTargetHolonomicPose()</pre>
+<div class="block">Get the target pose for a holonomic drivetrain NOTE: This is a "target" pose, meaning the
+ rotation will be the value of the next rotation target along the path, not what the rotation
+ should be at the start of the path</div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>The target pose</dd>
+</dl>
+</li>
+</ul>
+<a id="getDifferentialPose()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>getDifferentialPose</h4>
+<pre class="methodSignature">public&nbsp;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;getDifferentialPose()</pre>
+<div class="block">Get this pose for a differential drivetrain</div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>The pose</dd>
+</dl>
+</li>
+</ul>
+<a id="reverse()">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>reverse</h4>
+<pre class="methodSignature">public&nbsp;<a href="PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory.State</a>&nbsp;reverse()</pre>
+<div class="block">Get the state reversed, used for following a trajectory reversed with a differential
+ drivetrain</div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>The reversed state</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+</div>
+</main>
+<!-- ========= END OF CLASS DATA ========= -->
+<footer role="contentinfo">
+<nav role="navigation">
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
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diff --git a/docs/java/com/pathplanner/lib/path/PathPlannerTrajectory.html b/docs/java/com/pathplanner/lib/path/PathPlannerTrajectory.html
new file mode 100644
index 00000000..23a21b45
--- /dev/null
+++ b/docs/java/com/pathplanner/lib/path/PathPlannerTrajectory.html
@@ -0,0 +1,502 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
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+//-->
+var data = {"i0":10,"i1":10,"i2":10,"i3":10,"i4":10,"i5":10,"i6":10,"i7":10};
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+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">com.pathplanner.lib.path</a></div>
+<h2 title="Class PathPlannerTrajectory" class="title">Class PathPlannerTrajectory</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
+<li>
+<ul class="inheritance">
+<li>com.pathplanner.lib.path.PathPlannerTrajectory</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<hr>
+<pre>public class <span class="typeNameLabel">PathPlannerTrajectory</span>
+extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
+<div class="block">Trajectory created from a pathplanner path</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- ======== NESTED CLASS SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="nested.class.summary">
+<!--   -->
+</a>
+<h3>Nested Class Summary</h3>
+<table class="memberSummary">
+<caption><span>Nested Classes</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Class</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><code>static class&nbsp;</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory.State</a></span></code></th>
+<td class="colLast">
+<div class="block">A state along the trajectory</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.summary">
+<!--   -->
+</a>
+<h3>Constructor Summary</h3>
+<table class="memberSummary">
+<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,edu.wpi.first.math.kinematics.ChassisSpeeds)">PathPlannerTrajectory</a></span>&#8203;(<a href="PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;path,
+                     <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&nbsp;startingSpeeds)</code></th>
+<td class="colLast">
+<div class="block">Generate a PathPlannerTrajectory</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ========== METHOD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.summary">
+<!--   -->
+</a>
+<h3>Method Summary</h3>
+<table class="memberSummary">
+<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr id="i0" class="altColor">
+<td class="colFirst"><code><a href="PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory.State</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getEndState()">getEndState</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Get the end state of the trajectory</div>
+</td>
+</tr>
+<tr id="i1" class="rowColor">
+<td class="colFirst"><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getInitialDifferentialPose()">getInitialDifferentialPose</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Get this initial pose for a differential drivetrain</div>
+</td>
+</tr>
+<tr id="i2" class="altColor">
+<td class="colFirst"><code><a href="PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory.State</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getInitialState()">getInitialState</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Get the initial state of the trajectory</div>
+</td>
+</tr>
+<tr id="i3" class="rowColor">
+<td class="colFirst"><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getInitialTargetHolonomicPose()">getInitialTargetHolonomicPose</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Get the initial target pose for a holonomic drivetrain NOTE: This is a "target" pose, meaning
+ the rotation will be the value of the next rotation target along the path, not what the
+ rotation should be at the start of the path</div>
+</td>
+</tr>
+<tr id="i4" class="altColor">
+<td class="colFirst"><code><a href="PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory.State</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getState(int)">getState</a></span>&#8203;(int&nbsp;index)</code></th>
+<td class="colLast">
+<div class="block">Get the goal state at the given index</div>
+</td>
+</tr>
+<tr id="i5" class="rowColor">
+<td class="colFirst"><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/List.html?is-external=true" title="class or interface in java.util" class="externalLink">List</a>&lt;<a href="PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory.State</a>&gt;</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getStates()">getStates</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Get all of the pre-generated states in the trajectory</div>
+</td>
+</tr>
+<tr id="i6" class="altColor">
+<td class="colFirst"><code>double</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getTotalTimeSeconds()">getTotalTimeSeconds</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Get the total run time of the trajectory</div>
+</td>
+</tr>
+<tr id="i7" class="rowColor">
+<td class="colFirst"><code><a href="PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory.State</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#sample(double)">sample</a></span>&#8203;(double&nbsp;time)</code></th>
+<td class="colLast">
+<div class="block">Get the target state at the given point in time along the trajectory</div>
+</td>
+</tr>
+</table>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
+<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+<div class="details">
+<ul class="blockList">
+<li class="blockList">
+<!-- ========= CONSTRUCTOR DETAIL ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.detail">
+<!--   -->
+</a>
+<h3>Constructor Detail</h3>
+<a id="&lt;init&gt;(com.pathplanner.lib.path.PathPlannerPath,edu.wpi.first.math.kinematics.ChassisSpeeds)">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>PathPlannerTrajectory</h4>
+<pre>public&nbsp;PathPlannerTrajectory&#8203;(<a href="PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;path,
+                             <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&nbsp;startingSpeeds)</pre>
+<div class="block">Generate a PathPlannerTrajectory</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>path</code> - <a href="PathPlannerPath.html" title="class in com.pathplanner.lib.path"><code>PathPlannerPath</code></a> to generate the trajectory for</dd>
+<dd><code>startingSpeeds</code> - Starting speeds of the robot when starting the trajectory</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- ============ METHOD DETAIL ========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.detail">
+<!--   -->
+</a>
+<h3>Method Detail</h3>
+<a id="sample(double)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>sample</h4>
+<pre class="methodSignature">public&nbsp;<a href="PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory.State</a>&nbsp;sample&#8203;(double&nbsp;time)</pre>
+<div class="block">Get the target state at the given point in time along the trajectory</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>time</code> - The time to sample the trajectory at in seconds</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>The target state</dd>
+</dl>
+</li>
+</ul>
+<a id="getStates()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>getStates</h4>
+<pre class="methodSignature">public&nbsp;<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/List.html?is-external=true" title="class or interface in java.util" class="externalLink">List</a>&lt;<a href="PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory.State</a>&gt;&nbsp;getStates()</pre>
+<div class="block">Get all of the pre-generated states in the trajectory</div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>List of all states</dd>
+</dl>
+</li>
+</ul>
+<a id="getTotalTimeSeconds()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>getTotalTimeSeconds</h4>
+<pre class="methodSignature">public&nbsp;double&nbsp;getTotalTimeSeconds()</pre>
+<div class="block">Get the total run time of the trajectory</div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>Total run time in seconds</dd>
+</dl>
+</li>
+</ul>
+<a id="getState(int)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>getState</h4>
+<pre class="methodSignature">public&nbsp;<a href="PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory.State</a>&nbsp;getState&#8203;(int&nbsp;index)</pre>
+<div class="block">Get the goal state at the given index</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>index</code> - Index of the state to get</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>The state at the given index</dd>
+</dl>
+</li>
+</ul>
+<a id="getInitialState()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>getInitialState</h4>
+<pre class="methodSignature">public&nbsp;<a href="PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory.State</a>&nbsp;getInitialState()</pre>
+<div class="block">Get the initial state of the trajectory</div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>The initial state</dd>
+</dl>
+</li>
+</ul>
+<a id="getInitialTargetHolonomicPose()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>getInitialTargetHolonomicPose</h4>
+<pre class="methodSignature">public&nbsp;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;getInitialTargetHolonomicPose()</pre>
+<div class="block">Get the initial target pose for a holonomic drivetrain NOTE: This is a "target" pose, meaning
+ the rotation will be the value of the next rotation target along the path, not what the
+ rotation should be at the start of the path</div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>The initial target pose</dd>
+</dl>
+</li>
+</ul>
+<a id="getInitialDifferentialPose()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>getInitialDifferentialPose</h4>
+<pre class="methodSignature">public&nbsp;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;getInitialDifferentialPose()</pre>
+<div class="block">Get this initial pose for a differential drivetrain</div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>The initial pose</dd>
+</dl>
+</li>
+</ul>
+<a id="getEndState()">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>getEndState</h4>
+<pre class="methodSignature">public&nbsp;<a href="PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory.State</a>&nbsp;getEndState()</pre>
+<div class="block">Get the end state of the trajectory</div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>The end state</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+</div>
+</main>
+<!-- ========= END OF CLASS DATA ========= -->
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+<nav role="navigation">
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diff --git a/docs/java/com/pathplanner/lib/path/PathPoint.html b/docs/java/com/pathplanner/lib/path/PathPoint.html
new file mode 100644
index 00000000..c747f41e
--- /dev/null
+++ b/docs/java/com/pathplanner/lib/path/PathPoint.html
@@ -0,0 +1,493 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc -->
+<title>PathPoint (pathplannerlib API)</title>
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+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="PathPoint (pathplannerlib API)";
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+    catch(err) {
+    }
+//-->
+var data = {"i0":10,"i1":10};
+var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]};
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+<li><a href="#constructor.summary">Constr</a>&nbsp;|&nbsp;</li>
+<li><a href="#method.summary">Method</a></li>
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+<li>Detail:&nbsp;</li>
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+</ul>
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+$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
+//-->
+</script>
+</nav>
+</header>
+<!-- ======== START OF CLASS DATA ======== -->
+<main role="main">
+<div class="header">
+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">com.pathplanner.lib.path</a></div>
+<h2 title="Class PathPoint" class="title">Class PathPoint</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
+<li>
+<ul class="inheritance">
+<li>com.pathplanner.lib.path.PathPoint</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<hr>
+<pre>public class <span class="typeNameLabel">PathPoint</span>
+extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
+<div class="block">A point along a pathplanner path</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- =========== FIELD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="field.summary">
+<!--   -->
+</a>
+<h3>Field Summary</h3>
+<table class="memberSummary">
+<caption><span>Fields</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Field</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><code><a href="PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#constraints">constraints</a></span></code></th>
+<td class="colLast">
+<div class="block">The constraints applied to this point</div>
+</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code>double</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#curveRadius">curveRadius</a></span></code></th>
+<td class="colLast">
+<div class="block">The curve radius at this point</div>
+</td>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><code>double</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#distanceAlongPath">distanceAlongPath</a></span></code></th>
+<td class="colLast">
+<div class="block">The distance of this point along the path, in meters</div>
+</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Rotation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Rotation2d</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#holonomicRotation">holonomicRotation</a></span></code></th>
+<td class="colLast">
+<div class="block">The target rotation at this point</div>
+</td>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><code>double</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#maxV">maxV</a></span></code></th>
+<td class="colLast">
+<div class="block">The max velocity at this point</div>
+</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#position">position</a></span></code></th>
+<td class="colLast">
+<div class="block">The position of this point</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.summary">
+<!--   -->
+</a>
+<h3>Constructor Summary</h3>
+<table class="memberSummary">
+<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Rotation2d)">PathPoint</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;position,
+         <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Rotation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Rotation2d</a>&nbsp;holonomicRotation)</code></th>
+<td class="colLast">
+<div class="block">Create a path point</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Rotation2d,com.pathplanner.lib.path.PathConstraints)">PathPoint</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;position,
+         <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Rotation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Rotation2d</a>&nbsp;holonomicRotation,
+         <a href="PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints)</code></th>
+<td class="colLast">
+<div class="block">Create a path point</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ========== METHOD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.summary">
+<!--   -->
+</a>
+<h3>Method Summary</h3>
+<table class="memberSummary">
+<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr id="i0" class="altColor">
+<td class="colFirst"><code>boolean</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#equals(java.lang.Object)">equals</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a>&nbsp;o)</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr id="i1" class="rowColor">
+<td class="colFirst"><code>int</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#hashCode()">hashCode</a></span>()</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+</table>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
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+<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
+<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
+</ul>
+</li>
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+</section>
+</li>
+</ul>
+</div>
+<div class="details">
+<ul class="blockList">
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+<!--   -->
+</a>
+<h3>Field Detail</h3>
+<a id="position">
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+<h4>position</h4>
+<pre>public final&nbsp;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a> position</pre>
+<div class="block">The position of this point</div>
+</li>
+</ul>
+<a id="distanceAlongPath">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>distanceAlongPath</h4>
+<pre>public&nbsp;double distanceAlongPath</pre>
+<div class="block">The distance of this point along the path, in meters</div>
+</li>
+</ul>
+<a id="curveRadius">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>curveRadius</h4>
+<pre>public&nbsp;double curveRadius</pre>
+<div class="block">The curve radius at this point</div>
+</li>
+</ul>
+<a id="maxV">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>maxV</h4>
+<pre>public&nbsp;double maxV</pre>
+<div class="block">The max velocity at this point</div>
+</li>
+</ul>
+<a id="holonomicRotation">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>holonomicRotation</h4>
+<pre>public&nbsp;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Rotation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Rotation2d</a> holonomicRotation</pre>
+<div class="block">The target rotation at this point</div>
+</li>
+</ul>
+<a id="constraints">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>constraints</h4>
+<pre>public&nbsp;<a href="PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a> constraints</pre>
+<div class="block">The constraints applied to this point</div>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- ========= CONSTRUCTOR DETAIL ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.detail">
+<!--   -->
+</a>
+<h3>Constructor Detail</h3>
+<a id="&lt;init&gt;(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Rotation2d,com.pathplanner.lib.path.PathConstraints)">
+<!--   -->
+</a>
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+<h4>PathPoint</h4>
+<pre>public&nbsp;PathPoint&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;position,
+                 <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Rotation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Rotation2d</a>&nbsp;holonomicRotation,
+                 <a href="PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a>&nbsp;constraints)</pre>
+<div class="block">Create a path point</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>position</code> - Position of the point</dd>
+<dd><code>holonomicRotation</code> - Rotation target at this point</dd>
+<dd><code>constraints</code> - The constraints at this point</dd>
+</dl>
+</li>
+</ul>
+<a id="&lt;init&gt;(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Rotation2d)">
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+</a>
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+<h4>PathPoint</h4>
+<pre>public&nbsp;PathPoint&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;position,
+                 <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Rotation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Rotation2d</a>&nbsp;holonomicRotation)</pre>
+<div class="block">Create a path point</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>position</code> - Position of the point</dd>
+<dd><code>holonomicRotation</code> - Rotation target at this point</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- ============ METHOD DETAIL ========== -->
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+<ul class="blockList">
+<li class="blockList"><a id="method.detail">
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+<h3>Method Detail</h3>
+<a id="equals(java.lang.Object)">
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+<pre class="methodSignature">public&nbsp;boolean&nbsp;equals&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a>&nbsp;o)</pre>
+<dl>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a></code>&nbsp;in class&nbsp;<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></code></dd>
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+<ul class="blockListLast">
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+<dd><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a></code>&nbsp;in class&nbsp;<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></code></dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+</div>
+</main>
+<!-- ========= END OF CLASS DATA ========= -->
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diff --git a/docs/java/com/pathplanner/lib/path/PathSegment.html b/docs/java/com/pathplanner/lib/path/PathSegment.html
new file mode 100644
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+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="PathSegment (pathplannerlib API)";
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+var data = {"i0":10};
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+<div class="header">
+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">com.pathplanner.lib.path</a></div>
+<h2 title="Class PathSegment" class="title">Class PathSegment</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
+<li>
+<ul class="inheritance">
+<li>com.pathplanner.lib.path.PathSegment</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<hr>
+<pre>public class <span class="typeNameLabel">PathSegment</span>
+extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
+<div class="block">A bezier curve segment</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- =========== FIELD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="field.summary">
+<!--   -->
+</a>
+<h3>Field Summary</h3>
+<table class="memberSummary">
+<caption><span>Fields</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Field</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><code>static double</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#RESOLUTION">RESOLUTION</a></span></code></th>
+<td class="colLast">
+<div class="block">The resolution used during path generation</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.summary">
+<!--   -->
+</a>
+<h3>Constructor Summary</h3>
+<table class="memberSummary">
+<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Translation2d,boolean)">PathSegment</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;p1,
+           <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;p2,
+           <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;p3,
+           <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;p4,
+           boolean&nbsp;endSegment)</code></th>
+<td class="colLast">
+<div class="block">Generate a new path segment without constraint zones or rotation targets</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Translation2d,java.util.List,java.util.List,boolean)">PathSegment</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;p1,
+           <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;p2,
+           <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;p3,
+           <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;p4,
+           <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/List.html?is-external=true" title="class or interface in java.util" class="externalLink">List</a>&lt;<a href="RotationTarget.html" title="class in com.pathplanner.lib.path">RotationTarget</a>&gt;&nbsp;targetHolonomicRotations,
+           <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/List.html?is-external=true" title="class or interface in java.util" class="externalLink">List</a>&lt;<a href="ConstraintsZone.html" title="class in com.pathplanner.lib.path">ConstraintsZone</a>&gt;&nbsp;constraintZones,
+           boolean&nbsp;endSegment)</code></th>
+<td class="colLast">
+<div class="block">Generate a new path segment</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ========== METHOD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.summary">
+<!--   -->
+</a>
+<h3>Method Summary</h3>
+<table class="memberSummary">
+<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr id="i0" class="altColor">
+<td class="colFirst"><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/List.html?is-external=true" title="class or interface in java.util" class="externalLink">List</a>&lt;<a href="PathPoint.html" title="class in com.pathplanner.lib.path">PathPoint</a>&gt;</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getSegmentPoints()">getSegmentPoints</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Get the path points for this segment</div>
+</td>
+</tr>
+</table>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
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+<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
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+<h4>RESOLUTION</h4>
+<pre>public static final&nbsp;double RESOLUTION</pre>
+<div class="block">The resolution used during path generation</div>
+<dl>
+<dt><span class="seeLabel">See Also:</span></dt>
+<dd><a href="../../../../constant-values.html#com.pathplanner.lib.path.PathSegment.RESOLUTION">Constant Field Values</a></dd>
+</dl>
+</li>
+</ul>
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+<h4>PathSegment</h4>
+<pre>public&nbsp;PathSegment&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;p1,
+                   <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;p2,
+                   <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;p3,
+                   <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;p4,
+                   <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/List.html?is-external=true" title="class or interface in java.util" class="externalLink">List</a>&lt;<a href="RotationTarget.html" title="class in com.pathplanner.lib.path">RotationTarget</a>&gt;&nbsp;targetHolonomicRotations,
+                   <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/List.html?is-external=true" title="class or interface in java.util" class="externalLink">List</a>&lt;<a href="ConstraintsZone.html" title="class in com.pathplanner.lib.path">ConstraintsZone</a>&gt;&nbsp;constraintZones,
+                   boolean&nbsp;endSegment)</pre>
+<div class="block">Generate a new path segment</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>p1</code> - Start anchor point</dd>
+<dd><code>p2</code> - Start next control</dd>
+<dd><code>p3</code> - End prev control</dd>
+<dd><code>p4</code> - End anchor point</dd>
+<dd><code>targetHolonomicRotations</code> - Rotation targets for within this segment</dd>
+<dd><code>constraintZones</code> - Constraint zones for within this segment</dd>
+<dd><code>endSegment</code> - Is this the last segment in the path</dd>
+</dl>
+</li>
+</ul>
+<a id="&lt;init&gt;(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Translation2d,boolean)">
+<!--   -->
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+<ul class="blockListLast">
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+<h4>PathSegment</h4>
+<pre>public&nbsp;PathSegment&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;p1,
+                   <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;p2,
+                   <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;p3,
+                   <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;p4,
+                   boolean&nbsp;endSegment)</pre>
+<div class="block">Generate a new path segment without constraint zones or rotation targets</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>p1</code> - Start anchor point</dd>
+<dd><code>p2</code> - Start next control</dd>
+<dd><code>p3</code> - End prev control</dd>
+<dd><code>p4</code> - End anchor point</dd>
+<dd><code>endSegment</code> - Is this the last segment in the path</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- ============ METHOD DETAIL ========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.detail">
+<!--   -->
+</a>
+<h3>Method Detail</h3>
+<a id="getSegmentPoints()">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>getSegmentPoints</h4>
+<pre class="methodSignature">public&nbsp;<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/List.html?is-external=true" title="class or interface in java.util" class="externalLink">List</a>&lt;<a href="PathPoint.html" title="class in com.pathplanner.lib.path">PathPoint</a>&gt;&nbsp;getSegmentPoints()</pre>
+<div class="block">Get the path points for this segment</div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>Path points for this segment</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+</div>
+</main>
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diff --git a/docs/java/com/pathplanner/lib/path/RotationTarget.html b/docs/java/com/pathplanner/lib/path/RotationTarget.html
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+<div class="header">
+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">com.pathplanner.lib.path</a></div>
+<h2 title="Class RotationTarget" class="title">Class RotationTarget</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
+<li>
+<ul class="inheritance">
+<li>com.pathplanner.lib.path.RotationTarget</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<hr>
+<pre>public class <span class="typeNameLabel">RotationTarget</span>
+extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
+<div class="block">A target holonomic rotation at a position along a path</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.summary">
+<!--   -->
+</a>
+<h3>Constructor Summary</h3>
+<table class="memberSummary">
+<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double,edu.wpi.first.math.geometry.Rotation2d)">RotationTarget</a></span>&#8203;(double&nbsp;waypointRelativePosition,
+              <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Rotation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Rotation2d</a>&nbsp;target)</code></th>
+<td class="colLast">
+<div class="block">Create a new rotation target</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ========== METHOD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.summary">
+<!--   -->
+</a>
+<h3>Method Summary</h3>
+<table class="memberSummary">
+<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr id="i0" class="altColor">
+<td class="colFirst"><code>boolean</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#equals(java.lang.Object)">equals</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a>&nbsp;o)</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr id="i1" class="rowColor">
+<td class="colFirst"><code><a href="RotationTarget.html" title="class in com.pathplanner.lib.path">RotationTarget</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#forSegmentIndex(int)">forSegmentIndex</a></span>&#8203;(int&nbsp;segmentIndex)</code></th>
+<td class="colLast">
+<div class="block">Transform the position of this target for a given segment number.</div>
+</td>
+</tr>
+<tr id="i2" class="altColor">
+<td class="colFirst"><code>double</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getPosition()">getPosition</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Get the waypoint relative position of this target</div>
+</td>
+</tr>
+<tr id="i3" class="rowColor">
+<td class="colFirst"><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Rotation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Rotation2d</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getTarget()">getTarget</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Get the target rotation</div>
+</td>
+</tr>
+<tr id="i4" class="altColor">
+<td class="colFirst"><code>int</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#hashCode()">hashCode</a></span>()</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr id="i5" class="rowColor">
+<td class="colFirst"><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#toString()">toString</a></span>()</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+</table>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
+<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+<div class="details">
+<ul class="blockList">
+<li class="blockList">
+<!-- ========= CONSTRUCTOR DETAIL ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.detail">
+<!--   -->
+</a>
+<h3>Constructor Detail</h3>
+<a id="&lt;init&gt;(double,edu.wpi.first.math.geometry.Rotation2d)">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>RotationTarget</h4>
+<pre>public&nbsp;RotationTarget&#8203;(double&nbsp;waypointRelativePosition,
+                      <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Rotation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Rotation2d</a>&nbsp;target)</pre>
+<div class="block">Create a new rotation target</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>waypointRelativePosition</code> - Waypoint relative position of this target</dd>
+<dd><code>target</code> - Target rotation</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- ============ METHOD DETAIL ========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.detail">
+<!--   -->
+</a>
+<h3>Method Detail</h3>
+<a id="getPosition()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>getPosition</h4>
+<pre class="methodSignature">public&nbsp;double&nbsp;getPosition()</pre>
+<div class="block">Get the waypoint relative position of this target</div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>Waypoint relative position</dd>
+</dl>
+</li>
+</ul>
+<a id="getTarget()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>getTarget</h4>
+<pre class="methodSignature">public&nbsp;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Rotation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Rotation2d</a>&nbsp;getTarget()</pre>
+<div class="block">Get the target rotation</div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>Target rotation</dd>
+</dl>
+</li>
+</ul>
+<a id="forSegmentIndex(int)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>forSegmentIndex</h4>
+<pre class="methodSignature">public&nbsp;<a href="RotationTarget.html" title="class in com.pathplanner.lib.path">RotationTarget</a>&nbsp;forSegmentIndex&#8203;(int&nbsp;segmentIndex)</pre>
+<div class="block">Transform the position of this target for a given segment number.
+
+ <p>For example, a target with position 1.5 for the segment 1 will have the position 0.5</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>segmentIndex</code> - The segment index to transform position for</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>The transformed target</dd>
+</dl>
+</li>
+</ul>
+<a id="equals(java.lang.Object)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>equals</h4>
+<pre class="methodSignature">public&nbsp;boolean&nbsp;equals&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a>&nbsp;o)</pre>
+<dl>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a></code>&nbsp;in class&nbsp;<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></code></dd>
+</dl>
+</li>
+</ul>
+<a id="hashCode()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>hashCode</h4>
+<pre class="methodSignature">public&nbsp;int&nbsp;hashCode()</pre>
+<dl>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a></code>&nbsp;in class&nbsp;<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></code></dd>
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+<a id="toString()">
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+<pre class="methodSignature">public&nbsp;<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;toString()</pre>
+<dl>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a></code>&nbsp;in class&nbsp;<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></code></dd>
+</dl>
+</li>
+</ul>
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+</ul>
+</section>
+</li>
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+</div>
+</div>
+</main>
+<!-- ========= END OF CLASS DATA ========= -->
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diff --git a/docs/java/com/pathplanner/lib/path/package-summary.html b/docs/java/com/pathplanner/lib/path/package-summary.html
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+<!DOCTYPE HTML>
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+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<th class="colFirst" scope="row"><a href="ConstraintsZone.html" title="class in com.pathplanner.lib.path">ConstraintsZone</a></th>
+<td class="colLast">
+<div class="block">A zone on a path with different kinematic constraints</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><a href="EventMarker.html" title="class in com.pathplanner.lib.path">EventMarker</a></th>
+<td class="colLast">
+<div class="block">Position along the path that will trigger a command when reached</div>
+</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><a href="GoalEndState.html" title="class in com.pathplanner.lib.path">GoalEndState</a></th>
+<td class="colLast">
+<div class="block">Describes the goal end state of the robot when finishing a path</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><a href="PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a></th>
+<td class="colLast">
+<div class="block">Kinematic path following constraints</div>
+</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><a href="PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a></th>
+<td class="colLast">
+<div class="block">A PathPlanner path.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><a href="PathPlannerTrajectory.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory</a></th>
+<td class="colLast">
+<div class="block">Trajectory created from a pathplanner path</div>
+</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><a href="PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory.State</a></th>
+<td class="colLast">
+<div class="block">A state along the trajectory</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><a href="PathPoint.html" title="class in com.pathplanner.lib.path">PathPoint</a></th>
+<td class="colLast">
+<div class="block">A point along a pathplanner path</div>
+</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><a href="PathSegment.html" title="class in com.pathplanner.lib.path">PathSegment</a></th>
+<td class="colLast">
+<div class="block">A bezier curve segment</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><a href="RotationTarget.html" title="class in com.pathplanner.lib.path">RotationTarget</a></th>
+<td class="colLast">
+<div class="block">A target holonomic rotation at a position along a path</div>
+</td>
+</tr>
+</tbody>
+</table>
+</li>
+</ul>
+</div>
+</main>
+<footer role="contentinfo">
+<nav role="navigation">
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a id="navbar.bottom">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
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+<li>Class</li>
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diff --git a/docs/java/com/pathplanner/lib/path/package-tree.html b/docs/java/com/pathplanner/lib/path/package-tree.html
new file mode 100644
index 00000000..da961c84
--- /dev/null
+++ b/docs/java/com/pathplanner/lib/path/package-tree.html
@@ -0,0 +1,170 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc -->
+<title>com.pathplanner.lib.path Class Hierarchy (pathplannerlib API)</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.min.css" title="Style">
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+<script type="text/javascript" src="../../../../script.js"></script>
+<script type="text/javascript" src="../../../../jquery/jszip/dist/jszip.min.js"></script>
+<script type="text/javascript" src="../../../../jquery/jszip-utils/dist/jszip-utils.min.js"></script>
+<!--[if IE]>
+<script type="text/javascript" src="../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
+<![endif]-->
+<script type="text/javascript" src="../../../../jquery/jquery-3.6.1.min.js"></script>
+<script type="text/javascript" src="../../../../jquery/jquery-ui.min.js"></script>
+</head>
+<body>
+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="com.pathplanner.lib.path Class Hierarchy (pathplannerlib API)";
+        }
+    }
+    catch(err) {
+    }
+//-->
+var pathtoroot = "../../../../";
+var useModuleDirectories = true;
+loadScripts(document, 'script');</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<header role="banner">
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+<!-- ========= START OF TOP NAVBAR ======= -->
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+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
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+<ul class="navList" title="Navigation">
+<li><a href="../../../../index.html">Overview</a></li>
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+<li>Class</li>
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+<li><a href="../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../index-all.html">Index</a></li>
+<li><a href="../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_top">
+<li><a href="../../../../allclasses.html">All&nbsp;Classes</a></li>
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+  allClassesLink = document.getElementById("allclasses_navbar_top");
+  if(window==top) {
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+<div class="navPadding">&nbsp;</div>
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+//-->
+</script>
+</nav>
+</header>
+<main role="main">
+<div class="header">
+<h1 class="title">Hierarchy For Package com.pathplanner.lib.path</h1>
+<span class="packageHierarchyLabel">Package Hierarchies:</span>
+<ul class="horizontal">
+<li><a href="../../../../overview-tree.html">All Packages</a></li>
+</ul>
+</div>
+<div class="contentContainer">
+<section>
+<h2 title="Class Hierarchy">Class Hierarchy</h2>
+<ul>
+<li class="circle">java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink"><span class="typeNameLink">Object</span></a>
+<ul>
+<li class="circle">com.pathplanner.lib.path.<a href="ConstraintsZone.html" title="class in com.pathplanner.lib.path"><span class="typeNameLink">ConstraintsZone</span></a></li>
+<li class="circle">com.pathplanner.lib.path.<a href="EventMarker.html" title="class in com.pathplanner.lib.path"><span class="typeNameLink">EventMarker</span></a></li>
+<li class="circle">com.pathplanner.lib.path.<a href="GoalEndState.html" title="class in com.pathplanner.lib.path"><span class="typeNameLink">GoalEndState</span></a></li>
+<li class="circle">com.pathplanner.lib.path.<a href="PathConstraints.html" title="class in com.pathplanner.lib.path"><span class="typeNameLink">PathConstraints</span></a></li>
+<li class="circle">com.pathplanner.lib.path.<a href="PathPlannerPath.html" title="class in com.pathplanner.lib.path"><span class="typeNameLink">PathPlannerPath</span></a></li>
+<li class="circle">com.pathplanner.lib.path.<a href="PathPlannerTrajectory.html" title="class in com.pathplanner.lib.path"><span class="typeNameLink">PathPlannerTrajectory</span></a></li>
+<li class="circle">com.pathplanner.lib.path.<a href="PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path"><span class="typeNameLink">PathPlannerTrajectory.State</span></a></li>
+<li class="circle">com.pathplanner.lib.path.<a href="PathPoint.html" title="class in com.pathplanner.lib.path"><span class="typeNameLink">PathPoint</span></a></li>
+<li class="circle">com.pathplanner.lib.path.<a href="PathSegment.html" title="class in com.pathplanner.lib.path"><span class="typeNameLink">PathSegment</span></a></li>
+<li class="circle">com.pathplanner.lib.path.<a href="RotationTarget.html" title="class in com.pathplanner.lib.path"><span class="typeNameLink">RotationTarget</span></a></li>
+</ul>
+</li>
+</ul>
+</section>
+</div>
+</main>
+<footer role="contentinfo">
+<nav role="navigation">
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a id="navbar.bottom">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.bottom.firstrow">
+<!--   -->
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+<ul class="navList" title="Navigation">
+<li><a href="../../../../index.html">Overview</a></li>
+<li><a href="package-summary.html">Package</a></li>
+<li>Class</li>
+<li class="navBarCell1Rev">Tree</li>
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+<!-- ======== END OF BOTTOM NAVBAR ======= -->
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+</body>
+</html>
diff --git a/docs/java/com/pathplanner/lib/pathfinding/ADStar.GridPosition.html b/docs/java/com/pathplanner/lib/pathfinding/ADStar.GridPosition.html
new file mode 100644
index 00000000..d4c40ac6
--- /dev/null
+++ b/docs/java/com/pathplanner/lib/pathfinding/ADStar.GridPosition.html
@@ -0,0 +1,444 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc -->
+<title>ADStar.GridPosition (pathplannerlib API)</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.min.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../jquery-ui.overrides.css" title="Style">
+<script type="text/javascript" src="../../../../script.js"></script>
+<script type="text/javascript" src="../../../../jquery/jszip/dist/jszip.min.js"></script>
+<script type="text/javascript" src="../../../../jquery/jszip-utils/dist/jszip-utils.min.js"></script>
+<!--[if IE]>
+<script type="text/javascript" src="../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
+<![endif]-->
+<script type="text/javascript" src="../../../../jquery/jquery-3.6.1.min.js"></script>
+<script type="text/javascript" src="../../../../jquery/jquery-ui.min.js"></script>
+</head>
+<body>
+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="ADStar.GridPosition (pathplannerlib API)";
+        }
+    }
+    catch(err) {
+    }
+//-->
+var data = {"i0":10,"i1":10,"i2":10,"i3":10};
+var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]};
+var altColor = "altColor";
+var rowColor = "rowColor";
+var tableTab = "tableTab";
+var activeTableTab = "activeTableTab";
+var pathtoroot = "../../../../";
+var useModuleDirectories = true;
+loadScripts(document, 'script');</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<header role="banner">
+<nav role="navigation">
+<div class="fixedNav">
+<!-- ========= START OF TOP NAVBAR ======= -->
+<div class="topNav"><a id="navbar.top">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.top.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../index.html">Overview</a></li>
+<li><a href="package-summary.html">Package</a></li>
+<li class="navBarCell1Rev">Class</li>
+<li><a href="package-tree.html">Tree</a></li>
+<li><a href="../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../index-all.html">Index</a></li>
+<li><a href="../../../../help-doc.html">Help</a></li>
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+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_top">
+<li><a href="../../../../allclasses.html">All&nbsp;Classes</a></li>
+</ul>
+<ul class="navListSearch">
+<li><label for="search">SEARCH:</label>
+<input type="text" id="search" value="search" disabled="disabled">
+<input type="reset" id="reset" value="reset" disabled="disabled">
+</li>
+</ul>
+<div>
+<script type="text/javascript"><!--
+  allClassesLink = document.getElementById("allclasses_navbar_top");
+  if(window==top) {
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+</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<div>
+<ul class="subNavList">
+<li>Summary:&nbsp;</li>
+<li>Nested&nbsp;|&nbsp;</li>
+<li><a href="#field.summary">Field</a>&nbsp;|&nbsp;</li>
+<li><a href="#constructor.summary">Constr</a>&nbsp;|&nbsp;</li>
+<li><a href="#method.summary">Method</a></li>
+</ul>
+<ul class="subNavList">
+<li>Detail:&nbsp;</li>
+<li><a href="#field.detail">Field</a>&nbsp;|&nbsp;</li>
+<li><a href="#constructor.detail">Constr</a>&nbsp;|&nbsp;</li>
+<li><a href="#method.detail">Method</a></li>
+</ul>
+</div>
+<a id="skip.navbar.top">
+<!--   -->
+</a></div>
+<!-- ========= END OF TOP NAVBAR ========= -->
+</div>
+<div class="navPadding">&nbsp;</div>
+<script type="text/javascript"><!--
+$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
+//-->
+</script>
+</nav>
+</header>
+<!-- ======== START OF CLASS DATA ======== -->
+<main role="main">
+<div class="header">
+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">com.pathplanner.lib.pathfinding</a></div>
+<h2 title="Class ADStar.GridPosition" class="title">Class ADStar.GridPosition</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
+<li>
+<ul class="inheritance">
+<li>com.pathplanner.lib.pathfinding.ADStar.GridPosition</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<dl>
+<dt>All Implemented Interfaces:</dt>
+<dd><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Comparable.html?is-external=true" title="class or interface in java.lang" class="externalLink">Comparable</a>&lt;<a href="ADStar.GridPosition.html" title="class in com.pathplanner.lib.pathfinding">ADStar.GridPosition</a>&gt;</code></dd>
+</dl>
+<dl>
+<dt>Enclosing class:</dt>
+<dd><a href="ADStar.html" title="class in com.pathplanner.lib.pathfinding">ADStar</a></dd>
+</dl>
+<hr>
+<pre>public static class <span class="typeNameLabel">ADStar.GridPosition</span>
+extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a>
+implements <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Comparable.html?is-external=true" title="class or interface in java.lang" class="externalLink">Comparable</a>&lt;<a href="ADStar.GridPosition.html" title="class in com.pathplanner.lib.pathfinding">ADStar.GridPosition</a>&gt;</pre>
+<div class="block">Represents a node in the pathfinding grid</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- =========== FIELD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="field.summary">
+<!--   -->
+</a>
+<h3>Field Summary</h3>
+<table class="memberSummary">
+<caption><span>Fields</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Field</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><code>int</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#x">x</a></span></code></th>
+<td class="colLast">
+<div class="block">X index in the grid</div>
+</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code>int</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#y">y</a></span></code></th>
+<td class="colLast">
+<div class="block">Y index in the grid</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.summary">
+<!--   -->
+</a>
+<h3>Constructor Summary</h3>
+<table class="memberSummary">
+<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(int,int)">GridPosition</a></span>&#8203;(int&nbsp;x,
+            int&nbsp;y)</code></th>
+<td class="colLast">
+<div class="block">Create a node within the pathfinding grid</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ========== METHOD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.summary">
+<!--   -->
+</a>
+<h3>Method Summary</h3>
+<table class="memberSummary">
+<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr id="i0" class="altColor">
+<td class="colFirst"><code>int</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#compareTo(com.pathplanner.lib.pathfinding.ADStar.GridPosition)">compareTo</a></span>&#8203;(<a href="ADStar.GridPosition.html" title="class in com.pathplanner.lib.pathfinding">ADStar.GridPosition</a>&nbsp;o)</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr id="i1" class="rowColor">
+<td class="colFirst"><code>boolean</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#equals(java.lang.Object)">equals</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a>&nbsp;obj)</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr id="i2" class="altColor">
+<td class="colFirst"><code>int</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#hashCode()">hashCode</a></span>()</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr id="i3" class="rowColor">
+<td class="colFirst"><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#toString()">toString</a></span>()</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+</table>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
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+<h4>x</h4>
+<pre>public final&nbsp;int x</pre>
+<div class="block">X index in the grid</div>
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+<pre>public final&nbsp;int y</pre>
+<div class="block">Y index in the grid</div>
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+<pre>public&nbsp;GridPosition&#8203;(int&nbsp;x,
+                    int&nbsp;y)</pre>
+<div class="block">Create a node within the pathfinding grid</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>x</code> - X index in the grid</dd>
+<dd><code>y</code> - Y index in the grid</dd>
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+<pre class="methodSignature">public&nbsp;int&nbsp;hashCode()</pre>
+<dl>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a></code>&nbsp;in class&nbsp;<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></code></dd>
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+<pre class="methodSignature">public&nbsp;boolean&nbsp;equals&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a>&nbsp;obj)</pre>
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+<a id="compareTo(com.pathplanner.lib.pathfinding.ADStar.GridPosition)">
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+<pre class="methodSignature">public&nbsp;int&nbsp;compareTo&#8203;(<a href="ADStar.GridPosition.html" title="class in com.pathplanner.lib.pathfinding">ADStar.GridPosition</a>&nbsp;o)</pre>
+<dl>
+<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
+<dd><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Comparable.html?is-external=true#compareTo(T)" title="class or interface in java.lang" class="externalLink">compareTo</a></code>&nbsp;in interface&nbsp;<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Comparable.html?is-external=true" title="class or interface in java.lang" class="externalLink">Comparable</a>&lt;<a href="ADStar.GridPosition.html" title="class in com.pathplanner.lib.pathfinding">ADStar.GridPosition</a>&gt;</code></dd>
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+<dl>
+<dt><span class="overrideSpecifyLabel">Overrides:</span></dt>
+<dd><code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a></code>&nbsp;in class&nbsp;<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></code></dd>
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+<!-- ========= END OF CLASS DATA ========= -->
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diff --git a/docs/java/com/pathplanner/lib/pathfinding/ADStar.html b/docs/java/com/pathplanner/lib/pathfinding/ADStar.html
new file mode 100644
index 00000000..e42f5870
--- /dev/null
+++ b/docs/java/com/pathplanner/lib/pathfinding/ADStar.html
@@ -0,0 +1,472 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc -->
+<title>ADStar (pathplannerlib API)</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.min.css" title="Style">
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+<script type="text/javascript" src="../../../../jquery/jszip/dist/jszip.min.js"></script>
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+<script type="text/javascript" src="../../../../jquery/jquery-ui.min.js"></script>
+</head>
+<body>
+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="ADStar (pathplannerlib API)";
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+    }
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+<!--   -->
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+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
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+<li><a href="../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../index-all.html">Index</a></li>
+<li><a href="../../../../help-doc.html">Help</a></li>
+</ul>
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+<div class="subNav">
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+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<div>
+<ul class="subNavList">
+<li>Summary:&nbsp;</li>
+<li><a href="#nested.class.summary">Nested</a>&nbsp;|&nbsp;</li>
+<li>Field&nbsp;|&nbsp;</li>
+<li><a href="#constructor.summary">Constr</a>&nbsp;|&nbsp;</li>
+<li><a href="#method.summary">Method</a></li>
+</ul>
+<ul class="subNavList">
+<li>Detail:&nbsp;</li>
+<li>Field&nbsp;|&nbsp;</li>
+<li><a href="#constructor.detail">Constr</a>&nbsp;|&nbsp;</li>
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+</ul>
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+<!--   -->
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+<!-- ========= END OF TOP NAVBAR ========= -->
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+$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
+//-->
+</script>
+</nav>
+</header>
+<!-- ======== START OF CLASS DATA ======== -->
+<main role="main">
+<div class="header">
+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">com.pathplanner.lib.pathfinding</a></div>
+<h2 title="Class ADStar" class="title">Class ADStar</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
+<li>
+<ul class="inheritance">
+<li>com.pathplanner.lib.pathfinding.ADStar</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
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+<pre>public class <span class="typeNameLabel">ADStar</span>
+extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
+<div class="block">Implementation of the AD* pathfinding algorithm</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- ======== NESTED CLASS SUMMARY ======== -->
+<section>
+<ul class="blockList">
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+<h3>Nested Class Summary</h3>
+<table class="memberSummary">
+<caption><span>Nested Classes</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Class</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><code>static class&nbsp;</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="ADStar.GridPosition.html" title="class in com.pathplanner.lib.pathfinding">ADStar.GridPosition</a></span></code></th>
+<td class="colLast">
+<div class="block">Represents a node in the pathfinding grid</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.summary">
+<!--   -->
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+<h3>Constructor Summary</h3>
+<table class="memberSummary">
+<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">ADStar</a></span>()</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ========== METHOD SUMMARY =========== -->
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+<h3>Method Summary</h3>
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+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr id="i0" class="altColor">
+<td class="colFirst"><code>static void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#ensureInitialized()">ensureInitialized</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Ensure that the pathfinding thread is initialized and running.</div>
+</td>
+</tr>
+<tr id="i1" class="rowColor">
+<td class="colFirst"><code>static <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/List.html?is-external=true" title="class or interface in java.util" class="externalLink">List</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&gt;</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getCurrentPath()">getCurrentPath</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Get the most recently calculated path</div>
+</td>
+</tr>
+<tr id="i2" class="altColor">
+<td class="colFirst"><code>static <a href="ADStar.GridPosition.html" title="class in com.pathplanner.lib.pathfinding">ADStar.GridPosition</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#getGridPos(edu.wpi.first.math.geometry.Translation2d)">getGridPos</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;pos)</code></th>
+<td class="colLast">
+<div class="block">Converts a Translation2d into a grid position</div>
+</td>
+</tr>
+<tr id="i3" class="rowColor">
+<td class="colFirst"><code>static boolean</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#isNewPathAvailable()">isNewPathAvailable</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Get if a new path has been calculated since the last time a path was retrieved</div>
+</td>
+</tr>
+<tr id="i4" class="altColor">
+<td class="colFirst"><code>static void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setDynamicObstacles(java.util.List,edu.wpi.first.math.geometry.Translation2d)">setDynamicObstacles</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/List.html?is-external=true" title="class or interface in java.util" class="externalLink">List</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/Pair.html?is-external=true" title="class or interface in edu.wpi.first.math" class="externalLink">Pair</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>,&#8203;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&gt;&gt;&nbsp;obs,
+                   <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;currentRobotPos)</code></th>
+<td class="colLast">
+<div class="block">Set the dynamic obstacles that should be avoided while pathfinding.</div>
+</td>
+</tr>
+<tr id="i5" class="rowColor">
+<td class="colFirst"><code>static void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setGoalPos(edu.wpi.first.math.geometry.Translation2d)">setGoalPos</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;goal)</code></th>
+<td class="colLast">
+<div class="block">Set the goal position to pathfind to</div>
+</td>
+</tr>
+<tr id="i6" class="altColor">
+<td class="colFirst"><code>static void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setStartPos(edu.wpi.first.math.geometry.Translation2d)">setStartPos</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;start)</code></th>
+<td class="colLast">
+<div class="block">Set the start position to pathfind from</div>
+</td>
+</tr>
+</table>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
+<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+<div class="details">
+<ul class="blockList">
+<li class="blockList">
+<!-- ========= CONSTRUCTOR DETAIL ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.detail">
+<!--   -->
+</a>
+<h3>Constructor Detail</h3>
+<a id="&lt;init&gt;()">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>ADStar</h4>
+<pre>public&nbsp;ADStar()</pre>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- ============ METHOD DETAIL ========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.detail">
+<!--   -->
+</a>
+<h3>Method Detail</h3>
+<a id="ensureInitialized()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>ensureInitialized</h4>
+<pre class="methodSignature">public static&nbsp;void&nbsp;ensureInitialized()</pre>
+<div class="block">Ensure that the pathfinding thread is initialized and running.
+
+ <p>This will do nothing if already initialized</div>
+</li>
+</ul>
+<a id="isNewPathAvailable()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>isNewPathAvailable</h4>
+<pre class="methodSignature">public static&nbsp;boolean&nbsp;isNewPathAvailable()</pre>
+<div class="block">Get if a new path has been calculated since the last time a path was retrieved</div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>True if a new path is available</dd>
+</dl>
+</li>
+</ul>
+<a id="getCurrentPath()">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>getCurrentPath</h4>
+<pre class="methodSignature">public static&nbsp;<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/List.html?is-external=true" title="class or interface in java.util" class="externalLink">List</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&gt;&nbsp;getCurrentPath()</pre>
+<div class="block">Get the most recently calculated path</div>
+<dl>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>The bezier points representing a path</dd>
+</dl>
+</li>
+</ul>
+<a id="setStartPos(edu.wpi.first.math.geometry.Translation2d)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>setStartPos</h4>
+<pre class="methodSignature">public static&nbsp;void&nbsp;setStartPos&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;start)</pre>
+<div class="block">Set the start position to pathfind from</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>start</code> - Start position on the field. If this is within an obstacle it will be moved to the
+     nearest non-obstacle node.</dd>
+</dl>
+</li>
+</ul>
+<a id="setGoalPos(edu.wpi.first.math.geometry.Translation2d)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>setGoalPos</h4>
+<pre class="methodSignature">public static&nbsp;void&nbsp;setGoalPos&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;goal)</pre>
+<div class="block">Set the goal position to pathfind to</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>goal</code> - Goal position on the field. f this is within an obstacle it will be moved to the
+     nearest non-obstacle node.</dd>
+</dl>
+</li>
+</ul>
+<a id="setDynamicObstacles(java.util.List,edu.wpi.first.math.geometry.Translation2d)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>setDynamicObstacles</h4>
+<pre class="methodSignature">public static&nbsp;void&nbsp;setDynamicObstacles&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/List.html?is-external=true" title="class or interface in java.util" class="externalLink">List</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/Pair.html?is-external=true" title="class or interface in edu.wpi.first.math" class="externalLink">Pair</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>,&#8203;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&gt;&gt;&nbsp;obs,
+                                       <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;currentRobotPos)</pre>
+<div class="block">Set the dynamic obstacles that should be avoided while pathfinding. This is an advanced usage
+ feature. This can do some weird things so you should become very familiar with how this will
+ work before being anywhere near comfortable using it in competition.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>obs</code> - A List of Translation2d pairs representing obstacles. Each Translation2d represents
+     opposite corners of a bounding box.</dd>
+<dd><code>currentRobotPos</code> - The current position of the robot. This is needed to change the start
+     position of the path if the robot is now within an obstacle.</dd>
+</dl>
+</li>
+</ul>
+<a id="getGridPos(edu.wpi.first.math.geometry.Translation2d)">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>getGridPos</h4>
+<pre class="methodSignature">public static&nbsp;<a href="ADStar.GridPosition.html" title="class in com.pathplanner.lib.pathfinding">ADStar.GridPosition</a>&nbsp;getGridPos&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;pos)</pre>
+<div class="block">Converts a Translation2d into a grid position</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>pos</code> - Position on the field</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>The gird position containing the translation</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+</div>
+</main>
+<!-- ========= END OF CLASS DATA ========= -->
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diff --git a/docs/java/com/pathplanner/lib/pathfinding/package-summary.html b/docs/java/com/pathplanner/lib/pathfinding/package-summary.html
new file mode 100644
index 00000000..1dc5dce6
--- /dev/null
+++ b/docs/java/com/pathplanner/lib/pathfinding/package-summary.html
@@ -0,0 +1,172 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc -->
+<title>com.pathplanner.lib.pathfinding (pathplannerlib API)</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.min.css" title="Style">
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+            parent.document.title="com.pathplanner.lib.pathfinding (pathplannerlib API)";
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+    catch(err) {
+    }
+//-->
+var pathtoroot = "../../../../";
+var useModuleDirectories = true;
+loadScripts(document, 'script');</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<header role="banner">
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+</a>
+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.top.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../index.html">Overview</a></li>
+<li class="navBarCell1Rev">Package</li>
+<li>Class</li>
+<li><a href="package-tree.html">Tree</a></li>
+<li><a href="../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../index-all.html">Index</a></li>
+<li><a href="../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_top">
+<li><a href="../../../../allclasses.html">All&nbsp;Classes</a></li>
+</ul>
+<ul class="navListSearch">
+<li><label for="search">SEARCH:</label>
+<input type="text" id="search" value="search" disabled="disabled">
+<input type="reset" id="reset" value="reset" disabled="disabled">
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+</div>
+<div class="navPadding">&nbsp;</div>
+<script type="text/javascript"><!--
+$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
+//-->
+</script>
+</nav>
+</header>
+<main role="main">
+<div class="header">
+<h1 title="Package" class="title">Package&nbsp;com.pathplanner.lib.pathfinding</h1>
+</div>
+<div class="contentContainer">
+<ul class="blockList">
+<li class="blockList">
+<table class="typeSummary">
+<caption><span>Class Summary</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Class</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<th class="colFirst" scope="row"><a href="ADStar.html" title="class in com.pathplanner.lib.pathfinding">ADStar</a></th>
+<td class="colLast">
+<div class="block">Implementation of the AD* pathfinding algorithm</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><a href="ADStar.GridPosition.html" title="class in com.pathplanner.lib.pathfinding">ADStar.GridPosition</a></th>
+<td class="colLast">
+<div class="block">Represents a node in the pathfinding grid</div>
+</td>
+</tr>
+</tbody>
+</table>
+</li>
+</ul>
+</div>
+</main>
+<footer role="contentinfo">
+<nav role="navigation">
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a id="navbar.bottom">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.bottom.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../index.html">Overview</a></li>
+<li class="navBarCell1Rev">Package</li>
+<li>Class</li>
+<li><a href="package-tree.html">Tree</a></li>
+<li><a href="../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../index-all.html">Index</a></li>
+<li><a href="../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_bottom">
+<li><a href="../../../../allclasses.html">All&nbsp;Classes</a></li>
+</ul>
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diff --git a/docs/java/com/pathplanner/lib/pathfinding/package-tree.html b/docs/java/com/pathplanner/lib/pathfinding/package-tree.html
new file mode 100644
index 00000000..1c77d327
--- /dev/null
+++ b/docs/java/com/pathplanner/lib/pathfinding/package-tree.html
@@ -0,0 +1,162 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc -->
+<title>com.pathplanner.lib.pathfinding Class Hierarchy (pathplannerlib API)</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.min.css" title="Style">
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+<script type="text/javascript" src="../../../../jquery/jszip/dist/jszip.min.js"></script>
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+<script type="text/javascript" src="../../../../jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
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+<script type="text/javascript" src="../../../../jquery/jquery-ui.min.js"></script>
+</head>
+<body>
+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="com.pathplanner.lib.pathfinding Class Hierarchy (pathplannerlib API)";
+        }
+    }
+    catch(err) {
+    }
+//-->
+var pathtoroot = "../../../../";
+var useModuleDirectories = true;
+loadScripts(document, 'script');</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<header role="banner">
+<nav role="navigation">
+<div class="fixedNav">
+<!-- ========= START OF TOP NAVBAR ======= -->
+<div class="topNav"><a id="navbar.top">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.top.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="../../../../index.html">Overview</a></li>
+<li><a href="package-summary.html">Package</a></li>
+<li>Class</li>
+<li class="navBarCell1Rev">Tree</li>
+<li><a href="../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../index-all.html">Index</a></li>
+<li><a href="../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_top">
+<li><a href="../../../../allclasses.html">All&nbsp;Classes</a></li>
+</ul>
+<ul class="navListSearch">
+<li><label for="search">SEARCH:</label>
+<input type="text" id="search" value="search" disabled="disabled">
+<input type="reset" id="reset" value="reset" disabled="disabled">
+</li>
+</ul>
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+<script type="text/javascript"><!--
+  allClassesLink = document.getElementById("allclasses_navbar_top");
+  if(window==top) {
+    allClassesLink.style.display = "block";
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+$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
+//-->
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+</nav>
+</header>
+<main role="main">
+<div class="header">
+<h1 class="title">Hierarchy For Package com.pathplanner.lib.pathfinding</h1>
+<span class="packageHierarchyLabel">Package Hierarchies:</span>
+<ul class="horizontal">
+<li><a href="../../../../overview-tree.html">All Packages</a></li>
+</ul>
+</div>
+<div class="contentContainer">
+<section>
+<h2 title="Class Hierarchy">Class Hierarchy</h2>
+<ul>
+<li class="circle">java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink"><span class="typeNameLink">Object</span></a>
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+<li class="circle">com.pathplanner.lib.pathfinding.<a href="ADStar.html" title="class in com.pathplanner.lib.pathfinding"><span class="typeNameLink">ADStar</span></a></li>
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diff --git a/docs/java/com/pathplanner/lib/util/ChassisSpeedsRateLimiter.html b/docs/java/com/pathplanner/lib/util/ChassisSpeedsRateLimiter.html
new file mode 100644
index 00000000..3a9c92d2
--- /dev/null
+++ b/docs/java/com/pathplanner/lib/util/ChassisSpeedsRateLimiter.html
@@ -0,0 +1,398 @@
+<!DOCTYPE HTML>
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+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">com.pathplanner.lib.util</a></div>
+<h2 title="Class ChassisSpeedsRateLimiter" class="title">Class ChassisSpeedsRateLimiter</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
+<li>
+<ul class="inheritance">
+<li>com.pathplanner.lib.util.ChassisSpeedsRateLimiter</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<hr>
+<pre>public class <span class="typeNameLabel">ChassisSpeedsRateLimiter</span>
+extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
+<div class="block">Essentially a slew rate limiter for chassis speeds
+
+ <p>This will properly apply a linear acceleration limit to the chassis speeds instead of applying
+ it separately with 2 X/Y slew rate limiters</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.summary">
+<!--   -->
+</a>
+<h3>Constructor Summary</h3>
+<table class="memberSummary">
+<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double,double)">ChassisSpeedsRateLimiter</a></span>&#8203;(double&nbsp;translationRateLimit,
+                        double&nbsp;rotationRateLimit)</code></th>
+<td class="colLast">
+<div class="block">Create a new chassis speeds limiter</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double,double,edu.wpi.first.math.kinematics.ChassisSpeeds)">ChassisSpeedsRateLimiter</a></span>&#8203;(double&nbsp;translationRateLimit,
+                        double&nbsp;rotationRateLimit,
+                        <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&nbsp;initialValue)</code></th>
+<td class="colLast">
+<div class="block">Create a new chassis speeds limiter</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ========== METHOD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.summary">
+<!--   -->
+</a>
+<h3>Method Summary</h3>
+<table class="memberSummary">
+<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr id="i0" class="altColor">
+<td class="colFirst"><code><a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#calculate(edu.wpi.first.math.kinematics.ChassisSpeeds)">calculate</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&nbsp;input)</code></th>
+<td class="colLast">
+<div class="block">Calculate the limited chassis speeds for a given input</div>
+</td>
+</tr>
+<tr id="i1" class="rowColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#reset(edu.wpi.first.math.kinematics.ChassisSpeeds)">reset</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&nbsp;value)</code></th>
+<td class="colLast">
+<div class="block">Reset the limiter</div>
+</td>
+</tr>
+<tr id="i2" class="altColor">
+<td class="colFirst"><code>void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setRateLimits(double,double)">setRateLimits</a></span>&#8203;(double&nbsp;translationRateLimit,
+             double&nbsp;rotationRateLimit)</code></th>
+<td class="colLast">
+<div class="block">Set the acceleration limits</div>
+</td>
+</tr>
+</table>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
+<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+<div class="details">
+<ul class="blockList">
+<li class="blockList">
+<!-- ========= CONSTRUCTOR DETAIL ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.detail">
+<!--   -->
+</a>
+<h3>Constructor Detail</h3>
+<a id="&lt;init&gt;(double,double,edu.wpi.first.math.kinematics.ChassisSpeeds)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>ChassisSpeedsRateLimiter</h4>
+<pre>public&nbsp;ChassisSpeedsRateLimiter&#8203;(double&nbsp;translationRateLimit,
+                                double&nbsp;rotationRateLimit,
+                                <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&nbsp;initialValue)</pre>
+<div class="block">Create a new chassis speeds limiter</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>translationRateLimit</code> - The linear acceleration limit</dd>
+<dd><code>rotationRateLimit</code> - The angular acceleration limit</dd>
+<dd><code>initialValue</code> - The initial chassis speeds value</dd>
+</dl>
+</li>
+</ul>
+<a id="&lt;init&gt;(double,double)">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>ChassisSpeedsRateLimiter</h4>
+<pre>public&nbsp;ChassisSpeedsRateLimiter&#8203;(double&nbsp;translationRateLimit,
+                                double&nbsp;rotationRateLimit)</pre>
+<div class="block">Create a new chassis speeds limiter</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>translationRateLimit</code> - The linear acceleration limit</dd>
+<dd><code>rotationRateLimit</code> - The angular acceleration limit</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- ============ METHOD DETAIL ========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.detail">
+<!--   -->
+</a>
+<h3>Method Detail</h3>
+<a id="reset(edu.wpi.first.math.kinematics.ChassisSpeeds)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>reset</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;reset&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&nbsp;value)</pre>
+<div class="block">Reset the limiter</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>value</code> - The chassis speeds to reset with</dd>
+</dl>
+</li>
+</ul>
+<a id="setRateLimits(double,double)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>setRateLimits</h4>
+<pre class="methodSignature">public&nbsp;void&nbsp;setRateLimits&#8203;(double&nbsp;translationRateLimit,
+                          double&nbsp;rotationRateLimit)</pre>
+<div class="block">Set the acceleration limits</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>translationRateLimit</code> - Linear acceleration limit</dd>
+<dd><code>rotationRateLimit</code> - Angular acceleration limit</dd>
+</dl>
+</li>
+</ul>
+<a id="calculate(edu.wpi.first.math.kinematics.ChassisSpeeds)">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>calculate</h4>
+<pre class="methodSignature">public&nbsp;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&nbsp;calculate&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/kinematics/ChassisSpeeds.html?is-external=true" title="class or interface in edu.wpi.first.math.kinematics" class="externalLink">ChassisSpeeds</a>&nbsp;input)</pre>
+<div class="block">Calculate the limited chassis speeds for a given input</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>input</code> - The target chassis speeds</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>The limited chassis speeds</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+</div>
+</main>
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diff --git a/docs/java/com/pathplanner/lib/util/GeometryUtil.html b/docs/java/com/pathplanner/lib/util/GeometryUtil.html
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+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">com.pathplanner.lib.util</a></div>
+<h2 title="Class GeometryUtil" class="title">Class GeometryUtil</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
+<li>
+<ul class="inheritance">
+<li>com.pathplanner.lib.util.GeometryUtil</li>
+</ul>
+</li>
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+<div class="description">
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+<pre>public class <span class="typeNameLabel">GeometryUtil</span>
+extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
+<div class="block">Utility class for various geometry functions used during generation</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.summary">
+<!--   -->
+</a>
+<h3>Constructor Summary</h3>
+<table class="memberSummary">
+<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">GeometryUtil</a></span>()</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ========== METHOD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.summary">
+<!--   -->
+</a>
+<h3>Method Summary</h3>
+<table class="memberSummary">
+<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t1" class="tableTab"><span><a href="javascript:show(1);">Static Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr id="i0" class="altColor">
+<td class="colFirst"><code>static double</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#calculateRadius(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Translation2d)">calculateRadius</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;a,
+               <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;b,
+               <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;c)</code></th>
+<td class="colLast">
+<div class="block">Calculate the curve radius given 3 points on the curve</div>
+</td>
+</tr>
+<tr id="i1" class="rowColor">
+<td class="colFirst"><code>static <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#cubicLerp(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Translation2d,double)">cubicLerp</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;a,
+         <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;b,
+         <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;c,
+         <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;d,
+         double&nbsp;t)</code></th>
+<td class="colLast">
+<div class="block">Quadratic interpolation between Translation2ds</div>
+</td>
+</tr>
+<tr id="i2" class="altColor">
+<td class="colFirst"><code>static double</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#doubleLerp(double,double,double)">doubleLerp</a></span>&#8203;(double&nbsp;startVal,
+          double&nbsp;endVal,
+          double&nbsp;t)</code></th>
+<td class="colLast">
+<div class="block">Interpolate between two doubles</div>
+</td>
+</tr>
+<tr id="i3" class="rowColor">
+<td class="colFirst"><code>static <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#quadraticLerp(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Translation2d,double)">quadraticLerp</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;a,
+             <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;b,
+             <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;c,
+             double&nbsp;t)</code></th>
+<td class="colLast">
+<div class="block">Cubic interpolation between Translation2ds</div>
+</td>
+</tr>
+<tr id="i4" class="altColor">
+<td class="colFirst"><code>static <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Rotation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Rotation2d</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#rotationLerp(edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.geometry.Rotation2d,double)">rotationLerp</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Rotation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Rotation2d</a>&nbsp;startVal,
+            <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Rotation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Rotation2d</a>&nbsp;endVal,
+            double&nbsp;t)</code></th>
+<td class="colLast">
+<div class="block">Interpolate between two Rotation2ds</div>
+</td>
+</tr>
+<tr id="i5" class="rowColor">
+<td class="colFirst"><code>static <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#translationLerp(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Translation2d,double)">translationLerp</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;a,
+               <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;b,
+               double&nbsp;t)</code></th>
+<td class="colLast">
+<div class="block">Linear interpolation between Translation2ds</div>
+</td>
+</tr>
+</table>
+<ul class="blockList">
+<li class="blockList"><a id="methods.inherited.from.class.java.lang.Object">
+<!--   -->
+</a>
+<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
+<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+<div class="details">
+<ul class="blockList">
+<li class="blockList">
+<!-- ========= CONSTRUCTOR DETAIL ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.detail">
+<!--   -->
+</a>
+<h3>Constructor Detail</h3>
+<a id="&lt;init&gt;()">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>GeometryUtil</h4>
+<pre>public&nbsp;GeometryUtil()</pre>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- ============ METHOD DETAIL ========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.detail">
+<!--   -->
+</a>
+<h3>Method Detail</h3>
+<a id="doubleLerp(double,double,double)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>doubleLerp</h4>
+<pre class="methodSignature">public static&nbsp;double&nbsp;doubleLerp&#8203;(double&nbsp;startVal,
+                                double&nbsp;endVal,
+                                double&nbsp;t)</pre>
+<div class="block">Interpolate between two doubles</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>startVal</code> - Start value</dd>
+<dd><code>endVal</code> - End value</dd>
+<dd><code>t</code> - Interpolation factor (0.0-1.0)</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>Interpolated value</dd>
+</dl>
+</li>
+</ul>
+<a id="rotationLerp(edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.geometry.Rotation2d,double)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>rotationLerp</h4>
+<pre class="methodSignature">public static&nbsp;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Rotation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Rotation2d</a>&nbsp;rotationLerp&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Rotation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Rotation2d</a>&nbsp;startVal,
+                                      <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Rotation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Rotation2d</a>&nbsp;endVal,
+                                      double&nbsp;t)</pre>
+<div class="block">Interpolate between two Rotation2ds</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>startVal</code> - Start value</dd>
+<dd><code>endVal</code> - End value</dd>
+<dd><code>t</code> - Interpolation factor (0.0-1.0)</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>Interpolated value</dd>
+</dl>
+</li>
+</ul>
+<a id="translationLerp(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Translation2d,double)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>translationLerp</h4>
+<pre class="methodSignature">public static&nbsp;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;translationLerp&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;a,
+                                            <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;b,
+                                            double&nbsp;t)</pre>
+<div class="block">Linear interpolation between Translation2ds</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>a</code> - Position 1</dd>
+<dd><code>b</code> - Position 2</dd>
+<dd><code>t</code> - Interpolation factor (0.0-1.0)</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>Interpolated value</dd>
+</dl>
+</li>
+</ul>
+<a id="quadraticLerp(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Translation2d,double)">
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+<h4>quadraticLerp</h4>
+<pre class="methodSignature">public static&nbsp;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;quadraticLerp&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;a,
+                                          <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;b,
+                                          <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;c,
+                                          double&nbsp;t)</pre>
+<div class="block">Cubic interpolation between Translation2ds</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>a</code> - Position 1</dd>
+<dd><code>b</code> - Position 2</dd>
+<dd><code>c</code> - Position 3</dd>
+<dd><code>t</code> - Interpolation factor (0.0-1.0)</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>Interpolated value</dd>
+</dl>
+</li>
+</ul>
+<a id="cubicLerp(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Translation2d,double)">
+<!--   -->
+</a>
+<ul class="blockList">
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+<h4>cubicLerp</h4>
+<pre class="methodSignature">public static&nbsp;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;cubicLerp&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;a,
+                                      <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;b,
+                                      <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;c,
+                                      <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;d,
+                                      double&nbsp;t)</pre>
+<div class="block">Quadratic interpolation between Translation2ds</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>a</code> - Position 1</dd>
+<dd><code>b</code> - Position 2</dd>
+<dd><code>c</code> - Position 3</dd>
+<dd><code>d</code> - Position 4</dd>
+<dd><code>t</code> - Interpolation factor (0.0-1.0)</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>Interpolated value</dd>
+</dl>
+</li>
+</ul>
+<a id="calculateRadius(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Translation2d)">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>calculateRadius</h4>
+<pre class="methodSignature">public static&nbsp;double&nbsp;calculateRadius&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;a,
+                                     <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;b,
+                                     <a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Translation2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Translation2d</a>&nbsp;c)</pre>
+<div class="block">Calculate the curve radius given 3 points on the curve</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>a</code> - Point A</dd>
+<dd><code>b</code> - Point B</dd>
+<dd><code>c</code> - Point C</dd>
+<dt><span class="returnLabel">Returns:</span></dt>
+<dd>Curve radius</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+</div>
+</main>
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diff --git a/docs/java/com/pathplanner/lib/util/HolonomicPathFollowerConfig.html b/docs/java/com/pathplanner/lib/util/HolonomicPathFollowerConfig.html
new file mode 100644
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+<div class="header">
+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">com.pathplanner.lib.util</a></div>
+<h2 title="Class HolonomicPathFollowerConfig" class="title">Class HolonomicPathFollowerConfig</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
+<li>
+<ul class="inheritance">
+<li>com.pathplanner.lib.util.HolonomicPathFollowerConfig</li>
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+extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
+<div class="block">Configuration for the holonomic path following commands</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- =========== FIELD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="field.summary">
+<!--   -->
+</a>
+<h3>Field Summary</h3>
+<table class="memberSummary">
+<caption><span>Fields</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Field</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><code>double</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#driveBaseRadius">driveBaseRadius</a></span></code></th>
+<td class="colLast">
+<div class="block">Radius of the drive base in meters</div>
+</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code>double</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#maxModuleSpeed">maxModuleSpeed</a></span></code></th>
+<td class="colLast">
+<div class="block">Max speed of a drive module in m/s</div>
+</td>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><code>double</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#period">period</a></span></code></th>
+<td class="colLast">
+<div class="block">Period of the robot control loop in seconds</div>
+</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code><a href="ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#replanningConfig">replanningConfig</a></span></code></th>
+<td class="colLast">
+<div class="block">Path replanning config</div>
+</td>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><code><a href="PIDConstants.html" title="class in com.pathplanner.lib.util">PIDConstants</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#rotationConstants">rotationConstants</a></span></code></th>
+<td class="colLast">
+<div class="block">PIDConstants used for rotation PID controllers</div>
+</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code><a href="PIDConstants.html" title="class in com.pathplanner.lib.util">PIDConstants</a></code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#translationConstants">translationConstants</a></span></code></th>
+<td class="colLast">
+<div class="block">PIDConstants used for translation PID controllers</div>
+</td>
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+</li>
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+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double,double,com.pathplanner.lib.util.ReplanningConfig)">HolonomicPathFollowerConfig</a></span>&#8203;(double&nbsp;maxModuleSpeed,
+                           double&nbsp;driveBaseRadius,
+                           <a href="ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a>&nbsp;replanningConfig)</code></th>
+<td class="colLast">
+<div class="block">Create a new holonomic path follower config</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double,double,com.pathplanner.lib.util.ReplanningConfig,double)">HolonomicPathFollowerConfig</a></span>&#8203;(double&nbsp;maxModuleSpeed,
+                           double&nbsp;driveBaseRadius,
+                           <a href="ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a>&nbsp;replanningConfig,
+                           double&nbsp;period)</code></th>
+<td class="colLast">
+<div class="block">Create a new holonomic path follower config</div>
+</td>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(com.pathplanner.lib.util.PIDConstants,com.pathplanner.lib.util.PIDConstants,double,double,com.pathplanner.lib.util.ReplanningConfig)">HolonomicPathFollowerConfig</a></span>&#8203;(<a href="PIDConstants.html" title="class in com.pathplanner.lib.util">PIDConstants</a>&nbsp;translationConstants,
+                           <a href="PIDConstants.html" title="class in com.pathplanner.lib.util">PIDConstants</a>&nbsp;rotationConstants,
+                           double&nbsp;maxModuleSpeed,
+                           double&nbsp;driveBaseRadius,
+                           <a href="ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a>&nbsp;replanningConfig)</code></th>
+<td class="colLast">
+<div class="block">Create a new holonomic path follower config</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(com.pathplanner.lib.util.PIDConstants,com.pathplanner.lib.util.PIDConstants,double,double,com.pathplanner.lib.util.ReplanningConfig,double)">HolonomicPathFollowerConfig</a></span>&#8203;(<a href="PIDConstants.html" title="class in com.pathplanner.lib.util">PIDConstants</a>&nbsp;translationConstants,
+                           <a href="PIDConstants.html" title="class in com.pathplanner.lib.util">PIDConstants</a>&nbsp;rotationConstants,
+                           double&nbsp;maxModuleSpeed,
+                           double&nbsp;driveBaseRadius,
+                           <a href="ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a>&nbsp;replanningConfig,
+                           double&nbsp;period)</code></th>
+<td class="colLast">
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+<ul class="blockList">
+<li class="blockList"><a id="field.detail">
+<!--   -->
+</a>
+<h3>Field Detail</h3>
+<a id="translationConstants">
+<!--   -->
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+<ul class="blockList">
+<li class="blockList">
+<h4>translationConstants</h4>
+<pre>public final&nbsp;<a href="PIDConstants.html" title="class in com.pathplanner.lib.util">PIDConstants</a> translationConstants</pre>
+<div class="block">PIDConstants used for translation PID controllers</div>
+</li>
+</ul>
+<a id="rotationConstants">
+<!--   -->
+</a>
+<ul class="blockList">
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+<h4>rotationConstants</h4>
+<pre>public final&nbsp;<a href="PIDConstants.html" title="class in com.pathplanner.lib.util">PIDConstants</a> rotationConstants</pre>
+<div class="block">PIDConstants used for rotation PID controllers</div>
+</li>
+</ul>
+<a id="maxModuleSpeed">
+<!--   -->
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+<h4>maxModuleSpeed</h4>
+<pre>public final&nbsp;double maxModuleSpeed</pre>
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+</li>
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+<pre>public final&nbsp;double driveBaseRadius</pre>
+<div class="block">Radius of the drive base in meters</div>
+</li>
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+<a id="replanningConfig">
+<!--   -->
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+<h4>replanningConfig</h4>
+<pre>public final&nbsp;<a href="ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a> replanningConfig</pre>
+<div class="block">Path replanning config</div>
+</li>
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+<pre>public final&nbsp;double period</pre>
+<div class="block">Period of the robot control loop in seconds</div>
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+<!-- ========= CONSTRUCTOR DETAIL ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.detail">
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+<h3>Constructor Detail</h3>
+<a id="&lt;init&gt;(com.pathplanner.lib.util.PIDConstants,com.pathplanner.lib.util.PIDConstants,double,double,com.pathplanner.lib.util.ReplanningConfig,double)">
+<!--   -->
+</a>
+<ul class="blockList">
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+<h4>HolonomicPathFollowerConfig</h4>
+<pre>public&nbsp;HolonomicPathFollowerConfig&#8203;(<a href="PIDConstants.html" title="class in com.pathplanner.lib.util">PIDConstants</a>&nbsp;translationConstants,
+                                   <a href="PIDConstants.html" title="class in com.pathplanner.lib.util">PIDConstants</a>&nbsp;rotationConstants,
+                                   double&nbsp;maxModuleSpeed,
+                                   double&nbsp;driveBaseRadius,
+                                   <a href="ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a>&nbsp;replanningConfig,
+                                   double&nbsp;period)</pre>
+<div class="block">Create a new holonomic path follower config</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>translationConstants</code> - <a href="PIDConstants.html" title="class in com.pathplanner.lib.util"><code>PIDConstants</code></a> used for creating the
+     translation PID controllers</dd>
+<dd><code>rotationConstants</code> - <a href="PIDConstants.html" title="class in com.pathplanner.lib.util"><code>PIDConstants</code></a> used for creating the
+     rotation PID controller</dd>
+<dd><code>maxModuleSpeed</code> - Max speed of an individual drive module in meters/sec</dd>
+<dd><code>driveBaseRadius</code> - The radius of the drive base in meters. This is the distance from the
+     center of the robot to the furthest module.</dd>
+<dd><code>replanningConfig</code> - Path replanning configuration</dd>
+<dd><code>period</code> - Control loop period in seconds (Default = 0.02)</dd>
+</dl>
+</li>
+</ul>
+<a id="&lt;init&gt;(com.pathplanner.lib.util.PIDConstants,com.pathplanner.lib.util.PIDConstants,double,double,com.pathplanner.lib.util.ReplanningConfig)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>HolonomicPathFollowerConfig</h4>
+<pre>public&nbsp;HolonomicPathFollowerConfig&#8203;(<a href="PIDConstants.html" title="class in com.pathplanner.lib.util">PIDConstants</a>&nbsp;translationConstants,
+                                   <a href="PIDConstants.html" title="class in com.pathplanner.lib.util">PIDConstants</a>&nbsp;rotationConstants,
+                                   double&nbsp;maxModuleSpeed,
+                                   double&nbsp;driveBaseRadius,
+                                   <a href="ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a>&nbsp;replanningConfig)</pre>
+<div class="block">Create a new holonomic path follower config</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>translationConstants</code> - <a href="PIDConstants.html" title="class in com.pathplanner.lib.util"><code>PIDConstants</code></a> used for creating the
+     translation PID controllers</dd>
+<dd><code>rotationConstants</code> - <a href="PIDConstants.html" title="class in com.pathplanner.lib.util"><code>PIDConstants</code></a> used for creating the
+     rotation PID controller</dd>
+<dd><code>maxModuleSpeed</code> - Max speed of an individual drive module in meters/sec</dd>
+<dd><code>driveBaseRadius</code> - The radius of the drive base in meters. For swerve drive, this is the
+     distance from the center of the robot to the furthest module. For mecanum, this is the
+     drive base width / 2</dd>
+<dd><code>replanningConfig</code> - Path replanning configuration</dd>
+</dl>
+</li>
+</ul>
+<a id="&lt;init&gt;(double,double,com.pathplanner.lib.util.ReplanningConfig,double)">
+<!--   -->
+</a>
+<ul class="blockList">
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+<h4>HolonomicPathFollowerConfig</h4>
+<pre>public&nbsp;HolonomicPathFollowerConfig&#8203;(double&nbsp;maxModuleSpeed,
+                                   double&nbsp;driveBaseRadius,
+                                   <a href="ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a>&nbsp;replanningConfig,
+                                   double&nbsp;period)</pre>
+<div class="block">Create a new holonomic path follower config</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>maxModuleSpeed</code> - Max speed of an individual drive module in meters/sec</dd>
+<dd><code>driveBaseRadius</code> - The radius of the drive base in meters. For swerve drive, this is the
+     distance from the center of the robot to the furthest module. For mecanum, this is the
+     drive base width / 2</dd>
+<dd><code>replanningConfig</code> - Path replanning configuration</dd>
+<dd><code>period</code> - Control loop period in seconds (Default = 0.02)</dd>
+</dl>
+</li>
+</ul>
+<a id="&lt;init&gt;(double,double,com.pathplanner.lib.util.ReplanningConfig)">
+<!--   -->
+</a>
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+<h4>HolonomicPathFollowerConfig</h4>
+<pre>public&nbsp;HolonomicPathFollowerConfig&#8203;(double&nbsp;maxModuleSpeed,
+                                   double&nbsp;driveBaseRadius,
+                                   <a href="ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a>&nbsp;replanningConfig)</pre>
+<div class="block">Create a new holonomic path follower config</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>maxModuleSpeed</code> - Max speed of an individual drive module in meters/sec</dd>
+<dd><code>driveBaseRadius</code> - The radius of the drive base in meters. For swerve drive, this is the
+     distance from the center of the robot to the furthest module. For mecanum, this is the
+     drive base width / 2</dd>
+<dd><code>replanningConfig</code> - Path replanning configuration</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+</div>
+</main>
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diff --git a/docs/java/com/pathplanner/lib/util/PIDConstants.html b/docs/java/com/pathplanner/lib/util/PIDConstants.html
new file mode 100644
index 00000000..379e3eb5
--- /dev/null
+++ b/docs/java/com/pathplanner/lib/util/PIDConstants.html
@@ -0,0 +1,448 @@
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+<div class="header">
+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">com.pathplanner.lib.util</a></div>
+<h2 title="Class PIDConstants" class="title">Class PIDConstants</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
+<li>
+<ul class="inheritance">
+<li>com.pathplanner.lib.util.PIDConstants</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<hr>
+<pre>public class <span class="typeNameLabel">PIDConstants</span>
+extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
+<div class="block">PID constants used to create PID controllers</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- =========== FIELD SUMMARY =========== -->
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+<ul class="blockList">
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+<!--   -->
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+<h3>Field Summary</h3>
+<table class="memberSummary">
+<caption><span>Fields</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Field</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><code>double</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#iZone">iZone</a></span></code></th>
+<td class="colLast">
+<div class="block">Integral range</div>
+</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code>double</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#kD">kD</a></span></code></th>
+<td class="colLast">
+<div class="block">D</div>
+</td>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><code>double</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#kI">kI</a></span></code></th>
+<td class="colLast">
+<div class="block">I</div>
+</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code>double</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#kP">kP</a></span></code></th>
+<td class="colLast">
+<div class="block">P</div>
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+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
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+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double)">PIDConstants</a></span>&#8203;(double&nbsp;kP)</code></th>
+<td class="colLast">
+<div class="block">Create a new PIDConstants object</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double,double)">PIDConstants</a></span>&#8203;(double&nbsp;kP,
+            double&nbsp;kD)</code></th>
+<td class="colLast">
+<div class="block">Create a new PIDConstants object</div>
+</td>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double,double,double)">PIDConstants</a></span>&#8203;(double&nbsp;kP,
+            double&nbsp;kI,
+            double&nbsp;kD)</code></th>
+<td class="colLast">
+<div class="block">Create a new PIDConstants object</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(double,double,double,double)">PIDConstants</a></span>&#8203;(double&nbsp;kP,
+            double&nbsp;kI,
+            double&nbsp;kD,
+            double&nbsp;iZone)</code></th>
+<td class="colLast">
+<div class="block">Create a new PIDConstants object</div>
+</td>
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+<!-- ============ FIELD DETAIL =========== -->
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+<ul class="blockList">
+<li class="blockList"><a id="field.detail">
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+<h3>Field Detail</h3>
+<a id="kP">
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+<li class="blockList">
+<h4>kP</h4>
+<pre>public final&nbsp;double kP</pre>
+<div class="block">P</div>
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+</ul>
+<a id="kI">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>kI</h4>
+<pre>public final&nbsp;double kI</pre>
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+<a id="kD">
+<!--   -->
+</a>
+<ul class="blockList">
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+<h4>kD</h4>
+<pre>public final&nbsp;double kD</pre>
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+<!--   -->
+</a>
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+<h4>iZone</h4>
+<pre>public final&nbsp;double iZone</pre>
+<div class="block">Integral range</div>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- ========= CONSTRUCTOR DETAIL ======== -->
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+<pre>public&nbsp;PIDConstants&#8203;(double&nbsp;kP,
+                    double&nbsp;kI,
+                    double&nbsp;kD,
+                    double&nbsp;iZone)</pre>
+<div class="block">Create a new PIDConstants object</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>kP</code> - P</dd>
+<dd><code>kI</code> - I</dd>
+<dd><code>kD</code> - D</dd>
+<dd><code>iZone</code> - Integral range</dd>
+</dl>
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+</ul>
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+<pre>public&nbsp;PIDConstants&#8203;(double&nbsp;kP,
+                    double&nbsp;kI,
+                    double&nbsp;kD)</pre>
+<div class="block">Create a new PIDConstants object</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>kP</code> - P</dd>
+<dd><code>kI</code> - I</dd>
+<dd><code>kD</code> - D</dd>
+</dl>
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+<pre>public&nbsp;PIDConstants&#8203;(double&nbsp;kP,
+                    double&nbsp;kD)</pre>
+<div class="block">Create a new PIDConstants object</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>kP</code> - P</dd>
+<dd><code>kD</code> - D</dd>
+</dl>
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+<h4>PIDConstants</h4>
+<pre>public&nbsp;PIDConstants&#8203;(double&nbsp;kP)</pre>
+<div class="block">Create a new PIDConstants object</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>kP</code> - P</dd>
+</dl>
+</li>
+</ul>
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diff --git a/docs/java/com/pathplanner/lib/util/PPLibTelemetry.html b/docs/java/com/pathplanner/lib/util/PPLibTelemetry.html
new file mode 100644
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+<div class="header">
+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">com.pathplanner.lib.util</a></div>
+<h2 title="Class PPLibTelemetry" class="title">Class PPLibTelemetry</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
+<li>
+<ul class="inheritance">
+<li>com.pathplanner.lib.util.PPLibTelemetry</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<hr>
+<pre>public class <span class="typeNameLabel">PPLibTelemetry</span>
+extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
+<div class="block">Utility class for sending data to the PathPlanner app via NT4</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
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+<h3>Constructor Summary</h3>
+<table class="memberSummary">
+<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">PPLibTelemetry</a></span>()</code></th>
+<td class="colLast">&nbsp;</td>
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+<h3>Method Summary</h3>
+<table class="memberSummary">
+<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t1" class="tableTab"><span><a href="javascript:show(1);">Static Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr id="i0" class="altColor">
+<td class="colFirst"><code>static void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#enableCompetitionMode()">enableCompetitionMode</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Enable competition mode.</div>
+</td>
+</tr>
+<tr id="i1" class="rowColor">
+<td class="colFirst"><code>static void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#registerHotReloadAuto(java.lang.String,com.pathplanner.lib.commands.PathPlannerAuto)">registerHotReloadAuto</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;autoName,
+                     <a href="../commands/PathPlannerAuto.html" title="class in com.pathplanner.lib.commands">PathPlannerAuto</a>&nbsp;auto)</code></th>
+<td class="colLast">
+<div class="block">Register an auto for hot reload.</div>
+</td>
+</tr>
+<tr id="i2" class="altColor">
+<td class="colFirst"><code>static void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#registerHotReloadPath(java.lang.String,com.pathplanner.lib.path.PathPlannerPath)">registerHotReloadPath</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;pathName,
+                     <a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;path)</code></th>
+<td class="colLast">
+<div class="block">Register a path for hot reload.</div>
+</td>
+</tr>
+<tr id="i3" class="rowColor">
+<td class="colFirst"><code>static void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setCurrentPath(com.pathplanner.lib.path.PathPlannerPath)">setCurrentPath</a></span>&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;path)</code></th>
+<td class="colLast">
+<div class="block">Set the current path being followed</div>
+</td>
+</tr>
+<tr id="i4" class="altColor">
+<td class="colFirst"><code>static void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setCurrentPose(edu.wpi.first.math.geometry.Pose2d)">setCurrentPose</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;pose)</code></th>
+<td class="colLast">
+<div class="block">Set the current robot pose</div>
+</td>
+</tr>
+<tr id="i5" class="rowColor">
+<td class="colFirst"><code>static void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setPathInaccuracy(double)">setPathInaccuracy</a></span>&#8203;(double&nbsp;inaccuracy)</code></th>
+<td class="colLast">
+<div class="block">Set the path following inaccuracy</div>
+</td>
+</tr>
+<tr id="i6" class="altColor">
+<td class="colFirst"><code>static void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setTargetPose(edu.wpi.first.math.geometry.Pose2d)">setTargetPose</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;targetPose)</code></th>
+<td class="colLast">
+<div class="block">Set the target robot pose</div>
+</td>
+</tr>
+<tr id="i7" class="rowColor">
+<td class="colFirst"><code>static void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setVelocities(double,double,double,double)">setVelocities</a></span>&#8203;(double&nbsp;actualVel,
+             double&nbsp;commandedVel,
+             double&nbsp;actualAngVel,
+             double&nbsp;commandedAngVel)</code></th>
+<td class="colLast">
+<div class="block">Set the path following actual/target velocities</div>
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+<ul class="blockList">
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+<ul class="blockList">
+<li class="blockList"><a id="constructor.detail">
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+<h3>Constructor Detail</h3>
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+<pre>public&nbsp;PPLibTelemetry()</pre>
+</li>
+</ul>
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+</ul>
+</section>
+<!-- ============ METHOD DETAIL ========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="method.detail">
+<!--   -->
+</a>
+<h3>Method Detail</h3>
+<a id="enableCompetitionMode()">
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+<li class="blockList">
+<h4>enableCompetitionMode</h4>
+<pre class="methodSignature">public static&nbsp;void&nbsp;enableCompetitionMode()</pre>
+<div class="block">Enable competition mode. This will disable all telemetry and hot reload.</div>
+</li>
+</ul>
+<a id="setVelocities(double,double,double,double)">
+<!--   -->
+</a>
+<ul class="blockList">
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+<h4>setVelocities</h4>
+<pre class="methodSignature">public static&nbsp;void&nbsp;setVelocities&#8203;(double&nbsp;actualVel,
+                                 double&nbsp;commandedVel,
+                                 double&nbsp;actualAngVel,
+                                 double&nbsp;commandedAngVel)</pre>
+<div class="block">Set the path following actual/target velocities</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>actualVel</code> - Actual robot velocity in m/s</dd>
+<dd><code>commandedVel</code> - Target robot velocity in m/s</dd>
+<dd><code>actualAngVel</code> - Actual angular velocity in rad/s</dd>
+<dd><code>commandedAngVel</code> - Target angular velocity in rad/s</dd>
+</dl>
+</li>
+</ul>
+<a id="setPathInaccuracy(double)">
+<!--   -->
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+<h4>setPathInaccuracy</h4>
+<pre class="methodSignature">public static&nbsp;void&nbsp;setPathInaccuracy&#8203;(double&nbsp;inaccuracy)</pre>
+<div class="block">Set the path following inaccuracy</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>inaccuracy</code> - Inaccuracy in meters</dd>
+</dl>
+</li>
+</ul>
+<a id="setCurrentPose(edu.wpi.first.math.geometry.Pose2d)">
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+<h4>setCurrentPose</h4>
+<pre class="methodSignature">public static&nbsp;void&nbsp;setCurrentPose&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;pose)</pre>
+<div class="block">Set the current robot pose</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>pose</code> - Current robot pose</dd>
+</dl>
+</li>
+</ul>
+<a id="setCurrentPath(com.pathplanner.lib.path.PathPlannerPath)">
+<!--   -->
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+<ul class="blockList">
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+<h4>setCurrentPath</h4>
+<pre class="methodSignature">public static&nbsp;void&nbsp;setCurrentPath&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;path)</pre>
+<div class="block">Set the current path being followed</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>path</code> - The current path</dd>
+</dl>
+</li>
+</ul>
+<a id="setTargetPose(edu.wpi.first.math.geometry.Pose2d)">
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+<h4>setTargetPose</h4>
+<pre class="methodSignature">public static&nbsp;void&nbsp;setTargetPose&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;targetPose)</pre>
+<div class="block">Set the target robot pose</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>targetPose</code> - Target robot pose</dd>
+</dl>
+</li>
+</ul>
+<a id="registerHotReloadPath(java.lang.String,com.pathplanner.lib.path.PathPlannerPath)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>registerHotReloadPath</h4>
+<pre class="methodSignature">public static&nbsp;void&nbsp;registerHotReloadPath&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;pathName,
+                                         <a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;path)</pre>
+<div class="block">Register a path for hot reload. This is used internally.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>pathName</code> - Name of the path</dd>
+<dd><code>path</code> - Reference to the path</dd>
+</dl>
+</li>
+</ul>
+<a id="registerHotReloadAuto(java.lang.String,com.pathplanner.lib.commands.PathPlannerAuto)">
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+<h4>registerHotReloadAuto</h4>
+<pre class="methodSignature">public static&nbsp;void&nbsp;registerHotReloadAuto&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/String.html?is-external=true" title="class or interface in java.lang" class="externalLink">String</a>&nbsp;autoName,
+                                         <a href="../commands/PathPlannerAuto.html" title="class in com.pathplanner.lib.commands">PathPlannerAuto</a>&nbsp;auto)</pre>
+<div class="block">Register an auto for hot reload. This is used internally.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>autoName</code> - Name of the auto</dd>
+<dd><code>auto</code> - Reference to the auto</dd>
+</dl>
+</li>
+</ul>
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+</ul>
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diff --git a/docs/java/com/pathplanner/lib/util/PathPlannerLogging.html b/docs/java/com/pathplanner/lib/util/PathPlannerLogging.html
new file mode 100644
index 00000000..fc6beef4
--- /dev/null
+++ b/docs/java/com/pathplanner/lib/util/PathPlannerLogging.html
@@ -0,0 +1,420 @@
+<!DOCTYPE HTML>
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+<div class="header">
+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">com.pathplanner.lib.util</a></div>
+<h2 title="Class PathPlannerLogging" class="title">Class PathPlannerLogging</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
+<li>
+<ul class="inheritance">
+<li>com.pathplanner.lib.util.PathPlannerLogging</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<hr>
+<pre>public class <span class="typeNameLabel">PathPlannerLogging</span>
+extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
+<div class="block">Utility class for handling custom logging callbacks</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
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+<ul class="blockList">
+<li class="blockList"><a id="constructor.summary">
+<!--   -->
+</a>
+<h3>Constructor Summary</h3>
+<table class="memberSummary">
+<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">PathPlannerLogging</a></span>()</code></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+</table>
+</li>
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+<!-- ========== METHOD SUMMARY =========== -->
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+<ul class="blockList">
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+<h3>Method Summary</h3>
+<table class="memberSummary">
+<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd">&nbsp;</span></span><span id="t1" class="tableTab"><span><a href="javascript:show(1);">Static Methods</a></span><span class="tabEnd">&nbsp;</span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd">&nbsp;</span></span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Method</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr id="i0" class="altColor">
+<td class="colFirst"><code>static void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#logActivePath(com.pathplanner.lib.path.PathPlannerPath)">logActivePath</a></span>&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;path)</code></th>
+<td class="colLast">
+<div class="block">Log the active path.</div>
+</td>
+</tr>
+<tr id="i1" class="rowColor">
+<td class="colFirst"><code>static void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#logCurrentPose(edu.wpi.first.math.geometry.Pose2d)">logCurrentPose</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;pose)</code></th>
+<td class="colLast">
+<div class="block">Log the current robot pose.</div>
+</td>
+</tr>
+<tr id="i2" class="altColor">
+<td class="colFirst"><code>static void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#logTargetPose(edu.wpi.first.math.geometry.Pose2d)">logTargetPose</a></span>&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;targetPose)</code></th>
+<td class="colLast">
+<div class="block">Log the target robot pose.</div>
+</td>
+</tr>
+<tr id="i3" class="rowColor">
+<td class="colFirst"><code>static void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setLogActivePathCallback(java.util.function.Consumer)">setLogActivePathCallback</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/List.html?is-external=true" title="class or interface in java.util" class="externalLink">List</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&gt;&nbsp;logActivePath)</code></th>
+<td class="colLast">
+<div class="block">Set the logging callback for the active path</div>
+</td>
+</tr>
+<tr id="i4" class="altColor">
+<td class="colFirst"><code>static void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setLogCurrentPoseCallback(java.util.function.Consumer)">setLogCurrentPoseCallback</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;logCurrentPose)</code></th>
+<td class="colLast">
+<div class="block">Set the logging callback for the current robot pose</div>
+</td>
+</tr>
+<tr id="i5" class="rowColor">
+<td class="colFirst"><code>static void</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#setLogTargetPoseCallback(java.util.function.Consumer)">setLogTargetPoseCallback</a></span>&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;logTargetPose)</code></th>
+<td class="colLast">
+<div class="block">Set the logging callback for the target robot pose</div>
+</td>
+</tr>
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+<h4>PathPlannerLogging</h4>
+<pre>public&nbsp;PathPlannerLogging()</pre>
+</li>
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+<!-- ============ METHOD DETAIL ========== -->
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+<!--   -->
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+<ul class="blockList">
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+<h4>setLogCurrentPoseCallback</h4>
+<pre class="methodSignature">public static&nbsp;void&nbsp;setLogCurrentPoseCallback&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;logCurrentPose)</pre>
+<div class="block">Set the logging callback for the current robot pose</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>logCurrentPose</code> - Consumer that accepts the current robot pose. Can be null to disable
+     logging this value.</dd>
+</dl>
+</li>
+</ul>
+<a id="setLogTargetPoseCallback(java.util.function.Consumer)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>setLogTargetPoseCallback</h4>
+<pre class="methodSignature">public static&nbsp;void&nbsp;setLogTargetPoseCallback&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&nbsp;logTargetPose)</pre>
+<div class="block">Set the logging callback for the target robot pose</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>logTargetPose</code> - Consumer that accepts the target robot pose. Can be null to disable
+     logging this value.</dd>
+</dl>
+</li>
+</ul>
+<a id="setLogActivePathCallback(java.util.function.Consumer)">
+<!--   -->
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+<h4>setLogActivePathCallback</h4>
+<pre class="methodSignature">public static&nbsp;void&nbsp;setLogActivePathCallback&#8203;(<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/function/Consumer.html?is-external=true" title="class or interface in java.util.function" class="externalLink">Consumer</a>&lt;<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/util/List.html?is-external=true" title="class or interface in java.util" class="externalLink">List</a>&lt;<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&gt;&gt;&nbsp;logActivePath)</pre>
+<div class="block">Set the logging callback for the active path</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>logActivePath</code> - Consumer that accepts the active path as a list of poses. Can be null to
+     disable logging this value.</dd>
+</dl>
+</li>
+</ul>
+<a id="logCurrentPose(edu.wpi.first.math.geometry.Pose2d)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>logCurrentPose</h4>
+<pre class="methodSignature">public static&nbsp;void&nbsp;logCurrentPose&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;pose)</pre>
+<div class="block">Log the current robot pose. This is used internally.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>pose</code> - The current robot pose</dd>
+</dl>
+</li>
+</ul>
+<a id="logTargetPose(edu.wpi.first.math.geometry.Pose2d)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>logTargetPose</h4>
+<pre class="methodSignature">public static&nbsp;void&nbsp;logTargetPose&#8203;(<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/geometry/Pose2d.html?is-external=true" title="class or interface in edu.wpi.first.math.geometry" class="externalLink">Pose2d</a>&nbsp;targetPose)</pre>
+<div class="block">Log the target robot pose. This is used internally.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>targetPose</code> - The target robot pose</dd>
+</dl>
+</li>
+</ul>
+<a id="logActivePath(com.pathplanner.lib.path.PathPlannerPath)">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>logActivePath</h4>
+<pre class="methodSignature">public static&nbsp;void&nbsp;logActivePath&#8203;(<a href="../path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a>&nbsp;path)</pre>
+<div class="block">Log the active path. This is used internally.</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>path</code> - The active path</dd>
+</dl>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
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diff --git a/docs/java/com/pathplanner/lib/util/ReplanningConfig.html b/docs/java/com/pathplanner/lib/util/ReplanningConfig.html
new file mode 100644
index 00000000..f9aece44
--- /dev/null
+++ b/docs/java/com/pathplanner/lib/util/ReplanningConfig.html
@@ -0,0 +1,429 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc -->
+<title>ReplanningConfig (pathplannerlib API)</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
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+<div class="header">
+<div class="subTitle"><span class="packageLabelInType">Package</span>&nbsp;<a href="package-summary.html">com.pathplanner.lib.util</a></div>
+<h2 title="Class ReplanningConfig" class="title">Class ReplanningConfig</h2>
+</div>
+<div class="contentContainer">
+<ul class="inheritance">
+<li><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">java.lang.Object</a></li>
+<li>
+<ul class="inheritance">
+<li>com.pathplanner.lib.util.ReplanningConfig</li>
+</ul>
+</li>
+</ul>
+<div class="description">
+<ul class="blockList">
+<li class="blockList">
+<hr>
+<pre>public class <span class="typeNameLabel">ReplanningConfig</span>
+extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></pre>
+<div class="block">Configuration for path replanning</div>
+</li>
+</ul>
+</div>
+<div class="summary">
+<ul class="blockList">
+<li class="blockList">
+<!-- =========== FIELD SUMMARY =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="field.summary">
+<!--   -->
+</a>
+<h3>Field Summary</h3>
+<table class="memberSummary">
+<caption><span>Fields</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Field</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><code>double</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#dynamicReplanningErrorSpikeThreshold">dynamicReplanningErrorSpikeThreshold</a></span></code></th>
+<td class="colLast">
+<div class="block">The error spike threshold, in meters, that will cause the path to be replanned</div>
+</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code>double</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#dynamicReplanningTotalErrorThreshold">dynamicReplanningTotalErrorThreshold</a></span></code></th>
+<td class="colLast">
+<div class="block">The total error threshold, in meters, that will cause the path to be replanned</div>
+</td>
+</tr>
+<tr class="altColor">
+<td class="colFirst"><code>boolean</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#enableDynamicReplanning">enableDynamicReplanning</a></span></code></th>
+<td class="colLast">
+<div class="block">Should the path be replanned if the error grows too large or if a large error spike happens
+ while following the path?</div>
+</td>
+</tr>
+<tr class="rowColor">
+<td class="colFirst"><code>boolean</code></td>
+<th class="colSecond" scope="row"><code><span class="memberNameLink"><a href="#enableInitialReplanning">enableInitialReplanning</a></span></code></th>
+<td class="colLast">
+<div class="block">Should the path be replanned at the start of path following if the robot is not already at the
+ starting point?</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ======== CONSTRUCTOR SUMMARY ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.summary">
+<!--   -->
+</a>
+<h3>Constructor Summary</h3>
+<table class="memberSummary">
+<caption><span>Constructors</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Constructor</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E()">ReplanningConfig</a></span>()</code></th>
+<td class="colLast">
+<div class="block">Create a path replanning configuration with the default config.</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(boolean,boolean)">ReplanningConfig</a></span>&#8203;(boolean&nbsp;enableInitialReplanning,
+                boolean&nbsp;enableDynamicReplanning)</code></th>
+<td class="colLast">
+<div class="block">Create a path replanning configuration with default dynamic replanning error thresholds</div>
+</td>
+</tr>
+<tr class="altColor">
+<th class="colConstructorName" scope="row"><code><span class="memberNameLink"><a href="#%3Cinit%3E(boolean,boolean,double,double)">ReplanningConfig</a></span>&#8203;(boolean&nbsp;enableInitialReplanning,
+                boolean&nbsp;enableDynamicReplanning,
+                double&nbsp;dynamicReplanningTotalErrorThreshold,
+                double&nbsp;dynamicReplanningErrorSpikeThreshold)</code></th>
+<td class="colLast">
+<div class="block">Create a path replanning configuration</div>
+</td>
+</tr>
+</table>
+</li>
+</ul>
+</section>
+<!-- ========== METHOD SUMMARY =========== -->
+<section>
+<ul class="blockList">
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+<h3>Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink">Object</a></h3>
+<code><a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#clone()" title="class or interface in java.lang" class="externalLink">clone</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#equals(java.lang.Object)" title="class or interface in java.lang" class="externalLink">equals</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#finalize()" title="class or interface in java.lang" class="externalLink">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#getClass()" title="class or interface in java.lang" class="externalLink">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#hashCode()" title="class or interface in java.lang" class="externalLink">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notify()" title="class or interface in java.lang" class="externalLink">notify</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#notifyAll()" title="class or interface in java.lang" class="externalLink">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#toString()" title="class or interface in java.lang" class="externalLink">toString</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait()" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long)" title="class or interface in java.lang" class="externalLink">wait</a>, <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true#wait(long,int)" title="class or interface in java.lang" class="externalLink">wait</a></code></li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+<div class="details">
+<ul class="blockList">
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+<!-- ============ FIELD DETAIL =========== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="field.detail">
+<!--   -->
+</a>
+<h3>Field Detail</h3>
+<a id="enableInitialReplanning">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>enableInitialReplanning</h4>
+<pre>public final&nbsp;boolean enableInitialReplanning</pre>
+<div class="block">Should the path be replanned at the start of path following if the robot is not already at the
+ starting point?</div>
+</li>
+</ul>
+<a id="enableDynamicReplanning">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>enableDynamicReplanning</h4>
+<pre>public final&nbsp;boolean enableDynamicReplanning</pre>
+<div class="block">Should the path be replanned if the error grows too large or if a large error spike happens
+ while following the path?</div>
+</li>
+</ul>
+<a id="dynamicReplanningTotalErrorThreshold">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>dynamicReplanningTotalErrorThreshold</h4>
+<pre>public final&nbsp;double dynamicReplanningTotalErrorThreshold</pre>
+<div class="block">The total error threshold, in meters, that will cause the path to be replanned</div>
+</li>
+</ul>
+<a id="dynamicReplanningErrorSpikeThreshold">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>dynamicReplanningErrorSpikeThreshold</h4>
+<pre>public final&nbsp;double dynamicReplanningErrorSpikeThreshold</pre>
+<div class="block">The error spike threshold, in meters, that will cause the path to be replanned</div>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+<!-- ========= CONSTRUCTOR DETAIL ======== -->
+<section>
+<ul class="blockList">
+<li class="blockList"><a id="constructor.detail">
+<!--   -->
+</a>
+<h3>Constructor Detail</h3>
+<a id="&lt;init&gt;(boolean,boolean,double,double)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>ReplanningConfig</h4>
+<pre>public&nbsp;ReplanningConfig&#8203;(boolean&nbsp;enableInitialReplanning,
+                        boolean&nbsp;enableDynamicReplanning,
+                        double&nbsp;dynamicReplanningTotalErrorThreshold,
+                        double&nbsp;dynamicReplanningErrorSpikeThreshold)</pre>
+<div class="block">Create a path replanning configuration</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>enableInitialReplanning</code> - Should the path be replanned at the start of path following if
+     the robot is not already at the starting point?</dd>
+<dd><code>enableDynamicReplanning</code> - Should the path be replanned if the error grows too large or if
+     a large error spike happens while following the path?</dd>
+<dd><code>dynamicReplanningTotalErrorThreshold</code> - The total error threshold, in meters, that will
+     cause the path to be replanned</dd>
+<dd><code>dynamicReplanningErrorSpikeThreshold</code> - The error spike threshold, in meters, that will
+     cause the path to be replanned</dd>
+</dl>
+</li>
+</ul>
+<a id="&lt;init&gt;(boolean,boolean)">
+<!--   -->
+</a>
+<ul class="blockList">
+<li class="blockList">
+<h4>ReplanningConfig</h4>
+<pre>public&nbsp;ReplanningConfig&#8203;(boolean&nbsp;enableInitialReplanning,
+                        boolean&nbsp;enableDynamicReplanning)</pre>
+<div class="block">Create a path replanning configuration with default dynamic replanning error thresholds</div>
+<dl>
+<dt><span class="paramLabel">Parameters:</span></dt>
+<dd><code>enableInitialReplanning</code> - Should the path be replanned at the start of path following if
+     the robot is not already at the starting point?</dd>
+<dd><code>enableDynamicReplanning</code> - Should the path be replanned if the error grows too large or if
+     a large error spike happens while following the path?</dd>
+</dl>
+</li>
+</ul>
+<a id="&lt;init&gt;()">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>ReplanningConfig</h4>
+<pre>public&nbsp;ReplanningConfig()</pre>
+<div class="block">Create a path replanning configuration with the default config. This will only have initial
+ replanning enabled.</div>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+</div>
+</main>
+<!-- ========= END OF CLASS DATA ========= -->
+<footer role="contentinfo">
+<nav role="navigation">
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
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diff --git a/docs/java/com/pathplanner/lib/util/package-summary.html b/docs/java/com/pathplanner/lib/util/package-summary.html
new file mode 100644
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--- /dev/null
+++ b/docs/java/com/pathplanner/lib/util/package-summary.html
@@ -0,0 +1,202 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
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+<title>com.pathplanner.lib.util (pathplannerlib API)</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
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+</div>
+<div class="contentContainer">
+<ul class="blockList">
+<li class="blockList">
+<table class="typeSummary">
+<caption><span>Class Summary</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Class</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<th class="colFirst" scope="row"><a href="ChassisSpeedsRateLimiter.html" title="class in com.pathplanner.lib.util">ChassisSpeedsRateLimiter</a></th>
+<td class="colLast">
+<div class="block">Essentially a slew rate limiter for chassis speeds</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><a href="GeometryUtil.html" title="class in com.pathplanner.lib.util">GeometryUtil</a></th>
+<td class="colLast">
+<div class="block">Utility class for various geometry functions used during generation</div>
+</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><a href="HolonomicPathFollowerConfig.html" title="class in com.pathplanner.lib.util">HolonomicPathFollowerConfig</a></th>
+<td class="colLast">
+<div class="block">Configuration for the holonomic path following commands</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><a href="PathPlannerLogging.html" title="class in com.pathplanner.lib.util">PathPlannerLogging</a></th>
+<td class="colLast">
+<div class="block">Utility class for handling custom logging callbacks</div>
+</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><a href="PIDConstants.html" title="class in com.pathplanner.lib.util">PIDConstants</a></th>
+<td class="colLast">
+<div class="block">PID constants used to create PID controllers</div>
+</td>
+</tr>
+<tr class="rowColor">
+<th class="colFirst" scope="row"><a href="PPLibTelemetry.html" title="class in com.pathplanner.lib.util">PPLibTelemetry</a></th>
+<td class="colLast">
+<div class="block">Utility class for sending data to the PathPlanner app via NT4</div>
+</td>
+</tr>
+<tr class="altColor">
+<th class="colFirst" scope="row"><a href="ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a></th>
+<td class="colLast">
+<div class="block">Configuration for path replanning</div>
+</td>
+</tr>
+</tbody>
+</table>
+</li>
+</ul>
+</div>
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+<li>Class</li>
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+<li><a href="../../../../deprecated-list.html">Deprecated</a></li>
+<li><a href="../../../../index-all.html">Index</a></li>
+<li><a href="../../../../help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
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diff --git a/docs/java/com/pathplanner/lib/util/package-tree.html b/docs/java/com/pathplanner/lib/util/package-tree.html
new file mode 100644
index 00000000..d22a01a4
--- /dev/null
+++ b/docs/java/com/pathplanner/lib/util/package-tree.html
@@ -0,0 +1,167 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc -->
+<title>com.pathplanner.lib.util Class Hierarchy (pathplannerlib API)</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<link rel="stylesheet" type="text/css" href="../../../../stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="../../../../jquery/jquery-ui.min.css" title="Style">
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+<script type="text/javascript"><!--
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+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="com.pathplanner.lib.util Class Hierarchy (pathplannerlib API)";
+        }
+    }
+    catch(err) {
+    }
+//-->
+var pathtoroot = "../../../../";
+var useModuleDirectories = true;
+loadScripts(document, 'script');</script>
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+<div>JavaScript is disabled on your browser.</div>
+</noscript>
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+//-->
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+</nav>
+</header>
+<main role="main">
+<div class="header">
+<h1 class="title">Hierarchy For Package com.pathplanner.lib.util</h1>
+<span class="packageHierarchyLabel">Package Hierarchies:</span>
+<ul class="horizontal">
+<li><a href="../../../../overview-tree.html">All Packages</a></li>
+</ul>
+</div>
+<div class="contentContainer">
+<section>
+<h2 title="Class Hierarchy">Class Hierarchy</h2>
+<ul>
+<li class="circle">java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink"><span class="typeNameLink">Object</span></a>
+<ul>
+<li class="circle">com.pathplanner.lib.util.<a href="ChassisSpeedsRateLimiter.html" title="class in com.pathplanner.lib.util"><span class="typeNameLink">ChassisSpeedsRateLimiter</span></a></li>
+<li class="circle">com.pathplanner.lib.util.<a href="GeometryUtil.html" title="class in com.pathplanner.lib.util"><span class="typeNameLink">GeometryUtil</span></a></li>
+<li class="circle">com.pathplanner.lib.util.<a href="HolonomicPathFollowerConfig.html" title="class in com.pathplanner.lib.util"><span class="typeNameLink">HolonomicPathFollowerConfig</span></a></li>
+<li class="circle">com.pathplanner.lib.util.<a href="PathPlannerLogging.html" title="class in com.pathplanner.lib.util"><span class="typeNameLink">PathPlannerLogging</span></a></li>
+<li class="circle">com.pathplanner.lib.util.<a href="PIDConstants.html" title="class in com.pathplanner.lib.util"><span class="typeNameLink">PIDConstants</span></a></li>
+<li class="circle">com.pathplanner.lib.util.<a href="PPLibTelemetry.html" title="class in com.pathplanner.lib.util"><span class="typeNameLink">PPLibTelemetry</span></a></li>
+<li class="circle">com.pathplanner.lib.util.<a href="ReplanningConfig.html" title="class in com.pathplanner.lib.util"><span class="typeNameLink">ReplanningConfig</span></a></li>
+</ul>
+</li>
+</ul>
+</section>
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+</main>
+<footer role="contentinfo">
+<nav role="navigation">
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
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+<ul class="navList" title="Navigation">
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diff --git a/docs/java/constant-values.html b/docs/java/constant-values.html
new file mode 100644
index 00000000..856f69b8
--- /dev/null
+++ b/docs/java/constant-values.html
@@ -0,0 +1,179 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc -->
+<title>Constant Field Values (pathplannerlib API)</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="jquery/jquery-ui.min.css" title="Style">
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+</head>
+<body>
+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="Constant Field Values (pathplannerlib API)";
+        }
+    }
+    catch(err) {
+    }
+//-->
+var pathtoroot = "./";
+var useModuleDirectories = true;
+loadScripts(document, 'script');</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<header role="banner">
+<nav role="navigation">
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+<!-- ========= START OF TOP NAVBAR ======= -->
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+<!--   -->
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+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.top.firstrow">
+<!--   -->
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+<ul class="navList" title="Navigation">
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+<li>Package</li>
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+<li><a href="overview-tree.html">Tree</a></li>
+<li><a href="deprecated-list.html">Deprecated</a></li>
+<li><a href="index-all.html">Index</a></li>
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+<div class="header">
+<h1 title="Constant Field Values" class="title">Constant Field Values</h1>
+<section>
+<h2 title="Contents">Contents</h2>
+<ul>
+<li><a href="#com.pathplanner">com.pathplanner.*</a></li>
+</ul>
+</section>
+</div>
+<div class="constantValuesContainer"><a id="com.pathplanner">
+<!--   -->
+</a>
+<section>
+<h2 title="com.pathplanner">com.pathplanner.*</h2>
+<ul class="blockList">
+<li class="blockList">
+<table class="constantsSummary">
+<caption><span>com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathSegment.html" title="class in com.pathplanner.lib.path">PathSegment</a></span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Modifier and Type</th>
+<th class="colSecond" scope="col">Constant Field</th>
+<th class="colLast" scope="col">Value</th>
+</tr>
+<tbody>
+<tr class="altColor">
+<td class="colFirst"><a id="com.pathplanner.lib.path.PathSegment.RESOLUTION">
+<!--   -->
+</a><code>public&nbsp;static&nbsp;final&nbsp;double</code></td>
+<th class="colSecond" scope="row"><code><a href="com/pathplanner/lib/path/PathSegment.html#RESOLUTION">RESOLUTION</a></code></th>
+<td class="colLast"><code>0.05</code></td>
+</tr>
+</tbody>
+</table>
+</li>
+</ul>
+</section>
+</div>
+</main>
+<footer role="contentinfo">
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+<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.bottom.firstrow">
+<!--   -->
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+<ul class="navList" title="Navigation">
+<li><a href="index.html">Overview</a></li>
+<li>Package</li>
+<li>Class</li>
+<li><a href="overview-tree.html">Tree</a></li>
+<li><a href="deprecated-list.html">Deprecated</a></li>
+<li><a href="index-all.html">Index</a></li>
+<li><a href="help-doc.html">Help</a></li>
+</ul>
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+  if(window==top) {
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diff --git a/docs/java/deprecated-list.html b/docs/java/deprecated-list.html
new file mode 100644
index 00000000..4aecd88e
--- /dev/null
+++ b/docs/java/deprecated-list.html
@@ -0,0 +1,146 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc -->
+<title>Deprecated List (pathplannerlib API)</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="jquery/jquery-ui.min.css" title="Style">
+<link rel="stylesheet" type="text/css" href="jquery-ui.overrides.css" title="Style">
+<script type="text/javascript" src="script.js"></script>
+<script type="text/javascript" src="jquery/jszip/dist/jszip.min.js"></script>
+<script type="text/javascript" src="jquery/jszip-utils/dist/jszip-utils.min.js"></script>
+<!--[if IE]>
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+</head>
+<body>
+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="Deprecated List (pathplannerlib API)";
+        }
+    }
+    catch(err) {
+    }
+//-->
+var pathtoroot = "./";
+var useModuleDirectories = true;
+loadScripts(document, 'script');</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<header role="banner">
+<nav role="navigation">
+<div class="fixedNav">
+<!-- ========= START OF TOP NAVBAR ======= -->
+<div class="topNav"><a id="navbar.top">
+<!--   -->
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+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.top.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="index.html">Overview</a></li>
+<li>Package</li>
+<li>Class</li>
+<li><a href="overview-tree.html">Tree</a></li>
+<li class="navBarCell1Rev">Deprecated</li>
+<li><a href="index-all.html">Index</a></li>
+<li><a href="help-doc.html">Help</a></li>
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diff --git a/docs/java/element-list b/docs/java/element-list
new file mode 100644
index 00000000..9235aa18
--- /dev/null
+++ b/docs/java/element-list
@@ -0,0 +1,6 @@
+com.pathplanner.lib.auto
+com.pathplanner.lib.commands
+com.pathplanner.lib.controllers
+com.pathplanner.lib.path
+com.pathplanner.lib.pathfinding
+com.pathplanner.lib.util
diff --git a/docs/java/help-doc.html b/docs/java/help-doc.html
new file mode 100644
index 00000000..6e03a670
--- /dev/null
+++ b/docs/java/help-doc.html
@@ -0,0 +1,272 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc -->
+<title>API Help (pathplannerlib API)</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
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+            parent.document.title="API Help (pathplannerlib API)";
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+    }
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+loadScripts(document, 'script');</script>
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+<div>JavaScript is disabled on your browser.</div>
+</noscript>
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+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
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+<main role="main">
+<div class="header">
+<h1 class="title">How This API Document Is Organized</h1>
+<div class="subTitle">This API (Application Programming Interface) document has pages corresponding to the items in the navigation bar, described as follows.</div>
+</div>
+<div class="contentContainer">
+<ul class="blockList">
+<li class="blockList">
+<section>
+<h2>Overview</h2>
+<p>The <a href="index.html">Overview</a> page is the front page of this API document and provides a list of all packages with a summary for each.  This page can also contain an overall description of the set of packages.</p>
+</section>
+</li>
+<li class="blockList">
+<section>
+<h2>Package</h2>
+<p>Each package has a page that contains a list of its classes and interfaces, with a summary for each. These pages may contain six categories:</p>
+<ul>
+<li>Interfaces</li>
+<li>Classes</li>
+<li>Enums</li>
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+<li>Annotation Types</li>
+</ul>
+</section>
+</li>
+<li class="blockList">
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+<h2>Class or Interface</h2>
+<p>Each class, interface, nested class and nested interface has its own separate page. Each of these pages has three sections consisting of a class/interface description, summary tables, and detailed member descriptions:</p>
+<ul>
+<li>Class Inheritance Diagram</li>
+<li>Direct Subclasses</li>
+<li>All Known Subinterfaces</li>
+<li>All Known Implementing Classes</li>
+<li>Class or Interface Declaration</li>
+<li>Class or Interface Description</li>
+</ul>
+<br>
+<ul>
+<li>Nested Class Summary</li>
+<li>Field Summary</li>
+<li>Property Summary</li>
+<li>Constructor Summary</li>
+<li>Method Summary</li>
+</ul>
+<br>
+<ul>
+<li>Field Detail</li>
+<li>Property Detail</li>
+<li>Constructor Detail</li>
+<li>Method Detail</li>
+</ul>
+<p>Each summary entry contains the first sentence from the detailed description for that item. The summary entries are alphabetical, while the detailed descriptions are in the order they appear in the source code. This preserves the logical groupings established by the programmer.</p>
+</section>
+</li>
+<li class="blockList">
+<section>
+<h2>Annotation Type</h2>
+<p>Each annotation type has its own separate page with the following sections:</p>
+<ul>
+<li>Annotation Type Declaration</li>
+<li>Annotation Type Description</li>
+<li>Required Element Summary</li>
+<li>Optional Element Summary</li>
+<li>Element Detail</li>
+</ul>
+</section>
+</li>
+<li class="blockList">
+<section>
+<h2>Enum</h2>
+<p>Each enum has its own separate page with the following sections:</p>
+<ul>
+<li>Enum Declaration</li>
+<li>Enum Description</li>
+<li>Enum Constant Summary</li>
+<li>Enum Constant Detail</li>
+</ul>
+</section>
+</li>
+<li class="blockList">
+<section>
+<h2>Tree (Class Hierarchy)</h2>
+<p>There is a <a href="overview-tree.html">Class Hierarchy</a> page for all packages, plus a hierarchy for each package. Each hierarchy page contains a list of classes and a list of interfaces. Classes are organized by inheritance structure starting with <code>java.lang.Object</code>. Interfaces do not inherit from <code>java.lang.Object</code>.</p>
+<ul>
+<li>When viewing the Overview page, clicking on "Tree" displays the hierarchy for all packages.</li>
+<li>When viewing a particular package, class or interface page, clicking on "Tree" displays the hierarchy for only that package.</li>
+</ul>
+</section>
+</li>
+<li class="blockList">
+<section>
+<h2>Deprecated API</h2>
+<p>The <a href="deprecated-list.html">Deprecated API</a> page lists all of the API that have been deprecated. A deprecated API is not recommended for use, generally due to improvements, and a replacement API is usually given. Deprecated APIs may be removed in future implementations.</p>
+</section>
+</li>
+<li class="blockList">
+<section>
+<h2>Index</h2>
+<p>The <a href="index-all.html">Index</a> contains an alphabetic index of all classes, interfaces, constructors, methods, and fields, as well as lists of all packages and all classes.</p>
+</section>
+</li>
+<li class="blockList">
+<section>
+<h2>All&nbsp;Classes</h2>
+<p>The <a href="allclasses.html">All Classes</a> link shows all classes and interfaces except non-static nested types.</p>
+</section>
+</li>
+<li class="blockList">
+<section>
+<h2>Serialized Form</h2>
+<p>Each serializable or externalizable class has a description of its serialization fields and methods. This information is of interest to re-implementors, not to developers using the API. While there is no link in the navigation bar, you can get to this information by going to any serialized class and clicking "Serialized Form" in the "See also" section of the class description.</p>
+</section>
+</li>
+<li class="blockList">
+<section>
+<h2>Constant Field Values</h2>
+<p>The <a href="constant-values.html">Constant Field Values</a> page lists the static final fields and their values.</p>
+</section>
+</li>
+<li class="blockList">
+<section>
+<h2>Search</h2>
+<p>You can search for definitions of modules, packages, types, fields, methods and other terms defined in the API, using some or all of the name. "Camel-case" abbreviations are supported: for example, "InpStr" will find "InputStream" and "InputStreamReader".</p>
+</section>
+</li>
+</ul>
+<hr>
+<span class="emphasizedPhrase">This help file applies to API documentation generated by the standard doclet.</span></div>
+</main>
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diff --git a/docs/java/index-all.html b/docs/java/index-all.html
new file mode 100644
index 00000000..437a1e67
--- /dev/null
+++ b/docs/java/index-all.html
@@ -0,0 +1,1497 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc -->
+<title>Index (pathplannerlib API)</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
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+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="Index (pathplannerlib API)";
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+    catch(err) {
+    }
+//-->
+var pathtoroot = "./";
+var useModuleDirectories = true;
+loadScripts(document, 'script');</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
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+<!--   -->
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+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.top.firstrow">
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+<ul class="navList" title="Navigation">
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+<li>Package</li>
+<li>Class</li>
+<li><a href="overview-tree.html">Tree</a></li>
+<li><a href="deprecated-list.html">Deprecated</a></li>
+<li class="navBarCell1Rev">Index</li>
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+<main role="main">
+<div class="contentContainer"><a href="#I:A">A</a>&nbsp;<a href="#I:B">B</a>&nbsp;<a href="#I:C">C</a>&nbsp;<a href="#I:D">D</a>&nbsp;<a href="#I:E">E</a>&nbsp;<a href="#I:F">F</a>&nbsp;<a href="#I:G">G</a>&nbsp;<a href="#I:H">H</a>&nbsp;<a href="#I:I">I</a>&nbsp;<a href="#I:K">K</a>&nbsp;<a href="#I:L">L</a>&nbsp;<a href="#I:M">M</a>&nbsp;<a href="#I:N">N</a>&nbsp;<a href="#I:O">O</a>&nbsp;<a href="#I:P">P</a>&nbsp;<a href="#I:Q">Q</a>&nbsp;<a href="#I:R">R</a>&nbsp;<a href="#I:S">S</a>&nbsp;<a href="#I:T">T</a>&nbsp;<a href="#I:V">V</a>&nbsp;<a href="#I:W">W</a>&nbsp;<a href="#I:X">X</a>&nbsp;<a href="#I:Y">Y</a>&nbsp;<br><a href="allclasses-index.html">All&nbsp;Classes</a>&nbsp;<a href="allpackages-index.html">All&nbsp;Packages</a><a id="I:A">
+<!--   -->
+</a>
+<h2 class="title">A</h2>
+<dl>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPlannerTrajectory.State.html#accelerationMpsSq">accelerationMpsSq</a></span> - Variable in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory.State</a></dt>
+<dd>
+<div class="block">The acceleration at this state in m/s^2</div>
+</dd>
+<dt><a href="com/pathplanner/lib/pathfinding/ADStar.html" title="class in com.pathplanner.lib.pathfinding"><span class="typeNameLink">ADStar</span></a> - Class in <a href="com/pathplanner/lib/pathfinding/package-summary.html">com.pathplanner.lib.pathfinding</a></dt>
+<dd>
+<div class="block">Implementation of the AD* pathfinding algorithm</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/pathfinding/ADStar.html#%3Cinit%3E()">ADStar()</a></span> - Constructor for class com.pathplanner.lib.pathfinding.<a href="com/pathplanner/lib/pathfinding/ADStar.html" title="class in com.pathplanner.lib.pathfinding">ADStar</a></dt>
+<dd>&nbsp;</dd>
+<dt><a href="com/pathplanner/lib/pathfinding/ADStar.GridPosition.html" title="class in com.pathplanner.lib.pathfinding"><span class="typeNameLink">ADStar.GridPosition</span></a> - Class in <a href="com/pathplanner/lib/pathfinding/package-summary.html">com.pathplanner.lib.pathfinding</a></dt>
+<dd>
+<div class="block">Represents a node in the pathfinding grid</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/auto/AutoBuilder.TriFunction.html#apply(In1,In2,In3)">apply(In1, In2, In3)</a></span> - Method in interface com.pathplanner.lib.auto.<a href="com/pathplanner/lib/auto/AutoBuilder.TriFunction.html" title="interface in com.pathplanner.lib.auto">AutoBuilder.TriFunction</a></dt>
+<dd>
+<div class="block">Apply the inputs to this function</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/auto/AutoBuilder.QuadFunction.html#apply(In1,In2,In3,In4)">apply(In1, In2, In3, In4)</a></span> - Method in interface com.pathplanner.lib.auto.<a href="com/pathplanner/lib/auto/AutoBuilder.QuadFunction.html" title="interface in com.pathplanner.lib.auto">AutoBuilder.QuadFunction</a></dt>
+<dd>
+<div class="block">Apply the inputs to this function</div>
+</dd>
+<dt><a href="com/pathplanner/lib/auto/AutoBuilder.html" title="class in com.pathplanner.lib.auto"><span class="typeNameLink">AutoBuilder</span></a> - Class in <a href="com/pathplanner/lib/auto/package-summary.html">com.pathplanner.lib.auto</a></dt>
+<dd>
+<div class="block">Utility class used to build auto routines</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/auto/AutoBuilder.html#%3Cinit%3E()">AutoBuilder()</a></span> - Constructor for class com.pathplanner.lib.auto.<a href="com/pathplanner/lib/auto/AutoBuilder.html" title="class in com.pathplanner.lib.auto">AutoBuilder</a></dt>
+<dd>&nbsp;</dd>
+<dt><a href="com/pathplanner/lib/auto/AutoBuilder.QuadFunction.html" title="interface in com.pathplanner.lib.auto"><span class="typeNameLink">AutoBuilder.QuadFunction</span></a>&lt;<a href="com/pathplanner/lib/auto/AutoBuilder.QuadFunction.html" title="type parameter in AutoBuilder.QuadFunction">In1</a>,&#8203;<a href="com/pathplanner/lib/auto/AutoBuilder.QuadFunction.html" title="type parameter in AutoBuilder.QuadFunction">In2</a>,&#8203;<a href="com/pathplanner/lib/auto/AutoBuilder.QuadFunction.html" title="type parameter in AutoBuilder.QuadFunction">In3</a>,&#8203;<a href="com/pathplanner/lib/auto/AutoBuilder.QuadFunction.html" title="type parameter in AutoBuilder.QuadFunction">In4</a>,&#8203;<a href="com/pathplanner/lib/auto/AutoBuilder.QuadFunction.html" title="type parameter in AutoBuilder.QuadFunction">Out</a>&gt; - Interface in <a href="com/pathplanner/lib/auto/package-summary.html">com.pathplanner.lib.auto</a></dt>
+<dd>
+<div class="block">Functional interface for a function that takes 4 inputs</div>
+</dd>
+<dt><a href="com/pathplanner/lib/auto/AutoBuilder.TriFunction.html" title="interface in com.pathplanner.lib.auto"><span class="typeNameLink">AutoBuilder.TriFunction</span></a>&lt;<a href="com/pathplanner/lib/auto/AutoBuilder.TriFunction.html" title="type parameter in AutoBuilder.TriFunction">In1</a>,&#8203;<a href="com/pathplanner/lib/auto/AutoBuilder.TriFunction.html" title="type parameter in AutoBuilder.TriFunction">In2</a>,&#8203;<a href="com/pathplanner/lib/auto/AutoBuilder.TriFunction.html" title="type parameter in AutoBuilder.TriFunction">In3</a>,&#8203;<a href="com/pathplanner/lib/auto/AutoBuilder.TriFunction.html" title="type parameter in AutoBuilder.TriFunction">Out</a>&gt; - Interface in <a href="com/pathplanner/lib/auto/package-summary.html">com.pathplanner.lib.auto</a></dt>
+<dd>
+<div class="block">Functional interface for a function that takes 3 inputs</div>
+</dd>
+<dt><a href="com/pathplanner/lib/auto/AutoBuilderException.html" title="class in com.pathplanner.lib.auto"><span class="typeNameLink">AutoBuilderException</span></a> - Exception in <a href="com/pathplanner/lib/auto/package-summary.html">com.pathplanner.lib.auto</a></dt>
+<dd>
+<div class="block">An exception while building autos</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/auto/AutoBuilderException.html#%3Cinit%3E(java.lang.String)">AutoBuilderException(String)</a></span> - Constructor for exception com.pathplanner.lib.auto.<a href="com/pathplanner/lib/auto/AutoBuilderException.html" title="class in com.pathplanner.lib.auto">AutoBuilderException</a></dt>
+<dd>
+<div class="block">Create a new auto builder exception</div>
+</dd>
+</dl>
+<a id="I:B">
+<!--   -->
+</a>
+<h2 class="title">B</h2>
+<dl>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPlannerPath.html#bezierFromPoses(edu.wpi.first.math.geometry.Pose2d...)">bezierFromPoses(Pose2d...)</a></span> - Static method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a></dt>
+<dd>
+<div class="block">Create the bezier points necessary to create a path using a list of poses</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPlannerPath.html#bezierFromPoses(java.util.List)">bezierFromPoses(List&lt;Pose2d&gt;)</a></span> - Static method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a></dt>
+<dd>
+<div class="block">Create the bezier points necessary to create a path using a list of poses</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/auto/AutoBuilder.html#buildAuto(java.lang.String)">buildAuto(String)</a></span> - Static method in class com.pathplanner.lib.auto.<a href="com/pathplanner/lib/auto/AutoBuilder.html" title="class in com.pathplanner.lib.auto">AutoBuilder</a></dt>
+<dd>
+<div class="block">Builds an auto command for the given auto name.</div>
+</dd>
+</dl>
+<a id="I:C">
+<!--   -->
+</a>
+<h2 class="title">C</h2>
+<dl>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/ChassisSpeedsRateLimiter.html#calculate(edu.wpi.first.math.kinematics.ChassisSpeeds)">calculate(ChassisSpeeds)</a></span> - Method in class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/ChassisSpeedsRateLimiter.html" title="class in com.pathplanner.lib.util">ChassisSpeedsRateLimiter</a></dt>
+<dd>
+<div class="block">Calculate the limited chassis speeds for a given input</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/GeometryUtil.html#calculateRadius(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Translation2d)">calculateRadius(Translation2d, Translation2d, Translation2d)</a></span> - Static method in class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/GeometryUtil.html" title="class in com.pathplanner.lib.util">GeometryUtil</a></dt>
+<dd>
+<div class="block">Calculate the curve radius given 3 points on the curve</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/controllers/PathFollowingController.html#calculateRobotRelativeSpeeds(edu.wpi.first.math.geometry.Pose2d,com.pathplanner.lib.path.PathPlannerTrajectory.State)">calculateRobotRelativeSpeeds(Pose2d, PathPlannerTrajectory.State)</a></span> - Method in interface com.pathplanner.lib.controllers.<a href="com/pathplanner/lib/controllers/PathFollowingController.html" title="interface in com.pathplanner.lib.controllers">PathFollowingController</a></dt>
+<dd>
+<div class="block">Calculates the next output of the path following controller</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/controllers/PPHolonomicDriveController.html#calculateRobotRelativeSpeeds(edu.wpi.first.math.geometry.Pose2d,com.pathplanner.lib.path.PathPlannerTrajectory.State)">calculateRobotRelativeSpeeds(Pose2d, PathPlannerTrajectory.State)</a></span> - Method in class com.pathplanner.lib.controllers.<a href="com/pathplanner/lib/controllers/PPHolonomicDriveController.html" title="class in com.pathplanner.lib.controllers">PPHolonomicDriveController</a></dt>
+<dd>
+<div class="block">Calculates the next output of the path following controller</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/controllers/PPLTVController.html#calculateRobotRelativeSpeeds(edu.wpi.first.math.geometry.Pose2d,com.pathplanner.lib.path.PathPlannerTrajectory.State)">calculateRobotRelativeSpeeds(Pose2d, PathPlannerTrajectory.State)</a></span> - Method in class com.pathplanner.lib.controllers.<a href="com/pathplanner/lib/controllers/PPLTVController.html" title="class in com.pathplanner.lib.controllers">PPLTVController</a></dt>
+<dd>
+<div class="block">Calculates the next output of the path following controller</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/controllers/PPRamseteController.html#calculateRobotRelativeSpeeds(edu.wpi.first.math.geometry.Pose2d,com.pathplanner.lib.path.PathPlannerTrajectory.State)">calculateRobotRelativeSpeeds(Pose2d, PathPlannerTrajectory.State)</a></span> - Method in class com.pathplanner.lib.controllers.<a href="com/pathplanner/lib/controllers/PPRamseteController.html" title="class in com.pathplanner.lib.controllers">PPRamseteController</a></dt>
+<dd>
+<div class="block">Calculates the next output of the path following controller</div>
+</dd>
+<dt><a href="com/pathplanner/lib/util/ChassisSpeedsRateLimiter.html" title="class in com.pathplanner.lib.util"><span class="typeNameLink">ChassisSpeedsRateLimiter</span></a> - Class in <a href="com/pathplanner/lib/util/package-summary.html">com.pathplanner.lib.util</a></dt>
+<dd>
+<div class="block">Essentially a slew rate limiter for chassis speeds</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/ChassisSpeedsRateLimiter.html#%3Cinit%3E(double,double)">ChassisSpeedsRateLimiter(double, double)</a></span> - Constructor for class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/ChassisSpeedsRateLimiter.html" title="class in com.pathplanner.lib.util">ChassisSpeedsRateLimiter</a></dt>
+<dd>
+<div class="block">Create a new chassis speeds limiter</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/ChassisSpeedsRateLimiter.html#%3Cinit%3E(double,double,edu.wpi.first.math.kinematics.ChassisSpeeds)">ChassisSpeedsRateLimiter(double, double, ChassisSpeeds)</a></span> - Constructor for class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/ChassisSpeedsRateLimiter.html" title="class in com.pathplanner.lib.util">ChassisSpeedsRateLimiter</a></dt>
+<dd>
+<div class="block">Create a new chassis speeds limiter</div>
+</dd>
+<dt><a href="com/pathplanner/lib/auto/package-summary.html">com.pathplanner.lib.auto</a> - package com.pathplanner.lib.auto</dt>
+<dd>&nbsp;</dd>
+<dt><a href="com/pathplanner/lib/commands/package-summary.html">com.pathplanner.lib.commands</a> - package com.pathplanner.lib.commands</dt>
+<dd>&nbsp;</dd>
+<dt><a href="com/pathplanner/lib/controllers/package-summary.html">com.pathplanner.lib.controllers</a> - package com.pathplanner.lib.controllers</dt>
+<dd>&nbsp;</dd>
+<dt><a href="com/pathplanner/lib/path/package-summary.html">com.pathplanner.lib.path</a> - package com.pathplanner.lib.path</dt>
+<dd>&nbsp;</dd>
+<dt><a href="com/pathplanner/lib/pathfinding/package-summary.html">com.pathplanner.lib.pathfinding</a> - package com.pathplanner.lib.pathfinding</dt>
+<dd>&nbsp;</dd>
+<dt><a href="com/pathplanner/lib/util/package-summary.html">com.pathplanner.lib.util</a> - package com.pathplanner.lib.util</dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/auto/CommandUtil.html#commandFromJson(org.json.simple.JSONObject)">commandFromJson(JSONObject)</a></span> - Static method in class com.pathplanner.lib.auto.<a href="com/pathplanner/lib/auto/CommandUtil.html" title="class in com.pathplanner.lib.auto">CommandUtil</a></dt>
+<dd>
+<div class="block">Builds a command from the given JSON object.</div>
+</dd>
+<dt><a href="com/pathplanner/lib/auto/CommandUtil.html" title="class in com.pathplanner.lib.auto"><span class="typeNameLink">CommandUtil</span></a> - Class in <a href="com/pathplanner/lib/auto/package-summary.html">com.pathplanner.lib.auto</a></dt>
+<dd>
+<div class="block">Utility class for building commands used in autos</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/auto/CommandUtil.html#%3Cinit%3E()">CommandUtil()</a></span> - Constructor for class com.pathplanner.lib.auto.<a href="com/pathplanner/lib/auto/CommandUtil.html" title="class in com.pathplanner.lib.auto">CommandUtil</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/pathfinding/ADStar.GridPosition.html#compareTo(com.pathplanner.lib.pathfinding.ADStar.GridPosition)">compareTo(ADStar.GridPosition)</a></span> - Method in class com.pathplanner.lib.pathfinding.<a href="com/pathplanner/lib/pathfinding/ADStar.GridPosition.html" title="class in com.pathplanner.lib.pathfinding">ADStar.GridPosition</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/auto/AutoBuilder.html#configureCustom(java.util.function.Function,java.util.function.Supplier,java.util.function.Consumer)">configureCustom(Function&lt;PathPlannerPath, Command&gt;, Supplier&lt;Pose2d&gt;, Consumer&lt;Pose2d&gt;)</a></span> - Static method in class com.pathplanner.lib.auto.<a href="com/pathplanner/lib/auto/AutoBuilder.html" title="class in com.pathplanner.lib.auto">AutoBuilder</a></dt>
+<dd>
+<div class="block">Configures the AutoBuilder with custom path following command builder.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/auto/AutoBuilder.html#configureHolonomic(java.util.function.Supplier,java.util.function.Consumer,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.HolonomicPathFollowerConfig,edu.wpi.first.wpilibj2.command.Subsystem)">configureHolonomic(Supplier&lt;Pose2d&gt;, Consumer&lt;Pose2d&gt;, Supplier&lt;ChassisSpeeds&gt;, Consumer&lt;ChassisSpeeds&gt;, HolonomicPathFollowerConfig, Subsystem)</a></span> - Static method in class com.pathplanner.lib.auto.<a href="com/pathplanner/lib/auto/AutoBuilder.html" title="class in com.pathplanner.lib.auto">AutoBuilder</a></dt>
+<dd>
+<div class="block">Configures the AutoBuilder for a holonomic drivetrain.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/auto/AutoBuilder.html#configureLTV(java.util.function.Supplier,java.util.function.Consumer,java.util.function.Supplier,java.util.function.Consumer,double,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem)">configureLTV(Supplier&lt;Pose2d&gt;, Consumer&lt;Pose2d&gt;, Supplier&lt;ChassisSpeeds&gt;, Consumer&lt;ChassisSpeeds&gt;, double, ReplanningConfig, Subsystem)</a></span> - Static method in class com.pathplanner.lib.auto.<a href="com/pathplanner/lib/auto/AutoBuilder.html" title="class in com.pathplanner.lib.auto">AutoBuilder</a></dt>
+<dd>
+<div class="block">Configures the AutoBuilder for a differential drivetrain using a LTVUnicycleController path
+ follower.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/auto/AutoBuilder.html#configureLTV(java.util.function.Supplier,java.util.function.Consumer,java.util.function.Supplier,java.util.function.Consumer,edu.wpi.first.math.Vector,edu.wpi.first.math.Vector,double,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem)">configureLTV(Supplier&lt;Pose2d&gt;, Consumer&lt;Pose2d&gt;, Supplier&lt;ChassisSpeeds&gt;, Consumer&lt;ChassisSpeeds&gt;, Vector&lt;N3&gt;, Vector&lt;N2&gt;, double, ReplanningConfig, Subsystem)</a></span> - Static method in class com.pathplanner.lib.auto.<a href="com/pathplanner/lib/auto/AutoBuilder.html" title="class in com.pathplanner.lib.auto">AutoBuilder</a></dt>
+<dd>
+<div class="block">Configures the AutoBuilder for a differential drivetrain using a LTVUnicycleController path
+ follower.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/auto/AutoBuilder.html#configureRamsete(java.util.function.Supplier,java.util.function.Consumer,java.util.function.Supplier,java.util.function.Consumer,double,double,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem)">configureRamsete(Supplier&lt;Pose2d&gt;, Consumer&lt;Pose2d&gt;, Supplier&lt;ChassisSpeeds&gt;, Consumer&lt;ChassisSpeeds&gt;, double, double, ReplanningConfig, Subsystem)</a></span> - Static method in class com.pathplanner.lib.auto.<a href="com/pathplanner/lib/auto/AutoBuilder.html" title="class in com.pathplanner.lib.auto">AutoBuilder</a></dt>
+<dd>
+<div class="block">Configures the AutoBuilder for a differential drivetrain using a RAMSETE path follower.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/auto/AutoBuilder.html#configureRamsete(java.util.function.Supplier,java.util.function.Consumer,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem)">configureRamsete(Supplier&lt;Pose2d&gt;, Consumer&lt;Pose2d&gt;, Supplier&lt;ChassisSpeeds&gt;, Consumer&lt;ChassisSpeeds&gt;, ReplanningConfig, Subsystem)</a></span> - Static method in class com.pathplanner.lib.auto.<a href="com/pathplanner/lib/auto/AutoBuilder.html" title="class in com.pathplanner.lib.auto">AutoBuilder</a></dt>
+<dd>
+<div class="block">Configures the AutoBuilder for a differential drivetrain using a RAMSETE path follower.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPlannerTrajectory.State.html#constraints">constraints</a></span> - Variable in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory.State</a></dt>
+<dd>
+<div class="block">The constraints to apply at this state</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPoint.html#constraints">constraints</a></span> - Variable in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPoint.html" title="class in com.pathplanner.lib.path">PathPoint</a></dt>
+<dd>
+<div class="block">The constraints applied to this point</div>
+</dd>
+<dt><a href="com/pathplanner/lib/path/ConstraintsZone.html" title="class in com.pathplanner.lib.path"><span class="typeNameLink">ConstraintsZone</span></a> - Class in <a href="com/pathplanner/lib/path/package-summary.html">com.pathplanner.lib.path</a></dt>
+<dd>
+<div class="block">A zone on a path with different kinematic constraints</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/ConstraintsZone.html#%3Cinit%3E(double,double,com.pathplanner.lib.path.PathConstraints)">ConstraintsZone(double, double, PathConstraints)</a></span> - Constructor for class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/ConstraintsZone.html" title="class in com.pathplanner.lib.path">ConstraintsZone</a></dt>
+<dd>
+<div class="block">Create a new constraints zone</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/GeometryUtil.html#cubicLerp(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Translation2d,double)">cubicLerp(Translation2d, Translation2d, Translation2d, Translation2d, double)</a></span> - Static method in class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/GeometryUtil.html" title="class in com.pathplanner.lib.util">GeometryUtil</a></dt>
+<dd>
+<div class="block">Quadratic interpolation between Translation2ds</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPlannerTrajectory.State.html#curvatureRadPerMeter">curvatureRadPerMeter</a></span> - Variable in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory.State</a></dt>
+<dd>
+<div class="block">The curvature at this state in rad/m</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPoint.html#curveRadius">curveRadius</a></span> - Variable in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPoint.html" title="class in com.pathplanner.lib.path">PathPoint</a></dt>
+<dd>
+<div class="block">The curve radius at this point</div>
+</dd>
+</dl>
+<a id="I:D">
+<!--   -->
+</a>
+<h2 class="title">D</h2>
+<dl>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPoint.html#distanceAlongPath">distanceAlongPath</a></span> - Variable in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPoint.html" title="class in com.pathplanner.lib.path">PathPoint</a></dt>
+<dd>
+<div class="block">The distance of this point along the path, in meters</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/GeometryUtil.html#doubleLerp(double,double,double)">doubleLerp(double, double, double)</a></span> - Static method in class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/GeometryUtil.html" title="class in com.pathplanner.lib.util">GeometryUtil</a></dt>
+<dd>
+<div class="block">Interpolate between two doubles</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/HolonomicPathFollowerConfig.html#driveBaseRadius">driveBaseRadius</a></span> - Variable in class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/HolonomicPathFollowerConfig.html" title="class in com.pathplanner.lib.util">HolonomicPathFollowerConfig</a></dt>
+<dd>
+<div class="block">Radius of the drive base in meters</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/ReplanningConfig.html#dynamicReplanningErrorSpikeThreshold">dynamicReplanningErrorSpikeThreshold</a></span> - Variable in class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a></dt>
+<dd>
+<div class="block">The error spike threshold, in meters, that will cause the path to be replanned</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/ReplanningConfig.html#dynamicReplanningTotalErrorThreshold">dynamicReplanningTotalErrorThreshold</a></span> - Variable in class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a></dt>
+<dd>
+<div class="block">The total error threshold, in meters, that will cause the path to be replanned</div>
+</dd>
+</dl>
+<a id="I:E">
+<!--   -->
+</a>
+<h2 class="title">E</h2>
+<dl>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/PPLibTelemetry.html#enableCompetitionMode()">enableCompetitionMode()</a></span> - Static method in class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/PPLibTelemetry.html" title="class in com.pathplanner.lib.util">PPLibTelemetry</a></dt>
+<dd>
+<div class="block">Enable competition mode.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/ReplanningConfig.html#enableDynamicReplanning">enableDynamicReplanning</a></span> - Variable in class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a></dt>
+<dd>
+<div class="block">Should the path be replanned if the error grows too large or if a large error spike happens
+ while following the path?</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/ReplanningConfig.html#enableInitialReplanning">enableInitialReplanning</a></span> - Variable in class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a></dt>
+<dd>
+<div class="block">Should the path be replanned at the start of path following if the robot is not already at the
+ starting point?</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/FollowPathCommand.html#end(boolean)">end(boolean)</a></span> - Method in class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/FollowPathCommand.html" title="class in com.pathplanner.lib.commands">FollowPathCommand</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/FollowPathWithEvents.html#end(boolean)">end(boolean)</a></span> - Method in class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/FollowPathWithEvents.html" title="class in com.pathplanner.lib.commands">FollowPathWithEvents</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/PathfindingCommand.html#end(boolean)">end(boolean)</a></span> - Method in class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathfindingCommand.html" title="class in com.pathplanner.lib.commands">PathfindingCommand</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/PathPlannerAuto.html#end(boolean)">end(boolean)</a></span> - Method in class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathPlannerAuto.html" title="class in com.pathplanner.lib.commands">PathPlannerAuto</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/pathfinding/ADStar.html#ensureInitialized()">ensureInitialized()</a></span> - Static method in class com.pathplanner.lib.pathfinding.<a href="com/pathplanner/lib/pathfinding/ADStar.html" title="class in com.pathplanner.lib.pathfinding">ADStar</a></dt>
+<dd>
+<div class="block">Ensure that the pathfinding thread is initialized and running.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/ConstraintsZone.html#equals(java.lang.Object)">equals(Object)</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/ConstraintsZone.html" title="class in com.pathplanner.lib.path">ConstraintsZone</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/EventMarker.html#equals(java.lang.Object)">equals(Object)</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/EventMarker.html" title="class in com.pathplanner.lib.path">EventMarker</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/GoalEndState.html#equals(java.lang.Object)">equals(Object)</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/GoalEndState.html" title="class in com.pathplanner.lib.path">GoalEndState</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathConstraints.html#equals(java.lang.Object)">equals(Object)</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPlannerPath.html#equals(java.lang.Object)">equals(Object)</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPoint.html#equals(java.lang.Object)">equals(Object)</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPoint.html" title="class in com.pathplanner.lib.path">PathPoint</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/RotationTarget.html#equals(java.lang.Object)">equals(Object)</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/RotationTarget.html" title="class in com.pathplanner.lib.path">RotationTarget</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/pathfinding/ADStar.GridPosition.html#equals(java.lang.Object)">equals(Object)</a></span> - Method in class com.pathplanner.lib.pathfinding.<a href="com/pathplanner/lib/pathfinding/ADStar.GridPosition.html" title="class in com.pathplanner.lib.pathfinding">ADStar.GridPosition</a></dt>
+<dd>&nbsp;</dd>
+<dt><a href="com/pathplanner/lib/path/EventMarker.html" title="class in com.pathplanner.lib.path"><span class="typeNameLink">EventMarker</span></a> - Class in <a href="com/pathplanner/lib/path/package-summary.html">com.pathplanner.lib.path</a></dt>
+<dd>
+<div class="block">Position along the path that will trigger a command when reached</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/EventMarker.html#%3Cinit%3E(double,edu.wpi.first.wpilibj2.command.Command)">EventMarker(double, Command)</a></span> - Constructor for class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/EventMarker.html" title="class in com.pathplanner.lib.path">EventMarker</a></dt>
+<dd>
+<div class="block">Create a new event marker</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/EventMarker.html#%3Cinit%3E(double,edu.wpi.first.wpilibj2.command.Command,double)">EventMarker(double, Command, double)</a></span> - Constructor for class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/EventMarker.html" title="class in com.pathplanner.lib.path">EventMarker</a></dt>
+<dd>
+<div class="block">Create a new event marker</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/FollowPathCommand.html#execute()">execute()</a></span> - Method in class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/FollowPathCommand.html" title="class in com.pathplanner.lib.commands">FollowPathCommand</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/FollowPathWithEvents.html#execute()">execute()</a></span> - Method in class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/FollowPathWithEvents.html" title="class in com.pathplanner.lib.commands">FollowPathWithEvents</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/PathfindingCommand.html#execute()">execute()</a></span> - Method in class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathfindingCommand.html" title="class in com.pathplanner.lib.commands">PathfindingCommand</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/PathPlannerAuto.html#execute()">execute()</a></span> - Method in class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathPlannerAuto.html" title="class in com.pathplanner.lib.commands">PathPlannerAuto</a></dt>
+<dd>&nbsp;</dd>
+</dl>
+<a id="I:F">
+<!--   -->
+</a>
+<h2 class="title">F</h2>
+<dl>
+<dt><a href="com/pathplanner/lib/commands/FollowPathCommand.html" title="class in com.pathplanner.lib.commands"><span class="typeNameLink">FollowPathCommand</span></a> - Class in <a href="com/pathplanner/lib/commands/package-summary.html">com.pathplanner.lib.commands</a></dt>
+<dd>
+<div class="block">Base command for following a path</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/FollowPathCommand.html#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.controllers.PathFollowingController,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">FollowPathCommand(PathPlannerPath, Supplier&lt;Pose2d&gt;, Supplier&lt;ChassisSpeeds&gt;, Consumer&lt;ChassisSpeeds&gt;, PathFollowingController, ReplanningConfig, Subsystem...)</a></span> - Constructor for class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/FollowPathCommand.html" title="class in com.pathplanner.lib.commands">FollowPathCommand</a></dt>
+<dd>
+<div class="block">Construct a base path following command</div>
+</dd>
+<dt><a href="com/pathplanner/lib/commands/FollowPathHolonomic.html" title="class in com.pathplanner.lib.commands"><span class="typeNameLink">FollowPathHolonomic</span></a> - Class in <a href="com/pathplanner/lib/commands/package-summary.html">com.pathplanner.lib.commands</a></dt>
+<dd>
+<div class="block">Follow a path using a PPHolonomicDriveController</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/FollowPathHolonomic.html#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.HolonomicPathFollowerConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">FollowPathHolonomic(PathPlannerPath, Supplier&lt;Pose2d&gt;, Supplier&lt;ChassisSpeeds&gt;, Consumer&lt;ChassisSpeeds&gt;, HolonomicPathFollowerConfig, Subsystem...)</a></span> - Constructor for class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/FollowPathHolonomic.html" title="class in com.pathplanner.lib.commands">FollowPathHolonomic</a></dt>
+<dd>
+<div class="block">Construct a path following command that will use a holonomic drive controller for holonomic
+ drive trains</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/FollowPathHolonomic.html#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.PIDConstants,com.pathplanner.lib.util.PIDConstants,double,double,double,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">FollowPathHolonomic(PathPlannerPath, Supplier&lt;Pose2d&gt;, Supplier&lt;ChassisSpeeds&gt;, Consumer&lt;ChassisSpeeds&gt;, PIDConstants, PIDConstants, double, double, double, ReplanningConfig, Subsystem...)</a></span> - Constructor for class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/FollowPathHolonomic.html" title="class in com.pathplanner.lib.commands">FollowPathHolonomic</a></dt>
+<dd>
+<div class="block">Construct a path following command that will use a holonomic drive controller for holonomic
+ drive trains</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/FollowPathHolonomic.html#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.PIDConstants,com.pathplanner.lib.util.PIDConstants,double,double,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">FollowPathHolonomic(PathPlannerPath, Supplier&lt;Pose2d&gt;, Supplier&lt;ChassisSpeeds&gt;, Consumer&lt;ChassisSpeeds&gt;, PIDConstants, PIDConstants, double, double, ReplanningConfig, Subsystem...)</a></span> - Constructor for class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/FollowPathHolonomic.html" title="class in com.pathplanner.lib.commands">FollowPathHolonomic</a></dt>
+<dd>
+<div class="block">Construct a path following command that will use a holonomic drive controller for holonomic
+ drive trains</div>
+</dd>
+<dt><a href="com/pathplanner/lib/commands/FollowPathLTV.html" title="class in com.pathplanner.lib.commands"><span class="typeNameLink">FollowPathLTV</span></a> - Class in <a href="com/pathplanner/lib/commands/package-summary.html">com.pathplanner.lib.commands</a></dt>
+<dd>
+<div class="block">Follow a path using a PPLTVController</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/FollowPathLTV.html#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,double,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">FollowPathLTV(PathPlannerPath, Supplier&lt;Pose2d&gt;, Supplier&lt;ChassisSpeeds&gt;, Consumer&lt;ChassisSpeeds&gt;, double, ReplanningConfig, Subsystem...)</a></span> - Constructor for class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/FollowPathLTV.html" title="class in com.pathplanner.lib.commands">FollowPathLTV</a></dt>
+<dd>
+<div class="block">Create a path following command that will use an LTV unicycle controller for differential drive
+ trains</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/FollowPathLTV.html#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,edu.wpi.first.math.Vector,edu.wpi.first.math.Vector,double,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">FollowPathLTV(PathPlannerPath, Supplier&lt;Pose2d&gt;, Supplier&lt;ChassisSpeeds&gt;, Consumer&lt;ChassisSpeeds&gt;, Vector&lt;N3&gt;, Vector&lt;N2&gt;, double, ReplanningConfig, Subsystem...)</a></span> - Constructor for class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/FollowPathLTV.html" title="class in com.pathplanner.lib.commands">FollowPathLTV</a></dt>
+<dd>
+<div class="block">Create a path following command that will use an LTV unicycle controller for differential drive
+ trains</div>
+</dd>
+<dt><a href="com/pathplanner/lib/commands/FollowPathRamsete.html" title="class in com.pathplanner.lib.commands"><span class="typeNameLink">FollowPathRamsete</span></a> - Class in <a href="com/pathplanner/lib/commands/package-summary.html">com.pathplanner.lib.commands</a></dt>
+<dd>
+<div class="block">Follow a path using a PPRamseteController</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/FollowPathRamsete.html#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,double,double,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">FollowPathRamsete(PathPlannerPath, Supplier&lt;Pose2d&gt;, Supplier&lt;ChassisSpeeds&gt;, Consumer&lt;ChassisSpeeds&gt;, double, double, ReplanningConfig, Subsystem...)</a></span> - Constructor for class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/FollowPathRamsete.html" title="class in com.pathplanner.lib.commands">FollowPathRamsete</a></dt>
+<dd>
+<div class="block">Construct a path following command that will use a Ramsete path following controller for
+ differential drive trains</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/FollowPathRamsete.html#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">FollowPathRamsete(PathPlannerPath, Supplier&lt;Pose2d&gt;, Supplier&lt;ChassisSpeeds&gt;, Consumer&lt;ChassisSpeeds&gt;, ReplanningConfig, Subsystem...)</a></span> - Constructor for class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/FollowPathRamsete.html" title="class in com.pathplanner.lib.commands">FollowPathRamsete</a></dt>
+<dd>
+<div class="block">Construct a path following command that will use a Ramsete path following controller for
+ differential drive trains</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/auto/AutoBuilder.html#followPathWithEvents(com.pathplanner.lib.path.PathPlannerPath)">followPathWithEvents(PathPlannerPath)</a></span> - Static method in class com.pathplanner.lib.auto.<a href="com/pathplanner/lib/auto/AutoBuilder.html" title="class in com.pathplanner.lib.auto">AutoBuilder</a></dt>
+<dd>
+<div class="block">Builds a command to follow a path with event markers.</div>
+</dd>
+<dt><a href="com/pathplanner/lib/commands/FollowPathWithEvents.html" title="class in com.pathplanner.lib.commands"><span class="typeNameLink">FollowPathWithEvents</span></a> - Class in <a href="com/pathplanner/lib/commands/package-summary.html">com.pathplanner.lib.commands</a></dt>
+<dd>
+<div class="block">Command that will run a path following command and trigger event markers along the way</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/FollowPathWithEvents.html#%3Cinit%3E(edu.wpi.first.wpilibj2.command.Command,com.pathplanner.lib.path.PathPlannerPath,java.util.function.Supplier)">FollowPathWithEvents(Command, PathPlannerPath, Supplier&lt;Pose2d&gt;)</a></span> - Constructor for class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/FollowPathWithEvents.html" title="class in com.pathplanner.lib.commands">FollowPathWithEvents</a></dt>
+<dd>
+<div class="block">Constructs a new FollowPathWithEvents command.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/ConstraintsZone.html#forSegmentIndex(int)">forSegmentIndex(int)</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/ConstraintsZone.html" title="class in com.pathplanner.lib.path">ConstraintsZone</a></dt>
+<dd>
+<div class="block">Transform the positions of this zone for a given segment number.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/RotationTarget.html#forSegmentIndex(int)">forSegmentIndex(int)</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/RotationTarget.html" title="class in com.pathplanner.lib.path">RotationTarget</a></dt>
+<dd>
+<div class="block">Transform the position of this target for a given segment number.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPlannerPath.html#fromPathFile(java.lang.String)">fromPathFile(String)</a></span> - Static method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a></dt>
+<dd>
+<div class="block">Load a path from a path file in storage</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPlannerPath.html#fromPathPoints(java.util.List,com.pathplanner.lib.path.PathConstraints,com.pathplanner.lib.path.GoalEndState)">fromPathPoints(List&lt;PathPoint&gt;, PathConstraints, GoalEndState)</a></span> - Static method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a></dt>
+<dd>
+<div class="block">Creat a path with pre-generated points.</div>
+</dd>
+</dl>
+<a id="I:G">
+<!--   -->
+</a>
+<h2 class="title">G</h2>
+<dl>
+<dt><a href="com/pathplanner/lib/util/GeometryUtil.html" title="class in com.pathplanner.lib.util"><span class="typeNameLink">GeometryUtil</span></a> - Class in <a href="com/pathplanner/lib/util/package-summary.html">com.pathplanner.lib.util</a></dt>
+<dd>
+<div class="block">Utility class for various geometry functions used during generation</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/GeometryUtil.html#%3Cinit%3E()">GeometryUtil()</a></span> - Constructor for class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/GeometryUtil.html" title="class in com.pathplanner.lib.util">GeometryUtil</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPlannerPath.html#getAllPathPoints()">getAllPathPoints()</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a></dt>
+<dd>
+<div class="block">Get all the path points in this path</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/auto/AutoBuilder.html#getAutoCommandFromJson(org.json.simple.JSONObject)">getAutoCommandFromJson(JSONObject)</a></span> - Static method in class com.pathplanner.lib.auto.<a href="com/pathplanner/lib/auto/AutoBuilder.html" title="class in com.pathplanner.lib.auto">AutoBuilder</a></dt>
+<dd>
+<div class="block">Builds an auto command from the given JSON object.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/EventMarker.html#getCommand()">getCommand()</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/EventMarker.html" title="class in com.pathplanner.lib.path">EventMarker</a></dt>
+<dd>
+<div class="block">Get the command associated with this marker</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/auto/NamedCommands.html#getCommand(java.lang.String)">getCommand(String)</a></span> - Static method in class com.pathplanner.lib.auto.<a href="com/pathplanner/lib/auto/NamedCommands.html" title="class in com.pathplanner.lib.auto">NamedCommands</a></dt>
+<dd>
+<div class="block">Returns the command with the given name.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/ConstraintsZone.html#getConstraints()">getConstraints()</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/ConstraintsZone.html" title="class in com.pathplanner.lib.path">ConstraintsZone</a></dt>
+<dd>
+<div class="block">Get the constraints for this zone</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPlannerPath.html#getConstraintsForPoint(int)">getConstraintsForPoint(int)</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a></dt>
+<dd>
+<div class="block">Get the constraints for a point along the path</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/pathfinding/ADStar.html#getCurrentPath()">getCurrentPath()</a></span> - Static method in class com.pathplanner.lib.pathfinding.<a href="com/pathplanner/lib/pathfinding/ADStar.html" title="class in com.pathplanner.lib.pathfinding">ADStar</a></dt>
+<dd>
+<div class="block">Get the most recently calculated path</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPlannerTrajectory.State.html#getDifferentialPose()">getDifferentialPose()</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory.State</a></dt>
+<dd>
+<div class="block">Get this pose for a differential drivetrain</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPlannerTrajectory.html#getEndState()">getEndState()</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerTrajectory.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory</a></dt>
+<dd>
+<div class="block">Get the end state of the trajectory</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPlannerPath.html#getEventMarkers()">getEventMarkers()</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a></dt>
+<dd>
+<div class="block">Get all the event markers for this path</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPlannerPath.html#getGlobalConstraints()">getGlobalConstraints()</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a></dt>
+<dd>
+<div class="block">Get the global constraints for this path</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPlannerPath.html#getGoalEndState()">getGoalEndState()</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a></dt>
+<dd>
+<div class="block">Get the goal end state of this path</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/pathfinding/ADStar.html#getGridPos(edu.wpi.first.math.geometry.Translation2d)">getGridPos(Translation2d)</a></span> - Static method in class com.pathplanner.lib.pathfinding.<a href="com/pathplanner/lib/pathfinding/ADStar.html" title="class in com.pathplanner.lib.pathfinding">ADStar</a></dt>
+<dd>
+<div class="block">Converts a Translation2d into a grid position</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPlannerTrajectory.html#getInitialDifferentialPose()">getInitialDifferentialPose()</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerTrajectory.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory</a></dt>
+<dd>
+<div class="block">Get this initial pose for a differential drivetrain</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPlannerTrajectory.html#getInitialState()">getInitialState()</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerTrajectory.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory</a></dt>
+<dd>
+<div class="block">Get the initial state of the trajectory</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPlannerTrajectory.html#getInitialTargetHolonomicPose()">getInitialTargetHolonomicPose()</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerTrajectory.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory</a></dt>
+<dd>
+<div class="block">Get the initial target pose for a holonomic drivetrain NOTE: This is a "target" pose, meaning
+ the rotation will be the value of the next rotation target along the path, not what the
+ rotation should be at the start of the path</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathConstraints.html#getMaxAccelerationMpsSq()">getMaxAccelerationMpsSq()</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a></dt>
+<dd>
+<div class="block">Get the max linear acceleration</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathConstraints.html#getMaxAngularAccelerationRpsSq()">getMaxAngularAccelerationRpsSq()</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a></dt>
+<dd>
+<div class="block">Get the max angular acceleration</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathConstraints.html#getMaxAngularVelocityRps()">getMaxAngularVelocityRps()</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a></dt>
+<dd>
+<div class="block">Get the max angular velocity</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathConstraints.html#getMaxVelocityMps()">getMaxVelocityMps()</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a></dt>
+<dd>
+<div class="block">Get the max linear velocity</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/ConstraintsZone.html#getMaxWaypointPos()">getMaxWaypointPos()</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/ConstraintsZone.html" title="class in com.pathplanner.lib.path">ConstraintsZone</a></dt>
+<dd>
+<div class="block">Get the end position of the zone</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/EventMarker.html#getMinimumTriggerDistance()">getMinimumTriggerDistance()</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/EventMarker.html" title="class in com.pathplanner.lib.path">EventMarker</a></dt>
+<dd>
+<div class="block">Get the minimum trigger distance for this marker</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/ConstraintsZone.html#getMinWaypointPos()">getMinWaypointPos()</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/ConstraintsZone.html" title="class in com.pathplanner.lib.path">ConstraintsZone</a></dt>
+<dd>
+<div class="block">Get the starting position of the zone</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/PathPlannerAuto.html#getPathGroupFromAutoFile(java.lang.String)">getPathGroupFromAutoFile(String)</a></span> - Static method in class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathPlannerAuto.html" title="class in com.pathplanner.lib.commands">PathPlannerAuto</a></dt>
+<dd>
+<div class="block">Get a list of every path in the given auto (depth first)</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPlannerPath.html#getPoint(int)">getPoint(int)</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a></dt>
+<dd>
+<div class="block">Get a specific point along this path</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/RotationTarget.html#getPosition()">getPosition()</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/RotationTarget.html" title="class in com.pathplanner.lib.path">RotationTarget</a></dt>
+<dd>
+<div class="block">Get the waypoint relative position of this target</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/controllers/PathFollowingController.html#getPositionalError()">getPositionalError()</a></span> - Method in interface com.pathplanner.lib.controllers.<a href="com/pathplanner/lib/controllers/PathFollowingController.html" title="interface in com.pathplanner.lib.controllers">PathFollowingController</a></dt>
+<dd>
+<div class="block">Get the current positional error between the robot's actual and target positions</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/controllers/PPHolonomicDriveController.html#getPositionalError()">getPositionalError()</a></span> - Method in class com.pathplanner.lib.controllers.<a href="com/pathplanner/lib/controllers/PPHolonomicDriveController.html" title="class in com.pathplanner.lib.controllers">PPHolonomicDriveController</a></dt>
+<dd>
+<div class="block">Get the current positional error between the robot's actual and target positions</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/controllers/PPLTVController.html#getPositionalError()">getPositionalError()</a></span> - Method in class com.pathplanner.lib.controllers.<a href="com/pathplanner/lib/controllers/PPLTVController.html" title="class in com.pathplanner.lib.controllers">PPLTVController</a></dt>
+<dd>
+<div class="block">Get the current positional error between the robot's actual and target positions</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/controllers/PPRamseteController.html#getPositionalError()">getPositionalError()</a></span> - Method in class com.pathplanner.lib.controllers.<a href="com/pathplanner/lib/controllers/PPRamseteController.html" title="class in com.pathplanner.lib.controllers">PPRamseteController</a></dt>
+<dd>
+<div class="block">Get the current positional error between the robot's actual and target positions</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/GoalEndState.html#getRotation()">getRotation()</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/GoalEndState.html" title="class in com.pathplanner.lib.path">GoalEndState</a></dt>
+<dd>
+<div class="block">Get the goal end rotation</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathSegment.html#getSegmentPoints()">getSegmentPoints()</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathSegment.html" title="class in com.pathplanner.lib.path">PathSegment</a></dt>
+<dd>
+<div class="block">Get the path points for this segment</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/PathPlannerAuto.html#getStaringPoseFromAutoFile(java.lang.String)">getStaringPoseFromAutoFile(String)</a></span> - Static method in class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathPlannerAuto.html" title="class in com.pathplanner.lib.commands">PathPlannerAuto</a></dt>
+<dd>
+<div class="block">Get the starting pose from the given auto file</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/auto/AutoBuilder.html#getStartingPoseFromJson(org.json.simple.JSONObject)">getStartingPoseFromJson(JSONObject)</a></span> - Static method in class com.pathplanner.lib.auto.<a href="com/pathplanner/lib/auto/AutoBuilder.html" title="class in com.pathplanner.lib.auto">AutoBuilder</a></dt>
+<dd>
+<div class="block">Get the starting pose from its JSON representation.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPlannerTrajectory.html#getState(int)">getState(int)</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerTrajectory.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory</a></dt>
+<dd>
+<div class="block">Get the goal state at the given index</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPlannerTrajectory.html#getStates()">getStates()</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerTrajectory.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory</a></dt>
+<dd>
+<div class="block">Get all of the pre-generated states in the trajectory</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/RotationTarget.html#getTarget()">getTarget()</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/RotationTarget.html" title="class in com.pathplanner.lib.path">RotationTarget</a></dt>
+<dd>
+<div class="block">Get the target rotation</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPlannerTrajectory.State.html#getTargetHolonomicPose()">getTargetHolonomicPose()</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory.State</a></dt>
+<dd>
+<div class="block">Get the target pose for a holonomic drivetrain NOTE: This is a "target" pose, meaning the
+ rotation will be the value of the next rotation target along the path, not what the rotation
+ should be at the start of the path</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPlannerTrajectory.html#getTotalTimeSeconds()">getTotalTimeSeconds()</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerTrajectory.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory</a></dt>
+<dd>
+<div class="block">Get the total run time of the trajectory</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/GoalEndState.html#getVelocity()">getVelocity()</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/GoalEndState.html" title="class in com.pathplanner.lib.path">GoalEndState</a></dt>
+<dd>
+<div class="block">Get the goal end velocity</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/EventMarker.html#getWaypointRelativePos()">getWaypointRelativePos()</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/EventMarker.html" title="class in com.pathplanner.lib.path">EventMarker</a></dt>
+<dd>
+<div class="block">Get the waypoint relative position of this marker</div>
+</dd>
+<dt><a href="com/pathplanner/lib/path/GoalEndState.html" title="class in com.pathplanner.lib.path"><span class="typeNameLink">GoalEndState</span></a> - Class in <a href="com/pathplanner/lib/path/package-summary.html">com.pathplanner.lib.path</a></dt>
+<dd>
+<div class="block">Describes the goal end state of the robot when finishing a path</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/GoalEndState.html#%3Cinit%3E(double,edu.wpi.first.math.geometry.Rotation2d)">GoalEndState(double, Rotation2d)</a></span> - Constructor for class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/GoalEndState.html" title="class in com.pathplanner.lib.path">GoalEndState</a></dt>
+<dd>
+<div class="block">Create a new goal end state</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/pathfinding/ADStar.GridPosition.html#%3Cinit%3E(int,int)">GridPosition(int, int)</a></span> - Constructor for class com.pathplanner.lib.pathfinding.<a href="com/pathplanner/lib/pathfinding/ADStar.GridPosition.html" title="class in com.pathplanner.lib.pathfinding">ADStar.GridPosition</a></dt>
+<dd>
+<div class="block">Create a node within the pathfinding grid</div>
+</dd>
+</dl>
+<a id="I:H">
+<!--   -->
+</a>
+<h2 class="title">H</h2>
+<dl>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/auto/NamedCommands.html#hasCommand(java.lang.String)">hasCommand(String)</a></span> - Static method in class com.pathplanner.lib.auto.<a href="com/pathplanner/lib/auto/NamedCommands.html" title="class in com.pathplanner.lib.auto">NamedCommands</a></dt>
+<dd>
+<div class="block">Returns whether a command with the given name has been registered.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/ConstraintsZone.html#hashCode()">hashCode()</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/ConstraintsZone.html" title="class in com.pathplanner.lib.path">ConstraintsZone</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/EventMarker.html#hashCode()">hashCode()</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/EventMarker.html" title="class in com.pathplanner.lib.path">EventMarker</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/GoalEndState.html#hashCode()">hashCode()</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/GoalEndState.html" title="class in com.pathplanner.lib.path">GoalEndState</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathConstraints.html#hashCode()">hashCode()</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPlannerPath.html#hashCode()">hashCode()</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPoint.html#hashCode()">hashCode()</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPoint.html" title="class in com.pathplanner.lib.path">PathPoint</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/RotationTarget.html#hashCode()">hashCode()</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/RotationTarget.html" title="class in com.pathplanner.lib.path">RotationTarget</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/pathfinding/ADStar.GridPosition.html#hashCode()">hashCode()</a></span> - Method in class com.pathplanner.lib.pathfinding.<a href="com/pathplanner/lib/pathfinding/ADStar.GridPosition.html" title="class in com.pathplanner.lib.pathfinding">ADStar.GridPosition</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPlannerTrajectory.State.html#heading">heading</a></span> - Variable in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory.State</a></dt>
+<dd>
+<div class="block">The heading (direction of travel) at this state</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPlannerTrajectory.State.html#headingAngularVelocityRps">headingAngularVelocityRps</a></span> - Variable in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory.State</a></dt>
+<dd>
+<div class="block">The time at this state in seconds</div>
+</dd>
+<dt><a href="com/pathplanner/lib/util/HolonomicPathFollowerConfig.html" title="class in com.pathplanner.lib.util"><span class="typeNameLink">HolonomicPathFollowerConfig</span></a> - Class in <a href="com/pathplanner/lib/util/package-summary.html">com.pathplanner.lib.util</a></dt>
+<dd>
+<div class="block">Configuration for the holonomic path following commands</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/HolonomicPathFollowerConfig.html#%3Cinit%3E(double,double,com.pathplanner.lib.util.ReplanningConfig)">HolonomicPathFollowerConfig(double, double, ReplanningConfig)</a></span> - Constructor for class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/HolonomicPathFollowerConfig.html" title="class in com.pathplanner.lib.util">HolonomicPathFollowerConfig</a></dt>
+<dd>
+<div class="block">Create a new holonomic path follower config</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/HolonomicPathFollowerConfig.html#%3Cinit%3E(double,double,com.pathplanner.lib.util.ReplanningConfig,double)">HolonomicPathFollowerConfig(double, double, ReplanningConfig, double)</a></span> - Constructor for class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/HolonomicPathFollowerConfig.html" title="class in com.pathplanner.lib.util">HolonomicPathFollowerConfig</a></dt>
+<dd>
+<div class="block">Create a new holonomic path follower config</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/HolonomicPathFollowerConfig.html#%3Cinit%3E(com.pathplanner.lib.util.PIDConstants,com.pathplanner.lib.util.PIDConstants,double,double,com.pathplanner.lib.util.ReplanningConfig)">HolonomicPathFollowerConfig(PIDConstants, PIDConstants, double, double, ReplanningConfig)</a></span> - Constructor for class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/HolonomicPathFollowerConfig.html" title="class in com.pathplanner.lib.util">HolonomicPathFollowerConfig</a></dt>
+<dd>
+<div class="block">Create a new holonomic path follower config</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/HolonomicPathFollowerConfig.html#%3Cinit%3E(com.pathplanner.lib.util.PIDConstants,com.pathplanner.lib.util.PIDConstants,double,double,com.pathplanner.lib.util.ReplanningConfig,double)">HolonomicPathFollowerConfig(PIDConstants, PIDConstants, double, double, ReplanningConfig, double)</a></span> - Constructor for class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/HolonomicPathFollowerConfig.html" title="class in com.pathplanner.lib.util">HolonomicPathFollowerConfig</a></dt>
+<dd>
+<div class="block">Create a new holonomic path follower config</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPoint.html#holonomicRotation">holonomicRotation</a></span> - Variable in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPoint.html" title="class in com.pathplanner.lib.path">PathPoint</a></dt>
+<dd>
+<div class="block">The target rotation at this point</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/PathPlannerAuto.html#hotReload(org.json.simple.JSONObject)">hotReload(JSONObject)</a></span> - Method in class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathPlannerAuto.html" title="class in com.pathplanner.lib.commands">PathPlannerAuto</a></dt>
+<dd>
+<div class="block">Reloads the autonomous routine with the given JSON object and updates the requirements of this
+ command.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPlannerPath.html#hotReload(org.json.simple.JSONObject)">hotReload(JSONObject)</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a></dt>
+<dd>
+<div class="block">Hot reload the path.</div>
+</dd>
+</dl>
+<a id="I:I">
+<!--   -->
+</a>
+<h2 class="title">I</h2>
+<dl>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/FollowPathCommand.html#initialize()">initialize()</a></span> - Method in class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/FollowPathCommand.html" title="class in com.pathplanner.lib.commands">FollowPathCommand</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/FollowPathWithEvents.html#initialize()">initialize()</a></span> - Method in class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/FollowPathWithEvents.html" title="class in com.pathplanner.lib.commands">FollowPathWithEvents</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/PathfindingCommand.html#initialize()">initialize()</a></span> - Method in class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathfindingCommand.html" title="class in com.pathplanner.lib.commands">PathfindingCommand</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/PathPlannerAuto.html#initialize()">initialize()</a></span> - Method in class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathPlannerAuto.html" title="class in com.pathplanner.lib.commands">PathPlannerAuto</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPlannerTrajectory.State.html#interpolate(com.pathplanner.lib.path.PathPlannerTrajectory.State,double)">interpolate(PathPlannerTrajectory.State, double)</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory.State</a></dt>
+<dd>
+<div class="block">Interpolate between this state and the given state</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/auto/AutoBuilder.html#isConfigured()">isConfigured()</a></span> - Static method in class com.pathplanner.lib.auto.<a href="com/pathplanner/lib/auto/AutoBuilder.html" title="class in com.pathplanner.lib.auto">AutoBuilder</a></dt>
+<dd>
+<div class="block">Returns whether the AutoBuilder has been configured.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/FollowPathCommand.html#isFinished()">isFinished()</a></span> - Method in class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/FollowPathCommand.html" title="class in com.pathplanner.lib.commands">FollowPathCommand</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/FollowPathWithEvents.html#isFinished()">isFinished()</a></span> - Method in class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/FollowPathWithEvents.html" title="class in com.pathplanner.lib.commands">FollowPathWithEvents</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/PathfindingCommand.html#isFinished()">isFinished()</a></span> - Method in class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathfindingCommand.html" title="class in com.pathplanner.lib.commands">PathfindingCommand</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/PathPlannerAuto.html#isFinished()">isFinished()</a></span> - Method in class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathPlannerAuto.html" title="class in com.pathplanner.lib.commands">PathPlannerAuto</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/controllers/PathFollowingController.html#isHolonomic()">isHolonomic()</a></span> - Method in interface com.pathplanner.lib.controllers.<a href="com/pathplanner/lib/controllers/PathFollowingController.html" title="interface in com.pathplanner.lib.controllers">PathFollowingController</a></dt>
+<dd>
+<div class="block">Is this controller for holonomic drivetrains? Used to handle some differences in functionality
+ in the path following command.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/controllers/PPHolonomicDriveController.html#isHolonomic()">isHolonomic()</a></span> - Method in class com.pathplanner.lib.controllers.<a href="com/pathplanner/lib/controllers/PPHolonomicDriveController.html" title="class in com.pathplanner.lib.controllers">PPHolonomicDriveController</a></dt>
+<dd>
+<div class="block">Is this controller for holonomic drivetrains? Used to handle some differences in functionality
+ in the path following command.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/controllers/PPLTVController.html#isHolonomic()">isHolonomic()</a></span> - Method in class com.pathplanner.lib.controllers.<a href="com/pathplanner/lib/controllers/PPLTVController.html" title="class in com.pathplanner.lib.controllers">PPLTVController</a></dt>
+<dd>
+<div class="block">Is this controller for holonomic drivetrains? Used to handle some differences in functionality
+ in the path following command.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/controllers/PPRamseteController.html#isHolonomic()">isHolonomic()</a></span> - Method in class com.pathplanner.lib.controllers.<a href="com/pathplanner/lib/controllers/PPRamseteController.html" title="class in com.pathplanner.lib.controllers">PPRamseteController</a></dt>
+<dd>
+<div class="block">Is this controller for holonomic drivetrains? Used to handle some differences in functionality
+ in the path following command.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/pathfinding/ADStar.html#isNewPathAvailable()">isNewPathAvailable()</a></span> - Static method in class com.pathplanner.lib.pathfinding.<a href="com/pathplanner/lib/pathfinding/ADStar.html" title="class in com.pathplanner.lib.pathfinding">ADStar</a></dt>
+<dd>
+<div class="block">Get if a new path has been calculated since the last time a path was retrieved</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/auto/AutoBuilder.html#isPathfindingConfigured()">isPathfindingConfigured()</a></span> - Static method in class com.pathplanner.lib.auto.<a href="com/pathplanner/lib/auto/AutoBuilder.html" title="class in com.pathplanner.lib.auto">AutoBuilder</a></dt>
+<dd>
+<div class="block">Returns whether the AutoBuilder has been configured for pathfinding.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPlannerPath.html#isReversed()">isReversed()</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a></dt>
+<dd>
+<div class="block">Should the path be followed reversed (differential drive only)</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/ConstraintsZone.html#isWithinZone(double)">isWithinZone(double)</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/ConstraintsZone.html" title="class in com.pathplanner.lib.path">ConstraintsZone</a></dt>
+<dd>
+<div class="block">Get if a given waypoint relative position is within this zone</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/PIDConstants.html#iZone">iZone</a></span> - Variable in class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/PIDConstants.html" title="class in com.pathplanner.lib.util">PIDConstants</a></dt>
+<dd>
+<div class="block">Integral range</div>
+</dd>
+</dl>
+<a id="I:K">
+<!--   -->
+</a>
+<h2 class="title">K</h2>
+<dl>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/PIDConstants.html#kD">kD</a></span> - Variable in class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/PIDConstants.html" title="class in com.pathplanner.lib.util">PIDConstants</a></dt>
+<dd>
+<div class="block">D</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/PIDConstants.html#kI">kI</a></span> - Variable in class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/PIDConstants.html" title="class in com.pathplanner.lib.util">PIDConstants</a></dt>
+<dd>
+<div class="block">I</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/PIDConstants.html#kP">kP</a></span> - Variable in class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/PIDConstants.html" title="class in com.pathplanner.lib.util">PIDConstants</a></dt>
+<dd>
+<div class="block">P</div>
+</dd>
+</dl>
+<a id="I:L">
+<!--   -->
+</a>
+<h2 class="title">L</h2>
+<dl>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/PathPlannerLogging.html#logActivePath(com.pathplanner.lib.path.PathPlannerPath)">logActivePath(PathPlannerPath)</a></span> - Static method in class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/PathPlannerLogging.html" title="class in com.pathplanner.lib.util">PathPlannerLogging</a></dt>
+<dd>
+<div class="block">Log the active path.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/PathPlannerLogging.html#logCurrentPose(edu.wpi.first.math.geometry.Pose2d)">logCurrentPose(Pose2d)</a></span> - Static method in class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/PathPlannerLogging.html" title="class in com.pathplanner.lib.util">PathPlannerLogging</a></dt>
+<dd>
+<div class="block">Log the current robot pose.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/PathPlannerLogging.html#logTargetPose(edu.wpi.first.math.geometry.Pose2d)">logTargetPose(Pose2d)</a></span> - Static method in class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/PathPlannerLogging.html" title="class in com.pathplanner.lib.util">PathPlannerLogging</a></dt>
+<dd>
+<div class="block">Log the target robot pose.</div>
+</dd>
+</dl>
+<a id="I:M">
+<!--   -->
+</a>
+<h2 class="title">M</h2>
+<dl>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/HolonomicPathFollowerConfig.html#maxModuleSpeed">maxModuleSpeed</a></span> - Variable in class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/HolonomicPathFollowerConfig.html" title="class in com.pathplanner.lib.util">HolonomicPathFollowerConfig</a></dt>
+<dd>
+<div class="block">Max speed of a drive module in m/s</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPoint.html#maxV">maxV</a></span> - Variable in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPoint.html" title="class in com.pathplanner.lib.path">PathPoint</a></dt>
+<dd>
+<div class="block">The max velocity at this point</div>
+</dd>
+</dl>
+<a id="I:N">
+<!--   -->
+</a>
+<h2 class="title">N</h2>
+<dl>
+<dt><a href="com/pathplanner/lib/auto/NamedCommands.html" title="class in com.pathplanner.lib.auto"><span class="typeNameLink">NamedCommands</span></a> - Class in <a href="com/pathplanner/lib/auto/package-summary.html">com.pathplanner.lib.auto</a></dt>
+<dd>
+<div class="block">Utility class for managing named commands</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/auto/NamedCommands.html#%3Cinit%3E()">NamedCommands()</a></span> - Constructor for class com.pathplanner.lib.auto.<a href="com/pathplanner/lib/auto/NamedCommands.html" title="class in com.pathplanner.lib.auto">NamedCommands</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPlannerPath.html#numPoints()">numPoints()</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a></dt>
+<dd>
+<div class="block">Get the number of points in this path</div>
+</dd>
+</dl>
+<a id="I:O">
+<!--   -->
+</a>
+<h2 class="title">O</h2>
+<dl>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/ConstraintsZone.html#overlapsRange(double,double)">overlapsRange(double, double)</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/ConstraintsZone.html" title="class in com.pathplanner.lib.path">ConstraintsZone</a></dt>
+<dd>
+<div class="block">Get if this zone overlaps a given range</div>
+</dd>
+</dl>
+<a id="I:P">
+<!--   -->
+</a>
+<h2 class="title">P</h2>
+<dl>
+<dt><a href="com/pathplanner/lib/path/PathConstraints.html" title="class in com.pathplanner.lib.path"><span class="typeNameLink">PathConstraints</span></a> - Class in <a href="com/pathplanner/lib/path/package-summary.html">com.pathplanner.lib.path</a></dt>
+<dd>
+<div class="block">Kinematic path following constraints</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathConstraints.html#%3Cinit%3E(double,double,double,double)">PathConstraints(double, double, double, double)</a></span> - Constructor for class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a></dt>
+<dd>
+<div class="block">Create a new path constraints object</div>
+</dd>
+<dt><a href="com/pathplanner/lib/commands/PathfindHolonomic.html" title="class in com.pathplanner.lib.commands"><span class="typeNameLink">PathfindHolonomic</span></a> - Class in <a href="com/pathplanner/lib/commands/package-summary.html">com.pathplanner.lib.commands</a></dt>
+<dd>
+<div class="block">Pathfind and follow the path with a PPHolonomicDriveController</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/PathfindHolonomic.html#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.HolonomicPathFollowerConfig,double,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindHolonomic(PathPlannerPath, PathConstraints, Supplier&lt;Pose2d&gt;, Supplier&lt;ChassisSpeeds&gt;, Consumer&lt;ChassisSpeeds&gt;, HolonomicPathFollowerConfig, double, Subsystem...)</a></span> - Constructor for class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathfindHolonomic.html" title="class in com.pathplanner.lib.commands">PathfindHolonomic</a></dt>
+<dd>
+<div class="block">Constructs a new PathfindHolonomic command that will generate a path towards the given path.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/PathfindHolonomic.html#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.HolonomicPathFollowerConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindHolonomic(PathPlannerPath, PathConstraints, Supplier&lt;Pose2d&gt;, Supplier&lt;ChassisSpeeds&gt;, Consumer&lt;ChassisSpeeds&gt;, HolonomicPathFollowerConfig, Subsystem...)</a></span> - Constructor for class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathfindHolonomic.html" title="class in com.pathplanner.lib.commands">PathfindHolonomic</a></dt>
+<dd>
+<div class="block">Constructs a new PathfindHolonomic command that will generate a path towards the given path.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/PathfindHolonomic.html#%3Cinit%3E(edu.wpi.first.math.geometry.Pose2d,com.pathplanner.lib.path.PathConstraints,double,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.HolonomicPathFollowerConfig,double,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindHolonomic(Pose2d, PathConstraints, double, Supplier&lt;Pose2d&gt;, Supplier&lt;ChassisSpeeds&gt;, Consumer&lt;ChassisSpeeds&gt;, HolonomicPathFollowerConfig, double, Subsystem...)</a></span> - Constructor for class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathfindHolonomic.html" title="class in com.pathplanner.lib.commands">PathfindHolonomic</a></dt>
+<dd>
+<div class="block">Constructs a new PathfindHolonomic command that will generate a path towards the given pose.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/PathfindHolonomic.html#%3Cinit%3E(edu.wpi.first.math.geometry.Pose2d,com.pathplanner.lib.path.PathConstraints,double,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.HolonomicPathFollowerConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindHolonomic(Pose2d, PathConstraints, double, Supplier&lt;Pose2d&gt;, Supplier&lt;ChassisSpeeds&gt;, Consumer&lt;ChassisSpeeds&gt;, HolonomicPathFollowerConfig, Subsystem...)</a></span> - Constructor for class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathfindHolonomic.html" title="class in com.pathplanner.lib.commands">PathfindHolonomic</a></dt>
+<dd>
+<div class="block">Constructs a new PathfindHolonomic command that will generate a path towards the given pose.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/PathfindHolonomic.html#%3Cinit%3E(edu.wpi.first.math.geometry.Pose2d,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.HolonomicPathFollowerConfig,double,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindHolonomic(Pose2d, PathConstraints, Supplier&lt;Pose2d&gt;, Supplier&lt;ChassisSpeeds&gt;, Consumer&lt;ChassisSpeeds&gt;, HolonomicPathFollowerConfig, double, Subsystem...)</a></span> - Constructor for class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathfindHolonomic.html" title="class in com.pathplanner.lib.commands">PathfindHolonomic</a></dt>
+<dd>
+<div class="block">Constructs a new PathfindHolonomic command that will generate a path towards the given pose and
+ stop.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/PathfindHolonomic.html#%3Cinit%3E(edu.wpi.first.math.geometry.Pose2d,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.HolonomicPathFollowerConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindHolonomic(Pose2d, PathConstraints, Supplier&lt;Pose2d&gt;, Supplier&lt;ChassisSpeeds&gt;, Consumer&lt;ChassisSpeeds&gt;, HolonomicPathFollowerConfig, Subsystem...)</a></span> - Constructor for class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathfindHolonomic.html" title="class in com.pathplanner.lib.commands">PathfindHolonomic</a></dt>
+<dd>
+<div class="block">Constructs a new PathfindHolonomic command that will generate a path towards the given pose and
+ stop.</div>
+</dd>
+<dt><a href="com/pathplanner/lib/commands/PathfindingCommand.html" title="class in com.pathplanner.lib.commands"><span class="typeNameLink">PathfindingCommand</span></a> - Class in <a href="com/pathplanner/lib/commands/package-summary.html">com.pathplanner.lib.commands</a></dt>
+<dd>
+<div class="block">Base pathfinding command</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/PathfindingCommand.html#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.controllers.PathFollowingController,double,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindingCommand(PathPlannerPath, PathConstraints, Supplier&lt;Pose2d&gt;, Supplier&lt;ChassisSpeeds&gt;, Consumer&lt;ChassisSpeeds&gt;, PathFollowingController, double, Subsystem...)</a></span> - Constructor for class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathfindingCommand.html" title="class in com.pathplanner.lib.commands">PathfindingCommand</a></dt>
+<dd>
+<div class="block">Constructs a new base pathfinding command that will generate a path towards the given path.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/PathfindingCommand.html#%3Cinit%3E(edu.wpi.first.math.geometry.Pose2d,com.pathplanner.lib.path.PathConstraints,double,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.controllers.PathFollowingController,double,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindingCommand(Pose2d, PathConstraints, double, Supplier&lt;Pose2d&gt;, Supplier&lt;ChassisSpeeds&gt;, Consumer&lt;ChassisSpeeds&gt;, PathFollowingController, double, Subsystem...)</a></span> - Constructor for class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathfindingCommand.html" title="class in com.pathplanner.lib.commands">PathfindingCommand</a></dt>
+<dd>
+<div class="block">Constructs a new base pathfinding command that will generate a path towards the given pose.</div>
+</dd>
+<dt><a href="com/pathplanner/lib/commands/PathfindLTV.html" title="class in com.pathplanner.lib.commands"><span class="typeNameLink">PathfindLTV</span></a> - Class in <a href="com/pathplanner/lib/commands/package-summary.html">com.pathplanner.lib.commands</a></dt>
+<dd>
+<div class="block">Pathfind and follow the path with a PPLTVController</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/PathfindLTV.html#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,double,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindLTV(PathPlannerPath, PathConstraints, Supplier&lt;Pose2d&gt;, Supplier&lt;ChassisSpeeds&gt;, Consumer&lt;ChassisSpeeds&gt;, double, Subsystem...)</a></span> - Constructor for class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathfindLTV.html" title="class in com.pathplanner.lib.commands">PathfindLTV</a></dt>
+<dd>
+<div class="block">Constructs a new PathfindLTV command that will generate a path towards the given path.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/PathfindLTV.html#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,edu.wpi.first.math.Vector,edu.wpi.first.math.Vector,double,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindLTV(PathPlannerPath, PathConstraints, Supplier&lt;Pose2d&gt;, Supplier&lt;ChassisSpeeds&gt;, Consumer&lt;ChassisSpeeds&gt;, Vector&lt;N3&gt;, Vector&lt;N2&gt;, double, Subsystem...)</a></span> - Constructor for class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathfindLTV.html" title="class in com.pathplanner.lib.commands">PathfindLTV</a></dt>
+<dd>
+<div class="block">Constructs a new PathfindLTV command that will generate a path towards the given path.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/PathfindLTV.html#%3Cinit%3E(edu.wpi.first.math.geometry.Translation2d,com.pathplanner.lib.path.PathConstraints,double,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,double,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindLTV(Translation2d, PathConstraints, double, Supplier&lt;Pose2d&gt;, Supplier&lt;ChassisSpeeds&gt;, Consumer&lt;ChassisSpeeds&gt;, double, Subsystem...)</a></span> - Constructor for class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathfindLTV.html" title="class in com.pathplanner.lib.commands">PathfindLTV</a></dt>
+<dd>
+<div class="block">Constructs a new PathfindLTV command that will generate a path towards the given position.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/PathfindLTV.html#%3Cinit%3E(edu.wpi.first.math.geometry.Translation2d,com.pathplanner.lib.path.PathConstraints,double,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,edu.wpi.first.math.Vector,edu.wpi.first.math.Vector,double,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindLTV(Translation2d, PathConstraints, double, Supplier&lt;Pose2d&gt;, Supplier&lt;ChassisSpeeds&gt;, Consumer&lt;ChassisSpeeds&gt;, Vector&lt;N3&gt;, Vector&lt;N2&gt;, double, Subsystem...)</a></span> - Constructor for class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathfindLTV.html" title="class in com.pathplanner.lib.commands">PathfindLTV</a></dt>
+<dd>
+<div class="block">Constructs a new PathfindLTV command that will generate a path towards the given position.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/PathfindLTV.html#%3Cinit%3E(edu.wpi.first.math.geometry.Translation2d,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,double,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindLTV(Translation2d, PathConstraints, Supplier&lt;Pose2d&gt;, Supplier&lt;ChassisSpeeds&gt;, Consumer&lt;ChassisSpeeds&gt;, double, Subsystem...)</a></span> - Constructor for class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathfindLTV.html" title="class in com.pathplanner.lib.commands">PathfindLTV</a></dt>
+<dd>
+<div class="block">Constructs a new PathfindLTV command that will generate a path towards the given position and
+ stop.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/PathfindLTV.html#%3Cinit%3E(edu.wpi.first.math.geometry.Translation2d,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,edu.wpi.first.math.Vector,edu.wpi.first.math.Vector,double,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindLTV(Translation2d, PathConstraints, Supplier&lt;Pose2d&gt;, Supplier&lt;ChassisSpeeds&gt;, Consumer&lt;ChassisSpeeds&gt;, Vector&lt;N3&gt;, Vector&lt;N2&gt;, double, Subsystem...)</a></span> - Constructor for class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathfindLTV.html" title="class in com.pathplanner.lib.commands">PathfindLTV</a></dt>
+<dd>
+<div class="block">Constructs a new PathfindLTV command that will generate a path towards the given position and
+ stop.</div>
+</dd>
+<dt><a href="com/pathplanner/lib/commands/PathfindRamsete.html" title="class in com.pathplanner.lib.commands"><span class="typeNameLink">PathfindRamsete</span></a> - Class in <a href="com/pathplanner/lib/commands/package-summary.html">com.pathplanner.lib.commands</a></dt>
+<dd>
+<div class="block">Pathfind and follow the path with a PPRamseteController</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/PathfindRamsete.html#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,double,double,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindRamsete(PathPlannerPath, PathConstraints, Supplier&lt;Pose2d&gt;, Supplier&lt;ChassisSpeeds&gt;, Consumer&lt;ChassisSpeeds&gt;, double, double, Subsystem...)</a></span> - Constructor for class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathfindRamsete.html" title="class in com.pathplanner.lib.commands">PathfindRamsete</a></dt>
+<dd>
+<div class="block">Constructs a new PathfindRamsete command that will generate a path towards the given path.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/PathfindRamsete.html#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindRamsete(PathPlannerPath, PathConstraints, Supplier&lt;Pose2d&gt;, Supplier&lt;ChassisSpeeds&gt;, Consumer&lt;ChassisSpeeds&gt;, Subsystem...)</a></span> - Constructor for class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathfindRamsete.html" title="class in com.pathplanner.lib.commands">PathfindRamsete</a></dt>
+<dd>
+<div class="block">Constructs a new PathfindRamsete command that will generate a path towards the given path.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/PathfindRamsete.html#%3Cinit%3E(edu.wpi.first.math.geometry.Translation2d,com.pathplanner.lib.path.PathConstraints,double,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,double,double,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindRamsete(Translation2d, PathConstraints, double, Supplier&lt;Pose2d&gt;, Supplier&lt;ChassisSpeeds&gt;, Consumer&lt;ChassisSpeeds&gt;, double, double, Subsystem...)</a></span> - Constructor for class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathfindRamsete.html" title="class in com.pathplanner.lib.commands">PathfindRamsete</a></dt>
+<dd>
+<div class="block">Constructs a new PathfindRamsete command that will generate a path towards the given position.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/PathfindRamsete.html#%3Cinit%3E(edu.wpi.first.math.geometry.Translation2d,com.pathplanner.lib.path.PathConstraints,double,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindRamsete(Translation2d, PathConstraints, double, Supplier&lt;Pose2d&gt;, Supplier&lt;ChassisSpeeds&gt;, Consumer&lt;ChassisSpeeds&gt;, Subsystem...)</a></span> - Constructor for class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathfindRamsete.html" title="class in com.pathplanner.lib.commands">PathfindRamsete</a></dt>
+<dd>
+<div class="block">Constructs a new PathfindRamsete command that will generate a path towards the given position.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/PathfindRamsete.html#%3Cinit%3E(edu.wpi.first.math.geometry.Translation2d,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,double,double,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindRamsete(Translation2d, PathConstraints, Supplier&lt;Pose2d&gt;, Supplier&lt;ChassisSpeeds&gt;, Consumer&lt;ChassisSpeeds&gt;, double, double, Subsystem...)</a></span> - Constructor for class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathfindRamsete.html" title="class in com.pathplanner.lib.commands">PathfindRamsete</a></dt>
+<dd>
+<div class="block">Constructs a new PathfindRamsete command that will generate a path towards the given position
+ and stop.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/PathfindRamsete.html#%3Cinit%3E(edu.wpi.first.math.geometry.Translation2d,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindRamsete(Translation2d, PathConstraints, Supplier&lt;Pose2d&gt;, Supplier&lt;ChassisSpeeds&gt;, Consumer&lt;ChassisSpeeds&gt;, Subsystem...)</a></span> - Constructor for class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathfindRamsete.html" title="class in com.pathplanner.lib.commands">PathfindRamsete</a></dt>
+<dd>
+<div class="block">Constructs a new PathfindRamsete command that will generate a path towards the given position
+ and stop.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/auto/AutoBuilder.html#pathfindThenFollowPath(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints)">pathfindThenFollowPath(PathPlannerPath, PathConstraints)</a></span> - Static method in class com.pathplanner.lib.auto.<a href="com/pathplanner/lib/auto/AutoBuilder.html" title="class in com.pathplanner.lib.auto">AutoBuilder</a></dt>
+<dd>
+<div class="block">Build a command to pathfind to a given path, then follow that path.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/auto/AutoBuilder.html#pathfindThenFollowPath(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints,double)">pathfindThenFollowPath(PathPlannerPath, PathConstraints, double)</a></span> - Static method in class com.pathplanner.lib.auto.<a href="com/pathplanner/lib/auto/AutoBuilder.html" title="class in com.pathplanner.lib.auto">AutoBuilder</a></dt>
+<dd>
+<div class="block">Build a command to pathfind to a given path, then follow that path.</div>
+</dd>
+<dt><a href="com/pathplanner/lib/commands/PathfindThenFollowPathHolonomic.html" title="class in com.pathplanner.lib.commands"><span class="typeNameLink">PathfindThenFollowPathHolonomic</span></a> - Class in <a href="com/pathplanner/lib/commands/package-summary.html">com.pathplanner.lib.commands</a></dt>
+<dd>
+<div class="block">A command group that first pathfinds to a goal path and then follows the goal path.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/PathfindThenFollowPathHolonomic.html#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.HolonomicPathFollowerConfig,double,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindThenFollowPathHolonomic(PathPlannerPath, PathConstraints, Supplier&lt;Pose2d&gt;, Supplier&lt;ChassisSpeeds&gt;, Consumer&lt;ChassisSpeeds&gt;, HolonomicPathFollowerConfig, double, Subsystem...)</a></span> - Constructor for class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathfindThenFollowPathHolonomic.html" title="class in com.pathplanner.lib.commands">PathfindThenFollowPathHolonomic</a></dt>
+<dd>
+<div class="block">Constructs a new PathfindThenFollowPathHolonomic command group.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/PathfindThenFollowPathHolonomic.html#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.HolonomicPathFollowerConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindThenFollowPathHolonomic(PathPlannerPath, PathConstraints, Supplier&lt;Pose2d&gt;, Supplier&lt;ChassisSpeeds&gt;, Consumer&lt;ChassisSpeeds&gt;, HolonomicPathFollowerConfig, Subsystem...)</a></span> - Constructor for class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathfindThenFollowPathHolonomic.html" title="class in com.pathplanner.lib.commands">PathfindThenFollowPathHolonomic</a></dt>
+<dd>
+<div class="block">Constructs a new PathfindThenFollowPathHolonomic command group.</div>
+</dd>
+<dt><a href="com/pathplanner/lib/commands/PathfindThenFollowPathLTV.html" title="class in com.pathplanner.lib.commands"><span class="typeNameLink">PathfindThenFollowPathLTV</span></a> - Class in <a href="com/pathplanner/lib/commands/package-summary.html">com.pathplanner.lib.commands</a></dt>
+<dd>
+<div class="block">A command group that first pathfinds to a goal path and then follows the goal path.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/PathfindThenFollowPathLTV.html#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,double,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindThenFollowPathLTV(PathPlannerPath, PathConstraints, Supplier&lt;Pose2d&gt;, Supplier&lt;ChassisSpeeds&gt;, Consumer&lt;ChassisSpeeds&gt;, double, ReplanningConfig, Subsystem...)</a></span> - Constructor for class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathfindThenFollowPathLTV.html" title="class in com.pathplanner.lib.commands">PathfindThenFollowPathLTV</a></dt>
+<dd>
+<div class="block">Constructs a new PathfindThenFollowPathLTV command group.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/PathfindThenFollowPathLTV.html#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,edu.wpi.first.math.Vector,edu.wpi.first.math.Vector,double,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindThenFollowPathLTV(PathPlannerPath, PathConstraints, Supplier&lt;Pose2d&gt;, Supplier&lt;ChassisSpeeds&gt;, Consumer&lt;ChassisSpeeds&gt;, Vector&lt;N3&gt;, Vector&lt;N2&gt;, double, ReplanningConfig, Subsystem...)</a></span> - Constructor for class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathfindThenFollowPathLTV.html" title="class in com.pathplanner.lib.commands">PathfindThenFollowPathLTV</a></dt>
+<dd>
+<div class="block">Constructs a new PathfindThenFollowPathLTV command group.</div>
+</dd>
+<dt><a href="com/pathplanner/lib/commands/PathfindThenFollowPathRamsete.html" title="class in com.pathplanner.lib.commands"><span class="typeNameLink">PathfindThenFollowPathRamsete</span></a> - Class in <a href="com/pathplanner/lib/commands/package-summary.html">com.pathplanner.lib.commands</a></dt>
+<dd>
+<div class="block">A command group that first pathfinds to a goal path and then follows the goal path.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/PathfindThenFollowPathRamsete.html#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,double,double,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindThenFollowPathRamsete(PathPlannerPath, PathConstraints, Supplier&lt;Pose2d&gt;, Supplier&lt;ChassisSpeeds&gt;, Consumer&lt;ChassisSpeeds&gt;, double, double, ReplanningConfig, Subsystem...)</a></span> - Constructor for class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathfindThenFollowPathRamsete.html" title="class in com.pathplanner.lib.commands">PathfindThenFollowPathRamsete</a></dt>
+<dd>
+<div class="block">Constructs a new PathfindThenFollowPathRamsete command group.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/PathfindThenFollowPathRamsete.html#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,com.pathplanner.lib.path.PathConstraints,java.util.function.Supplier,java.util.function.Supplier,java.util.function.Consumer,com.pathplanner.lib.util.ReplanningConfig,edu.wpi.first.wpilibj2.command.Subsystem...)">PathfindThenFollowPathRamsete(PathPlannerPath, PathConstraints, Supplier&lt;Pose2d&gt;, Supplier&lt;ChassisSpeeds&gt;, Consumer&lt;ChassisSpeeds&gt;, ReplanningConfig, Subsystem...)</a></span> - Constructor for class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathfindThenFollowPathRamsete.html" title="class in com.pathplanner.lib.commands">PathfindThenFollowPathRamsete</a></dt>
+<dd>
+<div class="block">Constructs a new PathfindThenFollowPathRamsete command group.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/auto/AutoBuilder.html#pathfindToPose(edu.wpi.first.math.geometry.Pose2d,com.pathplanner.lib.path.PathConstraints)">pathfindToPose(Pose2d, PathConstraints)</a></span> - Static method in class com.pathplanner.lib.auto.<a href="com/pathplanner/lib/auto/AutoBuilder.html" title="class in com.pathplanner.lib.auto">AutoBuilder</a></dt>
+<dd>
+<div class="block">Build a command to pathfind to a given pose.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/auto/AutoBuilder.html#pathfindToPose(edu.wpi.first.math.geometry.Pose2d,com.pathplanner.lib.path.PathConstraints,double)">pathfindToPose(Pose2d, PathConstraints, double)</a></span> - Static method in class com.pathplanner.lib.auto.<a href="com/pathplanner/lib/auto/AutoBuilder.html" title="class in com.pathplanner.lib.auto">AutoBuilder</a></dt>
+<dd>
+<div class="block">Build a command to pathfind to a given pose.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/auto/AutoBuilder.html#pathfindToPose(edu.wpi.first.math.geometry.Pose2d,com.pathplanner.lib.path.PathConstraints,double,double)">pathfindToPose(Pose2d, PathConstraints, double, double)</a></span> - Static method in class com.pathplanner.lib.auto.<a href="com/pathplanner/lib/auto/AutoBuilder.html" title="class in com.pathplanner.lib.auto">AutoBuilder</a></dt>
+<dd>
+<div class="block">Build a command to pathfind to a given pose.</div>
+</dd>
+<dt><a href="com/pathplanner/lib/controllers/PathFollowingController.html" title="interface in com.pathplanner.lib.controllers"><span class="typeNameLink">PathFollowingController</span></a> - Interface in <a href="com/pathplanner/lib/controllers/package-summary.html">com.pathplanner.lib.controllers</a></dt>
+<dd>
+<div class="block">Interface used by path following controllers</div>
+</dd>
+<dt><a href="com/pathplanner/lib/commands/PathPlannerAuto.html" title="class in com.pathplanner.lib.commands"><span class="typeNameLink">PathPlannerAuto</span></a> - Class in <a href="com/pathplanner/lib/commands/package-summary.html">com.pathplanner.lib.commands</a></dt>
+<dd>
+<div class="block">A command that loads and runs an autonomous routine built using PathPlanner.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/commands/PathPlannerAuto.html#%3Cinit%3E(java.lang.String)">PathPlannerAuto(String)</a></span> - Constructor for class com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathPlannerAuto.html" title="class in com.pathplanner.lib.commands">PathPlannerAuto</a></dt>
+<dd>
+<div class="block">Constructs a new PathPlannerAuto command.</div>
+</dd>
+<dt><a href="com/pathplanner/lib/util/PathPlannerLogging.html" title="class in com.pathplanner.lib.util"><span class="typeNameLink">PathPlannerLogging</span></a> - Class in <a href="com/pathplanner/lib/util/package-summary.html">com.pathplanner.lib.util</a></dt>
+<dd>
+<div class="block">Utility class for handling custom logging callbacks</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/PathPlannerLogging.html#%3Cinit%3E()">PathPlannerLogging()</a></span> - Constructor for class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/PathPlannerLogging.html" title="class in com.pathplanner.lib.util">PathPlannerLogging</a></dt>
+<dd>&nbsp;</dd>
+<dt><a href="com/pathplanner/lib/path/PathPlannerPath.html" title="class in com.pathplanner.lib.path"><span class="typeNameLink">PathPlannerPath</span></a> - Class in <a href="com/pathplanner/lib/path/package-summary.html">com.pathplanner.lib.path</a></dt>
+<dd>
+<div class="block">A PathPlanner path.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPlannerPath.html#%3Cinit%3E(java.util.List,com.pathplanner.lib.path.PathConstraints,com.pathplanner.lib.path.GoalEndState)">PathPlannerPath(List&lt;Translation2d&gt;, PathConstraints, GoalEndState)</a></span> - Constructor for class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a></dt>
+<dd>
+<div class="block">Simplified constructor to create a path with no rotation targets, constraint zones, or event
+ markers.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPlannerPath.html#%3Cinit%3E(java.util.List,com.pathplanner.lib.path.PathConstraints,com.pathplanner.lib.path.GoalEndState,boolean)">PathPlannerPath(List&lt;Translation2d&gt;, PathConstraints, GoalEndState, boolean)</a></span> - Constructor for class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a></dt>
+<dd>
+<div class="block">Simplified constructor to create a path with no rotation targets, constraint zones, or event
+ markers.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPlannerPath.html#%3Cinit%3E(java.util.List,java.util.List,java.util.List,java.util.List,com.pathplanner.lib.path.PathConstraints,com.pathplanner.lib.path.GoalEndState,boolean)">PathPlannerPath(List&lt;Translation2d&gt;, List&lt;RotationTarget&gt;, List&lt;ConstraintsZone&gt;, List&lt;EventMarker&gt;, PathConstraints, GoalEndState, boolean)</a></span> - Constructor for class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a></dt>
+<dd>
+<div class="block">Create a new path planner path</div>
+</dd>
+<dt><a href="com/pathplanner/lib/path/PathPlannerTrajectory.html" title="class in com.pathplanner.lib.path"><span class="typeNameLink">PathPlannerTrajectory</span></a> - Class in <a href="com/pathplanner/lib/path/package-summary.html">com.pathplanner.lib.path</a></dt>
+<dd>
+<div class="block">Trajectory created from a pathplanner path</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPlannerTrajectory.html#%3Cinit%3E(com.pathplanner.lib.path.PathPlannerPath,edu.wpi.first.math.kinematics.ChassisSpeeds)">PathPlannerTrajectory(PathPlannerPath, ChassisSpeeds)</a></span> - Constructor for class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerTrajectory.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory</a></dt>
+<dd>
+<div class="block">Generate a PathPlannerTrajectory</div>
+</dd>
+<dt><a href="com/pathplanner/lib/path/PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path"><span class="typeNameLink">PathPlannerTrajectory.State</span></a> - Class in <a href="com/pathplanner/lib/path/package-summary.html">com.pathplanner.lib.path</a></dt>
+<dd>
+<div class="block">A state along the trajectory</div>
+</dd>
+<dt><a href="com/pathplanner/lib/path/PathPoint.html" title="class in com.pathplanner.lib.path"><span class="typeNameLink">PathPoint</span></a> - Class in <a href="com/pathplanner/lib/path/package-summary.html">com.pathplanner.lib.path</a></dt>
+<dd>
+<div class="block">A point along a pathplanner path</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPoint.html#%3Cinit%3E(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Rotation2d)">PathPoint(Translation2d, Rotation2d)</a></span> - Constructor for class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPoint.html" title="class in com.pathplanner.lib.path">PathPoint</a></dt>
+<dd>
+<div class="block">Create a path point</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPoint.html#%3Cinit%3E(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Rotation2d,com.pathplanner.lib.path.PathConstraints)">PathPoint(Translation2d, Rotation2d, PathConstraints)</a></span> - Constructor for class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPoint.html" title="class in com.pathplanner.lib.path">PathPoint</a></dt>
+<dd>
+<div class="block">Create a path point</div>
+</dd>
+<dt><a href="com/pathplanner/lib/path/PathSegment.html" title="class in com.pathplanner.lib.path"><span class="typeNameLink">PathSegment</span></a> - Class in <a href="com/pathplanner/lib/path/package-summary.html">com.pathplanner.lib.path</a></dt>
+<dd>
+<div class="block">A bezier curve segment</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathSegment.html#%3Cinit%3E(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Translation2d,boolean)">PathSegment(Translation2d, Translation2d, Translation2d, Translation2d, boolean)</a></span> - Constructor for class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathSegment.html" title="class in com.pathplanner.lib.path">PathSegment</a></dt>
+<dd>
+<div class="block">Generate a new path segment without constraint zones or rotation targets</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathSegment.html#%3Cinit%3E(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Translation2d,java.util.List,java.util.List,boolean)">PathSegment(Translation2d, Translation2d, Translation2d, Translation2d, List&lt;RotationTarget&gt;, List&lt;ConstraintsZone&gt;, boolean)</a></span> - Constructor for class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathSegment.html" title="class in com.pathplanner.lib.path">PathSegment</a></dt>
+<dd>
+<div class="block">Generate a new path segment</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/HolonomicPathFollowerConfig.html#period">period</a></span> - Variable in class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/HolonomicPathFollowerConfig.html" title="class in com.pathplanner.lib.util">HolonomicPathFollowerConfig</a></dt>
+<dd>
+<div class="block">Period of the robot control loop in seconds</div>
+</dd>
+<dt><a href="com/pathplanner/lib/util/PIDConstants.html" title="class in com.pathplanner.lib.util"><span class="typeNameLink">PIDConstants</span></a> - Class in <a href="com/pathplanner/lib/util/package-summary.html">com.pathplanner.lib.util</a></dt>
+<dd>
+<div class="block">PID constants used to create PID controllers</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/PIDConstants.html#%3Cinit%3E(double)">PIDConstants(double)</a></span> - Constructor for class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/PIDConstants.html" title="class in com.pathplanner.lib.util">PIDConstants</a></dt>
+<dd>
+<div class="block">Create a new PIDConstants object</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/PIDConstants.html#%3Cinit%3E(double,double)">PIDConstants(double, double)</a></span> - Constructor for class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/PIDConstants.html" title="class in com.pathplanner.lib.util">PIDConstants</a></dt>
+<dd>
+<div class="block">Create a new PIDConstants object</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/PIDConstants.html#%3Cinit%3E(double,double,double)">PIDConstants(double, double, double)</a></span> - Constructor for class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/PIDConstants.html" title="class in com.pathplanner.lib.util">PIDConstants</a></dt>
+<dd>
+<div class="block">Create a new PIDConstants object</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/PIDConstants.html#%3Cinit%3E(double,double,double,double)">PIDConstants(double, double, double, double)</a></span> - Constructor for class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/PIDConstants.html" title="class in com.pathplanner.lib.util">PIDConstants</a></dt>
+<dd>
+<div class="block">Create a new PIDConstants object</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPoint.html#position">position</a></span> - Variable in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPoint.html" title="class in com.pathplanner.lib.path">PathPoint</a></dt>
+<dd>
+<div class="block">The position of this point</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPlannerTrajectory.State.html#positionMeters">positionMeters</a></span> - Variable in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory.State</a></dt>
+<dd>
+<div class="block">The position at this state in meters</div>
+</dd>
+<dt><a href="com/pathplanner/lib/controllers/PPHolonomicDriveController.html" title="class in com.pathplanner.lib.controllers"><span class="typeNameLink">PPHolonomicDriveController</span></a> - Class in <a href="com/pathplanner/lib/controllers/package-summary.html">com.pathplanner.lib.controllers</a></dt>
+<dd>
+<div class="block">Path following controller for holonomic drive trains</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/controllers/PPHolonomicDriveController.html#%3Cinit%3E(com.pathplanner.lib.util.PIDConstants,com.pathplanner.lib.util.PIDConstants,double,double)">PPHolonomicDriveController(PIDConstants, PIDConstants, double, double)</a></span> - Constructor for class com.pathplanner.lib.controllers.<a href="com/pathplanner/lib/controllers/PPHolonomicDriveController.html" title="class in com.pathplanner.lib.controllers">PPHolonomicDriveController</a></dt>
+<dd>
+<div class="block">Constructs a HolonomicDriveController</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/controllers/PPHolonomicDriveController.html#%3Cinit%3E(com.pathplanner.lib.util.PIDConstants,com.pathplanner.lib.util.PIDConstants,double,double,double)">PPHolonomicDriveController(PIDConstants, PIDConstants, double, double, double)</a></span> - Constructor for class com.pathplanner.lib.controllers.<a href="com/pathplanner/lib/controllers/PPHolonomicDriveController.html" title="class in com.pathplanner.lib.controllers">PPHolonomicDriveController</a></dt>
+<dd>
+<div class="block">Constructs a HolonomicDriveController</div>
+</dd>
+<dt><a href="com/pathplanner/lib/util/PPLibTelemetry.html" title="class in com.pathplanner.lib.util"><span class="typeNameLink">PPLibTelemetry</span></a> - Class in <a href="com/pathplanner/lib/util/package-summary.html">com.pathplanner.lib.util</a></dt>
+<dd>
+<div class="block">Utility class for sending data to the PathPlanner app via NT4</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/PPLibTelemetry.html#%3Cinit%3E()">PPLibTelemetry()</a></span> - Constructor for class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/PPLibTelemetry.html" title="class in com.pathplanner.lib.util">PPLibTelemetry</a></dt>
+<dd>&nbsp;</dd>
+<dt><a href="com/pathplanner/lib/controllers/PPLTVController.html" title="class in com.pathplanner.lib.controllers"><span class="typeNameLink">PPLTVController</span></a> - Class in <a href="com/pathplanner/lib/controllers/package-summary.html">com.pathplanner.lib.controllers</a></dt>
+<dd>
+<div class="block">LTV following controller</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/controllers/PPLTVController.html#%3Cinit%3E(double)">PPLTVController(double)</a></span> - Constructor for class com.pathplanner.lib.controllers.<a href="com/pathplanner/lib/controllers/PPLTVController.html" title="class in com.pathplanner.lib.controllers">PPLTVController</a></dt>
+<dd>
+<div class="block">Constructs a linear time-varying unicycle controller with default maximum desired error
+ tolerances of (0.0625 m, 0.125 m, 2 rad) and default maximum desired control effort of (1 m/s,
+ 2 rad/s).</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/controllers/PPLTVController.html#%3Cinit%3E(double,double)">PPLTVController(double, double)</a></span> - Constructor for class com.pathplanner.lib.controllers.<a href="com/pathplanner/lib/controllers/PPLTVController.html" title="class in com.pathplanner.lib.controllers">PPLTVController</a></dt>
+<dd>
+<div class="block">Constructs a linear time-varying unicycle controller with default maximum desired error
+ tolerances of (0.0625 m, 0.125 m, 2 rad) and default maximum desired control effort of (1 m/s,
+ 2 rad/s).</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/controllers/PPLTVController.html#%3Cinit%3E(edu.wpi.first.math.Vector,edu.wpi.first.math.Vector,double)">PPLTVController(Vector&lt;N3&gt;, Vector&lt;N2&gt;, double)</a></span> - Constructor for class com.pathplanner.lib.controllers.<a href="com/pathplanner/lib/controllers/PPLTVController.html" title="class in com.pathplanner.lib.controllers">PPLTVController</a></dt>
+<dd>
+<div class="block">Constructs a linear time-varying unicycle controller.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/controllers/PPLTVController.html#%3Cinit%3E(edu.wpi.first.math.Vector,edu.wpi.first.math.Vector,double,double)">PPLTVController(Vector&lt;N3&gt;, Vector&lt;N2&gt;, double, double)</a></span> - Constructor for class com.pathplanner.lib.controllers.<a href="com/pathplanner/lib/controllers/PPLTVController.html" title="class in com.pathplanner.lib.controllers">PPLTVController</a></dt>
+<dd>
+<div class="block">Constructs a linear time-varying unicycle controller.</div>
+</dd>
+<dt><a href="com/pathplanner/lib/controllers/PPRamseteController.html" title="class in com.pathplanner.lib.controllers"><span class="typeNameLink">PPRamseteController</span></a> - Class in <a href="com/pathplanner/lib/controllers/package-summary.html">com.pathplanner.lib.controllers</a></dt>
+<dd>
+<div class="block">Ramsete path following controller</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/controllers/PPRamseteController.html#%3Cinit%3E()">PPRamseteController()</a></span> - Constructor for class com.pathplanner.lib.controllers.<a href="com/pathplanner/lib/controllers/PPRamseteController.html" title="class in com.pathplanner.lib.controllers">PPRamseteController</a></dt>
+<dd>
+<div class="block">Construct a Ramsete unicycle controller.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/controllers/PPRamseteController.html#%3Cinit%3E(double,double)">PPRamseteController(double, double)</a></span> - Constructor for class com.pathplanner.lib.controllers.<a href="com/pathplanner/lib/controllers/PPRamseteController.html" title="class in com.pathplanner.lib.controllers">PPRamseteController</a></dt>
+<dd>
+<div class="block">Construct a Ramsete unicycle controller.</div>
+</dd>
+</dl>
+<a id="I:Q">
+<!--   -->
+</a>
+<h2 class="title">Q</h2>
+<dl>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/GeometryUtil.html#quadraticLerp(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Translation2d,double)">quadraticLerp(Translation2d, Translation2d, Translation2d, double)</a></span> - Static method in class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/GeometryUtil.html" title="class in com.pathplanner.lib.util">GeometryUtil</a></dt>
+<dd>
+<div class="block">Cubic interpolation between Translation2ds</div>
+</dd>
+</dl>
+<a id="I:R">
+<!--   -->
+</a>
+<h2 class="title">R</h2>
+<dl>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/auto/NamedCommands.html#registerCommand(java.lang.String,edu.wpi.first.wpilibj2.command.Command)">registerCommand(String, Command)</a></span> - Static method in class com.pathplanner.lib.auto.<a href="com/pathplanner/lib/auto/NamedCommands.html" title="class in com.pathplanner.lib.auto">NamedCommands</a></dt>
+<dd>
+<div class="block">Registers a command with the given name.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/auto/NamedCommands.html#registerCommands(java.util.List)">registerCommands(List&lt;Pair&lt;String, Command&gt;&gt;)</a></span> - Static method in class com.pathplanner.lib.auto.<a href="com/pathplanner/lib/auto/NamedCommands.html" title="class in com.pathplanner.lib.auto">NamedCommands</a></dt>
+<dd>
+<div class="block">Registers a list of commands with their associated names.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/auto/NamedCommands.html#registerCommands(java.util.Map)">registerCommands(Map&lt;String, Command&gt;)</a></span> - Static method in class com.pathplanner.lib.auto.<a href="com/pathplanner/lib/auto/NamedCommands.html" title="class in com.pathplanner.lib.auto">NamedCommands</a></dt>
+<dd>
+<div class="block">Registers a map of commands with their associated names.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/PPLibTelemetry.html#registerHotReloadAuto(java.lang.String,com.pathplanner.lib.commands.PathPlannerAuto)">registerHotReloadAuto(String, PathPlannerAuto)</a></span> - Static method in class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/PPLibTelemetry.html" title="class in com.pathplanner.lib.util">PPLibTelemetry</a></dt>
+<dd>
+<div class="block">Register an auto for hot reload.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/PPLibTelemetry.html#registerHotReloadPath(java.lang.String,com.pathplanner.lib.path.PathPlannerPath)">registerHotReloadPath(String, PathPlannerPath)</a></span> - Static method in class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/PPLibTelemetry.html" title="class in com.pathplanner.lib.util">PPLibTelemetry</a></dt>
+<dd>
+<div class="block">Register a path for hot reload.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPlannerPath.html#replan(edu.wpi.first.math.geometry.Pose2d,edu.wpi.first.math.kinematics.ChassisSpeeds)">replan(Pose2d, ChassisSpeeds)</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerPath.html" title="class in com.pathplanner.lib.path">PathPlannerPath</a></dt>
+<dd>
+<div class="block">Replan this path based on the current robot position and speeds</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/HolonomicPathFollowerConfig.html#replanningConfig">replanningConfig</a></span> - Variable in class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/HolonomicPathFollowerConfig.html" title="class in com.pathplanner.lib.util">HolonomicPathFollowerConfig</a></dt>
+<dd>
+<div class="block">Path replanning config</div>
+</dd>
+<dt><a href="com/pathplanner/lib/util/ReplanningConfig.html" title="class in com.pathplanner.lib.util"><span class="typeNameLink">ReplanningConfig</span></a> - Class in <a href="com/pathplanner/lib/util/package-summary.html">com.pathplanner.lib.util</a></dt>
+<dd>
+<div class="block">Configuration for path replanning</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/ReplanningConfig.html#%3Cinit%3E()">ReplanningConfig()</a></span> - Constructor for class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a></dt>
+<dd>
+<div class="block">Create a path replanning configuration with the default config.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/ReplanningConfig.html#%3Cinit%3E(boolean,boolean)">ReplanningConfig(boolean, boolean)</a></span> - Constructor for class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a></dt>
+<dd>
+<div class="block">Create a path replanning configuration with default dynamic replanning error thresholds</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/ReplanningConfig.html#%3Cinit%3E(boolean,boolean,double,double)">ReplanningConfig(boolean, boolean, double, double)</a></span> - Constructor for class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/ReplanningConfig.html" title="class in com.pathplanner.lib.util">ReplanningConfig</a></dt>
+<dd>
+<div class="block">Create a path replanning configuration</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/EventMarker.html#reset(edu.wpi.first.math.geometry.Pose2d)">reset(Pose2d)</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/EventMarker.html" title="class in com.pathplanner.lib.path">EventMarker</a></dt>
+<dd>
+<div class="block">Reset the current robot position</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/controllers/PathFollowingController.html#reset(edu.wpi.first.math.geometry.Pose2d,edu.wpi.first.math.kinematics.ChassisSpeeds)">reset(Pose2d, ChassisSpeeds)</a></span> - Method in interface com.pathplanner.lib.controllers.<a href="com/pathplanner/lib/controllers/PathFollowingController.html" title="interface in com.pathplanner.lib.controllers">PathFollowingController</a></dt>
+<dd>
+<div class="block">Resets the controller based on the current state of the robot</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/controllers/PPHolonomicDriveController.html#reset(edu.wpi.first.math.geometry.Pose2d,edu.wpi.first.math.kinematics.ChassisSpeeds)">reset(Pose2d, ChassisSpeeds)</a></span> - Method in class com.pathplanner.lib.controllers.<a href="com/pathplanner/lib/controllers/PPHolonomicDriveController.html" title="class in com.pathplanner.lib.controllers">PPHolonomicDriveController</a></dt>
+<dd>
+<div class="block">Resets the controller based on the current state of the robot</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/controllers/PPLTVController.html#reset(edu.wpi.first.math.geometry.Pose2d,edu.wpi.first.math.kinematics.ChassisSpeeds)">reset(Pose2d, ChassisSpeeds)</a></span> - Method in class com.pathplanner.lib.controllers.<a href="com/pathplanner/lib/controllers/PPLTVController.html" title="class in com.pathplanner.lib.controllers">PPLTVController</a></dt>
+<dd>
+<div class="block">Resets the controller based on the current state of the robot</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/controllers/PPRamseteController.html#reset(edu.wpi.first.math.geometry.Pose2d,edu.wpi.first.math.kinematics.ChassisSpeeds)">reset(Pose2d, ChassisSpeeds)</a></span> - Method in class com.pathplanner.lib.controllers.<a href="com/pathplanner/lib/controllers/PPRamseteController.html" title="class in com.pathplanner.lib.controllers">PPRamseteController</a></dt>
+<dd>
+<div class="block">Resets the controller based on the current state of the robot</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/ChassisSpeedsRateLimiter.html#reset(edu.wpi.first.math.kinematics.ChassisSpeeds)">reset(ChassisSpeeds)</a></span> - Method in class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/ChassisSpeedsRateLimiter.html" title="class in com.pathplanner.lib.util">ChassisSpeedsRateLimiter</a></dt>
+<dd>
+<div class="block">Reset the limiter</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathSegment.html#RESOLUTION">RESOLUTION</a></span> - Static variable in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathSegment.html" title="class in com.pathplanner.lib.path">PathSegment</a></dt>
+<dd>
+<div class="block">The resolution used during path generation</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPlannerTrajectory.State.html#reverse()">reverse()</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory.State</a></dt>
+<dd>
+<div class="block">Get the state reversed, used for following a trajectory reversed with a differential
+ drivetrain</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/HolonomicPathFollowerConfig.html#rotationConstants">rotationConstants</a></span> - Variable in class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/HolonomicPathFollowerConfig.html" title="class in com.pathplanner.lib.util">HolonomicPathFollowerConfig</a></dt>
+<dd>
+<div class="block">PIDConstants used for rotation PID controllers</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/GeometryUtil.html#rotationLerp(edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.geometry.Rotation2d,double)">rotationLerp(Rotation2d, Rotation2d, double)</a></span> - Static method in class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/GeometryUtil.html" title="class in com.pathplanner.lib.util">GeometryUtil</a></dt>
+<dd>
+<div class="block">Interpolate between two Rotation2ds</div>
+</dd>
+<dt><a href="com/pathplanner/lib/path/RotationTarget.html" title="class in com.pathplanner.lib.path"><span class="typeNameLink">RotationTarget</span></a> - Class in <a href="com/pathplanner/lib/path/package-summary.html">com.pathplanner.lib.path</a></dt>
+<dd>
+<div class="block">A target holonomic rotation at a position along a path</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/RotationTarget.html#%3Cinit%3E(double,edu.wpi.first.math.geometry.Rotation2d)">RotationTarget(double, Rotation2d)</a></span> - Constructor for class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/RotationTarget.html" title="class in com.pathplanner.lib.path">RotationTarget</a></dt>
+<dd>
+<div class="block">Create a new rotation target</div>
+</dd>
+</dl>
+<a id="I:S">
+<!--   -->
+</a>
+<h2 class="title">S</h2>
+<dl>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPlannerTrajectory.html#sample(double)">sample(double)</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerTrajectory.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory</a></dt>
+<dd>
+<div class="block">Get the target state at the given point in time along the trajectory</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/PPLibTelemetry.html#setCurrentPath(com.pathplanner.lib.path.PathPlannerPath)">setCurrentPath(PathPlannerPath)</a></span> - Static method in class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/PPLibTelemetry.html" title="class in com.pathplanner.lib.util">PPLibTelemetry</a></dt>
+<dd>
+<div class="block">Set the current path being followed</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/PPLibTelemetry.html#setCurrentPose(edu.wpi.first.math.geometry.Pose2d)">setCurrentPose(Pose2d)</a></span> - Static method in class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/PPLibTelemetry.html" title="class in com.pathplanner.lib.util">PPLibTelemetry</a></dt>
+<dd>
+<div class="block">Set the current robot pose</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/pathfinding/ADStar.html#setDynamicObstacles(java.util.List,edu.wpi.first.math.geometry.Translation2d)">setDynamicObstacles(List&lt;Pair&lt;Translation2d, Translation2d&gt;&gt;, Translation2d)</a></span> - Static method in class com.pathplanner.lib.pathfinding.<a href="com/pathplanner/lib/pathfinding/ADStar.html" title="class in com.pathplanner.lib.pathfinding">ADStar</a></dt>
+<dd>
+<div class="block">Set the dynamic obstacles that should be avoided while pathfinding.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/controllers/PPHolonomicDriveController.html#setEnabled(boolean)">setEnabled(boolean)</a></span> - Method in class com.pathplanner.lib.controllers.<a href="com/pathplanner/lib/controllers/PPHolonomicDriveController.html" title="class in com.pathplanner.lib.controllers">PPHolonomicDriveController</a></dt>
+<dd>
+<div class="block">Enables and disables the controller for troubleshooting.</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/pathfinding/ADStar.html#setGoalPos(edu.wpi.first.math.geometry.Translation2d)">setGoalPos(Translation2d)</a></span> - Static method in class com.pathplanner.lib.pathfinding.<a href="com/pathplanner/lib/pathfinding/ADStar.html" title="class in com.pathplanner.lib.pathfinding">ADStar</a></dt>
+<dd>
+<div class="block">Set the goal position to pathfind to</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/PathPlannerLogging.html#setLogActivePathCallback(java.util.function.Consumer)">setLogActivePathCallback(Consumer&lt;List&lt;Pose2d&gt;&gt;)</a></span> - Static method in class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/PathPlannerLogging.html" title="class in com.pathplanner.lib.util">PathPlannerLogging</a></dt>
+<dd>
+<div class="block">Set the logging callback for the active path</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/PathPlannerLogging.html#setLogCurrentPoseCallback(java.util.function.Consumer)">setLogCurrentPoseCallback(Consumer&lt;Pose2d&gt;)</a></span> - Static method in class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/PathPlannerLogging.html" title="class in com.pathplanner.lib.util">PathPlannerLogging</a></dt>
+<dd>
+<div class="block">Set the logging callback for the current robot pose</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/PathPlannerLogging.html#setLogTargetPoseCallback(java.util.function.Consumer)">setLogTargetPoseCallback(Consumer&lt;Pose2d&gt;)</a></span> - Static method in class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/PathPlannerLogging.html" title="class in com.pathplanner.lib.util">PathPlannerLogging</a></dt>
+<dd>
+<div class="block">Set the logging callback for the target robot pose</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/PPLibTelemetry.html#setPathInaccuracy(double)">setPathInaccuracy(double)</a></span> - Static method in class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/PPLibTelemetry.html" title="class in com.pathplanner.lib.util">PPLibTelemetry</a></dt>
+<dd>
+<div class="block">Set the path following inaccuracy</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/ChassisSpeedsRateLimiter.html#setRateLimits(double,double)">setRateLimits(double, double)</a></span> - Method in class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/ChassisSpeedsRateLimiter.html" title="class in com.pathplanner.lib.util">ChassisSpeedsRateLimiter</a></dt>
+<dd>
+<div class="block">Set the acceleration limits</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/pathfinding/ADStar.html#setStartPos(edu.wpi.first.math.geometry.Translation2d)">setStartPos(Translation2d)</a></span> - Static method in class com.pathplanner.lib.pathfinding.<a href="com/pathplanner/lib/pathfinding/ADStar.html" title="class in com.pathplanner.lib.pathfinding">ADStar</a></dt>
+<dd>
+<div class="block">Set the start position to pathfind from</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/PPLibTelemetry.html#setTargetPose(edu.wpi.first.math.geometry.Pose2d)">setTargetPose(Pose2d)</a></span> - Static method in class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/PPLibTelemetry.html" title="class in com.pathplanner.lib.util">PPLibTelemetry</a></dt>
+<dd>
+<div class="block">Set the target robot pose</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/PPLibTelemetry.html#setVelocities(double,double,double,double)">setVelocities(double, double, double, double)</a></span> - Static method in class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/PPLibTelemetry.html" title="class in com.pathplanner.lib.util">PPLibTelemetry</a></dt>
+<dd>
+<div class="block">Set the path following actual/target velocities</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/EventMarker.html#shouldTrigger(edu.wpi.first.math.geometry.Pose2d)">shouldTrigger(Pose2d)</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/EventMarker.html" title="class in com.pathplanner.lib.path">EventMarker</a></dt>
+<dd>
+<div class="block">Get if this event marker should be triggered</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPlannerTrajectory.State.html#%3Cinit%3E()">State()</a></span> - Constructor for class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory.State</a></dt>
+<dd>&nbsp;</dd>
+</dl>
+<a id="I:T">
+<!--   -->
+</a>
+<h2 class="title">T</h2>
+<dl>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPlannerTrajectory.State.html#targetHolonomicRotation">targetHolonomicRotation</a></span> - Variable in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory.State</a></dt>
+<dd>
+<div class="block">The target holonomic rotation at this state</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPlannerTrajectory.State.html#timeSeconds">timeSeconds</a></span> - Variable in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory.State</a></dt>
+<dd>
+<div class="block">The time at this state in seconds</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/GoalEndState.html#toString()">toString()</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/GoalEndState.html" title="class in com.pathplanner.lib.path">GoalEndState</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathConstraints.html#toString()">toString()</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathConstraints.html" title="class in com.pathplanner.lib.path">PathConstraints</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/RotationTarget.html#toString()">toString()</a></span> - Method in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/RotationTarget.html" title="class in com.pathplanner.lib.path">RotationTarget</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/pathfinding/ADStar.GridPosition.html#toString()">toString()</a></span> - Method in class com.pathplanner.lib.pathfinding.<a href="com/pathplanner/lib/pathfinding/ADStar.GridPosition.html" title="class in com.pathplanner.lib.pathfinding">ADStar.GridPosition</a></dt>
+<dd>&nbsp;</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/HolonomicPathFollowerConfig.html#translationConstants">translationConstants</a></span> - Variable in class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/HolonomicPathFollowerConfig.html" title="class in com.pathplanner.lib.util">HolonomicPathFollowerConfig</a></dt>
+<dd>
+<div class="block">PIDConstants used for translation PID controllers</div>
+</dd>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/util/GeometryUtil.html#translationLerp(edu.wpi.first.math.geometry.Translation2d,edu.wpi.first.math.geometry.Translation2d,double)">translationLerp(Translation2d, Translation2d, double)</a></span> - Static method in class com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/GeometryUtil.html" title="class in com.pathplanner.lib.util">GeometryUtil</a></dt>
+<dd>
+<div class="block">Linear interpolation between Translation2ds</div>
+</dd>
+</dl>
+<a id="I:V">
+<!--   -->
+</a>
+<h2 class="title">V</h2>
+<dl>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/path/PathPlannerTrajectory.State.html#velocityMps">velocityMps</a></span> - Variable in class com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path">PathPlannerTrajectory.State</a></dt>
+<dd>
+<div class="block">The velocity at this state in m/s</div>
+</dd>
+</dl>
+<a id="I:W">
+<!--   -->
+</a>
+<h2 class="title">W</h2>
+<dl>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/auto/CommandUtil.html#wrappedEventCommand(edu.wpi.first.wpilibj2.command.Command)">wrappedEventCommand(Command)</a></span> - Static method in class com.pathplanner.lib.auto.<a href="com/pathplanner/lib/auto/CommandUtil.html" title="class in com.pathplanner.lib.auto">CommandUtil</a></dt>
+<dd>
+<div class="block">Wraps a command with a functional command that calls the command's initialize, execute, end,
+ and isFinished methods.</div>
+</dd>
+</dl>
+<a id="I:X">
+<!--   -->
+</a>
+<h2 class="title">X</h2>
+<dl>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/pathfinding/ADStar.GridPosition.html#x">x</a></span> - Variable in class com.pathplanner.lib.pathfinding.<a href="com/pathplanner/lib/pathfinding/ADStar.GridPosition.html" title="class in com.pathplanner.lib.pathfinding">ADStar.GridPosition</a></dt>
+<dd>
+<div class="block">X index in the grid</div>
+</dd>
+</dl>
+<a id="I:Y">
+<!--   -->
+</a>
+<h2 class="title">Y</h2>
+<dl>
+<dt><span class="memberNameLink"><a href="com/pathplanner/lib/pathfinding/ADStar.GridPosition.html#y">y</a></span> - Variable in class com.pathplanner.lib.pathfinding.<a href="com/pathplanner/lib/pathfinding/ADStar.GridPosition.html" title="class in com.pathplanner.lib.pathfinding">ADStar.GridPosition</a></dt>
+<dd>
+<div class="block">Y index in the grid</div>
+</dd>
+</dl>
+<a href="#I:A">A</a>&nbsp;<a href="#I:B">B</a>&nbsp;<a href="#I:C">C</a>&nbsp;<a href="#I:D">D</a>&nbsp;<a href="#I:E">E</a>&nbsp;<a href="#I:F">F</a>&nbsp;<a href="#I:G">G</a>&nbsp;<a href="#I:H">H</a>&nbsp;<a href="#I:I">I</a>&nbsp;<a href="#I:K">K</a>&nbsp;<a href="#I:L">L</a>&nbsp;<a href="#I:M">M</a>&nbsp;<a href="#I:N">N</a>&nbsp;<a href="#I:O">O</a>&nbsp;<a href="#I:P">P</a>&nbsp;<a href="#I:Q">Q</a>&nbsp;<a href="#I:R">R</a>&nbsp;<a href="#I:S">S</a>&nbsp;<a href="#I:T">T</a>&nbsp;<a href="#I:V">V</a>&nbsp;<a href="#I:W">W</a>&nbsp;<a href="#I:X">X</a>&nbsp;<a href="#I:Y">Y</a>&nbsp;<br><a href="allclasses-index.html">All&nbsp;Classes</a>&nbsp;<a href="allpackages-index.html">All&nbsp;Packages</a></div>
+</main>
+<footer role="contentinfo">
+<nav role="navigation">
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a id="navbar.bottom">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.bottom.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="index.html">Overview</a></li>
+<li>Package</li>
+<li>Class</li>
+<li><a href="overview-tree.html">Tree</a></li>
+<li><a href="deprecated-list.html">Deprecated</a></li>
+<li class="navBarCell1Rev">Index</li>
+<li><a href="help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_bottom">
+<li><a href="allclasses.html">All&nbsp;Classes</a></li>
+</ul>
+<div>
+<script type="text/javascript"><!--
+  allClassesLink = document.getElementById("allclasses_navbar_bottom");
+  if(window==top) {
+    allClassesLink.style.display = "block";
+  }
+  else {
+    allClassesLink.style.display = "none";
+  }
+  //-->
+</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.bottom">
+<!--   -->
+</a></div>
+<!-- ======== END OF BOTTOM NAVBAR ======= -->
+</nav>
+</footer>
+</body>
+</html>
diff --git a/docs/java/index.html b/docs/java/index.html
new file mode 100644
index 00000000..07aee441
--- /dev/null
+++ b/docs/java/index.html
@@ -0,0 +1,180 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc -->
+<title>Overview (pathplannerlib API)</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="jquery/jquery-ui.min.css" title="Style">
+<link rel="stylesheet" type="text/css" href="jquery-ui.overrides.css" title="Style">
+<script type="text/javascript" src="script.js"></script>
+<script type="text/javascript" src="jquery/jszip/dist/jszip.min.js"></script>
+<script type="text/javascript" src="jquery/jszip-utils/dist/jszip-utils.min.js"></script>
+<!--[if IE]>
+<script type="text/javascript" src="jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
+<![endif]-->
+<script type="text/javascript" src="jquery/jquery-3.6.1.min.js"></script>
+<script type="text/javascript" src="jquery/jquery-ui.min.js"></script>
+</head>
+<body>
+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="Overview (pathplannerlib API)";
+        }
+    }
+    catch(err) {
+    }
+//-->
+var pathtoroot = "./";
+var useModuleDirectories = true;
+loadScripts(document, 'script');</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<header role="banner">
+<nav role="navigation">
+<div class="fixedNav">
+<!-- ========= START OF TOP NAVBAR ======= -->
+<div class="topNav"><a id="navbar.top">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.top.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li class="navBarCell1Rev">Overview</li>
+<li>Package</li>
+<li>Class</li>
+<li><a href="overview-tree.html">Tree</a></li>
+<li><a href="deprecated-list.html">Deprecated</a></li>
+<li><a href="index-all.html">Index</a></li>
+<li><a href="help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_top">
+<li><a href="allclasses.html">All&nbsp;Classes</a></li>
+</ul>
+<ul class="navListSearch">
+<li><label for="search">SEARCH:</label>
+<input type="text" id="search" value="search" disabled="disabled">
+<input type="reset" id="reset" value="reset" disabled="disabled">
+</li>
+</ul>
+<div>
+<script type="text/javascript"><!--
+  allClassesLink = document.getElementById("allclasses_navbar_top");
+  if(window==top) {
+    allClassesLink.style.display = "block";
+  }
+  else {
+    allClassesLink.style.display = "none";
+  }
+  //-->
+</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.top">
+<!--   -->
+</a></div>
+<!-- ========= END OF TOP NAVBAR ========= -->
+</div>
+<div class="navPadding">&nbsp;</div>
+<script type="text/javascript"><!--
+$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
+//-->
+</script>
+</nav>
+</header>
+<main role="main">
+<div class="header">
+<h1 class="title">pathplannerlib API</h1>
+</div>
+<div class="contentContainer">
+<table class="overviewSummary">
+<caption><span>Packages</span><span class="tabEnd">&nbsp;</span></caption>
+<tr>
+<th class="colFirst" scope="col">Package</th>
+<th class="colLast" scope="col">Description</th>
+</tr>
+<tbody>
+<tr class="altColor" id="i0">
+<th class="colFirst" scope="row"><a href="com/pathplanner/lib/auto/package-summary.html">com.pathplanner.lib.auto</a></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor" id="i1">
+<th class="colFirst" scope="row"><a href="com/pathplanner/lib/commands/package-summary.html">com.pathplanner.lib.commands</a></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor" id="i2">
+<th class="colFirst" scope="row"><a href="com/pathplanner/lib/controllers/package-summary.html">com.pathplanner.lib.controllers</a></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor" id="i3">
+<th class="colFirst" scope="row"><a href="com/pathplanner/lib/path/package-summary.html">com.pathplanner.lib.path</a></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="altColor" id="i4">
+<th class="colFirst" scope="row"><a href="com/pathplanner/lib/pathfinding/package-summary.html">com.pathplanner.lib.pathfinding</a></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+<tr class="rowColor" id="i5">
+<th class="colFirst" scope="row"><a href="com/pathplanner/lib/util/package-summary.html">com.pathplanner.lib.util</a></th>
+<td class="colLast">&nbsp;</td>
+</tr>
+</tbody>
+</table>
+</div>
+</main>
+<footer role="contentinfo">
+<nav role="navigation">
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a id="navbar.bottom">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.bottom.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li class="navBarCell1Rev">Overview</li>
+<li>Package</li>
+<li>Class</li>
+<li><a href="overview-tree.html">Tree</a></li>
+<li><a href="deprecated-list.html">Deprecated</a></li>
+<li><a href="index-all.html">Index</a></li>
+<li><a href="help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_bottom">
+<li><a href="allclasses.html">All&nbsp;Classes</a></li>
+</ul>
+<div>
+<script type="text/javascript"><!--
+  allClassesLink = document.getElementById("allclasses_navbar_bottom");
+  if(window==top) {
+    allClassesLink.style.display = "block";
+  }
+  else {
+    allClassesLink.style.display = "none";
+  }
+  //-->
+</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.bottom">
+<!--   -->
+</a></div>
+<!-- ======== END OF BOTTOM NAVBAR ======= -->
+</nav>
+</footer>
+</body>
+</html>
diff --git a/docs/java/jquery-ui.overrides.css b/docs/java/jquery-ui.overrides.css
new file mode 100644
index 00000000..facf852c
--- /dev/null
+++ b/docs/java/jquery-ui.overrides.css
@@ -0,0 +1,35 @@
+/*
+ * Copyright (c) 2020, 2022, Oracle and/or its affiliates. All rights reserved.
+ * DO NOT ALTER OR REMOVE COPYRIGHT NOTICES OR THIS FILE HEADER.
+ *
+ * This code is free software; you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License version 2 only, as
+ * published by the Free Software Foundation.  Oracle designates this
+ * particular file as subject to the "Classpath" exception as provided
+ * by Oracle in the LICENSE file that accompanied this code.
+ *
+ * This code is distributed in the hope that it will be useful, but WITHOUT
+ * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ * FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
+ * version 2 for more details (a copy is included in the LICENSE file that
+ * accompanied this code).
+ *
+ * You should have received a copy of the GNU General Public License version
+ * 2 along with this work; if not, write to the Free Software Foundation,
+ * Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA.
+ *
+ * Please contact Oracle, 500 Oracle Parkway, Redwood Shores, CA 94065 USA
+ * or visit www.oracle.com if you need additional information or have any
+ * questions.
+ */
+
+.ui-state-active,
+.ui-widget-content .ui-state-active,
+.ui-widget-header .ui-state-active,
+a.ui-button:active,
+.ui-button:active,
+.ui-button.ui-state-active:hover {
+    /* Overrides the color of selection used in jQuery UI */
+    background: #F8981D;
+    border: 1px solid #F8981D;
+}
diff --git a/docs/java/jquery/external/jquery/jquery.js b/docs/java/jquery/external/jquery/jquery.js
new file mode 100644
index 00000000..50937333
--- /dev/null
+++ b/docs/java/jquery/external/jquery/jquery.js
@@ -0,0 +1,10872 @@
+/*!
+ * jQuery JavaScript Library v3.5.1
+ * https://jquery.com/
+ *
+ * Includes Sizzle.js
+ * https://sizzlejs.com/
+ *
+ * Copyright JS Foundation and other contributors
+ * Released under the MIT license
+ * https://jquery.org/license
+ *
+ * Date: 2020-05-04T22:49Z
+ */
+( function( global, factory ) {
+
+	"use strict";
+
+	if ( typeof module === "object" && typeof module.exports === "object" ) {
+
+		// For CommonJS and CommonJS-like environments where a proper `window`
+		// is present, execute the factory and get jQuery.
+		// For environments that do not have a `window` with a `document`
+		// (such as Node.js), expose a factory as module.exports.
+		// This accentuates the need for the creation of a real `window`.
+		// e.g. var jQuery = require("jquery")(window);
+		// See ticket #14549 for more info.
+		module.exports = global.document ?
+			factory( global, true ) :
+			function( w ) {
+				if ( !w.document ) {
+					throw new Error( "jQuery requires a window with a document" );
+				}
+				return factory( w );
+			};
+	} else {
+		factory( global );
+	}
+
+// Pass this if window is not defined yet
+} )( typeof window !== "undefined" ? window : this, function( window, noGlobal ) {
+
+// Edge <= 12 - 13+, Firefox <=18 - 45+, IE 10 - 11, Safari 5.1 - 9+, iOS 6 - 9.1
+// throw exceptions when non-strict code (e.g., ASP.NET 4.5) accesses strict mode
+// arguments.callee.caller (trac-13335). But as of jQuery 3.0 (2016), strict mode should be common
+// enough that all such attempts are guarded in a try block.
+"use strict";
+
+var arr = [];
+
+var getProto = Object.getPrototypeOf;
+
+var slice = arr.slice;
+
+var flat = arr.flat ? function( array ) {
+	return arr.flat.call( array );
+} : function( array ) {
+	return arr.concat.apply( [], array );
+};
+
+
+var push = arr.push;
+
+var indexOf = arr.indexOf;
+
+var class2type = {};
+
+var toString = class2type.toString;
+
+var hasOwn = class2type.hasOwnProperty;
+
+var fnToString = hasOwn.toString;
+
+var ObjectFunctionString = fnToString.call( Object );
+
+var support = {};
+
+var isFunction = function isFunction( obj ) {
+
+      // Support: Chrome <=57, Firefox <=52
+      // In some browsers, typeof returns "function" for HTML <object> elements
+      // (i.e., `typeof document.createElement( "object" ) === "function"`).
+      // We don't want to classify *any* DOM node as a function.
+      return typeof obj === "function" && typeof obj.nodeType !== "number";
+  };
+
+
+var isWindow = function isWindow( obj ) {
+		return obj != null && obj === obj.window;
+	};
+
+
+var document = window.document;
+
+
+
+	var preservedScriptAttributes = {
+		type: true,
+		src: true,
+		nonce: true,
+		noModule: true
+	};
+
+	function DOMEval( code, node, doc ) {
+		doc = doc || document;
+
+		var i, val,
+			script = doc.createElement( "script" );
+
+		script.text = code;
+		if ( node ) {
+			for ( i in preservedScriptAttributes ) {
+
+				// Support: Firefox 64+, Edge 18+
+				// Some browsers don't support the "nonce" property on scripts.
+				// On the other hand, just using `getAttribute` is not enough as
+				// the `nonce` attribute is reset to an empty string whenever it
+				// becomes browsing-context connected.
+				// See https://github.com/whatwg/html/issues/2369
+				// See https://html.spec.whatwg.org/#nonce-attributes
+				// The `node.getAttribute` check was added for the sake of
+				// `jQuery.globalEval` so that it can fake a nonce-containing node
+				// via an object.
+				val = node[ i ] || node.getAttribute && node.getAttribute( i );
+				if ( val ) {
+					script.setAttribute( i, val );
+				}
+			}
+		}
+		doc.head.appendChild( script ).parentNode.removeChild( script );
+	}
+
+
+function toType( obj ) {
+	if ( obj == null ) {
+		return obj + "";
+	}
+
+	// Support: Android <=2.3 only (functionish RegExp)
+	return typeof obj === "object" || typeof obj === "function" ?
+		class2type[ toString.call( obj ) ] || "object" :
+		typeof obj;
+}
+/* global Symbol */
+// Defining this global in .eslintrc.json would create a danger of using the global
+// unguarded in another place, it seems safer to define global only for this module
+
+
+
+var
+	version = "3.5.1",
+
+	// Define a local copy of jQuery
+	jQuery = function( selector, context ) {
+
+		// The jQuery object is actually just the init constructor 'enhanced'
+		// Need init if jQuery is called (just allow error to be thrown if not included)
+		return new jQuery.fn.init( selector, context );
+	};
+
+jQuery.fn = jQuery.prototype = {
+
+	// The current version of jQuery being used
+	jquery: version,
+
+	constructor: jQuery,
+
+	// The default length of a jQuery object is 0
+	length: 0,
+
+	toArray: function() {
+		return slice.call( this );
+	},
+
+	// Get the Nth element in the matched element set OR
+	// Get the whole matched element set as a clean array
+	get: function( num ) {
+
+		// Return all the elements in a clean array
+		if ( num == null ) {
+			return slice.call( this );
+		}
+
+		// Return just the one element from the set
+		return num < 0 ? this[ num + this.length ] : this[ num ];
+	},
+
+	// Take an array of elements and push it onto the stack
+	// (returning the new matched element set)
+	pushStack: function( elems ) {
+
+		// Build a new jQuery matched element set
+		var ret = jQuery.merge( this.constructor(), elems );
+
+		// Add the old object onto the stack (as a reference)
+		ret.prevObject = this;
+
+		// Return the newly-formed element set
+		return ret;
+	},
+
+	// Execute a callback for every element in the matched set.
+	each: function( callback ) {
+		return jQuery.each( this, callback );
+	},
+
+	map: function( callback ) {
+		return this.pushStack( jQuery.map( this, function( elem, i ) {
+			return callback.call( elem, i, elem );
+		} ) );
+	},
+
+	slice: function() {
+		return this.pushStack( slice.apply( this, arguments ) );
+	},
+
+	first: function() {
+		return this.eq( 0 );
+	},
+
+	last: function() {
+		return this.eq( -1 );
+	},
+
+	even: function() {
+		return this.pushStack( jQuery.grep( this, function( _elem, i ) {
+			return ( i + 1 ) % 2;
+		} ) );
+	},
+
+	odd: function() {
+		return this.pushStack( jQuery.grep( this, function( _elem, i ) {
+			return i % 2;
+		} ) );
+	},
+
+	eq: function( i ) {
+		var len = this.length,
+			j = +i + ( i < 0 ? len : 0 );
+		return this.pushStack( j >= 0 && j < len ? [ this[ j ] ] : [] );
+	},
+
+	end: function() {
+		return this.prevObject || this.constructor();
+	},
+
+	// For internal use only.
+	// Behaves like an Array's method, not like a jQuery method.
+	push: push,
+	sort: arr.sort,
+	splice: arr.splice
+};
+
+jQuery.extend = jQuery.fn.extend = function() {
+	var options, name, src, copy, copyIsArray, clone,
+		target = arguments[ 0 ] || {},
+		i = 1,
+		length = arguments.length,
+		deep = false;
+
+	// Handle a deep copy situation
+	if ( typeof target === "boolean" ) {
+		deep = target;
+
+		// Skip the boolean and the target
+		target = arguments[ i ] || {};
+		i++;
+	}
+
+	// Handle case when target is a string or something (possible in deep copy)
+	if ( typeof target !== "object" && !isFunction( target ) ) {
+		target = {};
+	}
+
+	// Extend jQuery itself if only one argument is passed
+	if ( i === length ) {
+		target = this;
+		i--;
+	}
+
+	for ( ; i < length; i++ ) {
+
+		// Only deal with non-null/undefined values
+		if ( ( options = arguments[ i ] ) != null ) {
+
+			// Extend the base object
+			for ( name in options ) {
+				copy = options[ name ];
+
+				// Prevent Object.prototype pollution
+				// Prevent never-ending loop
+				if ( name === "__proto__" || target === copy ) {
+					continue;
+				}
+
+				// Recurse if we're merging plain objects or arrays
+				if ( deep && copy && ( jQuery.isPlainObject( copy ) ||
+					( copyIsArray = Array.isArray( copy ) ) ) ) {
+					src = target[ name ];
+
+					// Ensure proper type for the source value
+					if ( copyIsArray && !Array.isArray( src ) ) {
+						clone = [];
+					} else if ( !copyIsArray && !jQuery.isPlainObject( src ) ) {
+						clone = {};
+					} else {
+						clone = src;
+					}
+					copyIsArray = false;
+
+					// Never move original objects, clone them
+					target[ name ] = jQuery.extend( deep, clone, copy );
+
+				// Don't bring in undefined values
+				} else if ( copy !== undefined ) {
+					target[ name ] = copy;
+				}
+			}
+		}
+	}
+
+	// Return the modified object
+	return target;
+};
+
+jQuery.extend( {
+
+	// Unique for each copy of jQuery on the page
+	expando: "jQuery" + ( version + Math.random() ).replace( /\D/g, "" ),
+
+	// Assume jQuery is ready without the ready module
+	isReady: true,
+
+	error: function( msg ) {
+		throw new Error( msg );
+	},
+
+	noop: function() {},
+
+	isPlainObject: function( obj ) {
+		var proto, Ctor;
+
+		// Detect obvious negatives
+		// Use toString instead of jQuery.type to catch host objects
+		if ( !obj || toString.call( obj ) !== "[object Object]" ) {
+			return false;
+		}
+
+		proto = getProto( obj );
+
+		// Objects with no prototype (e.g., `Object.create( null )`) are plain
+		if ( !proto ) {
+			return true;
+		}
+
+		// Objects with prototype are plain iff they were constructed by a global Object function
+		Ctor = hasOwn.call( proto, "constructor" ) && proto.constructor;
+		return typeof Ctor === "function" && fnToString.call( Ctor ) === ObjectFunctionString;
+	},
+
+	isEmptyObject: function( obj ) {
+		var name;
+
+		for ( name in obj ) {
+			return false;
+		}
+		return true;
+	},
+
+	// Evaluates a script in a provided context; falls back to the global one
+	// if not specified.
+	globalEval: function( code, options, doc ) {
+		DOMEval( code, { nonce: options && options.nonce }, doc );
+	},
+
+	each: function( obj, callback ) {
+		var length, i = 0;
+
+		if ( isArrayLike( obj ) ) {
+			length = obj.length;
+			for ( ; i < length; i++ ) {
+				if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) {
+					break;
+				}
+			}
+		} else {
+			for ( i in obj ) {
+				if ( callback.call( obj[ i ], i, obj[ i ] ) === false ) {
+					break;
+				}
+			}
+		}
+
+		return obj;
+	},
+
+	// results is for internal usage only
+	makeArray: function( arr, results ) {
+		var ret = results || [];
+
+		if ( arr != null ) {
+			if ( isArrayLike( Object( arr ) ) ) {
+				jQuery.merge( ret,
+					typeof arr === "string" ?
+					[ arr ] : arr
+				);
+			} else {
+				push.call( ret, arr );
+			}
+		}
+
+		return ret;
+	},
+
+	inArray: function( elem, arr, i ) {
+		return arr == null ? -1 : indexOf.call( arr, elem, i );
+	},
+
+	// Support: Android <=4.0 only, PhantomJS 1 only
+	// push.apply(_, arraylike) throws on ancient WebKit
+	merge: function( first, second ) {
+		var len = +second.length,
+			j = 0,
+			i = first.length;
+
+		for ( ; j < len; j++ ) {
+			first[ i++ ] = second[ j ];
+		}
+
+		first.length = i;
+
+		return first;
+	},
+
+	grep: function( elems, callback, invert ) {
+		var callbackInverse,
+			matches = [],
+			i = 0,
+			length = elems.length,
+			callbackExpect = !invert;
+
+		// Go through the array, only saving the items
+		// that pass the validator function
+		for ( ; i < length; i++ ) {
+			callbackInverse = !callback( elems[ i ], i );
+			if ( callbackInverse !== callbackExpect ) {
+				matches.push( elems[ i ] );
+			}
+		}
+
+		return matches;
+	},
+
+	// arg is for internal usage only
+	map: function( elems, callback, arg ) {
+		var length, value,
+			i = 0,
+			ret = [];
+
+		// Go through the array, translating each of the items to their new values
+		if ( isArrayLike( elems ) ) {
+			length = elems.length;
+			for ( ; i < length; i++ ) {
+				value = callback( elems[ i ], i, arg );
+
+				if ( value != null ) {
+					ret.push( value );
+				}
+			}
+
+		// Go through every key on the object,
+		} else {
+			for ( i in elems ) {
+				value = callback( elems[ i ], i, arg );
+
+				if ( value != null ) {
+					ret.push( value );
+				}
+			}
+		}
+
+		// Flatten any nested arrays
+		return flat( ret );
+	},
+
+	// A global GUID counter for objects
+	guid: 1,
+
+	// jQuery.support is not used in Core but other projects attach their
+	// properties to it so it needs to exist.
+	support: support
+} );
+
+if ( typeof Symbol === "function" ) {
+	jQuery.fn[ Symbol.iterator ] = arr[ Symbol.iterator ];
+}
+
+// Populate the class2type map
+jQuery.each( "Boolean Number String Function Array Date RegExp Object Error Symbol".split( " " ),
+function( _i, name ) {
+	class2type[ "[object " + name + "]" ] = name.toLowerCase();
+} );
+
+function isArrayLike( obj ) {
+
+	// Support: real iOS 8.2 only (not reproducible in simulator)
+	// `in` check used to prevent JIT error (gh-2145)
+	// hasOwn isn't used here due to false negatives
+	// regarding Nodelist length in IE
+	var length = !!obj && "length" in obj && obj.length,
+		type = toType( obj );
+
+	if ( isFunction( obj ) || isWindow( obj ) ) {
+		return false;
+	}
+
+	return type === "array" || length === 0 ||
+		typeof length === "number" && length > 0 && ( length - 1 ) in obj;
+}
+var Sizzle =
+/*!
+ * Sizzle CSS Selector Engine v2.3.5
+ * https://sizzlejs.com/
+ *
+ * Copyright JS Foundation and other contributors
+ * Released under the MIT license
+ * https://js.foundation/
+ *
+ * Date: 2020-03-14
+ */
+( function( window ) {
+var i,
+	support,
+	Expr,
+	getText,
+	isXML,
+	tokenize,
+	compile,
+	select,
+	outermostContext,
+	sortInput,
+	hasDuplicate,
+
+	// Local document vars
+	setDocument,
+	document,
+	docElem,
+	documentIsHTML,
+	rbuggyQSA,
+	rbuggyMatches,
+	matches,
+	contains,
+
+	// Instance-specific data
+	expando = "sizzle" + 1 * new Date(),
+	preferredDoc = window.document,
+	dirruns = 0,
+	done = 0,
+	classCache = createCache(),
+	tokenCache = createCache(),
+	compilerCache = createCache(),
+	nonnativeSelectorCache = createCache(),
+	sortOrder = function( a, b ) {
+		if ( a === b ) {
+			hasDuplicate = true;
+		}
+		return 0;
+	},
+
+	// Instance methods
+	hasOwn = ( {} ).hasOwnProperty,
+	arr = [],
+	pop = arr.pop,
+	pushNative = arr.push,
+	push = arr.push,
+	slice = arr.slice,
+
+	// Use a stripped-down indexOf as it's faster than native
+	// https://jsperf.com/thor-indexof-vs-for/5
+	indexOf = function( list, elem ) {
+		var i = 0,
+			len = list.length;
+		for ( ; i < len; i++ ) {
+			if ( list[ i ] === elem ) {
+				return i;
+			}
+		}
+		return -1;
+	},
+
+	booleans = "checked|selected|async|autofocus|autoplay|controls|defer|disabled|hidden|" +
+		"ismap|loop|multiple|open|readonly|required|scoped",
+
+	// Regular expressions
+
+	// http://www.w3.org/TR/css3-selectors/#whitespace
+	whitespace = "[\\x20\\t\\r\\n\\f]",
+
+	// https://www.w3.org/TR/css-syntax-3/#ident-token-diagram
+	identifier = "(?:\\\\[\\da-fA-F]{1,6}" + whitespace +
+		"?|\\\\[^\\r\\n\\f]|[\\w-]|[^\0-\\x7f])+",
+
+	// Attribute selectors: http://www.w3.org/TR/selectors/#attribute-selectors
+	attributes = "\\[" + whitespace + "*(" + identifier + ")(?:" + whitespace +
+
+		// Operator (capture 2)
+		"*([*^$|!~]?=)" + whitespace +
+
+		// "Attribute values must be CSS identifiers [capture 5]
+		// or strings [capture 3 or capture 4]"
+		"*(?:'((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\"|(" + identifier + "))|)" +
+		whitespace + "*\\]",
+
+	pseudos = ":(" + identifier + ")(?:\\((" +
+
+		// To reduce the number of selectors needing tokenize in the preFilter, prefer arguments:
+		// 1. quoted (capture 3; capture 4 or capture 5)
+		"('((?:\\\\.|[^\\\\'])*)'|\"((?:\\\\.|[^\\\\\"])*)\")|" +
+
+		// 2. simple (capture 6)
+		"((?:\\\\.|[^\\\\()[\\]]|" + attributes + ")*)|" +
+
+		// 3. anything else (capture 2)
+		".*" +
+		")\\)|)",
+
+	// Leading and non-escaped trailing whitespace, capturing some non-whitespace characters preceding the latter
+	rwhitespace = new RegExp( whitespace + "+", "g" ),
+	rtrim = new RegExp( "^" + whitespace + "+|((?:^|[^\\\\])(?:\\\\.)*)" +
+		whitespace + "+$", "g" ),
+
+	rcomma = new RegExp( "^" + whitespace + "*," + whitespace + "*" ),
+	rcombinators = new RegExp( "^" + whitespace + "*([>+~]|" + whitespace + ")" + whitespace +
+		"*" ),
+	rdescend = new RegExp( whitespace + "|>" ),
+
+	rpseudo = new RegExp( pseudos ),
+	ridentifier = new RegExp( "^" + identifier + "$" ),
+
+	matchExpr = {
+		"ID": new RegExp( "^#(" + identifier + ")" ),
+		"CLASS": new RegExp( "^\\.(" + identifier + ")" ),
+		"TAG": new RegExp( "^(" + identifier + "|[*])" ),
+		"ATTR": new RegExp( "^" + attributes ),
+		"PSEUDO": new RegExp( "^" + pseudos ),
+		"CHILD": new RegExp( "^:(only|first|last|nth|nth-last)-(child|of-type)(?:\\(" +
+			whitespace + "*(even|odd|(([+-]|)(\\d*)n|)" + whitespace + "*(?:([+-]|)" +
+			whitespace + "*(\\d+)|))" + whitespace + "*\\)|)", "i" ),
+		"bool": new RegExp( "^(?:" + booleans + ")$", "i" ),
+
+		// For use in libraries implementing .is()
+		// We use this for POS matching in `select`
+		"needsContext": new RegExp( "^" + whitespace +
+			"*[>+~]|:(even|odd|eq|gt|lt|nth|first|last)(?:\\(" + whitespace +
+			"*((?:-\\d)?\\d*)" + whitespace + "*\\)|)(?=[^-]|$)", "i" )
+	},
+
+	rhtml = /HTML$/i,
+	rinputs = /^(?:input|select|textarea|button)$/i,
+	rheader = /^h\d$/i,
+
+	rnative = /^[^{]+\{\s*\[native \w/,
+
+	// Easily-parseable/retrievable ID or TAG or CLASS selectors
+	rquickExpr = /^(?:#([\w-]+)|(\w+)|\.([\w-]+))$/,
+
+	rsibling = /[+~]/,
+
+	// CSS escapes
+	// http://www.w3.org/TR/CSS21/syndata.html#escaped-characters
+	runescape = new RegExp( "\\\\[\\da-fA-F]{1,6}" + whitespace + "?|\\\\([^\\r\\n\\f])", "g" ),
+	funescape = function( escape, nonHex ) {
+		var high = "0x" + escape.slice( 1 ) - 0x10000;
+
+		return nonHex ?
+
+			// Strip the backslash prefix from a non-hex escape sequence
+			nonHex :
+
+			// Replace a hexadecimal escape sequence with the encoded Unicode code point
+			// Support: IE <=11+
+			// For values outside the Basic Multilingual Plane (BMP), manually construct a
+			// surrogate pair
+			high < 0 ?
+				String.fromCharCode( high + 0x10000 ) :
+				String.fromCharCode( high >> 10 | 0xD800, high & 0x3FF | 0xDC00 );
+	},
+
+	// CSS string/identifier serialization
+	// https://drafts.csswg.org/cssom/#common-serializing-idioms
+	rcssescape = /([\0-\x1f\x7f]|^-?\d)|^-$|[^\0-\x1f\x7f-\uFFFF\w-]/g,
+	fcssescape = function( ch, asCodePoint ) {
+		if ( asCodePoint ) {
+
+			// U+0000 NULL becomes U+FFFD REPLACEMENT CHARACTER
+			if ( ch === "\0" ) {
+				return "\uFFFD";
+			}
+
+			// Control characters and (dependent upon position) numbers get escaped as code points
+			return ch.slice( 0, -1 ) + "\\" +
+				ch.charCodeAt( ch.length - 1 ).toString( 16 ) + " ";
+		}
+
+		// Other potentially-special ASCII characters get backslash-escaped
+		return "\\" + ch;
+	},
+
+	// Used for iframes
+	// See setDocument()
+	// Removing the function wrapper causes a "Permission Denied"
+	// error in IE
+	unloadHandler = function() {
+		setDocument();
+	},
+
+	inDisabledFieldset = addCombinator(
+		function( elem ) {
+			return elem.disabled === true && elem.nodeName.toLowerCase() === "fieldset";
+		},
+		{ dir: "parentNode", next: "legend" }
+	);
+
+// Optimize for push.apply( _, NodeList )
+try {
+	push.apply(
+		( arr = slice.call( preferredDoc.childNodes ) ),
+		preferredDoc.childNodes
+	);
+
+	// Support: Android<4.0
+	// Detect silently failing push.apply
+	// eslint-disable-next-line no-unused-expressions
+	arr[ preferredDoc.childNodes.length ].nodeType;
+} catch ( e ) {
+	push = { apply: arr.length ?
+
+		// Leverage slice if possible
+		function( target, els ) {
+			pushNative.apply( target, slice.call( els ) );
+		} :
+
+		// Support: IE<9
+		// Otherwise append directly
+		function( target, els ) {
+			var j = target.length,
+				i = 0;
+
+			// Can't trust NodeList.length
+			while ( ( target[ j++ ] = els[ i++ ] ) ) {}
+			target.length = j - 1;
+		}
+	};
+}
+
+function Sizzle( selector, context, results, seed ) {
+	var m, i, elem, nid, match, groups, newSelector,
+		newContext = context && context.ownerDocument,
+
+		// nodeType defaults to 9, since context defaults to document
+		nodeType = context ? context.nodeType : 9;
+
+	results = results || [];
+
+	// Return early from calls with invalid selector or context
+	if ( typeof selector !== "string" || !selector ||
+		nodeType !== 1 && nodeType !== 9 && nodeType !== 11 ) {
+
+		return results;
+	}
+
+	// Try to shortcut find operations (as opposed to filters) in HTML documents
+	if ( !seed ) {
+		setDocument( context );
+		context = context || document;
+
+		if ( documentIsHTML ) {
+
+			// If the selector is sufficiently simple, try using a "get*By*" DOM method
+			// (excepting DocumentFragment context, where the methods don't exist)
+			if ( nodeType !== 11 && ( match = rquickExpr.exec( selector ) ) ) {
+
+				// ID selector
+				if ( ( m = match[ 1 ] ) ) {
+
+					// Document context
+					if ( nodeType === 9 ) {
+						if ( ( elem = context.getElementById( m ) ) ) {
+
+							// Support: IE, Opera, Webkit
+							// TODO: identify versions
+							// getElementById can match elements by name instead of ID
+							if ( elem.id === m ) {
+								results.push( elem );
+								return results;
+							}
+						} else {
+							return results;
+						}
+
+					// Element context
+					} else {
+
+						// Support: IE, Opera, Webkit
+						// TODO: identify versions
+						// getElementById can match elements by name instead of ID
+						if ( newContext && ( elem = newContext.getElementById( m ) ) &&
+							contains( context, elem ) &&
+							elem.id === m ) {
+
+							results.push( elem );
+							return results;
+						}
+					}
+
+				// Type selector
+				} else if ( match[ 2 ] ) {
+					push.apply( results, context.getElementsByTagName( selector ) );
+					return results;
+
+				// Class selector
+				} else if ( ( m = match[ 3 ] ) && support.getElementsByClassName &&
+					context.getElementsByClassName ) {
+
+					push.apply( results, context.getElementsByClassName( m ) );
+					return results;
+				}
+			}
+
+			// Take advantage of querySelectorAll
+			if ( support.qsa &&
+				!nonnativeSelectorCache[ selector + " " ] &&
+				( !rbuggyQSA || !rbuggyQSA.test( selector ) ) &&
+
+				// Support: IE 8 only
+				// Exclude object elements
+				( nodeType !== 1 || context.nodeName.toLowerCase() !== "object" ) ) {
+
+				newSelector = selector;
+				newContext = context;
+
+				// qSA considers elements outside a scoping root when evaluating child or
+				// descendant combinators, which is not what we want.
+				// In such cases, we work around the behavior by prefixing every selector in the
+				// list with an ID selector referencing the scope context.
+				// The technique has to be used as well when a leading combinator is used
+				// as such selectors are not recognized by querySelectorAll.
+				// Thanks to Andrew Dupont for this technique.
+				if ( nodeType === 1 &&
+					( rdescend.test( selector ) || rcombinators.test( selector ) ) ) {
+
+					// Expand context for sibling selectors
+					newContext = rsibling.test( selector ) && testContext( context.parentNode ) ||
+						context;
+
+					// We can use :scope instead of the ID hack if the browser
+					// supports it & if we're not changing the context.
+					if ( newContext !== context || !support.scope ) {
+
+						// Capture the context ID, setting it first if necessary
+						if ( ( nid = context.getAttribute( "id" ) ) ) {
+							nid = nid.replace( rcssescape, fcssescape );
+						} else {
+							context.setAttribute( "id", ( nid = expando ) );
+						}
+					}
+
+					// Prefix every selector in the list
+					groups = tokenize( selector );
+					i = groups.length;
+					while ( i-- ) {
+						groups[ i ] = ( nid ? "#" + nid : ":scope" ) + " " +
+							toSelector( groups[ i ] );
+					}
+					newSelector = groups.join( "," );
+				}
+
+				try {
+					push.apply( results,
+						newContext.querySelectorAll( newSelector )
+					);
+					return results;
+				} catch ( qsaError ) {
+					nonnativeSelectorCache( selector, true );
+				} finally {
+					if ( nid === expando ) {
+						context.removeAttribute( "id" );
+					}
+				}
+			}
+		}
+	}
+
+	// All others
+	return select( selector.replace( rtrim, "$1" ), context, results, seed );
+}
+
+/**
+ * Create key-value caches of limited size
+ * @returns {function(string, object)} Returns the Object data after storing it on itself with
+ *	property name the (space-suffixed) string and (if the cache is larger than Expr.cacheLength)
+ *	deleting the oldest entry
+ */
+function createCache() {
+	var keys = [];
+
+	function cache( key, value ) {
+
+		// Use (key + " ") to avoid collision with native prototype properties (see Issue #157)
+		if ( keys.push( key + " " ) > Expr.cacheLength ) {
+
+			// Only keep the most recent entries
+			delete cache[ keys.shift() ];
+		}
+		return ( cache[ key + " " ] = value );
+	}
+	return cache;
+}
+
+/**
+ * Mark a function for special use by Sizzle
+ * @param {Function} fn The function to mark
+ */
+function markFunction( fn ) {
+	fn[ expando ] = true;
+	return fn;
+}
+
+/**
+ * Support testing using an element
+ * @param {Function} fn Passed the created element and returns a boolean result
+ */
+function assert( fn ) {
+	var el = document.createElement( "fieldset" );
+
+	try {
+		return !!fn( el );
+	} catch ( e ) {
+		return false;
+	} finally {
+
+		// Remove from its parent by default
+		if ( el.parentNode ) {
+			el.parentNode.removeChild( el );
+		}
+
+		// release memory in IE
+		el = null;
+	}
+}
+
+/**
+ * Adds the same handler for all of the specified attrs
+ * @param {String} attrs Pipe-separated list of attributes
+ * @param {Function} handler The method that will be applied
+ */
+function addHandle( attrs, handler ) {
+	var arr = attrs.split( "|" ),
+		i = arr.length;
+
+	while ( i-- ) {
+		Expr.attrHandle[ arr[ i ] ] = handler;
+	}
+}
+
+/**
+ * Checks document order of two siblings
+ * @param {Element} a
+ * @param {Element} b
+ * @returns {Number} Returns less than 0 if a precedes b, greater than 0 if a follows b
+ */
+function siblingCheck( a, b ) {
+	var cur = b && a,
+		diff = cur && a.nodeType === 1 && b.nodeType === 1 &&
+			a.sourceIndex - b.sourceIndex;
+
+	// Use IE sourceIndex if available on both nodes
+	if ( diff ) {
+		return diff;
+	}
+
+	// Check if b follows a
+	if ( cur ) {
+		while ( ( cur = cur.nextSibling ) ) {
+			if ( cur === b ) {
+				return -1;
+			}
+		}
+	}
+
+	return a ? 1 : -1;
+}
+
+/**
+ * Returns a function to use in pseudos for input types
+ * @param {String} type
+ */
+function createInputPseudo( type ) {
+	return function( elem ) {
+		var name = elem.nodeName.toLowerCase();
+		return name === "input" && elem.type === type;
+	};
+}
+
+/**
+ * Returns a function to use in pseudos for buttons
+ * @param {String} type
+ */
+function createButtonPseudo( type ) {
+	return function( elem ) {
+		var name = elem.nodeName.toLowerCase();
+		return ( name === "input" || name === "button" ) && elem.type === type;
+	};
+}
+
+/**
+ * Returns a function to use in pseudos for :enabled/:disabled
+ * @param {Boolean} disabled true for :disabled; false for :enabled
+ */
+function createDisabledPseudo( disabled ) {
+
+	// Known :disabled false positives: fieldset[disabled] > legend:nth-of-type(n+2) :can-disable
+	return function( elem ) {
+
+		// Only certain elements can match :enabled or :disabled
+		// https://html.spec.whatwg.org/multipage/scripting.html#selector-enabled
+		// https://html.spec.whatwg.org/multipage/scripting.html#selector-disabled
+		if ( "form" in elem ) {
+
+			// Check for inherited disabledness on relevant non-disabled elements:
+			// * listed form-associated elements in a disabled fieldset
+			//   https://html.spec.whatwg.org/multipage/forms.html#category-listed
+			//   https://html.spec.whatwg.org/multipage/forms.html#concept-fe-disabled
+			// * option elements in a disabled optgroup
+			//   https://html.spec.whatwg.org/multipage/forms.html#concept-option-disabled
+			// All such elements have a "form" property.
+			if ( elem.parentNode && elem.disabled === false ) {
+
+				// Option elements defer to a parent optgroup if present
+				if ( "label" in elem ) {
+					if ( "label" in elem.parentNode ) {
+						return elem.parentNode.disabled === disabled;
+					} else {
+						return elem.disabled === disabled;
+					}
+				}
+
+				// Support: IE 6 - 11
+				// Use the isDisabled shortcut property to check for disabled fieldset ancestors
+				return elem.isDisabled === disabled ||
+
+					// Where there is no isDisabled, check manually
+					/* jshint -W018 */
+					elem.isDisabled !== !disabled &&
+					inDisabledFieldset( elem ) === disabled;
+			}
+
+			return elem.disabled === disabled;
+
+		// Try to winnow out elements that can't be disabled before trusting the disabled property.
+		// Some victims get caught in our net (label, legend, menu, track), but it shouldn't
+		// even exist on them, let alone have a boolean value.
+		} else if ( "label" in elem ) {
+			return elem.disabled === disabled;
+		}
+
+		// Remaining elements are neither :enabled nor :disabled
+		return false;
+	};
+}
+
+/**
+ * Returns a function to use in pseudos for positionals
+ * @param {Function} fn
+ */
+function createPositionalPseudo( fn ) {
+	return markFunction( function( argument ) {
+		argument = +argument;
+		return markFunction( function( seed, matches ) {
+			var j,
+				matchIndexes = fn( [], seed.length, argument ),
+				i = matchIndexes.length;
+
+			// Match elements found at the specified indexes
+			while ( i-- ) {
+				if ( seed[ ( j = matchIndexes[ i ] ) ] ) {
+					seed[ j ] = !( matches[ j ] = seed[ j ] );
+				}
+			}
+		} );
+	} );
+}
+
+/**
+ * Checks a node for validity as a Sizzle context
+ * @param {Element|Object=} context
+ * @returns {Element|Object|Boolean} The input node if acceptable, otherwise a falsy value
+ */
+function testContext( context ) {
+	return context && typeof context.getElementsByTagName !== "undefined" && context;
+}
+
+// Expose support vars for convenience
+support = Sizzle.support = {};
+
+/**
+ * Detects XML nodes
+ * @param {Element|Object} elem An element or a document
+ * @returns {Boolean} True iff elem is a non-HTML XML node
+ */
+isXML = Sizzle.isXML = function( elem ) {
+	var namespace = elem.namespaceURI,
+		docElem = ( elem.ownerDocument || elem ).documentElement;
+
+	// Support: IE <=8
+	// Assume HTML when documentElement doesn't yet exist, such as inside loading iframes
+	// https://bugs.jquery.com/ticket/4833
+	return !rhtml.test( namespace || docElem && docElem.nodeName || "HTML" );
+};
+
+/**
+ * Sets document-related variables once based on the current document
+ * @param {Element|Object} [doc] An element or document object to use to set the document
+ * @returns {Object} Returns the current document
+ */
+setDocument = Sizzle.setDocument = function( node ) {
+	var hasCompare, subWindow,
+		doc = node ? node.ownerDocument || node : preferredDoc;
+
+	// Return early if doc is invalid or already selected
+	// Support: IE 11+, Edge 17 - 18+
+	// IE/Edge sometimes throw a "Permission denied" error when strict-comparing
+	// two documents; shallow comparisons work.
+	// eslint-disable-next-line eqeqeq
+	if ( doc == document || doc.nodeType !== 9 || !doc.documentElement ) {
+		return document;
+	}
+
+	// Update global variables
+	document = doc;
+	docElem = document.documentElement;
+	documentIsHTML = !isXML( document );
+
+	// Support: IE 9 - 11+, Edge 12 - 18+
+	// Accessing iframe documents after unload throws "permission denied" errors (jQuery #13936)
+	// Support: IE 11+, Edge 17 - 18+
+	// IE/Edge sometimes throw a "Permission denied" error when strict-comparing
+	// two documents; shallow comparisons work.
+	// eslint-disable-next-line eqeqeq
+	if ( preferredDoc != document &&
+		( subWindow = document.defaultView ) && subWindow.top !== subWindow ) {
+
+		// Support: IE 11, Edge
+		if ( subWindow.addEventListener ) {
+			subWindow.addEventListener( "unload", unloadHandler, false );
+
+		// Support: IE 9 - 10 only
+		} else if ( subWindow.attachEvent ) {
+			subWindow.attachEvent( "onunload", unloadHandler );
+		}
+	}
+
+	// Support: IE 8 - 11+, Edge 12 - 18+, Chrome <=16 - 25 only, Firefox <=3.6 - 31 only,
+	// Safari 4 - 5 only, Opera <=11.6 - 12.x only
+	// IE/Edge & older browsers don't support the :scope pseudo-class.
+	// Support: Safari 6.0 only
+	// Safari 6.0 supports :scope but it's an alias of :root there.
+	support.scope = assert( function( el ) {
+		docElem.appendChild( el ).appendChild( document.createElement( "div" ) );
+		return typeof el.querySelectorAll !== "undefined" &&
+			!el.querySelectorAll( ":scope fieldset div" ).length;
+	} );
+
+	/* Attributes
+	---------------------------------------------------------------------- */
+
+	// Support: IE<8
+	// Verify that getAttribute really returns attributes and not properties
+	// (excepting IE8 booleans)
+	support.attributes = assert( function( el ) {
+		el.className = "i";
+		return !el.getAttribute( "className" );
+	} );
+
+	/* getElement(s)By*
+	---------------------------------------------------------------------- */
+
+	// Check if getElementsByTagName("*") returns only elements
+	support.getElementsByTagName = assert( function( el ) {
+		el.appendChild( document.createComment( "" ) );
+		return !el.getElementsByTagName( "*" ).length;
+	} );
+
+	// Support: IE<9
+	support.getElementsByClassName = rnative.test( document.getElementsByClassName );
+
+	// Support: IE<10
+	// Check if getElementById returns elements by name
+	// The broken getElementById methods don't pick up programmatically-set names,
+	// so use a roundabout getElementsByName test
+	support.getById = assert( function( el ) {
+		docElem.appendChild( el ).id = expando;
+		return !document.getElementsByName || !document.getElementsByName( expando ).length;
+	} );
+
+	// ID filter and find
+	if ( support.getById ) {
+		Expr.filter[ "ID" ] = function( id ) {
+			var attrId = id.replace( runescape, funescape );
+			return function( elem ) {
+				return elem.getAttribute( "id" ) === attrId;
+			};
+		};
+		Expr.find[ "ID" ] = function( id, context ) {
+			if ( typeof context.getElementById !== "undefined" && documentIsHTML ) {
+				var elem = context.getElementById( id );
+				return elem ? [ elem ] : [];
+			}
+		};
+	} else {
+		Expr.filter[ "ID" ] =  function( id ) {
+			var attrId = id.replace( runescape, funescape );
+			return function( elem ) {
+				var node = typeof elem.getAttributeNode !== "undefined" &&
+					elem.getAttributeNode( "id" );
+				return node && node.value === attrId;
+			};
+		};
+
+		// Support: IE 6 - 7 only
+		// getElementById is not reliable as a find shortcut
+		Expr.find[ "ID" ] = function( id, context ) {
+			if ( typeof context.getElementById !== "undefined" && documentIsHTML ) {
+				var node, i, elems,
+					elem = context.getElementById( id );
+
+				if ( elem ) {
+
+					// Verify the id attribute
+					node = elem.getAttributeNode( "id" );
+					if ( node && node.value === id ) {
+						return [ elem ];
+					}
+
+					// Fall back on getElementsByName
+					elems = context.getElementsByName( id );
+					i = 0;
+					while ( ( elem = elems[ i++ ] ) ) {
+						node = elem.getAttributeNode( "id" );
+						if ( node && node.value === id ) {
+							return [ elem ];
+						}
+					}
+				}
+
+				return [];
+			}
+		};
+	}
+
+	// Tag
+	Expr.find[ "TAG" ] = support.getElementsByTagName ?
+		function( tag, context ) {
+			if ( typeof context.getElementsByTagName !== "undefined" ) {
+				return context.getElementsByTagName( tag );
+
+			// DocumentFragment nodes don't have gEBTN
+			} else if ( support.qsa ) {
+				return context.querySelectorAll( tag );
+			}
+		} :
+
+		function( tag, context ) {
+			var elem,
+				tmp = [],
+				i = 0,
+
+				// By happy coincidence, a (broken) gEBTN appears on DocumentFragment nodes too
+				results = context.getElementsByTagName( tag );
+
+			// Filter out possible comments
+			if ( tag === "*" ) {
+				while ( ( elem = results[ i++ ] ) ) {
+					if ( elem.nodeType === 1 ) {
+						tmp.push( elem );
+					}
+				}
+
+				return tmp;
+			}
+			return results;
+		};
+
+	// Class
+	Expr.find[ "CLASS" ] = support.getElementsByClassName && function( className, context ) {
+		if ( typeof context.getElementsByClassName !== "undefined" && documentIsHTML ) {
+			return context.getElementsByClassName( className );
+		}
+	};
+
+	/* QSA/matchesSelector
+	---------------------------------------------------------------------- */
+
+	// QSA and matchesSelector support
+
+	// matchesSelector(:active) reports false when true (IE9/Opera 11.5)
+	rbuggyMatches = [];
+
+	// qSa(:focus) reports false when true (Chrome 21)
+	// We allow this because of a bug in IE8/9 that throws an error
+	// whenever `document.activeElement` is accessed on an iframe
+	// So, we allow :focus to pass through QSA all the time to avoid the IE error
+	// See https://bugs.jquery.com/ticket/13378
+	rbuggyQSA = [];
+
+	if ( ( support.qsa = rnative.test( document.querySelectorAll ) ) ) {
+
+		// Build QSA regex
+		// Regex strategy adopted from Diego Perini
+		assert( function( el ) {
+
+			var input;
+
+			// Select is set to empty string on purpose
+			// This is to test IE's treatment of not explicitly
+			// setting a boolean content attribute,
+			// since its presence should be enough
+			// https://bugs.jquery.com/ticket/12359
+			docElem.appendChild( el ).innerHTML = "<a id='" + expando + "'></a>" +
+				"<select id='" + expando + "-\r\\' msallowcapture=''>" +
+				"<option selected=''></option></select>";
+
+			// Support: IE8, Opera 11-12.16
+			// Nothing should be selected when empty strings follow ^= or $= or *=
+			// The test attribute must be unknown in Opera but "safe" for WinRT
+			// https://msdn.microsoft.com/en-us/library/ie/hh465388.aspx#attribute_section
+			if ( el.querySelectorAll( "[msallowcapture^='']" ).length ) {
+				rbuggyQSA.push( "[*^$]=" + whitespace + "*(?:''|\"\")" );
+			}
+
+			// Support: IE8
+			// Boolean attributes and "value" are not treated correctly
+			if ( !el.querySelectorAll( "[selected]" ).length ) {
+				rbuggyQSA.push( "\\[" + whitespace + "*(?:value|" + booleans + ")" );
+			}
+
+			// Support: Chrome<29, Android<4.4, Safari<7.0+, iOS<7.0+, PhantomJS<1.9.8+
+			if ( !el.querySelectorAll( "[id~=" + expando + "-]" ).length ) {
+				rbuggyQSA.push( "~=" );
+			}
+
+			// Support: IE 11+, Edge 15 - 18+
+			// IE 11/Edge don't find elements on a `[name='']` query in some cases.
+			// Adding a temporary attribute to the document before the selection works
+			// around the issue.
+			// Interestingly, IE 10 & older don't seem to have the issue.
+			input = document.createElement( "input" );
+			input.setAttribute( "name", "" );
+			el.appendChild( input );
+			if ( !el.querySelectorAll( "[name='']" ).length ) {
+				rbuggyQSA.push( "\\[" + whitespace + "*name" + whitespace + "*=" +
+					whitespace + "*(?:''|\"\")" );
+			}
+
+			// Webkit/Opera - :checked should return selected option elements
+			// http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked
+			// IE8 throws error here and will not see later tests
+			if ( !el.querySelectorAll( ":checked" ).length ) {
+				rbuggyQSA.push( ":checked" );
+			}
+
+			// Support: Safari 8+, iOS 8+
+			// https://bugs.webkit.org/show_bug.cgi?id=136851
+			// In-page `selector#id sibling-combinator selector` fails
+			if ( !el.querySelectorAll( "a#" + expando + "+*" ).length ) {
+				rbuggyQSA.push( ".#.+[+~]" );
+			}
+
+			// Support: Firefox <=3.6 - 5 only
+			// Old Firefox doesn't throw on a badly-escaped identifier.
+			el.querySelectorAll( "\\\f" );
+			rbuggyQSA.push( "[\\r\\n\\f]" );
+		} );
+
+		assert( function( el ) {
+			el.innerHTML = "<a href='' disabled='disabled'></a>" +
+				"<select disabled='disabled'><option/></select>";
+
+			// Support: Windows 8 Native Apps
+			// The type and name attributes are restricted during .innerHTML assignment
+			var input = document.createElement( "input" );
+			input.setAttribute( "type", "hidden" );
+			el.appendChild( input ).setAttribute( "name", "D" );
+
+			// Support: IE8
+			// Enforce case-sensitivity of name attribute
+			if ( el.querySelectorAll( "[name=d]" ).length ) {
+				rbuggyQSA.push( "name" + whitespace + "*[*^$|!~]?=" );
+			}
+
+			// FF 3.5 - :enabled/:disabled and hidden elements (hidden elements are still enabled)
+			// IE8 throws error here and will not see later tests
+			if ( el.querySelectorAll( ":enabled" ).length !== 2 ) {
+				rbuggyQSA.push( ":enabled", ":disabled" );
+			}
+
+			// Support: IE9-11+
+			// IE's :disabled selector does not pick up the children of disabled fieldsets
+			docElem.appendChild( el ).disabled = true;
+			if ( el.querySelectorAll( ":disabled" ).length !== 2 ) {
+				rbuggyQSA.push( ":enabled", ":disabled" );
+			}
+
+			// Support: Opera 10 - 11 only
+			// Opera 10-11 does not throw on post-comma invalid pseudos
+			el.querySelectorAll( "*,:x" );
+			rbuggyQSA.push( ",.*:" );
+		} );
+	}
+
+	if ( ( support.matchesSelector = rnative.test( ( matches = docElem.matches ||
+		docElem.webkitMatchesSelector ||
+		docElem.mozMatchesSelector ||
+		docElem.oMatchesSelector ||
+		docElem.msMatchesSelector ) ) ) ) {
+
+		assert( function( el ) {
+
+			// Check to see if it's possible to do matchesSelector
+			// on a disconnected node (IE 9)
+			support.disconnectedMatch = matches.call( el, "*" );
+
+			// This should fail with an exception
+			// Gecko does not error, returns false instead
+			matches.call( el, "[s!='']:x" );
+			rbuggyMatches.push( "!=", pseudos );
+		} );
+	}
+
+	rbuggyQSA = rbuggyQSA.length && new RegExp( rbuggyQSA.join( "|" ) );
+	rbuggyMatches = rbuggyMatches.length && new RegExp( rbuggyMatches.join( "|" ) );
+
+	/* Contains
+	---------------------------------------------------------------------- */
+	hasCompare = rnative.test( docElem.compareDocumentPosition );
+
+	// Element contains another
+	// Purposefully self-exclusive
+	// As in, an element does not contain itself
+	contains = hasCompare || rnative.test( docElem.contains ) ?
+		function( a, b ) {
+			var adown = a.nodeType === 9 ? a.documentElement : a,
+				bup = b && b.parentNode;
+			return a === bup || !!( bup && bup.nodeType === 1 && (
+				adown.contains ?
+					adown.contains( bup ) :
+					a.compareDocumentPosition && a.compareDocumentPosition( bup ) & 16
+			) );
+		} :
+		function( a, b ) {
+			if ( b ) {
+				while ( ( b = b.parentNode ) ) {
+					if ( b === a ) {
+						return true;
+					}
+				}
+			}
+			return false;
+		};
+
+	/* Sorting
+	---------------------------------------------------------------------- */
+
+	// Document order sorting
+	sortOrder = hasCompare ?
+	function( a, b ) {
+
+		// Flag for duplicate removal
+		if ( a === b ) {
+			hasDuplicate = true;
+			return 0;
+		}
+
+		// Sort on method existence if only one input has compareDocumentPosition
+		var compare = !a.compareDocumentPosition - !b.compareDocumentPosition;
+		if ( compare ) {
+			return compare;
+		}
+
+		// Calculate position if both inputs belong to the same document
+		// Support: IE 11+, Edge 17 - 18+
+		// IE/Edge sometimes throw a "Permission denied" error when strict-comparing
+		// two documents; shallow comparisons work.
+		// eslint-disable-next-line eqeqeq
+		compare = ( a.ownerDocument || a ) == ( b.ownerDocument || b ) ?
+			a.compareDocumentPosition( b ) :
+
+			// Otherwise we know they are disconnected
+			1;
+
+		// Disconnected nodes
+		if ( compare & 1 ||
+			( !support.sortDetached && b.compareDocumentPosition( a ) === compare ) ) {
+
+			// Choose the first element that is related to our preferred document
+			// Support: IE 11+, Edge 17 - 18+
+			// IE/Edge sometimes throw a "Permission denied" error when strict-comparing
+			// two documents; shallow comparisons work.
+			// eslint-disable-next-line eqeqeq
+			if ( a == document || a.ownerDocument == preferredDoc &&
+				contains( preferredDoc, a ) ) {
+				return -1;
+			}
+
+			// Support: IE 11+, Edge 17 - 18+
+			// IE/Edge sometimes throw a "Permission denied" error when strict-comparing
+			// two documents; shallow comparisons work.
+			// eslint-disable-next-line eqeqeq
+			if ( b == document || b.ownerDocument == preferredDoc &&
+				contains( preferredDoc, b ) ) {
+				return 1;
+			}
+
+			// Maintain original order
+			return sortInput ?
+				( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) :
+				0;
+		}
+
+		return compare & 4 ? -1 : 1;
+	} :
+	function( a, b ) {
+
+		// Exit early if the nodes are identical
+		if ( a === b ) {
+			hasDuplicate = true;
+			return 0;
+		}
+
+		var cur,
+			i = 0,
+			aup = a.parentNode,
+			bup = b.parentNode,
+			ap = [ a ],
+			bp = [ b ];
+
+		// Parentless nodes are either documents or disconnected
+		if ( !aup || !bup ) {
+
+			// Support: IE 11+, Edge 17 - 18+
+			// IE/Edge sometimes throw a "Permission denied" error when strict-comparing
+			// two documents; shallow comparisons work.
+			/* eslint-disable eqeqeq */
+			return a == document ? -1 :
+				b == document ? 1 :
+				/* eslint-enable eqeqeq */
+				aup ? -1 :
+				bup ? 1 :
+				sortInput ?
+				( indexOf( sortInput, a ) - indexOf( sortInput, b ) ) :
+				0;
+
+		// If the nodes are siblings, we can do a quick check
+		} else if ( aup === bup ) {
+			return siblingCheck( a, b );
+		}
+
+		// Otherwise we need full lists of their ancestors for comparison
+		cur = a;
+		while ( ( cur = cur.parentNode ) ) {
+			ap.unshift( cur );
+		}
+		cur = b;
+		while ( ( cur = cur.parentNode ) ) {
+			bp.unshift( cur );
+		}
+
+		// Walk down the tree looking for a discrepancy
+		while ( ap[ i ] === bp[ i ] ) {
+			i++;
+		}
+
+		return i ?
+
+			// Do a sibling check if the nodes have a common ancestor
+			siblingCheck( ap[ i ], bp[ i ] ) :
+
+			// Otherwise nodes in our document sort first
+			// Support: IE 11+, Edge 17 - 18+
+			// IE/Edge sometimes throw a "Permission denied" error when strict-comparing
+			// two documents; shallow comparisons work.
+			/* eslint-disable eqeqeq */
+			ap[ i ] == preferredDoc ? -1 :
+			bp[ i ] == preferredDoc ? 1 :
+			/* eslint-enable eqeqeq */
+			0;
+	};
+
+	return document;
+};
+
+Sizzle.matches = function( expr, elements ) {
+	return Sizzle( expr, null, null, elements );
+};
+
+Sizzle.matchesSelector = function( elem, expr ) {
+	setDocument( elem );
+
+	if ( support.matchesSelector && documentIsHTML &&
+		!nonnativeSelectorCache[ expr + " " ] &&
+		( !rbuggyMatches || !rbuggyMatches.test( expr ) ) &&
+		( !rbuggyQSA     || !rbuggyQSA.test( expr ) ) ) {
+
+		try {
+			var ret = matches.call( elem, expr );
+
+			// IE 9's matchesSelector returns false on disconnected nodes
+			if ( ret || support.disconnectedMatch ||
+
+				// As well, disconnected nodes are said to be in a document
+				// fragment in IE 9
+				elem.document && elem.document.nodeType !== 11 ) {
+				return ret;
+			}
+		} catch ( e ) {
+			nonnativeSelectorCache( expr, true );
+		}
+	}
+
+	return Sizzle( expr, document, null, [ elem ] ).length > 0;
+};
+
+Sizzle.contains = function( context, elem ) {
+
+	// Set document vars if needed
+	// Support: IE 11+, Edge 17 - 18+
+	// IE/Edge sometimes throw a "Permission denied" error when strict-comparing
+	// two documents; shallow comparisons work.
+	// eslint-disable-next-line eqeqeq
+	if ( ( context.ownerDocument || context ) != document ) {
+		setDocument( context );
+	}
+	return contains( context, elem );
+};
+
+Sizzle.attr = function( elem, name ) {
+
+	// Set document vars if needed
+	// Support: IE 11+, Edge 17 - 18+
+	// IE/Edge sometimes throw a "Permission denied" error when strict-comparing
+	// two documents; shallow comparisons work.
+	// eslint-disable-next-line eqeqeq
+	if ( ( elem.ownerDocument || elem ) != document ) {
+		setDocument( elem );
+	}
+
+	var fn = Expr.attrHandle[ name.toLowerCase() ],
+
+		// Don't get fooled by Object.prototype properties (jQuery #13807)
+		val = fn && hasOwn.call( Expr.attrHandle, name.toLowerCase() ) ?
+			fn( elem, name, !documentIsHTML ) :
+			undefined;
+
+	return val !== undefined ?
+		val :
+		support.attributes || !documentIsHTML ?
+			elem.getAttribute( name ) :
+			( val = elem.getAttributeNode( name ) ) && val.specified ?
+				val.value :
+				null;
+};
+
+Sizzle.escape = function( sel ) {
+	return ( sel + "" ).replace( rcssescape, fcssescape );
+};
+
+Sizzle.error = function( msg ) {
+	throw new Error( "Syntax error, unrecognized expression: " + msg );
+};
+
+/**
+ * Document sorting and removing duplicates
+ * @param {ArrayLike} results
+ */
+Sizzle.uniqueSort = function( results ) {
+	var elem,
+		duplicates = [],
+		j = 0,
+		i = 0;
+
+	// Unless we *know* we can detect duplicates, assume their presence
+	hasDuplicate = !support.detectDuplicates;
+	sortInput = !support.sortStable && results.slice( 0 );
+	results.sort( sortOrder );
+
+	if ( hasDuplicate ) {
+		while ( ( elem = results[ i++ ] ) ) {
+			if ( elem === results[ i ] ) {
+				j = duplicates.push( i );
+			}
+		}
+		while ( j-- ) {
+			results.splice( duplicates[ j ], 1 );
+		}
+	}
+
+	// Clear input after sorting to release objects
+	// See https://github.com/jquery/sizzle/pull/225
+	sortInput = null;
+
+	return results;
+};
+
+/**
+ * Utility function for retrieving the text value of an array of DOM nodes
+ * @param {Array|Element} elem
+ */
+getText = Sizzle.getText = function( elem ) {
+	var node,
+		ret = "",
+		i = 0,
+		nodeType = elem.nodeType;
+
+	if ( !nodeType ) {
+
+		// If no nodeType, this is expected to be an array
+		while ( ( node = elem[ i++ ] ) ) {
+
+			// Do not traverse comment nodes
+			ret += getText( node );
+		}
+	} else if ( nodeType === 1 || nodeType === 9 || nodeType === 11 ) {
+
+		// Use textContent for elements
+		// innerText usage removed for consistency of new lines (jQuery #11153)
+		if ( typeof elem.textContent === "string" ) {
+			return elem.textContent;
+		} else {
+
+			// Traverse its children
+			for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) {
+				ret += getText( elem );
+			}
+		}
+	} else if ( nodeType === 3 || nodeType === 4 ) {
+		return elem.nodeValue;
+	}
+
+	// Do not include comment or processing instruction nodes
+
+	return ret;
+};
+
+Expr = Sizzle.selectors = {
+
+	// Can be adjusted by the user
+	cacheLength: 50,
+
+	createPseudo: markFunction,
+
+	match: matchExpr,
+
+	attrHandle: {},
+
+	find: {},
+
+	relative: {
+		">": { dir: "parentNode", first: true },
+		" ": { dir: "parentNode" },
+		"+": { dir: "previousSibling", first: true },
+		"~": { dir: "previousSibling" }
+	},
+
+	preFilter: {
+		"ATTR": function( match ) {
+			match[ 1 ] = match[ 1 ].replace( runescape, funescape );
+
+			// Move the given value to match[3] whether quoted or unquoted
+			match[ 3 ] = ( match[ 3 ] || match[ 4 ] ||
+				match[ 5 ] || "" ).replace( runescape, funescape );
+
+			if ( match[ 2 ] === "~=" ) {
+				match[ 3 ] = " " + match[ 3 ] + " ";
+			}
+
+			return match.slice( 0, 4 );
+		},
+
+		"CHILD": function( match ) {
+
+			/* matches from matchExpr["CHILD"]
+				1 type (only|nth|...)
+				2 what (child|of-type)
+				3 argument (even|odd|\d*|\d*n([+-]\d+)?|...)
+				4 xn-component of xn+y argument ([+-]?\d*n|)
+				5 sign of xn-component
+				6 x of xn-component
+				7 sign of y-component
+				8 y of y-component
+			*/
+			match[ 1 ] = match[ 1 ].toLowerCase();
+
+			if ( match[ 1 ].slice( 0, 3 ) === "nth" ) {
+
+				// nth-* requires argument
+				if ( !match[ 3 ] ) {
+					Sizzle.error( match[ 0 ] );
+				}
+
+				// numeric x and y parameters for Expr.filter.CHILD
+				// remember that false/true cast respectively to 0/1
+				match[ 4 ] = +( match[ 4 ] ?
+					match[ 5 ] + ( match[ 6 ] || 1 ) :
+					2 * ( match[ 3 ] === "even" || match[ 3 ] === "odd" ) );
+				match[ 5 ] = +( ( match[ 7 ] + match[ 8 ] ) || match[ 3 ] === "odd" );
+
+				// other types prohibit arguments
+			} else if ( match[ 3 ] ) {
+				Sizzle.error( match[ 0 ] );
+			}
+
+			return match;
+		},
+
+		"PSEUDO": function( match ) {
+			var excess,
+				unquoted = !match[ 6 ] && match[ 2 ];
+
+			if ( matchExpr[ "CHILD" ].test( match[ 0 ] ) ) {
+				return null;
+			}
+
+			// Accept quoted arguments as-is
+			if ( match[ 3 ] ) {
+				match[ 2 ] = match[ 4 ] || match[ 5 ] || "";
+
+			// Strip excess characters from unquoted arguments
+			} else if ( unquoted && rpseudo.test( unquoted ) &&
+
+				// Get excess from tokenize (recursively)
+				( excess = tokenize( unquoted, true ) ) &&
+
+				// advance to the next closing parenthesis
+				( excess = unquoted.indexOf( ")", unquoted.length - excess ) - unquoted.length ) ) {
+
+				// excess is a negative index
+				match[ 0 ] = match[ 0 ].slice( 0, excess );
+				match[ 2 ] = unquoted.slice( 0, excess );
+			}
+
+			// Return only captures needed by the pseudo filter method (type and argument)
+			return match.slice( 0, 3 );
+		}
+	},
+
+	filter: {
+
+		"TAG": function( nodeNameSelector ) {
+			var nodeName = nodeNameSelector.replace( runescape, funescape ).toLowerCase();
+			return nodeNameSelector === "*" ?
+				function() {
+					return true;
+				} :
+				function( elem ) {
+					return elem.nodeName && elem.nodeName.toLowerCase() === nodeName;
+				};
+		},
+
+		"CLASS": function( className ) {
+			var pattern = classCache[ className + " " ];
+
+			return pattern ||
+				( pattern = new RegExp( "(^|" + whitespace +
+					")" + className + "(" + whitespace + "|$)" ) ) && classCache(
+						className, function( elem ) {
+							return pattern.test(
+								typeof elem.className === "string" && elem.className ||
+								typeof elem.getAttribute !== "undefined" &&
+									elem.getAttribute( "class" ) ||
+								""
+							);
+				} );
+		},
+
+		"ATTR": function( name, operator, check ) {
+			return function( elem ) {
+				var result = Sizzle.attr( elem, name );
+
+				if ( result == null ) {
+					return operator === "!=";
+				}
+				if ( !operator ) {
+					return true;
+				}
+
+				result += "";
+
+				/* eslint-disable max-len */
+
+				return operator === "=" ? result === check :
+					operator === "!=" ? result !== check :
+					operator === "^=" ? check && result.indexOf( check ) === 0 :
+					operator === "*=" ? check && result.indexOf( check ) > -1 :
+					operator === "$=" ? check && result.slice( -check.length ) === check :
+					operator === "~=" ? ( " " + result.replace( rwhitespace, " " ) + " " ).indexOf( check ) > -1 :
+					operator === "|=" ? result === check || result.slice( 0, check.length + 1 ) === check + "-" :
+					false;
+				/* eslint-enable max-len */
+
+			};
+		},
+
+		"CHILD": function( type, what, _argument, first, last ) {
+			var simple = type.slice( 0, 3 ) !== "nth",
+				forward = type.slice( -4 ) !== "last",
+				ofType = what === "of-type";
+
+			return first === 1 && last === 0 ?
+
+				// Shortcut for :nth-*(n)
+				function( elem ) {
+					return !!elem.parentNode;
+				} :
+
+				function( elem, _context, xml ) {
+					var cache, uniqueCache, outerCache, node, nodeIndex, start,
+						dir = simple !== forward ? "nextSibling" : "previousSibling",
+						parent = elem.parentNode,
+						name = ofType && elem.nodeName.toLowerCase(),
+						useCache = !xml && !ofType,
+						diff = false;
+
+					if ( parent ) {
+
+						// :(first|last|only)-(child|of-type)
+						if ( simple ) {
+							while ( dir ) {
+								node = elem;
+								while ( ( node = node[ dir ] ) ) {
+									if ( ofType ?
+										node.nodeName.toLowerCase() === name :
+										node.nodeType === 1 ) {
+
+										return false;
+									}
+								}
+
+								// Reverse direction for :only-* (if we haven't yet done so)
+								start = dir = type === "only" && !start && "nextSibling";
+							}
+							return true;
+						}
+
+						start = [ forward ? parent.firstChild : parent.lastChild ];
+
+						// non-xml :nth-child(...) stores cache data on `parent`
+						if ( forward && useCache ) {
+
+							// Seek `elem` from a previously-cached index
+
+							// ...in a gzip-friendly way
+							node = parent;
+							outerCache = node[ expando ] || ( node[ expando ] = {} );
+
+							// Support: IE <9 only
+							// Defend against cloned attroperties (jQuery gh-1709)
+							uniqueCache = outerCache[ node.uniqueID ] ||
+								( outerCache[ node.uniqueID ] = {} );
+
+							cache = uniqueCache[ type ] || [];
+							nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ];
+							diff = nodeIndex && cache[ 2 ];
+							node = nodeIndex && parent.childNodes[ nodeIndex ];
+
+							while ( ( node = ++nodeIndex && node && node[ dir ] ||
+
+								// Fallback to seeking `elem` from the start
+								( diff = nodeIndex = 0 ) || start.pop() ) ) {
+
+								// When found, cache indexes on `parent` and break
+								if ( node.nodeType === 1 && ++diff && node === elem ) {
+									uniqueCache[ type ] = [ dirruns, nodeIndex, diff ];
+									break;
+								}
+							}
+
+						} else {
+
+							// Use previously-cached element index if available
+							if ( useCache ) {
+
+								// ...in a gzip-friendly way
+								node = elem;
+								outerCache = node[ expando ] || ( node[ expando ] = {} );
+
+								// Support: IE <9 only
+								// Defend against cloned attroperties (jQuery gh-1709)
+								uniqueCache = outerCache[ node.uniqueID ] ||
+									( outerCache[ node.uniqueID ] = {} );
+
+								cache = uniqueCache[ type ] || [];
+								nodeIndex = cache[ 0 ] === dirruns && cache[ 1 ];
+								diff = nodeIndex;
+							}
+
+							// xml :nth-child(...)
+							// or :nth-last-child(...) or :nth(-last)?-of-type(...)
+							if ( diff === false ) {
+
+								// Use the same loop as above to seek `elem` from the start
+								while ( ( node = ++nodeIndex && node && node[ dir ] ||
+									( diff = nodeIndex = 0 ) || start.pop() ) ) {
+
+									if ( ( ofType ?
+										node.nodeName.toLowerCase() === name :
+										node.nodeType === 1 ) &&
+										++diff ) {
+
+										// Cache the index of each encountered element
+										if ( useCache ) {
+											outerCache = node[ expando ] ||
+												( node[ expando ] = {} );
+
+											// Support: IE <9 only
+											// Defend against cloned attroperties (jQuery gh-1709)
+											uniqueCache = outerCache[ node.uniqueID ] ||
+												( outerCache[ node.uniqueID ] = {} );
+
+											uniqueCache[ type ] = [ dirruns, diff ];
+										}
+
+										if ( node === elem ) {
+											break;
+										}
+									}
+								}
+							}
+						}
+
+						// Incorporate the offset, then check against cycle size
+						diff -= last;
+						return diff === first || ( diff % first === 0 && diff / first >= 0 );
+					}
+				};
+		},
+
+		"PSEUDO": function( pseudo, argument ) {
+
+			// pseudo-class names are case-insensitive
+			// http://www.w3.org/TR/selectors/#pseudo-classes
+			// Prioritize by case sensitivity in case custom pseudos are added with uppercase letters
+			// Remember that setFilters inherits from pseudos
+			var args,
+				fn = Expr.pseudos[ pseudo ] || Expr.setFilters[ pseudo.toLowerCase() ] ||
+					Sizzle.error( "unsupported pseudo: " + pseudo );
+
+			// The user may use createPseudo to indicate that
+			// arguments are needed to create the filter function
+			// just as Sizzle does
+			if ( fn[ expando ] ) {
+				return fn( argument );
+			}
+
+			// But maintain support for old signatures
+			if ( fn.length > 1 ) {
+				args = [ pseudo, pseudo, "", argument ];
+				return Expr.setFilters.hasOwnProperty( pseudo.toLowerCase() ) ?
+					markFunction( function( seed, matches ) {
+						var idx,
+							matched = fn( seed, argument ),
+							i = matched.length;
+						while ( i-- ) {
+							idx = indexOf( seed, matched[ i ] );
+							seed[ idx ] = !( matches[ idx ] = matched[ i ] );
+						}
+					} ) :
+					function( elem ) {
+						return fn( elem, 0, args );
+					};
+			}
+
+			return fn;
+		}
+	},
+
+	pseudos: {
+
+		// Potentially complex pseudos
+		"not": markFunction( function( selector ) {
+
+			// Trim the selector passed to compile
+			// to avoid treating leading and trailing
+			// spaces as combinators
+			var input = [],
+				results = [],
+				matcher = compile( selector.replace( rtrim, "$1" ) );
+
+			return matcher[ expando ] ?
+				markFunction( function( seed, matches, _context, xml ) {
+					var elem,
+						unmatched = matcher( seed, null, xml, [] ),
+						i = seed.length;
+
+					// Match elements unmatched by `matcher`
+					while ( i-- ) {
+						if ( ( elem = unmatched[ i ] ) ) {
+							seed[ i ] = !( matches[ i ] = elem );
+						}
+					}
+				} ) :
+				function( elem, _context, xml ) {
+					input[ 0 ] = elem;
+					matcher( input, null, xml, results );
+
+					// Don't keep the element (issue #299)
+					input[ 0 ] = null;
+					return !results.pop();
+				};
+		} ),
+
+		"has": markFunction( function( selector ) {
+			return function( elem ) {
+				return Sizzle( selector, elem ).length > 0;
+			};
+		} ),
+
+		"contains": markFunction( function( text ) {
+			text = text.replace( runescape, funescape );
+			return function( elem ) {
+				return ( elem.textContent || getText( elem ) ).indexOf( text ) > -1;
+			};
+		} ),
+
+		// "Whether an element is represented by a :lang() selector
+		// is based solely on the element's language value
+		// being equal to the identifier C,
+		// or beginning with the identifier C immediately followed by "-".
+		// The matching of C against the element's language value is performed case-insensitively.
+		// The identifier C does not have to be a valid language name."
+		// http://www.w3.org/TR/selectors/#lang-pseudo
+		"lang": markFunction( function( lang ) {
+
+			// lang value must be a valid identifier
+			if ( !ridentifier.test( lang || "" ) ) {
+				Sizzle.error( "unsupported lang: " + lang );
+			}
+			lang = lang.replace( runescape, funescape ).toLowerCase();
+			return function( elem ) {
+				var elemLang;
+				do {
+					if ( ( elemLang = documentIsHTML ?
+						elem.lang :
+						elem.getAttribute( "xml:lang" ) || elem.getAttribute( "lang" ) ) ) {
+
+						elemLang = elemLang.toLowerCase();
+						return elemLang === lang || elemLang.indexOf( lang + "-" ) === 0;
+					}
+				} while ( ( elem = elem.parentNode ) && elem.nodeType === 1 );
+				return false;
+			};
+		} ),
+
+		// Miscellaneous
+		"target": function( elem ) {
+			var hash = window.location && window.location.hash;
+			return hash && hash.slice( 1 ) === elem.id;
+		},
+
+		"root": function( elem ) {
+			return elem === docElem;
+		},
+
+		"focus": function( elem ) {
+			return elem === document.activeElement &&
+				( !document.hasFocus || document.hasFocus() ) &&
+				!!( elem.type || elem.href || ~elem.tabIndex );
+		},
+
+		// Boolean properties
+		"enabled": createDisabledPseudo( false ),
+		"disabled": createDisabledPseudo( true ),
+
+		"checked": function( elem ) {
+
+			// In CSS3, :checked should return both checked and selected elements
+			// http://www.w3.org/TR/2011/REC-css3-selectors-20110929/#checked
+			var nodeName = elem.nodeName.toLowerCase();
+			return ( nodeName === "input" && !!elem.checked ) ||
+				( nodeName === "option" && !!elem.selected );
+		},
+
+		"selected": function( elem ) {
+
+			// Accessing this property makes selected-by-default
+			// options in Safari work properly
+			if ( elem.parentNode ) {
+				// eslint-disable-next-line no-unused-expressions
+				elem.parentNode.selectedIndex;
+			}
+
+			return elem.selected === true;
+		},
+
+		// Contents
+		"empty": function( elem ) {
+
+			// http://www.w3.org/TR/selectors/#empty-pseudo
+			// :empty is negated by element (1) or content nodes (text: 3; cdata: 4; entity ref: 5),
+			//   but not by others (comment: 8; processing instruction: 7; etc.)
+			// nodeType < 6 works because attributes (2) do not appear as children
+			for ( elem = elem.firstChild; elem; elem = elem.nextSibling ) {
+				if ( elem.nodeType < 6 ) {
+					return false;
+				}
+			}
+			return true;
+		},
+
+		"parent": function( elem ) {
+			return !Expr.pseudos[ "empty" ]( elem );
+		},
+
+		// Element/input types
+		"header": function( elem ) {
+			return rheader.test( elem.nodeName );
+		},
+
+		"input": function( elem ) {
+			return rinputs.test( elem.nodeName );
+		},
+
+		"button": function( elem ) {
+			var name = elem.nodeName.toLowerCase();
+			return name === "input" && elem.type === "button" || name === "button";
+		},
+
+		"text": function( elem ) {
+			var attr;
+			return elem.nodeName.toLowerCase() === "input" &&
+				elem.type === "text" &&
+
+				// Support: IE<8
+				// New HTML5 attribute values (e.g., "search") appear with elem.type === "text"
+				( ( attr = elem.getAttribute( "type" ) ) == null ||
+					attr.toLowerCase() === "text" );
+		},
+
+		// Position-in-collection
+		"first": createPositionalPseudo( function() {
+			return [ 0 ];
+		} ),
+
+		"last": createPositionalPseudo( function( _matchIndexes, length ) {
+			return [ length - 1 ];
+		} ),
+
+		"eq": createPositionalPseudo( function( _matchIndexes, length, argument ) {
+			return [ argument < 0 ? argument + length : argument ];
+		} ),
+
+		"even": createPositionalPseudo( function( matchIndexes, length ) {
+			var i = 0;
+			for ( ; i < length; i += 2 ) {
+				matchIndexes.push( i );
+			}
+			return matchIndexes;
+		} ),
+
+		"odd": createPositionalPseudo( function( matchIndexes, length ) {
+			var i = 1;
+			for ( ; i < length; i += 2 ) {
+				matchIndexes.push( i );
+			}
+			return matchIndexes;
+		} ),
+
+		"lt": createPositionalPseudo( function( matchIndexes, length, argument ) {
+			var i = argument < 0 ?
+				argument + length :
+				argument > length ?
+					length :
+					argument;
+			for ( ; --i >= 0; ) {
+				matchIndexes.push( i );
+			}
+			return matchIndexes;
+		} ),
+
+		"gt": createPositionalPseudo( function( matchIndexes, length, argument ) {
+			var i = argument < 0 ? argument + length : argument;
+			for ( ; ++i < length; ) {
+				matchIndexes.push( i );
+			}
+			return matchIndexes;
+		} )
+	}
+};
+
+Expr.pseudos[ "nth" ] = Expr.pseudos[ "eq" ];
+
+// Add button/input type pseudos
+for ( i in { radio: true, checkbox: true, file: true, password: true, image: true } ) {
+	Expr.pseudos[ i ] = createInputPseudo( i );
+}
+for ( i in { submit: true, reset: true } ) {
+	Expr.pseudos[ i ] = createButtonPseudo( i );
+}
+
+// Easy API for creating new setFilters
+function setFilters() {}
+setFilters.prototype = Expr.filters = Expr.pseudos;
+Expr.setFilters = new setFilters();
+
+tokenize = Sizzle.tokenize = function( selector, parseOnly ) {
+	var matched, match, tokens, type,
+		soFar, groups, preFilters,
+		cached = tokenCache[ selector + " " ];
+
+	if ( cached ) {
+		return parseOnly ? 0 : cached.slice( 0 );
+	}
+
+	soFar = selector;
+	groups = [];
+	preFilters = Expr.preFilter;
+
+	while ( soFar ) {
+
+		// Comma and first run
+		if ( !matched || ( match = rcomma.exec( soFar ) ) ) {
+			if ( match ) {
+
+				// Don't consume trailing commas as valid
+				soFar = soFar.slice( match[ 0 ].length ) || soFar;
+			}
+			groups.push( ( tokens = [] ) );
+		}
+
+		matched = false;
+
+		// Combinators
+		if ( ( match = rcombinators.exec( soFar ) ) ) {
+			matched = match.shift();
+			tokens.push( {
+				value: matched,
+
+				// Cast descendant combinators to space
+				type: match[ 0 ].replace( rtrim, " " )
+			} );
+			soFar = soFar.slice( matched.length );
+		}
+
+		// Filters
+		for ( type in Expr.filter ) {
+			if ( ( match = matchExpr[ type ].exec( soFar ) ) && ( !preFilters[ type ] ||
+				( match = preFilters[ type ]( match ) ) ) ) {
+				matched = match.shift();
+				tokens.push( {
+					value: matched,
+					type: type,
+					matches: match
+				} );
+				soFar = soFar.slice( matched.length );
+			}
+		}
+
+		if ( !matched ) {
+			break;
+		}
+	}
+
+	// Return the length of the invalid excess
+	// if we're just parsing
+	// Otherwise, throw an error or return tokens
+	return parseOnly ?
+		soFar.length :
+		soFar ?
+			Sizzle.error( selector ) :
+
+			// Cache the tokens
+			tokenCache( selector, groups ).slice( 0 );
+};
+
+function toSelector( tokens ) {
+	var i = 0,
+		len = tokens.length,
+		selector = "";
+	for ( ; i < len; i++ ) {
+		selector += tokens[ i ].value;
+	}
+	return selector;
+}
+
+function addCombinator( matcher, combinator, base ) {
+	var dir = combinator.dir,
+		skip = combinator.next,
+		key = skip || dir,
+		checkNonElements = base && key === "parentNode",
+		doneName = done++;
+
+	return combinator.first ?
+
+		// Check against closest ancestor/preceding element
+		function( elem, context, xml ) {
+			while ( ( elem = elem[ dir ] ) ) {
+				if ( elem.nodeType === 1 || checkNonElements ) {
+					return matcher( elem, context, xml );
+				}
+			}
+			return false;
+		} :
+
+		// Check against all ancestor/preceding elements
+		function( elem, context, xml ) {
+			var oldCache, uniqueCache, outerCache,
+				newCache = [ dirruns, doneName ];
+
+			// We can't set arbitrary data on XML nodes, so they don't benefit from combinator caching
+			if ( xml ) {
+				while ( ( elem = elem[ dir ] ) ) {
+					if ( elem.nodeType === 1 || checkNonElements ) {
+						if ( matcher( elem, context, xml ) ) {
+							return true;
+						}
+					}
+				}
+			} else {
+				while ( ( elem = elem[ dir ] ) ) {
+					if ( elem.nodeType === 1 || checkNonElements ) {
+						outerCache = elem[ expando ] || ( elem[ expando ] = {} );
+
+						// Support: IE <9 only
+						// Defend against cloned attroperties (jQuery gh-1709)
+						uniqueCache = outerCache[ elem.uniqueID ] ||
+							( outerCache[ elem.uniqueID ] = {} );
+
+						if ( skip && skip === elem.nodeName.toLowerCase() ) {
+							elem = elem[ dir ] || elem;
+						} else if ( ( oldCache = uniqueCache[ key ] ) &&
+							oldCache[ 0 ] === dirruns && oldCache[ 1 ] === doneName ) {
+
+							// Assign to newCache so results back-propagate to previous elements
+							return ( newCache[ 2 ] = oldCache[ 2 ] );
+						} else {
+
+							// Reuse newcache so results back-propagate to previous elements
+							uniqueCache[ key ] = newCache;
+
+							// A match means we're done; a fail means we have to keep checking
+							if ( ( newCache[ 2 ] = matcher( elem, context, xml ) ) ) {
+								return true;
+							}
+						}
+					}
+				}
+			}
+			return false;
+		};
+}
+
+function elementMatcher( matchers ) {
+	return matchers.length > 1 ?
+		function( elem, context, xml ) {
+			var i = matchers.length;
+			while ( i-- ) {
+				if ( !matchers[ i ]( elem, context, xml ) ) {
+					return false;
+				}
+			}
+			return true;
+		} :
+		matchers[ 0 ];
+}
+
+function multipleContexts( selector, contexts, results ) {
+	var i = 0,
+		len = contexts.length;
+	for ( ; i < len; i++ ) {
+		Sizzle( selector, contexts[ i ], results );
+	}
+	return results;
+}
+
+function condense( unmatched, map, filter, context, xml ) {
+	var elem,
+		newUnmatched = [],
+		i = 0,
+		len = unmatched.length,
+		mapped = map != null;
+
+	for ( ; i < len; i++ ) {
+		if ( ( elem = unmatched[ i ] ) ) {
+			if ( !filter || filter( elem, context, xml ) ) {
+				newUnmatched.push( elem );
+				if ( mapped ) {
+					map.push( i );
+				}
+			}
+		}
+	}
+
+	return newUnmatched;
+}
+
+function setMatcher( preFilter, selector, matcher, postFilter, postFinder, postSelector ) {
+	if ( postFilter && !postFilter[ expando ] ) {
+		postFilter = setMatcher( postFilter );
+	}
+	if ( postFinder && !postFinder[ expando ] ) {
+		postFinder = setMatcher( postFinder, postSelector );
+	}
+	return markFunction( function( seed, results, context, xml ) {
+		var temp, i, elem,
+			preMap = [],
+			postMap = [],
+			preexisting = results.length,
+
+			// Get initial elements from seed or context
+			elems = seed || multipleContexts(
+				selector || "*",
+				context.nodeType ? [ context ] : context,
+				[]
+			),
+
+			// Prefilter to get matcher input, preserving a map for seed-results synchronization
+			matcherIn = preFilter && ( seed || !selector ) ?
+				condense( elems, preMap, preFilter, context, xml ) :
+				elems,
+
+			matcherOut = matcher ?
+
+				// If we have a postFinder, or filtered seed, or non-seed postFilter or preexisting results,
+				postFinder || ( seed ? preFilter : preexisting || postFilter ) ?
+
+					// ...intermediate processing is necessary
+					[] :
+
+					// ...otherwise use results directly
+					results :
+				matcherIn;
+
+		// Find primary matches
+		if ( matcher ) {
+			matcher( matcherIn, matcherOut, context, xml );
+		}
+
+		// Apply postFilter
+		if ( postFilter ) {
+			temp = condense( matcherOut, postMap );
+			postFilter( temp, [], context, xml );
+
+			// Un-match failing elements by moving them back to matcherIn
+			i = temp.length;
+			while ( i-- ) {
+				if ( ( elem = temp[ i ] ) ) {
+					matcherOut[ postMap[ i ] ] = !( matcherIn[ postMap[ i ] ] = elem );
+				}
+			}
+		}
+
+		if ( seed ) {
+			if ( postFinder || preFilter ) {
+				if ( postFinder ) {
+
+					// Get the final matcherOut by condensing this intermediate into postFinder contexts
+					temp = [];
+					i = matcherOut.length;
+					while ( i-- ) {
+						if ( ( elem = matcherOut[ i ] ) ) {
+
+							// Restore matcherIn since elem is not yet a final match
+							temp.push( ( matcherIn[ i ] = elem ) );
+						}
+					}
+					postFinder( null, ( matcherOut = [] ), temp, xml );
+				}
+
+				// Move matched elements from seed to results to keep them synchronized
+				i = matcherOut.length;
+				while ( i-- ) {
+					if ( ( elem = matcherOut[ i ] ) &&
+						( temp = postFinder ? indexOf( seed, elem ) : preMap[ i ] ) > -1 ) {
+
+						seed[ temp ] = !( results[ temp ] = elem );
+					}
+				}
+			}
+
+		// Add elements to results, through postFinder if defined
+		} else {
+			matcherOut = condense(
+				matcherOut === results ?
+					matcherOut.splice( preexisting, matcherOut.length ) :
+					matcherOut
+			);
+			if ( postFinder ) {
+				postFinder( null, results, matcherOut, xml );
+			} else {
+				push.apply( results, matcherOut );
+			}
+		}
+	} );
+}
+
+function matcherFromTokens( tokens ) {
+	var checkContext, matcher, j,
+		len = tokens.length,
+		leadingRelative = Expr.relative[ tokens[ 0 ].type ],
+		implicitRelative = leadingRelative || Expr.relative[ " " ],
+		i = leadingRelative ? 1 : 0,
+
+		// The foundational matcher ensures that elements are reachable from top-level context(s)
+		matchContext = addCombinator( function( elem ) {
+			return elem === checkContext;
+		}, implicitRelative, true ),
+		matchAnyContext = addCombinator( function( elem ) {
+			return indexOf( checkContext, elem ) > -1;
+		}, implicitRelative, true ),
+		matchers = [ function( elem, context, xml ) {
+			var ret = ( !leadingRelative && ( xml || context !== outermostContext ) ) || (
+				( checkContext = context ).nodeType ?
+					matchContext( elem, context, xml ) :
+					matchAnyContext( elem, context, xml ) );
+
+			// Avoid hanging onto element (issue #299)
+			checkContext = null;
+			return ret;
+		} ];
+
+	for ( ; i < len; i++ ) {
+		if ( ( matcher = Expr.relative[ tokens[ i ].type ] ) ) {
+			matchers = [ addCombinator( elementMatcher( matchers ), matcher ) ];
+		} else {
+			matcher = Expr.filter[ tokens[ i ].type ].apply( null, tokens[ i ].matches );
+
+			// Return special upon seeing a positional matcher
+			if ( matcher[ expando ] ) {
+
+				// Find the next relative operator (if any) for proper handling
+				j = ++i;
+				for ( ; j < len; j++ ) {
+					if ( Expr.relative[ tokens[ j ].type ] ) {
+						break;
+					}
+				}
+				return setMatcher(
+					i > 1 && elementMatcher( matchers ),
+					i > 1 && toSelector(
+
+					// If the preceding token was a descendant combinator, insert an implicit any-element `*`
+					tokens
+						.slice( 0, i - 1 )
+						.concat( { value: tokens[ i - 2 ].type === " " ? "*" : "" } )
+					).replace( rtrim, "$1" ),
+					matcher,
+					i < j && matcherFromTokens( tokens.slice( i, j ) ),
+					j < len && matcherFromTokens( ( tokens = tokens.slice( j ) ) ),
+					j < len && toSelector( tokens )
+				);
+			}
+			matchers.push( matcher );
+		}
+	}
+
+	return elementMatcher( matchers );
+}
+
+function matcherFromGroupMatchers( elementMatchers, setMatchers ) {
+	var bySet = setMatchers.length > 0,
+		byElement = elementMatchers.length > 0,
+		superMatcher = function( seed, context, xml, results, outermost ) {
+			var elem, j, matcher,
+				matchedCount = 0,
+				i = "0",
+				unmatched = seed && [],
+				setMatched = [],
+				contextBackup = outermostContext,
+
+				// We must always have either seed elements or outermost context
+				elems = seed || byElement && Expr.find[ "TAG" ]( "*", outermost ),
+
+				// Use integer dirruns iff this is the outermost matcher
+				dirrunsUnique = ( dirruns += contextBackup == null ? 1 : Math.random() || 0.1 ),
+				len = elems.length;
+
+			if ( outermost ) {
+
+				// Support: IE 11+, Edge 17 - 18+
+				// IE/Edge sometimes throw a "Permission denied" error when strict-comparing
+				// two documents; shallow comparisons work.
+				// eslint-disable-next-line eqeqeq
+				outermostContext = context == document || context || outermost;
+			}
+
+			// Add elements passing elementMatchers directly to results
+			// Support: IE<9, Safari
+			// Tolerate NodeList properties (IE: "length"; Safari: <number>) matching elements by id
+			for ( ; i !== len && ( elem = elems[ i ] ) != null; i++ ) {
+				if ( byElement && elem ) {
+					j = 0;
+
+					// Support: IE 11+, Edge 17 - 18+
+					// IE/Edge sometimes throw a "Permission denied" error when strict-comparing
+					// two documents; shallow comparisons work.
+					// eslint-disable-next-line eqeqeq
+					if ( !context && elem.ownerDocument != document ) {
+						setDocument( elem );
+						xml = !documentIsHTML;
+					}
+					while ( ( matcher = elementMatchers[ j++ ] ) ) {
+						if ( matcher( elem, context || document, xml ) ) {
+							results.push( elem );
+							break;
+						}
+					}
+					if ( outermost ) {
+						dirruns = dirrunsUnique;
+					}
+				}
+
+				// Track unmatched elements for set filters
+				if ( bySet ) {
+
+					// They will have gone through all possible matchers
+					if ( ( elem = !matcher && elem ) ) {
+						matchedCount--;
+					}
+
+					// Lengthen the array for every element, matched or not
+					if ( seed ) {
+						unmatched.push( elem );
+					}
+				}
+			}
+
+			// `i` is now the count of elements visited above, and adding it to `matchedCount`
+			// makes the latter nonnegative.
+			matchedCount += i;
+
+			// Apply set filters to unmatched elements
+			// NOTE: This can be skipped if there are no unmatched elements (i.e., `matchedCount`
+			// equals `i`), unless we didn't visit _any_ elements in the above loop because we have
+			// no element matchers and no seed.
+			// Incrementing an initially-string "0" `i` allows `i` to remain a string only in that
+			// case, which will result in a "00" `matchedCount` that differs from `i` but is also
+			// numerically zero.
+			if ( bySet && i !== matchedCount ) {
+				j = 0;
+				while ( ( matcher = setMatchers[ j++ ] ) ) {
+					matcher( unmatched, setMatched, context, xml );
+				}
+
+				if ( seed ) {
+
+					// Reintegrate element matches to eliminate the need for sorting
+					if ( matchedCount > 0 ) {
+						while ( i-- ) {
+							if ( !( unmatched[ i ] || setMatched[ i ] ) ) {
+								setMatched[ i ] = pop.call( results );
+							}
+						}
+					}
+
+					// Discard index placeholder values to get only actual matches
+					setMatched = condense( setMatched );
+				}
+
+				// Add matches to results
+				push.apply( results, setMatched );
+
+				// Seedless set matches succeeding multiple successful matchers stipulate sorting
+				if ( outermost && !seed && setMatched.length > 0 &&
+					( matchedCount + setMatchers.length ) > 1 ) {
+
+					Sizzle.uniqueSort( results );
+				}
+			}
+
+			// Override manipulation of globals by nested matchers
+			if ( outermost ) {
+				dirruns = dirrunsUnique;
+				outermostContext = contextBackup;
+			}
+
+			return unmatched;
+		};
+
+	return bySet ?
+		markFunction( superMatcher ) :
+		superMatcher;
+}
+
+compile = Sizzle.compile = function( selector, match /* Internal Use Only */ ) {
+	var i,
+		setMatchers = [],
+		elementMatchers = [],
+		cached = compilerCache[ selector + " " ];
+
+	if ( !cached ) {
+
+		// Generate a function of recursive functions that can be used to check each element
+		if ( !match ) {
+			match = tokenize( selector );
+		}
+		i = match.length;
+		while ( i-- ) {
+			cached = matcherFromTokens( match[ i ] );
+			if ( cached[ expando ] ) {
+				setMatchers.push( cached );
+			} else {
+				elementMatchers.push( cached );
+			}
+		}
+
+		// Cache the compiled function
+		cached = compilerCache(
+			selector,
+			matcherFromGroupMatchers( elementMatchers, setMatchers )
+		);
+
+		// Save selector and tokenization
+		cached.selector = selector;
+	}
+	return cached;
+};
+
+/**
+ * A low-level selection function that works with Sizzle's compiled
+ *  selector functions
+ * @param {String|Function} selector A selector or a pre-compiled
+ *  selector function built with Sizzle.compile
+ * @param {Element} context
+ * @param {Array} [results]
+ * @param {Array} [seed] A set of elements to match against
+ */
+select = Sizzle.select = function( selector, context, results, seed ) {
+	var i, tokens, token, type, find,
+		compiled = typeof selector === "function" && selector,
+		match = !seed && tokenize( ( selector = compiled.selector || selector ) );
+
+	results = results || [];
+
+	// Try to minimize operations if there is only one selector in the list and no seed
+	// (the latter of which guarantees us context)
+	if ( match.length === 1 ) {
+
+		// Reduce context if the leading compound selector is an ID
+		tokens = match[ 0 ] = match[ 0 ].slice( 0 );
+		if ( tokens.length > 2 && ( token = tokens[ 0 ] ).type === "ID" &&
+			context.nodeType === 9 && documentIsHTML && Expr.relative[ tokens[ 1 ].type ] ) {
+
+			context = ( Expr.find[ "ID" ]( token.matches[ 0 ]
+				.replace( runescape, funescape ), context ) || [] )[ 0 ];
+			if ( !context ) {
+				return results;
+
+			// Precompiled matchers will still verify ancestry, so step up a level
+			} else if ( compiled ) {
+				context = context.parentNode;
+			}
+
+			selector = selector.slice( tokens.shift().value.length );
+		}
+
+		// Fetch a seed set for right-to-left matching
+		i = matchExpr[ "needsContext" ].test( selector ) ? 0 : tokens.length;
+		while ( i-- ) {
+			token = tokens[ i ];
+
+			// Abort if we hit a combinator
+			if ( Expr.relative[ ( type = token.type ) ] ) {
+				break;
+			}
+			if ( ( find = Expr.find[ type ] ) ) {
+
+				// Search, expanding context for leading sibling combinators
+				if ( ( seed = find(
+					token.matches[ 0 ].replace( runescape, funescape ),
+					rsibling.test( tokens[ 0 ].type ) && testContext( context.parentNode ) ||
+						context
+				) ) ) {
+
+					// If seed is empty or no tokens remain, we can return early
+					tokens.splice( i, 1 );
+					selector = seed.length && toSelector( tokens );
+					if ( !selector ) {
+						push.apply( results, seed );
+						return results;
+					}
+
+					break;
+				}
+			}
+		}
+	}
+
+	// Compile and execute a filtering function if one is not provided
+	// Provide `match` to avoid retokenization if we modified the selector above
+	( compiled || compile( selector, match ) )(
+		seed,
+		context,
+		!documentIsHTML,
+		results,
+		!context || rsibling.test( selector ) && testContext( context.parentNode ) || context
+	);
+	return results;
+};
+
+// One-time assignments
+
+// Sort stability
+support.sortStable = expando.split( "" ).sort( sortOrder ).join( "" ) === expando;
+
+// Support: Chrome 14-35+
+// Always assume duplicates if they aren't passed to the comparison function
+support.detectDuplicates = !!hasDuplicate;
+
+// Initialize against the default document
+setDocument();
+
+// Support: Webkit<537.32 - Safari 6.0.3/Chrome 25 (fixed in Chrome 27)
+// Detached nodes confoundingly follow *each other*
+support.sortDetached = assert( function( el ) {
+
+	// Should return 1, but returns 4 (following)
+	return el.compareDocumentPosition( document.createElement( "fieldset" ) ) & 1;
+} );
+
+// Support: IE<8
+// Prevent attribute/property "interpolation"
+// https://msdn.microsoft.com/en-us/library/ms536429%28VS.85%29.aspx
+if ( !assert( function( el ) {
+	el.innerHTML = "<a href='#'></a>";
+	return el.firstChild.getAttribute( "href" ) === "#";
+} ) ) {
+	addHandle( "type|href|height|width", function( elem, name, isXML ) {
+		if ( !isXML ) {
+			return elem.getAttribute( name, name.toLowerCase() === "type" ? 1 : 2 );
+		}
+	} );
+}
+
+// Support: IE<9
+// Use defaultValue in place of getAttribute("value")
+if ( !support.attributes || !assert( function( el ) {
+	el.innerHTML = "<input/>";
+	el.firstChild.setAttribute( "value", "" );
+	return el.firstChild.getAttribute( "value" ) === "";
+} ) ) {
+	addHandle( "value", function( elem, _name, isXML ) {
+		if ( !isXML && elem.nodeName.toLowerCase() === "input" ) {
+			return elem.defaultValue;
+		}
+	} );
+}
+
+// Support: IE<9
+// Use getAttributeNode to fetch booleans when getAttribute lies
+if ( !assert( function( el ) {
+	return el.getAttribute( "disabled" ) == null;
+} ) ) {
+	addHandle( booleans, function( elem, name, isXML ) {
+		var val;
+		if ( !isXML ) {
+			return elem[ name ] === true ? name.toLowerCase() :
+				( val = elem.getAttributeNode( name ) ) && val.specified ?
+					val.value :
+					null;
+		}
+	} );
+}
+
+return Sizzle;
+
+} )( window );
+
+
+
+jQuery.find = Sizzle;
+jQuery.expr = Sizzle.selectors;
+
+// Deprecated
+jQuery.expr[ ":" ] = jQuery.expr.pseudos;
+jQuery.uniqueSort = jQuery.unique = Sizzle.uniqueSort;
+jQuery.text = Sizzle.getText;
+jQuery.isXMLDoc = Sizzle.isXML;
+jQuery.contains = Sizzle.contains;
+jQuery.escapeSelector = Sizzle.escape;
+
+
+
+
+var dir = function( elem, dir, until ) {
+	var matched = [],
+		truncate = until !== undefined;
+
+	while ( ( elem = elem[ dir ] ) && elem.nodeType !== 9 ) {
+		if ( elem.nodeType === 1 ) {
+			if ( truncate && jQuery( elem ).is( until ) ) {
+				break;
+			}
+			matched.push( elem );
+		}
+	}
+	return matched;
+};
+
+
+var siblings = function( n, elem ) {
+	var matched = [];
+
+	for ( ; n; n = n.nextSibling ) {
+		if ( n.nodeType === 1 && n !== elem ) {
+			matched.push( n );
+		}
+	}
+
+	return matched;
+};
+
+
+var rneedsContext = jQuery.expr.match.needsContext;
+
+
+
+function nodeName( elem, name ) {
+
+  return elem.nodeName && elem.nodeName.toLowerCase() === name.toLowerCase();
+
+};
+var rsingleTag = ( /^<([a-z][^\/\0>:\x20\t\r\n\f]*)[\x20\t\r\n\f]*\/?>(?:<\/\1>|)$/i );
+
+
+
+// Implement the identical functionality for filter and not
+function winnow( elements, qualifier, not ) {
+	if ( isFunction( qualifier ) ) {
+		return jQuery.grep( elements, function( elem, i ) {
+			return !!qualifier.call( elem, i, elem ) !== not;
+		} );
+	}
+
+	// Single element
+	if ( qualifier.nodeType ) {
+		return jQuery.grep( elements, function( elem ) {
+			return ( elem === qualifier ) !== not;
+		} );
+	}
+
+	// Arraylike of elements (jQuery, arguments, Array)
+	if ( typeof qualifier !== "string" ) {
+		return jQuery.grep( elements, function( elem ) {
+			return ( indexOf.call( qualifier, elem ) > -1 ) !== not;
+		} );
+	}
+
+	// Filtered directly for both simple and complex selectors
+	return jQuery.filter( qualifier, elements, not );
+}
+
+jQuery.filter = function( expr, elems, not ) {
+	var elem = elems[ 0 ];
+
+	if ( not ) {
+		expr = ":not(" + expr + ")";
+	}
+
+	if ( elems.length === 1 && elem.nodeType === 1 ) {
+		return jQuery.find.matchesSelector( elem, expr ) ? [ elem ] : [];
+	}
+
+	return jQuery.find.matches( expr, jQuery.grep( elems, function( elem ) {
+		return elem.nodeType === 1;
+	} ) );
+};
+
+jQuery.fn.extend( {
+	find: function( selector ) {
+		var i, ret,
+			len = this.length,
+			self = this;
+
+		if ( typeof selector !== "string" ) {
+			return this.pushStack( jQuery( selector ).filter( function() {
+				for ( i = 0; i < len; i++ ) {
+					if ( jQuery.contains( self[ i ], this ) ) {
+						return true;
+					}
+				}
+			} ) );
+		}
+
+		ret = this.pushStack( [] );
+
+		for ( i = 0; i < len; i++ ) {
+			jQuery.find( selector, self[ i ], ret );
+		}
+
+		return len > 1 ? jQuery.uniqueSort( ret ) : ret;
+	},
+	filter: function( selector ) {
+		return this.pushStack( winnow( this, selector || [], false ) );
+	},
+	not: function( selector ) {
+		return this.pushStack( winnow( this, selector || [], true ) );
+	},
+	is: function( selector ) {
+		return !!winnow(
+			this,
+
+			// If this is a positional/relative selector, check membership in the returned set
+			// so $("p:first").is("p:last") won't return true for a doc with two "p".
+			typeof selector === "string" && rneedsContext.test( selector ) ?
+				jQuery( selector ) :
+				selector || [],
+			false
+		).length;
+	}
+} );
+
+
+// Initialize a jQuery object
+
+
+// A central reference to the root jQuery(document)
+var rootjQuery,
+
+	// A simple way to check for HTML strings
+	// Prioritize #id over <tag> to avoid XSS via location.hash (#9521)
+	// Strict HTML recognition (#11290: must start with <)
+	// Shortcut simple #id case for speed
+	rquickExpr = /^(?:\s*(<[\w\W]+>)[^>]*|#([\w-]+))$/,
+
+	init = jQuery.fn.init = function( selector, context, root ) {
+		var match, elem;
+
+		// HANDLE: $(""), $(null), $(undefined), $(false)
+		if ( !selector ) {
+			return this;
+		}
+
+		// Method init() accepts an alternate rootjQuery
+		// so migrate can support jQuery.sub (gh-2101)
+		root = root || rootjQuery;
+
+		// Handle HTML strings
+		if ( typeof selector === "string" ) {
+			if ( selector[ 0 ] === "<" &&
+				selector[ selector.length - 1 ] === ">" &&
+				selector.length >= 3 ) {
+
+				// Assume that strings that start and end with <> are HTML and skip the regex check
+				match = [ null, selector, null ];
+
+			} else {
+				match = rquickExpr.exec( selector );
+			}
+
+			// Match html or make sure no context is specified for #id
+			if ( match && ( match[ 1 ] || !context ) ) {
+
+				// HANDLE: $(html) -> $(array)
+				if ( match[ 1 ] ) {
+					context = context instanceof jQuery ? context[ 0 ] : context;
+
+					// Option to run scripts is true for back-compat
+					// Intentionally let the error be thrown if parseHTML is not present
+					jQuery.merge( this, jQuery.parseHTML(
+						match[ 1 ],
+						context && context.nodeType ? context.ownerDocument || context : document,
+						true
+					) );
+
+					// HANDLE: $(html, props)
+					if ( rsingleTag.test( match[ 1 ] ) && jQuery.isPlainObject( context ) ) {
+						for ( match in context ) {
+
+							// Properties of context are called as methods if possible
+							if ( isFunction( this[ match ] ) ) {
+								this[ match ]( context[ match ] );
+
+							// ...and otherwise set as attributes
+							} else {
+								this.attr( match, context[ match ] );
+							}
+						}
+					}
+
+					return this;
+
+				// HANDLE: $(#id)
+				} else {
+					elem = document.getElementById( match[ 2 ] );
+
+					if ( elem ) {
+
+						// Inject the element directly into the jQuery object
+						this[ 0 ] = elem;
+						this.length = 1;
+					}
+					return this;
+				}
+
+			// HANDLE: $(expr, $(...))
+			} else if ( !context || context.jquery ) {
+				return ( context || root ).find( selector );
+
+			// HANDLE: $(expr, context)
+			// (which is just equivalent to: $(context).find(expr)
+			} else {
+				return this.constructor( context ).find( selector );
+			}
+
+		// HANDLE: $(DOMElement)
+		} else if ( selector.nodeType ) {
+			this[ 0 ] = selector;
+			this.length = 1;
+			return this;
+
+		// HANDLE: $(function)
+		// Shortcut for document ready
+		} else if ( isFunction( selector ) ) {
+			return root.ready !== undefined ?
+				root.ready( selector ) :
+
+				// Execute immediately if ready is not present
+				selector( jQuery );
+		}
+
+		return jQuery.makeArray( selector, this );
+	};
+
+// Give the init function the jQuery prototype for later instantiation
+init.prototype = jQuery.fn;
+
+// Initialize central reference
+rootjQuery = jQuery( document );
+
+
+var rparentsprev = /^(?:parents|prev(?:Until|All))/,
+
+	// Methods guaranteed to produce a unique set when starting from a unique set
+	guaranteedUnique = {
+		children: true,
+		contents: true,
+		next: true,
+		prev: true
+	};
+
+jQuery.fn.extend( {
+	has: function( target ) {
+		var targets = jQuery( target, this ),
+			l = targets.length;
+
+		return this.filter( function() {
+			var i = 0;
+			for ( ; i < l; i++ ) {
+				if ( jQuery.contains( this, targets[ i ] ) ) {
+					return true;
+				}
+			}
+		} );
+	},
+
+	closest: function( selectors, context ) {
+		var cur,
+			i = 0,
+			l = this.length,
+			matched = [],
+			targets = typeof selectors !== "string" && jQuery( selectors );
+
+		// Positional selectors never match, since there's no _selection_ context
+		if ( !rneedsContext.test( selectors ) ) {
+			for ( ; i < l; i++ ) {
+				for ( cur = this[ i ]; cur && cur !== context; cur = cur.parentNode ) {
+
+					// Always skip document fragments
+					if ( cur.nodeType < 11 && ( targets ?
+						targets.index( cur ) > -1 :
+
+						// Don't pass non-elements to Sizzle
+						cur.nodeType === 1 &&
+							jQuery.find.matchesSelector( cur, selectors ) ) ) {
+
+						matched.push( cur );
+						break;
+					}
+				}
+			}
+		}
+
+		return this.pushStack( matched.length > 1 ? jQuery.uniqueSort( matched ) : matched );
+	},
+
+	// Determine the position of an element within the set
+	index: function( elem ) {
+
+		// No argument, return index in parent
+		if ( !elem ) {
+			return ( this[ 0 ] && this[ 0 ].parentNode ) ? this.first().prevAll().length : -1;
+		}
+
+		// Index in selector
+		if ( typeof elem === "string" ) {
+			return indexOf.call( jQuery( elem ), this[ 0 ] );
+		}
+
+		// Locate the position of the desired element
+		return indexOf.call( this,
+
+			// If it receives a jQuery object, the first element is used
+			elem.jquery ? elem[ 0 ] : elem
+		);
+	},
+
+	add: function( selector, context ) {
+		return this.pushStack(
+			jQuery.uniqueSort(
+				jQuery.merge( this.get(), jQuery( selector, context ) )
+			)
+		);
+	},
+
+	addBack: function( selector ) {
+		return this.add( selector == null ?
+			this.prevObject : this.prevObject.filter( selector )
+		);
+	}
+} );
+
+function sibling( cur, dir ) {
+	while ( ( cur = cur[ dir ] ) && cur.nodeType !== 1 ) {}
+	return cur;
+}
+
+jQuery.each( {
+	parent: function( elem ) {
+		var parent = elem.parentNode;
+		return parent && parent.nodeType !== 11 ? parent : null;
+	},
+	parents: function( elem ) {
+		return dir( elem, "parentNode" );
+	},
+	parentsUntil: function( elem, _i, until ) {
+		return dir( elem, "parentNode", until );
+	},
+	next: function( elem ) {
+		return sibling( elem, "nextSibling" );
+	},
+	prev: function( elem ) {
+		return sibling( elem, "previousSibling" );
+	},
+	nextAll: function( elem ) {
+		return dir( elem, "nextSibling" );
+	},
+	prevAll: function( elem ) {
+		return dir( elem, "previousSibling" );
+	},
+	nextUntil: function( elem, _i, until ) {
+		return dir( elem, "nextSibling", until );
+	},
+	prevUntil: function( elem, _i, until ) {
+		return dir( elem, "previousSibling", until );
+	},
+	siblings: function( elem ) {
+		return siblings( ( elem.parentNode || {} ).firstChild, elem );
+	},
+	children: function( elem ) {
+		return siblings( elem.firstChild );
+	},
+	contents: function( elem ) {
+		if ( elem.contentDocument != null &&
+
+			// Support: IE 11+
+			// <object> elements with no `data` attribute has an object
+			// `contentDocument` with a `null` prototype.
+			getProto( elem.contentDocument ) ) {
+
+			return elem.contentDocument;
+		}
+
+		// Support: IE 9 - 11 only, iOS 7 only, Android Browser <=4.3 only
+		// Treat the template element as a regular one in browsers that
+		// don't support it.
+		if ( nodeName( elem, "template" ) ) {
+			elem = elem.content || elem;
+		}
+
+		return jQuery.merge( [], elem.childNodes );
+	}
+}, function( name, fn ) {
+	jQuery.fn[ name ] = function( until, selector ) {
+		var matched = jQuery.map( this, fn, until );
+
+		if ( name.slice( -5 ) !== "Until" ) {
+			selector = until;
+		}
+
+		if ( selector && typeof selector === "string" ) {
+			matched = jQuery.filter( selector, matched );
+		}
+
+		if ( this.length > 1 ) {
+
+			// Remove duplicates
+			if ( !guaranteedUnique[ name ] ) {
+				jQuery.uniqueSort( matched );
+			}
+
+			// Reverse order for parents* and prev-derivatives
+			if ( rparentsprev.test( name ) ) {
+				matched.reverse();
+			}
+		}
+
+		return this.pushStack( matched );
+	};
+} );
+var rnothtmlwhite = ( /[^\x20\t\r\n\f]+/g );
+
+
+
+// Convert String-formatted options into Object-formatted ones
+function createOptions( options ) {
+	var object = {};
+	jQuery.each( options.match( rnothtmlwhite ) || [], function( _, flag ) {
+		object[ flag ] = true;
+	} );
+	return object;
+}
+
+/*
+ * Create a callback list using the following parameters:
+ *
+ *	options: an optional list of space-separated options that will change how
+ *			the callback list behaves or a more traditional option object
+ *
+ * By default a callback list will act like an event callback list and can be
+ * "fired" multiple times.
+ *
+ * Possible options:
+ *
+ *	once:			will ensure the callback list can only be fired once (like a Deferred)
+ *
+ *	memory:			will keep track of previous values and will call any callback added
+ *					after the list has been fired right away with the latest "memorized"
+ *					values (like a Deferred)
+ *
+ *	unique:			will ensure a callback can only be added once (no duplicate in the list)
+ *
+ *	stopOnFalse:	interrupt callings when a callback returns false
+ *
+ */
+jQuery.Callbacks = function( options ) {
+
+	// Convert options from String-formatted to Object-formatted if needed
+	// (we check in cache first)
+	options = typeof options === "string" ?
+		createOptions( options ) :
+		jQuery.extend( {}, options );
+
+	var // Flag to know if list is currently firing
+		firing,
+
+		// Last fire value for non-forgettable lists
+		memory,
+
+		// Flag to know if list was already fired
+		fired,
+
+		// Flag to prevent firing
+		locked,
+
+		// Actual callback list
+		list = [],
+
+		// Queue of execution data for repeatable lists
+		queue = [],
+
+		// Index of currently firing callback (modified by add/remove as needed)
+		firingIndex = -1,
+
+		// Fire callbacks
+		fire = function() {
+
+			// Enforce single-firing
+			locked = locked || options.once;
+
+			// Execute callbacks for all pending executions,
+			// respecting firingIndex overrides and runtime changes
+			fired = firing = true;
+			for ( ; queue.length; firingIndex = -1 ) {
+				memory = queue.shift();
+				while ( ++firingIndex < list.length ) {
+
+					// Run callback and check for early termination
+					if ( list[ firingIndex ].apply( memory[ 0 ], memory[ 1 ] ) === false &&
+						options.stopOnFalse ) {
+
+						// Jump to end and forget the data so .add doesn't re-fire
+						firingIndex = list.length;
+						memory = false;
+					}
+				}
+			}
+
+			// Forget the data if we're done with it
+			if ( !options.memory ) {
+				memory = false;
+			}
+
+			firing = false;
+
+			// Clean up if we're done firing for good
+			if ( locked ) {
+
+				// Keep an empty list if we have data for future add calls
+				if ( memory ) {
+					list = [];
+
+				// Otherwise, this object is spent
+				} else {
+					list = "";
+				}
+			}
+		},
+
+		// Actual Callbacks object
+		self = {
+
+			// Add a callback or a collection of callbacks to the list
+			add: function() {
+				if ( list ) {
+
+					// If we have memory from a past run, we should fire after adding
+					if ( memory && !firing ) {
+						firingIndex = list.length - 1;
+						queue.push( memory );
+					}
+
+					( function add( args ) {
+						jQuery.each( args, function( _, arg ) {
+							if ( isFunction( arg ) ) {
+								if ( !options.unique || !self.has( arg ) ) {
+									list.push( arg );
+								}
+							} else if ( arg && arg.length && toType( arg ) !== "string" ) {
+
+								// Inspect recursively
+								add( arg );
+							}
+						} );
+					} )( arguments );
+
+					if ( memory && !firing ) {
+						fire();
+					}
+				}
+				return this;
+			},
+
+			// Remove a callback from the list
+			remove: function() {
+				jQuery.each( arguments, function( _, arg ) {
+					var index;
+					while ( ( index = jQuery.inArray( arg, list, index ) ) > -1 ) {
+						list.splice( index, 1 );
+
+						// Handle firing indexes
+						if ( index <= firingIndex ) {
+							firingIndex--;
+						}
+					}
+				} );
+				return this;
+			},
+
+			// Check if a given callback is in the list.
+			// If no argument is given, return whether or not list has callbacks attached.
+			has: function( fn ) {
+				return fn ?
+					jQuery.inArray( fn, list ) > -1 :
+					list.length > 0;
+			},
+
+			// Remove all callbacks from the list
+			empty: function() {
+				if ( list ) {
+					list = [];
+				}
+				return this;
+			},
+
+			// Disable .fire and .add
+			// Abort any current/pending executions
+			// Clear all callbacks and values
+			disable: function() {
+				locked = queue = [];
+				list = memory = "";
+				return this;
+			},
+			disabled: function() {
+				return !list;
+			},
+
+			// Disable .fire
+			// Also disable .add unless we have memory (since it would have no effect)
+			// Abort any pending executions
+			lock: function() {
+				locked = queue = [];
+				if ( !memory && !firing ) {
+					list = memory = "";
+				}
+				return this;
+			},
+			locked: function() {
+				return !!locked;
+			},
+
+			// Call all callbacks with the given context and arguments
+			fireWith: function( context, args ) {
+				if ( !locked ) {
+					args = args || [];
+					args = [ context, args.slice ? args.slice() : args ];
+					queue.push( args );
+					if ( !firing ) {
+						fire();
+					}
+				}
+				return this;
+			},
+
+			// Call all the callbacks with the given arguments
+			fire: function() {
+				self.fireWith( this, arguments );
+				return this;
+			},
+
+			// To know if the callbacks have already been called at least once
+			fired: function() {
+				return !!fired;
+			}
+		};
+
+	return self;
+};
+
+
+function Identity( v ) {
+	return v;
+}
+function Thrower( ex ) {
+	throw ex;
+}
+
+function adoptValue( value, resolve, reject, noValue ) {
+	var method;
+
+	try {
+
+		// Check for promise aspect first to privilege synchronous behavior
+		if ( value && isFunction( ( method = value.promise ) ) ) {
+			method.call( value ).done( resolve ).fail( reject );
+
+		// Other thenables
+		} else if ( value && isFunction( ( method = value.then ) ) ) {
+			method.call( value, resolve, reject );
+
+		// Other non-thenables
+		} else {
+
+			// Control `resolve` arguments by letting Array#slice cast boolean `noValue` to integer:
+			// * false: [ value ].slice( 0 ) => resolve( value )
+			// * true: [ value ].slice( 1 ) => resolve()
+			resolve.apply( undefined, [ value ].slice( noValue ) );
+		}
+
+	// For Promises/A+, convert exceptions into rejections
+	// Since jQuery.when doesn't unwrap thenables, we can skip the extra checks appearing in
+	// Deferred#then to conditionally suppress rejection.
+	} catch ( value ) {
+
+		// Support: Android 4.0 only
+		// Strict mode functions invoked without .call/.apply get global-object context
+		reject.apply( undefined, [ value ] );
+	}
+}
+
+jQuery.extend( {
+
+	Deferred: function( func ) {
+		var tuples = [
+
+				// action, add listener, callbacks,
+				// ... .then handlers, argument index, [final state]
+				[ "notify", "progress", jQuery.Callbacks( "memory" ),
+					jQuery.Callbacks( "memory" ), 2 ],
+				[ "resolve", "done", jQuery.Callbacks( "once memory" ),
+					jQuery.Callbacks( "once memory" ), 0, "resolved" ],
+				[ "reject", "fail", jQuery.Callbacks( "once memory" ),
+					jQuery.Callbacks( "once memory" ), 1, "rejected" ]
+			],
+			state = "pending",
+			promise = {
+				state: function() {
+					return state;
+				},
+				always: function() {
+					deferred.done( arguments ).fail( arguments );
+					return this;
+				},
+				"catch": function( fn ) {
+					return promise.then( null, fn );
+				},
+
+				// Keep pipe for back-compat
+				pipe: function( /* fnDone, fnFail, fnProgress */ ) {
+					var fns = arguments;
+
+					return jQuery.Deferred( function( newDefer ) {
+						jQuery.each( tuples, function( _i, tuple ) {
+
+							// Map tuples (progress, done, fail) to arguments (done, fail, progress)
+							var fn = isFunction( fns[ tuple[ 4 ] ] ) && fns[ tuple[ 4 ] ];
+
+							// deferred.progress(function() { bind to newDefer or newDefer.notify })
+							// deferred.done(function() { bind to newDefer or newDefer.resolve })
+							// deferred.fail(function() { bind to newDefer or newDefer.reject })
+							deferred[ tuple[ 1 ] ]( function() {
+								var returned = fn && fn.apply( this, arguments );
+								if ( returned && isFunction( returned.promise ) ) {
+									returned.promise()
+										.progress( newDefer.notify )
+										.done( newDefer.resolve )
+										.fail( newDefer.reject );
+								} else {
+									newDefer[ tuple[ 0 ] + "With" ](
+										this,
+										fn ? [ returned ] : arguments
+									);
+								}
+							} );
+						} );
+						fns = null;
+					} ).promise();
+				},
+				then: function( onFulfilled, onRejected, onProgress ) {
+					var maxDepth = 0;
+					function resolve( depth, deferred, handler, special ) {
+						return function() {
+							var that = this,
+								args = arguments,
+								mightThrow = function() {
+									var returned, then;
+
+									// Support: Promises/A+ section 2.3.3.3.3
+									// https://promisesaplus.com/#point-59
+									// Ignore double-resolution attempts
+									if ( depth < maxDepth ) {
+										return;
+									}
+
+									returned = handler.apply( that, args );
+
+									// Support: Promises/A+ section 2.3.1
+									// https://promisesaplus.com/#point-48
+									if ( returned === deferred.promise() ) {
+										throw new TypeError( "Thenable self-resolution" );
+									}
+
+									// Support: Promises/A+ sections 2.3.3.1, 3.5
+									// https://promisesaplus.com/#point-54
+									// https://promisesaplus.com/#point-75
+									// Retrieve `then` only once
+									then = returned &&
+
+										// Support: Promises/A+ section 2.3.4
+										// https://promisesaplus.com/#point-64
+										// Only check objects and functions for thenability
+										( typeof returned === "object" ||
+											typeof returned === "function" ) &&
+										returned.then;
+
+									// Handle a returned thenable
+									if ( isFunction( then ) ) {
+
+										// Special processors (notify) just wait for resolution
+										if ( special ) {
+											then.call(
+												returned,
+												resolve( maxDepth, deferred, Identity, special ),
+												resolve( maxDepth, deferred, Thrower, special )
+											);
+
+										// Normal processors (resolve) also hook into progress
+										} else {
+
+											// ...and disregard older resolution values
+											maxDepth++;
+
+											then.call(
+												returned,
+												resolve( maxDepth, deferred, Identity, special ),
+												resolve( maxDepth, deferred, Thrower, special ),
+												resolve( maxDepth, deferred, Identity,
+													deferred.notifyWith )
+											);
+										}
+
+									// Handle all other returned values
+									} else {
+
+										// Only substitute handlers pass on context
+										// and multiple values (non-spec behavior)
+										if ( handler !== Identity ) {
+											that = undefined;
+											args = [ returned ];
+										}
+
+										// Process the value(s)
+										// Default process is resolve
+										( special || deferred.resolveWith )( that, args );
+									}
+								},
+
+								// Only normal processors (resolve) catch and reject exceptions
+								process = special ?
+									mightThrow :
+									function() {
+										try {
+											mightThrow();
+										} catch ( e ) {
+
+											if ( jQuery.Deferred.exceptionHook ) {
+												jQuery.Deferred.exceptionHook( e,
+													process.stackTrace );
+											}
+
+											// Support: Promises/A+ section 2.3.3.3.4.1
+											// https://promisesaplus.com/#point-61
+											// Ignore post-resolution exceptions
+											if ( depth + 1 >= maxDepth ) {
+
+												// Only substitute handlers pass on context
+												// and multiple values (non-spec behavior)
+												if ( handler !== Thrower ) {
+													that = undefined;
+													args = [ e ];
+												}
+
+												deferred.rejectWith( that, args );
+											}
+										}
+									};
+
+							// Support: Promises/A+ section 2.3.3.3.1
+							// https://promisesaplus.com/#point-57
+							// Re-resolve promises immediately to dodge false rejection from
+							// subsequent errors
+							if ( depth ) {
+								process();
+							} else {
+
+								// Call an optional hook to record the stack, in case of exception
+								// since it's otherwise lost when execution goes async
+								if ( jQuery.Deferred.getStackHook ) {
+									process.stackTrace = jQuery.Deferred.getStackHook();
+								}
+								window.setTimeout( process );
+							}
+						};
+					}
+
+					return jQuery.Deferred( function( newDefer ) {
+
+						// progress_handlers.add( ... )
+						tuples[ 0 ][ 3 ].add(
+							resolve(
+								0,
+								newDefer,
+								isFunction( onProgress ) ?
+									onProgress :
+									Identity,
+								newDefer.notifyWith
+							)
+						);
+
+						// fulfilled_handlers.add( ... )
+						tuples[ 1 ][ 3 ].add(
+							resolve(
+								0,
+								newDefer,
+								isFunction( onFulfilled ) ?
+									onFulfilled :
+									Identity
+							)
+						);
+
+						// rejected_handlers.add( ... )
+						tuples[ 2 ][ 3 ].add(
+							resolve(
+								0,
+								newDefer,
+								isFunction( onRejected ) ?
+									onRejected :
+									Thrower
+							)
+						);
+					} ).promise();
+				},
+
+				// Get a promise for this deferred
+				// If obj is provided, the promise aspect is added to the object
+				promise: function( obj ) {
+					return obj != null ? jQuery.extend( obj, promise ) : promise;
+				}
+			},
+			deferred = {};
+
+		// Add list-specific methods
+		jQuery.each( tuples, function( i, tuple ) {
+			var list = tuple[ 2 ],
+				stateString = tuple[ 5 ];
+
+			// promise.progress = list.add
+			// promise.done = list.add
+			// promise.fail = list.add
+			promise[ tuple[ 1 ] ] = list.add;
+
+			// Handle state
+			if ( stateString ) {
+				list.add(
+					function() {
+
+						// state = "resolved" (i.e., fulfilled)
+						// state = "rejected"
+						state = stateString;
+					},
+
+					// rejected_callbacks.disable
+					// fulfilled_callbacks.disable
+					tuples[ 3 - i ][ 2 ].disable,
+
+					// rejected_handlers.disable
+					// fulfilled_handlers.disable
+					tuples[ 3 - i ][ 3 ].disable,
+
+					// progress_callbacks.lock
+					tuples[ 0 ][ 2 ].lock,
+
+					// progress_handlers.lock
+					tuples[ 0 ][ 3 ].lock
+				);
+			}
+
+			// progress_handlers.fire
+			// fulfilled_handlers.fire
+			// rejected_handlers.fire
+			list.add( tuple[ 3 ].fire );
+
+			// deferred.notify = function() { deferred.notifyWith(...) }
+			// deferred.resolve = function() { deferred.resolveWith(...) }
+			// deferred.reject = function() { deferred.rejectWith(...) }
+			deferred[ tuple[ 0 ] ] = function() {
+				deferred[ tuple[ 0 ] + "With" ]( this === deferred ? undefined : this, arguments );
+				return this;
+			};
+
+			// deferred.notifyWith = list.fireWith
+			// deferred.resolveWith = list.fireWith
+			// deferred.rejectWith = list.fireWith
+			deferred[ tuple[ 0 ] + "With" ] = list.fireWith;
+		} );
+
+		// Make the deferred a promise
+		promise.promise( deferred );
+
+		// Call given func if any
+		if ( func ) {
+			func.call( deferred, deferred );
+		}
+
+		// All done!
+		return deferred;
+	},
+
+	// Deferred helper
+	when: function( singleValue ) {
+		var
+
+			// count of uncompleted subordinates
+			remaining = arguments.length,
+
+			// count of unprocessed arguments
+			i = remaining,
+
+			// subordinate fulfillment data
+			resolveContexts = Array( i ),
+			resolveValues = slice.call( arguments ),
+
+			// the master Deferred
+			master = jQuery.Deferred(),
+
+			// subordinate callback factory
+			updateFunc = function( i ) {
+				return function( value ) {
+					resolveContexts[ i ] = this;
+					resolveValues[ i ] = arguments.length > 1 ? slice.call( arguments ) : value;
+					if ( !( --remaining ) ) {
+						master.resolveWith( resolveContexts, resolveValues );
+					}
+				};
+			};
+
+		// Single- and empty arguments are adopted like Promise.resolve
+		if ( remaining <= 1 ) {
+			adoptValue( singleValue, master.done( updateFunc( i ) ).resolve, master.reject,
+				!remaining );
+
+			// Use .then() to unwrap secondary thenables (cf. gh-3000)
+			if ( master.state() === "pending" ||
+				isFunction( resolveValues[ i ] && resolveValues[ i ].then ) ) {
+
+				return master.then();
+			}
+		}
+
+		// Multiple arguments are aggregated like Promise.all array elements
+		while ( i-- ) {
+			adoptValue( resolveValues[ i ], updateFunc( i ), master.reject );
+		}
+
+		return master.promise();
+	}
+} );
+
+
+// These usually indicate a programmer mistake during development,
+// warn about them ASAP rather than swallowing them by default.
+var rerrorNames = /^(Eval|Internal|Range|Reference|Syntax|Type|URI)Error$/;
+
+jQuery.Deferred.exceptionHook = function( error, stack ) {
+
+	// Support: IE 8 - 9 only
+	// Console exists when dev tools are open, which can happen at any time
+	if ( window.console && window.console.warn && error && rerrorNames.test( error.name ) ) {
+		window.console.warn( "jQuery.Deferred exception: " + error.message, error.stack, stack );
+	}
+};
+
+
+
+
+jQuery.readyException = function( error ) {
+	window.setTimeout( function() {
+		throw error;
+	} );
+};
+
+
+
+
+// The deferred used on DOM ready
+var readyList = jQuery.Deferred();
+
+jQuery.fn.ready = function( fn ) {
+
+	readyList
+		.then( fn )
+
+		// Wrap jQuery.readyException in a function so that the lookup
+		// happens at the time of error handling instead of callback
+		// registration.
+		.catch( function( error ) {
+			jQuery.readyException( error );
+		} );
+
+	return this;
+};
+
+jQuery.extend( {
+
+	// Is the DOM ready to be used? Set to true once it occurs.
+	isReady: false,
+
+	// A counter to track how many items to wait for before
+	// the ready event fires. See #6781
+	readyWait: 1,
+
+	// Handle when the DOM is ready
+	ready: function( wait ) {
+
+		// Abort if there are pending holds or we're already ready
+		if ( wait === true ? --jQuery.readyWait : jQuery.isReady ) {
+			return;
+		}
+
+		// Remember that the DOM is ready
+		jQuery.isReady = true;
+
+		// If a normal DOM Ready event fired, decrement, and wait if need be
+		if ( wait !== true && --jQuery.readyWait > 0 ) {
+			return;
+		}
+
+		// If there are functions bound, to execute
+		readyList.resolveWith( document, [ jQuery ] );
+	}
+} );
+
+jQuery.ready.then = readyList.then;
+
+// The ready event handler and self cleanup method
+function completed() {
+	document.removeEventListener( "DOMContentLoaded", completed );
+	window.removeEventListener( "load", completed );
+	jQuery.ready();
+}
+
+// Catch cases where $(document).ready() is called
+// after the browser event has already occurred.
+// Support: IE <=9 - 10 only
+// Older IE sometimes signals "interactive" too soon
+if ( document.readyState === "complete" ||
+	( document.readyState !== "loading" && !document.documentElement.doScroll ) ) {
+
+	// Handle it asynchronously to allow scripts the opportunity to delay ready
+	window.setTimeout( jQuery.ready );
+
+} else {
+
+	// Use the handy event callback
+	document.addEventListener( "DOMContentLoaded", completed );
+
+	// A fallback to window.onload, that will always work
+	window.addEventListener( "load", completed );
+}
+
+
+
+
+// Multifunctional method to get and set values of a collection
+// The value/s can optionally be executed if it's a function
+var access = function( elems, fn, key, value, chainable, emptyGet, raw ) {
+	var i = 0,
+		len = elems.length,
+		bulk = key == null;
+
+	// Sets many values
+	if ( toType( key ) === "object" ) {
+		chainable = true;
+		for ( i in key ) {
+			access( elems, fn, i, key[ i ], true, emptyGet, raw );
+		}
+
+	// Sets one value
+	} else if ( value !== undefined ) {
+		chainable = true;
+
+		if ( !isFunction( value ) ) {
+			raw = true;
+		}
+
+		if ( bulk ) {
+
+			// Bulk operations run against the entire set
+			if ( raw ) {
+				fn.call( elems, value );
+				fn = null;
+
+			// ...except when executing function values
+			} else {
+				bulk = fn;
+				fn = function( elem, _key, value ) {
+					return bulk.call( jQuery( elem ), value );
+				};
+			}
+		}
+
+		if ( fn ) {
+			for ( ; i < len; i++ ) {
+				fn(
+					elems[ i ], key, raw ?
+					value :
+					value.call( elems[ i ], i, fn( elems[ i ], key ) )
+				);
+			}
+		}
+	}
+
+	if ( chainable ) {
+		return elems;
+	}
+
+	// Gets
+	if ( bulk ) {
+		return fn.call( elems );
+	}
+
+	return len ? fn( elems[ 0 ], key ) : emptyGet;
+};
+
+
+// Matches dashed string for camelizing
+var rmsPrefix = /^-ms-/,
+	rdashAlpha = /-([a-z])/g;
+
+// Used by camelCase as callback to replace()
+function fcamelCase( _all, letter ) {
+	return letter.toUpperCase();
+}
+
+// Convert dashed to camelCase; used by the css and data modules
+// Support: IE <=9 - 11, Edge 12 - 15
+// Microsoft forgot to hump their vendor prefix (#9572)
+function camelCase( string ) {
+	return string.replace( rmsPrefix, "ms-" ).replace( rdashAlpha, fcamelCase );
+}
+var acceptData = function( owner ) {
+
+	// Accepts only:
+	//  - Node
+	//    - Node.ELEMENT_NODE
+	//    - Node.DOCUMENT_NODE
+	//  - Object
+	//    - Any
+	return owner.nodeType === 1 || owner.nodeType === 9 || !( +owner.nodeType );
+};
+
+
+
+
+function Data() {
+	this.expando = jQuery.expando + Data.uid++;
+}
+
+Data.uid = 1;
+
+Data.prototype = {
+
+	cache: function( owner ) {
+
+		// Check if the owner object already has a cache
+		var value = owner[ this.expando ];
+
+		// If not, create one
+		if ( !value ) {
+			value = {};
+
+			// We can accept data for non-element nodes in modern browsers,
+			// but we should not, see #8335.
+			// Always return an empty object.
+			if ( acceptData( owner ) ) {
+
+				// If it is a node unlikely to be stringify-ed or looped over
+				// use plain assignment
+				if ( owner.nodeType ) {
+					owner[ this.expando ] = value;
+
+				// Otherwise secure it in a non-enumerable property
+				// configurable must be true to allow the property to be
+				// deleted when data is removed
+				} else {
+					Object.defineProperty( owner, this.expando, {
+						value: value,
+						configurable: true
+					} );
+				}
+			}
+		}
+
+		return value;
+	},
+	set: function( owner, data, value ) {
+		var prop,
+			cache = this.cache( owner );
+
+		// Handle: [ owner, key, value ] args
+		// Always use camelCase key (gh-2257)
+		if ( typeof data === "string" ) {
+			cache[ camelCase( data ) ] = value;
+
+		// Handle: [ owner, { properties } ] args
+		} else {
+
+			// Copy the properties one-by-one to the cache object
+			for ( prop in data ) {
+				cache[ camelCase( prop ) ] = data[ prop ];
+			}
+		}
+		return cache;
+	},
+	get: function( owner, key ) {
+		return key === undefined ?
+			this.cache( owner ) :
+
+			// Always use camelCase key (gh-2257)
+			owner[ this.expando ] && owner[ this.expando ][ camelCase( key ) ];
+	},
+	access: function( owner, key, value ) {
+
+		// In cases where either:
+		//
+		//   1. No key was specified
+		//   2. A string key was specified, but no value provided
+		//
+		// Take the "read" path and allow the get method to determine
+		// which value to return, respectively either:
+		//
+		//   1. The entire cache object
+		//   2. The data stored at the key
+		//
+		if ( key === undefined ||
+				( ( key && typeof key === "string" ) && value === undefined ) ) {
+
+			return this.get( owner, key );
+		}
+
+		// When the key is not a string, or both a key and value
+		// are specified, set or extend (existing objects) with either:
+		//
+		//   1. An object of properties
+		//   2. A key and value
+		//
+		this.set( owner, key, value );
+
+		// Since the "set" path can have two possible entry points
+		// return the expected data based on which path was taken[*]
+		return value !== undefined ? value : key;
+	},
+	remove: function( owner, key ) {
+		var i,
+			cache = owner[ this.expando ];
+
+		if ( cache === undefined ) {
+			return;
+		}
+
+		if ( key !== undefined ) {
+
+			// Support array or space separated string of keys
+			if ( Array.isArray( key ) ) {
+
+				// If key is an array of keys...
+				// We always set camelCase keys, so remove that.
+				key = key.map( camelCase );
+			} else {
+				key = camelCase( key );
+
+				// If a key with the spaces exists, use it.
+				// Otherwise, create an array by matching non-whitespace
+				key = key in cache ?
+					[ key ] :
+					( key.match( rnothtmlwhite ) || [] );
+			}
+
+			i = key.length;
+
+			while ( i-- ) {
+				delete cache[ key[ i ] ];
+			}
+		}
+
+		// Remove the expando if there's no more data
+		if ( key === undefined || jQuery.isEmptyObject( cache ) ) {
+
+			// Support: Chrome <=35 - 45
+			// Webkit & Blink performance suffers when deleting properties
+			// from DOM nodes, so set to undefined instead
+			// https://bugs.chromium.org/p/chromium/issues/detail?id=378607 (bug restricted)
+			if ( owner.nodeType ) {
+				owner[ this.expando ] = undefined;
+			} else {
+				delete owner[ this.expando ];
+			}
+		}
+	},
+	hasData: function( owner ) {
+		var cache = owner[ this.expando ];
+		return cache !== undefined && !jQuery.isEmptyObject( cache );
+	}
+};
+var dataPriv = new Data();
+
+var dataUser = new Data();
+
+
+
+//	Implementation Summary
+//
+//	1. Enforce API surface and semantic compatibility with 1.9.x branch
+//	2. Improve the module's maintainability by reducing the storage
+//		paths to a single mechanism.
+//	3. Use the same single mechanism to support "private" and "user" data.
+//	4. _Never_ expose "private" data to user code (TODO: Drop _data, _removeData)
+//	5. Avoid exposing implementation details on user objects (eg. expando properties)
+//	6. Provide a clear path for implementation upgrade to WeakMap in 2014
+
+var rbrace = /^(?:\{[\w\W]*\}|\[[\w\W]*\])$/,
+	rmultiDash = /[A-Z]/g;
+
+function getData( data ) {
+	if ( data === "true" ) {
+		return true;
+	}
+
+	if ( data === "false" ) {
+		return false;
+	}
+
+	if ( data === "null" ) {
+		return null;
+	}
+
+	// Only convert to a number if it doesn't change the string
+	if ( data === +data + "" ) {
+		return +data;
+	}
+
+	if ( rbrace.test( data ) ) {
+		return JSON.parse( data );
+	}
+
+	return data;
+}
+
+function dataAttr( elem, key, data ) {
+	var name;
+
+	// If nothing was found internally, try to fetch any
+	// data from the HTML5 data-* attribute
+	if ( data === undefined && elem.nodeType === 1 ) {
+		name = "data-" + key.replace( rmultiDash, "-$&" ).toLowerCase();
+		data = elem.getAttribute( name );
+
+		if ( typeof data === "string" ) {
+			try {
+				data = getData( data );
+			} catch ( e ) {}
+
+			// Make sure we set the data so it isn't changed later
+			dataUser.set( elem, key, data );
+		} else {
+			data = undefined;
+		}
+	}
+	return data;
+}
+
+jQuery.extend( {
+	hasData: function( elem ) {
+		return dataUser.hasData( elem ) || dataPriv.hasData( elem );
+	},
+
+	data: function( elem, name, data ) {
+		return dataUser.access( elem, name, data );
+	},
+
+	removeData: function( elem, name ) {
+		dataUser.remove( elem, name );
+	},
+
+	// TODO: Now that all calls to _data and _removeData have been replaced
+	// with direct calls to dataPriv methods, these can be deprecated.
+	_data: function( elem, name, data ) {
+		return dataPriv.access( elem, name, data );
+	},
+
+	_removeData: function( elem, name ) {
+		dataPriv.remove( elem, name );
+	}
+} );
+
+jQuery.fn.extend( {
+	data: function( key, value ) {
+		var i, name, data,
+			elem = this[ 0 ],
+			attrs = elem && elem.attributes;
+
+		// Gets all values
+		if ( key === undefined ) {
+			if ( this.length ) {
+				data = dataUser.get( elem );
+
+				if ( elem.nodeType === 1 && !dataPriv.get( elem, "hasDataAttrs" ) ) {
+					i = attrs.length;
+					while ( i-- ) {
+
+						// Support: IE 11 only
+						// The attrs elements can be null (#14894)
+						if ( attrs[ i ] ) {
+							name = attrs[ i ].name;
+							if ( name.indexOf( "data-" ) === 0 ) {
+								name = camelCase( name.slice( 5 ) );
+								dataAttr( elem, name, data[ name ] );
+							}
+						}
+					}
+					dataPriv.set( elem, "hasDataAttrs", true );
+				}
+			}
+
+			return data;
+		}
+
+		// Sets multiple values
+		if ( typeof key === "object" ) {
+			return this.each( function() {
+				dataUser.set( this, key );
+			} );
+		}
+
+		return access( this, function( value ) {
+			var data;
+
+			// The calling jQuery object (element matches) is not empty
+			// (and therefore has an element appears at this[ 0 ]) and the
+			// `value` parameter was not undefined. An empty jQuery object
+			// will result in `undefined` for elem = this[ 0 ] which will
+			// throw an exception if an attempt to read a data cache is made.
+			if ( elem && value === undefined ) {
+
+				// Attempt to get data from the cache
+				// The key will always be camelCased in Data
+				data = dataUser.get( elem, key );
+				if ( data !== undefined ) {
+					return data;
+				}
+
+				// Attempt to "discover" the data in
+				// HTML5 custom data-* attrs
+				data = dataAttr( elem, key );
+				if ( data !== undefined ) {
+					return data;
+				}
+
+				// We tried really hard, but the data doesn't exist.
+				return;
+			}
+
+			// Set the data...
+			this.each( function() {
+
+				// We always store the camelCased key
+				dataUser.set( this, key, value );
+			} );
+		}, null, value, arguments.length > 1, null, true );
+	},
+
+	removeData: function( key ) {
+		return this.each( function() {
+			dataUser.remove( this, key );
+		} );
+	}
+} );
+
+
+jQuery.extend( {
+	queue: function( elem, type, data ) {
+		var queue;
+
+		if ( elem ) {
+			type = ( type || "fx" ) + "queue";
+			queue = dataPriv.get( elem, type );
+
+			// Speed up dequeue by getting out quickly if this is just a lookup
+			if ( data ) {
+				if ( !queue || Array.isArray( data ) ) {
+					queue = dataPriv.access( elem, type, jQuery.makeArray( data ) );
+				} else {
+					queue.push( data );
+				}
+			}
+			return queue || [];
+		}
+	},
+
+	dequeue: function( elem, type ) {
+		type = type || "fx";
+
+		var queue = jQuery.queue( elem, type ),
+			startLength = queue.length,
+			fn = queue.shift(),
+			hooks = jQuery._queueHooks( elem, type ),
+			next = function() {
+				jQuery.dequeue( elem, type );
+			};
+
+		// If the fx queue is dequeued, always remove the progress sentinel
+		if ( fn === "inprogress" ) {
+			fn = queue.shift();
+			startLength--;
+		}
+
+		if ( fn ) {
+
+			// Add a progress sentinel to prevent the fx queue from being
+			// automatically dequeued
+			if ( type === "fx" ) {
+				queue.unshift( "inprogress" );
+			}
+
+			// Clear up the last queue stop function
+			delete hooks.stop;
+			fn.call( elem, next, hooks );
+		}
+
+		if ( !startLength && hooks ) {
+			hooks.empty.fire();
+		}
+	},
+
+	// Not public - generate a queueHooks object, or return the current one
+	_queueHooks: function( elem, type ) {
+		var key = type + "queueHooks";
+		return dataPriv.get( elem, key ) || dataPriv.access( elem, key, {
+			empty: jQuery.Callbacks( "once memory" ).add( function() {
+				dataPriv.remove( elem, [ type + "queue", key ] );
+			} )
+		} );
+	}
+} );
+
+jQuery.fn.extend( {
+	queue: function( type, data ) {
+		var setter = 2;
+
+		if ( typeof type !== "string" ) {
+			data = type;
+			type = "fx";
+			setter--;
+		}
+
+		if ( arguments.length < setter ) {
+			return jQuery.queue( this[ 0 ], type );
+		}
+
+		return data === undefined ?
+			this :
+			this.each( function() {
+				var queue = jQuery.queue( this, type, data );
+
+				// Ensure a hooks for this queue
+				jQuery._queueHooks( this, type );
+
+				if ( type === "fx" && queue[ 0 ] !== "inprogress" ) {
+					jQuery.dequeue( this, type );
+				}
+			} );
+	},
+	dequeue: function( type ) {
+		return this.each( function() {
+			jQuery.dequeue( this, type );
+		} );
+	},
+	clearQueue: function( type ) {
+		return this.queue( type || "fx", [] );
+	},
+
+	// Get a promise resolved when queues of a certain type
+	// are emptied (fx is the type by default)
+	promise: function( type, obj ) {
+		var tmp,
+			count = 1,
+			defer = jQuery.Deferred(),
+			elements = this,
+			i = this.length,
+			resolve = function() {
+				if ( !( --count ) ) {
+					defer.resolveWith( elements, [ elements ] );
+				}
+			};
+
+		if ( typeof type !== "string" ) {
+			obj = type;
+			type = undefined;
+		}
+		type = type || "fx";
+
+		while ( i-- ) {
+			tmp = dataPriv.get( elements[ i ], type + "queueHooks" );
+			if ( tmp && tmp.empty ) {
+				count++;
+				tmp.empty.add( resolve );
+			}
+		}
+		resolve();
+		return defer.promise( obj );
+	}
+} );
+var pnum = ( /[+-]?(?:\d*\.|)\d+(?:[eE][+-]?\d+|)/ ).source;
+
+var rcssNum = new RegExp( "^(?:([+-])=|)(" + pnum + ")([a-z%]*)$", "i" );
+
+
+var cssExpand = [ "Top", "Right", "Bottom", "Left" ];
+
+var documentElement = document.documentElement;
+
+
+
+	var isAttached = function( elem ) {
+			return jQuery.contains( elem.ownerDocument, elem );
+		},
+		composed = { composed: true };
+
+	// Support: IE 9 - 11+, Edge 12 - 18+, iOS 10.0 - 10.2 only
+	// Check attachment across shadow DOM boundaries when possible (gh-3504)
+	// Support: iOS 10.0-10.2 only
+	// Early iOS 10 versions support `attachShadow` but not `getRootNode`,
+	// leading to errors. We need to check for `getRootNode`.
+	if ( documentElement.getRootNode ) {
+		isAttached = function( elem ) {
+			return jQuery.contains( elem.ownerDocument, elem ) ||
+				elem.getRootNode( composed ) === elem.ownerDocument;
+		};
+	}
+var isHiddenWithinTree = function( elem, el ) {
+
+		// isHiddenWithinTree might be called from jQuery#filter function;
+		// in that case, element will be second argument
+		elem = el || elem;
+
+		// Inline style trumps all
+		return elem.style.display === "none" ||
+			elem.style.display === "" &&
+
+			// Otherwise, check computed style
+			// Support: Firefox <=43 - 45
+			// Disconnected elements can have computed display: none, so first confirm that elem is
+			// in the document.
+			isAttached( elem ) &&
+
+			jQuery.css( elem, "display" ) === "none";
+	};
+
+
+
+function adjustCSS( elem, prop, valueParts, tween ) {
+	var adjusted, scale,
+		maxIterations = 20,
+		currentValue = tween ?
+			function() {
+				return tween.cur();
+			} :
+			function() {
+				return jQuery.css( elem, prop, "" );
+			},
+		initial = currentValue(),
+		unit = valueParts && valueParts[ 3 ] || ( jQuery.cssNumber[ prop ] ? "" : "px" ),
+
+		// Starting value computation is required for potential unit mismatches
+		initialInUnit = elem.nodeType &&
+			( jQuery.cssNumber[ prop ] || unit !== "px" && +initial ) &&
+			rcssNum.exec( jQuery.css( elem, prop ) );
+
+	if ( initialInUnit && initialInUnit[ 3 ] !== unit ) {
+
+		// Support: Firefox <=54
+		// Halve the iteration target value to prevent interference from CSS upper bounds (gh-2144)
+		initial = initial / 2;
+
+		// Trust units reported by jQuery.css
+		unit = unit || initialInUnit[ 3 ];
+
+		// Iteratively approximate from a nonzero starting point
+		initialInUnit = +initial || 1;
+
+		while ( maxIterations-- ) {
+
+			// Evaluate and update our best guess (doubling guesses that zero out).
+			// Finish if the scale equals or crosses 1 (making the old*new product non-positive).
+			jQuery.style( elem, prop, initialInUnit + unit );
+			if ( ( 1 - scale ) * ( 1 - ( scale = currentValue() / initial || 0.5 ) ) <= 0 ) {
+				maxIterations = 0;
+			}
+			initialInUnit = initialInUnit / scale;
+
+		}
+
+		initialInUnit = initialInUnit * 2;
+		jQuery.style( elem, prop, initialInUnit + unit );
+
+		// Make sure we update the tween properties later on
+		valueParts = valueParts || [];
+	}
+
+	if ( valueParts ) {
+		initialInUnit = +initialInUnit || +initial || 0;
+
+		// Apply relative offset (+=/-=) if specified
+		adjusted = valueParts[ 1 ] ?
+			initialInUnit + ( valueParts[ 1 ] + 1 ) * valueParts[ 2 ] :
+			+valueParts[ 2 ];
+		if ( tween ) {
+			tween.unit = unit;
+			tween.start = initialInUnit;
+			tween.end = adjusted;
+		}
+	}
+	return adjusted;
+}
+
+
+var defaultDisplayMap = {};
+
+function getDefaultDisplay( elem ) {
+	var temp,
+		doc = elem.ownerDocument,
+		nodeName = elem.nodeName,
+		display = defaultDisplayMap[ nodeName ];
+
+	if ( display ) {
+		return display;
+	}
+
+	temp = doc.body.appendChild( doc.createElement( nodeName ) );
+	display = jQuery.css( temp, "display" );
+
+	temp.parentNode.removeChild( temp );
+
+	if ( display === "none" ) {
+		display = "block";
+	}
+	defaultDisplayMap[ nodeName ] = display;
+
+	return display;
+}
+
+function showHide( elements, show ) {
+	var display, elem,
+		values = [],
+		index = 0,
+		length = elements.length;
+
+	// Determine new display value for elements that need to change
+	for ( ; index < length; index++ ) {
+		elem = elements[ index ];
+		if ( !elem.style ) {
+			continue;
+		}
+
+		display = elem.style.display;
+		if ( show ) {
+
+			// Since we force visibility upon cascade-hidden elements, an immediate (and slow)
+			// check is required in this first loop unless we have a nonempty display value (either
+			// inline or about-to-be-restored)
+			if ( display === "none" ) {
+				values[ index ] = dataPriv.get( elem, "display" ) || null;
+				if ( !values[ index ] ) {
+					elem.style.display = "";
+				}
+			}
+			if ( elem.style.display === "" && isHiddenWithinTree( elem ) ) {
+				values[ index ] = getDefaultDisplay( elem );
+			}
+		} else {
+			if ( display !== "none" ) {
+				values[ index ] = "none";
+
+				// Remember what we're overwriting
+				dataPriv.set( elem, "display", display );
+			}
+		}
+	}
+
+	// Set the display of the elements in a second loop to avoid constant reflow
+	for ( index = 0; index < length; index++ ) {
+		if ( values[ index ] != null ) {
+			elements[ index ].style.display = values[ index ];
+		}
+	}
+
+	return elements;
+}
+
+jQuery.fn.extend( {
+	show: function() {
+		return showHide( this, true );
+	},
+	hide: function() {
+		return showHide( this );
+	},
+	toggle: function( state ) {
+		if ( typeof state === "boolean" ) {
+			return state ? this.show() : this.hide();
+		}
+
+		return this.each( function() {
+			if ( isHiddenWithinTree( this ) ) {
+				jQuery( this ).show();
+			} else {
+				jQuery( this ).hide();
+			}
+		} );
+	}
+} );
+var rcheckableType = ( /^(?:checkbox|radio)$/i );
+
+var rtagName = ( /<([a-z][^\/\0>\x20\t\r\n\f]*)/i );
+
+var rscriptType = ( /^$|^module$|\/(?:java|ecma)script/i );
+
+
+
+( function() {
+	var fragment = document.createDocumentFragment(),
+		div = fragment.appendChild( document.createElement( "div" ) ),
+		input = document.createElement( "input" );
+
+	// Support: Android 4.0 - 4.3 only
+	// Check state lost if the name is set (#11217)
+	// Support: Windows Web Apps (WWA)
+	// `name` and `type` must use .setAttribute for WWA (#14901)
+	input.setAttribute( "type", "radio" );
+	input.setAttribute( "checked", "checked" );
+	input.setAttribute( "name", "t" );
+
+	div.appendChild( input );
+
+	// Support: Android <=4.1 only
+	// Older WebKit doesn't clone checked state correctly in fragments
+	support.checkClone = div.cloneNode( true ).cloneNode( true ).lastChild.checked;
+
+	// Support: IE <=11 only
+	// Make sure textarea (and checkbox) defaultValue is properly cloned
+	div.innerHTML = "<textarea>x</textarea>";
+	support.noCloneChecked = !!div.cloneNode( true ).lastChild.defaultValue;
+
+	// Support: IE <=9 only
+	// IE <=9 replaces <option> tags with their contents when inserted outside of
+	// the select element.
+	div.innerHTML = "<option></option>";
+	support.option = !!div.lastChild;
+} )();
+
+
+// We have to close these tags to support XHTML (#13200)
+var wrapMap = {
+
+	// XHTML parsers do not magically insert elements in the
+	// same way that tag soup parsers do. So we cannot shorten
+	// this by omitting <tbody> or other required elements.
+	thead: [ 1, "<table>", "</table>" ],
+	col: [ 2, "<table><colgroup>", "</colgroup></table>" ],
+	tr: [ 2, "<table><tbody>", "</tbody></table>" ],
+	td: [ 3, "<table><tbody><tr>", "</tr></tbody></table>" ],
+
+	_default: [ 0, "", "" ]
+};
+
+wrapMap.tbody = wrapMap.tfoot = wrapMap.colgroup = wrapMap.caption = wrapMap.thead;
+wrapMap.th = wrapMap.td;
+
+// Support: IE <=9 only
+if ( !support.option ) {
+	wrapMap.optgroup = wrapMap.option = [ 1, "<select multiple='multiple'>", "</select>" ];
+}
+
+
+function getAll( context, tag ) {
+
+	// Support: IE <=9 - 11 only
+	// Use typeof to avoid zero-argument method invocation on host objects (#15151)
+	var ret;
+
+	if ( typeof context.getElementsByTagName !== "undefined" ) {
+		ret = context.getElementsByTagName( tag || "*" );
+
+	} else if ( typeof context.querySelectorAll !== "undefined" ) {
+		ret = context.querySelectorAll( tag || "*" );
+
+	} else {
+		ret = [];
+	}
+
+	if ( tag === undefined || tag && nodeName( context, tag ) ) {
+		return jQuery.merge( [ context ], ret );
+	}
+
+	return ret;
+}
+
+
+// Mark scripts as having already been evaluated
+function setGlobalEval( elems, refElements ) {
+	var i = 0,
+		l = elems.length;
+
+	for ( ; i < l; i++ ) {
+		dataPriv.set(
+			elems[ i ],
+			"globalEval",
+			!refElements || dataPriv.get( refElements[ i ], "globalEval" )
+		);
+	}
+}
+
+
+var rhtml = /<|&#?\w+;/;
+
+function buildFragment( elems, context, scripts, selection, ignored ) {
+	var elem, tmp, tag, wrap, attached, j,
+		fragment = context.createDocumentFragment(),
+		nodes = [],
+		i = 0,
+		l = elems.length;
+
+	for ( ; i < l; i++ ) {
+		elem = elems[ i ];
+
+		if ( elem || elem === 0 ) {
+
+			// Add nodes directly
+			if ( toType( elem ) === "object" ) {
+
+				// Support: Android <=4.0 only, PhantomJS 1 only
+				// push.apply(_, arraylike) throws on ancient WebKit
+				jQuery.merge( nodes, elem.nodeType ? [ elem ] : elem );
+
+			// Convert non-html into a text node
+			} else if ( !rhtml.test( elem ) ) {
+				nodes.push( context.createTextNode( elem ) );
+
+			// Convert html into DOM nodes
+			} else {
+				tmp = tmp || fragment.appendChild( context.createElement( "div" ) );
+
+				// Deserialize a standard representation
+				tag = ( rtagName.exec( elem ) || [ "", "" ] )[ 1 ].toLowerCase();
+				wrap = wrapMap[ tag ] || wrapMap._default;
+				tmp.innerHTML = wrap[ 1 ] + jQuery.htmlPrefilter( elem ) + wrap[ 2 ];
+
+				// Descend through wrappers to the right content
+				j = wrap[ 0 ];
+				while ( j-- ) {
+					tmp = tmp.lastChild;
+				}
+
+				// Support: Android <=4.0 only, PhantomJS 1 only
+				// push.apply(_, arraylike) throws on ancient WebKit
+				jQuery.merge( nodes, tmp.childNodes );
+
+				// Remember the top-level container
+				tmp = fragment.firstChild;
+
+				// Ensure the created nodes are orphaned (#12392)
+				tmp.textContent = "";
+			}
+		}
+	}
+
+	// Remove wrapper from fragment
+	fragment.textContent = "";
+
+	i = 0;
+	while ( ( elem = nodes[ i++ ] ) ) {
+
+		// Skip elements already in the context collection (trac-4087)
+		if ( selection && jQuery.inArray( elem, selection ) > -1 ) {
+			if ( ignored ) {
+				ignored.push( elem );
+			}
+			continue;
+		}
+
+		attached = isAttached( elem );
+
+		// Append to fragment
+		tmp = getAll( fragment.appendChild( elem ), "script" );
+
+		// Preserve script evaluation history
+		if ( attached ) {
+			setGlobalEval( tmp );
+		}
+
+		// Capture executables
+		if ( scripts ) {
+			j = 0;
+			while ( ( elem = tmp[ j++ ] ) ) {
+				if ( rscriptType.test( elem.type || "" ) ) {
+					scripts.push( elem );
+				}
+			}
+		}
+	}
+
+	return fragment;
+}
+
+
+var
+	rkeyEvent = /^key/,
+	rmouseEvent = /^(?:mouse|pointer|contextmenu|drag|drop)|click/,
+	rtypenamespace = /^([^.]*)(?:\.(.+)|)/;
+
+function returnTrue() {
+	return true;
+}
+
+function returnFalse() {
+	return false;
+}
+
+// Support: IE <=9 - 11+
+// focus() and blur() are asynchronous, except when they are no-op.
+// So expect focus to be synchronous when the element is already active,
+// and blur to be synchronous when the element is not already active.
+// (focus and blur are always synchronous in other supported browsers,
+// this just defines when we can count on it).
+function expectSync( elem, type ) {
+	return ( elem === safeActiveElement() ) === ( type === "focus" );
+}
+
+// Support: IE <=9 only
+// Accessing document.activeElement can throw unexpectedly
+// https://bugs.jquery.com/ticket/13393
+function safeActiveElement() {
+	try {
+		return document.activeElement;
+	} catch ( err ) { }
+}
+
+function on( elem, types, selector, data, fn, one ) {
+	var origFn, type;
+
+	// Types can be a map of types/handlers
+	if ( typeof types === "object" ) {
+
+		// ( types-Object, selector, data )
+		if ( typeof selector !== "string" ) {
+
+			// ( types-Object, data )
+			data = data || selector;
+			selector = undefined;
+		}
+		for ( type in types ) {
+			on( elem, type, selector, data, types[ type ], one );
+		}
+		return elem;
+	}
+
+	if ( data == null && fn == null ) {
+
+		// ( types, fn )
+		fn = selector;
+		data = selector = undefined;
+	} else if ( fn == null ) {
+		if ( typeof selector === "string" ) {
+
+			// ( types, selector, fn )
+			fn = data;
+			data = undefined;
+		} else {
+
+			// ( types, data, fn )
+			fn = data;
+			data = selector;
+			selector = undefined;
+		}
+	}
+	if ( fn === false ) {
+		fn = returnFalse;
+	} else if ( !fn ) {
+		return elem;
+	}
+
+	if ( one === 1 ) {
+		origFn = fn;
+		fn = function( event ) {
+
+			// Can use an empty set, since event contains the info
+			jQuery().off( event );
+			return origFn.apply( this, arguments );
+		};
+
+		// Use same guid so caller can remove using origFn
+		fn.guid = origFn.guid || ( origFn.guid = jQuery.guid++ );
+	}
+	return elem.each( function() {
+		jQuery.event.add( this, types, fn, data, selector );
+	} );
+}
+
+/*
+ * Helper functions for managing events -- not part of the public interface.
+ * Props to Dean Edwards' addEvent library for many of the ideas.
+ */
+jQuery.event = {
+
+	global: {},
+
+	add: function( elem, types, handler, data, selector ) {
+
+		var handleObjIn, eventHandle, tmp,
+			events, t, handleObj,
+			special, handlers, type, namespaces, origType,
+			elemData = dataPriv.get( elem );
+
+		// Only attach events to objects that accept data
+		if ( !acceptData( elem ) ) {
+			return;
+		}
+
+		// Caller can pass in an object of custom data in lieu of the handler
+		if ( handler.handler ) {
+			handleObjIn = handler;
+			handler = handleObjIn.handler;
+			selector = handleObjIn.selector;
+		}
+
+		// Ensure that invalid selectors throw exceptions at attach time
+		// Evaluate against documentElement in case elem is a non-element node (e.g., document)
+		if ( selector ) {
+			jQuery.find.matchesSelector( documentElement, selector );
+		}
+
+		// Make sure that the handler has a unique ID, used to find/remove it later
+		if ( !handler.guid ) {
+			handler.guid = jQuery.guid++;
+		}
+
+		// Init the element's event structure and main handler, if this is the first
+		if ( !( events = elemData.events ) ) {
+			events = elemData.events = Object.create( null );
+		}
+		if ( !( eventHandle = elemData.handle ) ) {
+			eventHandle = elemData.handle = function( e ) {
+
+				// Discard the second event of a jQuery.event.trigger() and
+				// when an event is called after a page has unloaded
+				return typeof jQuery !== "undefined" && jQuery.event.triggered !== e.type ?
+					jQuery.event.dispatch.apply( elem, arguments ) : undefined;
+			};
+		}
+
+		// Handle multiple events separated by a space
+		types = ( types || "" ).match( rnothtmlwhite ) || [ "" ];
+		t = types.length;
+		while ( t-- ) {
+			tmp = rtypenamespace.exec( types[ t ] ) || [];
+			type = origType = tmp[ 1 ];
+			namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort();
+
+			// There *must* be a type, no attaching namespace-only handlers
+			if ( !type ) {
+				continue;
+			}
+
+			// If event changes its type, use the special event handlers for the changed type
+			special = jQuery.event.special[ type ] || {};
+
+			// If selector defined, determine special event api type, otherwise given type
+			type = ( selector ? special.delegateType : special.bindType ) || type;
+
+			// Update special based on newly reset type
+			special = jQuery.event.special[ type ] || {};
+
+			// handleObj is passed to all event handlers
+			handleObj = jQuery.extend( {
+				type: type,
+				origType: origType,
+				data: data,
+				handler: handler,
+				guid: handler.guid,
+				selector: selector,
+				needsContext: selector && jQuery.expr.match.needsContext.test( selector ),
+				namespace: namespaces.join( "." )
+			}, handleObjIn );
+
+			// Init the event handler queue if we're the first
+			if ( !( handlers = events[ type ] ) ) {
+				handlers = events[ type ] = [];
+				handlers.delegateCount = 0;
+
+				// Only use addEventListener if the special events handler returns false
+				if ( !special.setup ||
+					special.setup.call( elem, data, namespaces, eventHandle ) === false ) {
+
+					if ( elem.addEventListener ) {
+						elem.addEventListener( type, eventHandle );
+					}
+				}
+			}
+
+			if ( special.add ) {
+				special.add.call( elem, handleObj );
+
+				if ( !handleObj.handler.guid ) {
+					handleObj.handler.guid = handler.guid;
+				}
+			}
+
+			// Add to the element's handler list, delegates in front
+			if ( selector ) {
+				handlers.splice( handlers.delegateCount++, 0, handleObj );
+			} else {
+				handlers.push( handleObj );
+			}
+
+			// Keep track of which events have ever been used, for event optimization
+			jQuery.event.global[ type ] = true;
+		}
+
+	},
+
+	// Detach an event or set of events from an element
+	remove: function( elem, types, handler, selector, mappedTypes ) {
+
+		var j, origCount, tmp,
+			events, t, handleObj,
+			special, handlers, type, namespaces, origType,
+			elemData = dataPriv.hasData( elem ) && dataPriv.get( elem );
+
+		if ( !elemData || !( events = elemData.events ) ) {
+			return;
+		}
+
+		// Once for each type.namespace in types; type may be omitted
+		types = ( types || "" ).match( rnothtmlwhite ) || [ "" ];
+		t = types.length;
+		while ( t-- ) {
+			tmp = rtypenamespace.exec( types[ t ] ) || [];
+			type = origType = tmp[ 1 ];
+			namespaces = ( tmp[ 2 ] || "" ).split( "." ).sort();
+
+			// Unbind all events (on this namespace, if provided) for the element
+			if ( !type ) {
+				for ( type in events ) {
+					jQuery.event.remove( elem, type + types[ t ], handler, selector, true );
+				}
+				continue;
+			}
+
+			special = jQuery.event.special[ type ] || {};
+			type = ( selector ? special.delegateType : special.bindType ) || type;
+			handlers = events[ type ] || [];
+			tmp = tmp[ 2 ] &&
+				new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" );
+
+			// Remove matching events
+			origCount = j = handlers.length;
+			while ( j-- ) {
+				handleObj = handlers[ j ];
+
+				if ( ( mappedTypes || origType === handleObj.origType ) &&
+					( !handler || handler.guid === handleObj.guid ) &&
+					( !tmp || tmp.test( handleObj.namespace ) ) &&
+					( !selector || selector === handleObj.selector ||
+						selector === "**" && handleObj.selector ) ) {
+					handlers.splice( j, 1 );
+
+					if ( handleObj.selector ) {
+						handlers.delegateCount--;
+					}
+					if ( special.remove ) {
+						special.remove.call( elem, handleObj );
+					}
+				}
+			}
+
+			// Remove generic event handler if we removed something and no more handlers exist
+			// (avoids potential for endless recursion during removal of special event handlers)
+			if ( origCount && !handlers.length ) {
+				if ( !special.teardown ||
+					special.teardown.call( elem, namespaces, elemData.handle ) === false ) {
+
+					jQuery.removeEvent( elem, type, elemData.handle );
+				}
+
+				delete events[ type ];
+			}
+		}
+
+		// Remove data and the expando if it's no longer used
+		if ( jQuery.isEmptyObject( events ) ) {
+			dataPriv.remove( elem, "handle events" );
+		}
+	},
+
+	dispatch: function( nativeEvent ) {
+
+		var i, j, ret, matched, handleObj, handlerQueue,
+			args = new Array( arguments.length ),
+
+			// Make a writable jQuery.Event from the native event object
+			event = jQuery.event.fix( nativeEvent ),
+
+			handlers = (
+					dataPriv.get( this, "events" ) || Object.create( null )
+				)[ event.type ] || [],
+			special = jQuery.event.special[ event.type ] || {};
+
+		// Use the fix-ed jQuery.Event rather than the (read-only) native event
+		args[ 0 ] = event;
+
+		for ( i = 1; i < arguments.length; i++ ) {
+			args[ i ] = arguments[ i ];
+		}
+
+		event.delegateTarget = this;
+
+		// Call the preDispatch hook for the mapped type, and let it bail if desired
+		if ( special.preDispatch && special.preDispatch.call( this, event ) === false ) {
+			return;
+		}
+
+		// Determine handlers
+		handlerQueue = jQuery.event.handlers.call( this, event, handlers );
+
+		// Run delegates first; they may want to stop propagation beneath us
+		i = 0;
+		while ( ( matched = handlerQueue[ i++ ] ) && !event.isPropagationStopped() ) {
+			event.currentTarget = matched.elem;
+
+			j = 0;
+			while ( ( handleObj = matched.handlers[ j++ ] ) &&
+				!event.isImmediatePropagationStopped() ) {
+
+				// If the event is namespaced, then each handler is only invoked if it is
+				// specially universal or its namespaces are a superset of the event's.
+				if ( !event.rnamespace || handleObj.namespace === false ||
+					event.rnamespace.test( handleObj.namespace ) ) {
+
+					event.handleObj = handleObj;
+					event.data = handleObj.data;
+
+					ret = ( ( jQuery.event.special[ handleObj.origType ] || {} ).handle ||
+						handleObj.handler ).apply( matched.elem, args );
+
+					if ( ret !== undefined ) {
+						if ( ( event.result = ret ) === false ) {
+							event.preventDefault();
+							event.stopPropagation();
+						}
+					}
+				}
+			}
+		}
+
+		// Call the postDispatch hook for the mapped type
+		if ( special.postDispatch ) {
+			special.postDispatch.call( this, event );
+		}
+
+		return event.result;
+	},
+
+	handlers: function( event, handlers ) {
+		var i, handleObj, sel, matchedHandlers, matchedSelectors,
+			handlerQueue = [],
+			delegateCount = handlers.delegateCount,
+			cur = event.target;
+
+		// Find delegate handlers
+		if ( delegateCount &&
+
+			// Support: IE <=9
+			// Black-hole SVG <use> instance trees (trac-13180)
+			cur.nodeType &&
+
+			// Support: Firefox <=42
+			// Suppress spec-violating clicks indicating a non-primary pointer button (trac-3861)
+			// https://www.w3.org/TR/DOM-Level-3-Events/#event-type-click
+			// Support: IE 11 only
+			// ...but not arrow key "clicks" of radio inputs, which can have `button` -1 (gh-2343)
+			!( event.type === "click" && event.button >= 1 ) ) {
+
+			for ( ; cur !== this; cur = cur.parentNode || this ) {
+
+				// Don't check non-elements (#13208)
+				// Don't process clicks on disabled elements (#6911, #8165, #11382, #11764)
+				if ( cur.nodeType === 1 && !( event.type === "click" && cur.disabled === true ) ) {
+					matchedHandlers = [];
+					matchedSelectors = {};
+					for ( i = 0; i < delegateCount; i++ ) {
+						handleObj = handlers[ i ];
+
+						// Don't conflict with Object.prototype properties (#13203)
+						sel = handleObj.selector + " ";
+
+						if ( matchedSelectors[ sel ] === undefined ) {
+							matchedSelectors[ sel ] = handleObj.needsContext ?
+								jQuery( sel, this ).index( cur ) > -1 :
+								jQuery.find( sel, this, null, [ cur ] ).length;
+						}
+						if ( matchedSelectors[ sel ] ) {
+							matchedHandlers.push( handleObj );
+						}
+					}
+					if ( matchedHandlers.length ) {
+						handlerQueue.push( { elem: cur, handlers: matchedHandlers } );
+					}
+				}
+			}
+		}
+
+		// Add the remaining (directly-bound) handlers
+		cur = this;
+		if ( delegateCount < handlers.length ) {
+			handlerQueue.push( { elem: cur, handlers: handlers.slice( delegateCount ) } );
+		}
+
+		return handlerQueue;
+	},
+
+	addProp: function( name, hook ) {
+		Object.defineProperty( jQuery.Event.prototype, name, {
+			enumerable: true,
+			configurable: true,
+
+			get: isFunction( hook ) ?
+				function() {
+					if ( this.originalEvent ) {
+							return hook( this.originalEvent );
+					}
+				} :
+				function() {
+					if ( this.originalEvent ) {
+							return this.originalEvent[ name ];
+					}
+				},
+
+			set: function( value ) {
+				Object.defineProperty( this, name, {
+					enumerable: true,
+					configurable: true,
+					writable: true,
+					value: value
+				} );
+			}
+		} );
+	},
+
+	fix: function( originalEvent ) {
+		return originalEvent[ jQuery.expando ] ?
+			originalEvent :
+			new jQuery.Event( originalEvent );
+	},
+
+	special: {
+		load: {
+
+			// Prevent triggered image.load events from bubbling to window.load
+			noBubble: true
+		},
+		click: {
+
+			// Utilize native event to ensure correct state for checkable inputs
+			setup: function( data ) {
+
+				// For mutual compressibility with _default, replace `this` access with a local var.
+				// `|| data` is dead code meant only to preserve the variable through minification.
+				var el = this || data;
+
+				// Claim the first handler
+				if ( rcheckableType.test( el.type ) &&
+					el.click && nodeName( el, "input" ) ) {
+
+					// dataPriv.set( el, "click", ... )
+					leverageNative( el, "click", returnTrue );
+				}
+
+				// Return false to allow normal processing in the caller
+				return false;
+			},
+			trigger: function( data ) {
+
+				// For mutual compressibility with _default, replace `this` access with a local var.
+				// `|| data` is dead code meant only to preserve the variable through minification.
+				var el = this || data;
+
+				// Force setup before triggering a click
+				if ( rcheckableType.test( el.type ) &&
+					el.click && nodeName( el, "input" ) ) {
+
+					leverageNative( el, "click" );
+				}
+
+				// Return non-false to allow normal event-path propagation
+				return true;
+			},
+
+			// For cross-browser consistency, suppress native .click() on links
+			// Also prevent it if we're currently inside a leveraged native-event stack
+			_default: function( event ) {
+				var target = event.target;
+				return rcheckableType.test( target.type ) &&
+					target.click && nodeName( target, "input" ) &&
+					dataPriv.get( target, "click" ) ||
+					nodeName( target, "a" );
+			}
+		},
+
+		beforeunload: {
+			postDispatch: function( event ) {
+
+				// Support: Firefox 20+
+				// Firefox doesn't alert if the returnValue field is not set.
+				if ( event.result !== undefined && event.originalEvent ) {
+					event.originalEvent.returnValue = event.result;
+				}
+			}
+		}
+	}
+};
+
+// Ensure the presence of an event listener that handles manually-triggered
+// synthetic events by interrupting progress until reinvoked in response to
+// *native* events that it fires directly, ensuring that state changes have
+// already occurred before other listeners are invoked.
+function leverageNative( el, type, expectSync ) {
+
+	// Missing expectSync indicates a trigger call, which must force setup through jQuery.event.add
+	if ( !expectSync ) {
+		if ( dataPriv.get( el, type ) === undefined ) {
+			jQuery.event.add( el, type, returnTrue );
+		}
+		return;
+	}
+
+	// Register the controller as a special universal handler for all event namespaces
+	dataPriv.set( el, type, false );
+	jQuery.event.add( el, type, {
+		namespace: false,
+		handler: function( event ) {
+			var notAsync, result,
+				saved = dataPriv.get( this, type );
+
+			if ( ( event.isTrigger & 1 ) && this[ type ] ) {
+
+				// Interrupt processing of the outer synthetic .trigger()ed event
+				// Saved data should be false in such cases, but might be a leftover capture object
+				// from an async native handler (gh-4350)
+				if ( !saved.length ) {
+
+					// Store arguments for use when handling the inner native event
+					// There will always be at least one argument (an event object), so this array
+					// will not be confused with a leftover capture object.
+					saved = slice.call( arguments );
+					dataPriv.set( this, type, saved );
+
+					// Trigger the native event and capture its result
+					// Support: IE <=9 - 11+
+					// focus() and blur() are asynchronous
+					notAsync = expectSync( this, type );
+					this[ type ]();
+					result = dataPriv.get( this, type );
+					if ( saved !== result || notAsync ) {
+						dataPriv.set( this, type, false );
+					} else {
+						result = {};
+					}
+					if ( saved !== result ) {
+
+						// Cancel the outer synthetic event
+						event.stopImmediatePropagation();
+						event.preventDefault();
+						return result.value;
+					}
+
+				// If this is an inner synthetic event for an event with a bubbling surrogate
+				// (focus or blur), assume that the surrogate already propagated from triggering the
+				// native event and prevent that from happening again here.
+				// This technically gets the ordering wrong w.r.t. to `.trigger()` (in which the
+				// bubbling surrogate propagates *after* the non-bubbling base), but that seems
+				// less bad than duplication.
+				} else if ( ( jQuery.event.special[ type ] || {} ).delegateType ) {
+					event.stopPropagation();
+				}
+
+			// If this is a native event triggered above, everything is now in order
+			// Fire an inner synthetic event with the original arguments
+			} else if ( saved.length ) {
+
+				// ...and capture the result
+				dataPriv.set( this, type, {
+					value: jQuery.event.trigger(
+
+						// Support: IE <=9 - 11+
+						// Extend with the prototype to reset the above stopImmediatePropagation()
+						jQuery.extend( saved[ 0 ], jQuery.Event.prototype ),
+						saved.slice( 1 ),
+						this
+					)
+				} );
+
+				// Abort handling of the native event
+				event.stopImmediatePropagation();
+			}
+		}
+	} );
+}
+
+jQuery.removeEvent = function( elem, type, handle ) {
+
+	// This "if" is needed for plain objects
+	if ( elem.removeEventListener ) {
+		elem.removeEventListener( type, handle );
+	}
+};
+
+jQuery.Event = function( src, props ) {
+
+	// Allow instantiation without the 'new' keyword
+	if ( !( this instanceof jQuery.Event ) ) {
+		return new jQuery.Event( src, props );
+	}
+
+	// Event object
+	if ( src && src.type ) {
+		this.originalEvent = src;
+		this.type = src.type;
+
+		// Events bubbling up the document may have been marked as prevented
+		// by a handler lower down the tree; reflect the correct value.
+		this.isDefaultPrevented = src.defaultPrevented ||
+				src.defaultPrevented === undefined &&
+
+				// Support: Android <=2.3 only
+				src.returnValue === false ?
+			returnTrue :
+			returnFalse;
+
+		// Create target properties
+		// Support: Safari <=6 - 7 only
+		// Target should not be a text node (#504, #13143)
+		this.target = ( src.target && src.target.nodeType === 3 ) ?
+			src.target.parentNode :
+			src.target;
+
+		this.currentTarget = src.currentTarget;
+		this.relatedTarget = src.relatedTarget;
+
+	// Event type
+	} else {
+		this.type = src;
+	}
+
+	// Put explicitly provided properties onto the event object
+	if ( props ) {
+		jQuery.extend( this, props );
+	}
+
+	// Create a timestamp if incoming event doesn't have one
+	this.timeStamp = src && src.timeStamp || Date.now();
+
+	// Mark it as fixed
+	this[ jQuery.expando ] = true;
+};
+
+// jQuery.Event is based on DOM3 Events as specified by the ECMAScript Language Binding
+// https://www.w3.org/TR/2003/WD-DOM-Level-3-Events-20030331/ecma-script-binding.html
+jQuery.Event.prototype = {
+	constructor: jQuery.Event,
+	isDefaultPrevented: returnFalse,
+	isPropagationStopped: returnFalse,
+	isImmediatePropagationStopped: returnFalse,
+	isSimulated: false,
+
+	preventDefault: function() {
+		var e = this.originalEvent;
+
+		this.isDefaultPrevented = returnTrue;
+
+		if ( e && !this.isSimulated ) {
+			e.preventDefault();
+		}
+	},
+	stopPropagation: function() {
+		var e = this.originalEvent;
+
+		this.isPropagationStopped = returnTrue;
+
+		if ( e && !this.isSimulated ) {
+			e.stopPropagation();
+		}
+	},
+	stopImmediatePropagation: function() {
+		var e = this.originalEvent;
+
+		this.isImmediatePropagationStopped = returnTrue;
+
+		if ( e && !this.isSimulated ) {
+			e.stopImmediatePropagation();
+		}
+
+		this.stopPropagation();
+	}
+};
+
+// Includes all common event props including KeyEvent and MouseEvent specific props
+jQuery.each( {
+	altKey: true,
+	bubbles: true,
+	cancelable: true,
+	changedTouches: true,
+	ctrlKey: true,
+	detail: true,
+	eventPhase: true,
+	metaKey: true,
+	pageX: true,
+	pageY: true,
+	shiftKey: true,
+	view: true,
+	"char": true,
+	code: true,
+	charCode: true,
+	key: true,
+	keyCode: true,
+	button: true,
+	buttons: true,
+	clientX: true,
+	clientY: true,
+	offsetX: true,
+	offsetY: true,
+	pointerId: true,
+	pointerType: true,
+	screenX: true,
+	screenY: true,
+	targetTouches: true,
+	toElement: true,
+	touches: true,
+
+	which: function( event ) {
+		var button = event.button;
+
+		// Add which for key events
+		if ( event.which == null && rkeyEvent.test( event.type ) ) {
+			return event.charCode != null ? event.charCode : event.keyCode;
+		}
+
+		// Add which for click: 1 === left; 2 === middle; 3 === right
+		if ( !event.which && button !== undefined && rmouseEvent.test( event.type ) ) {
+			if ( button & 1 ) {
+				return 1;
+			}
+
+			if ( button & 2 ) {
+				return 3;
+			}
+
+			if ( button & 4 ) {
+				return 2;
+			}
+
+			return 0;
+		}
+
+		return event.which;
+	}
+}, jQuery.event.addProp );
+
+jQuery.each( { focus: "focusin", blur: "focusout" }, function( type, delegateType ) {
+	jQuery.event.special[ type ] = {
+
+		// Utilize native event if possible so blur/focus sequence is correct
+		setup: function() {
+
+			// Claim the first handler
+			// dataPriv.set( this, "focus", ... )
+			// dataPriv.set( this, "blur", ... )
+			leverageNative( this, type, expectSync );
+
+			// Return false to allow normal processing in the caller
+			return false;
+		},
+		trigger: function() {
+
+			// Force setup before trigger
+			leverageNative( this, type );
+
+			// Return non-false to allow normal event-path propagation
+			return true;
+		},
+
+		delegateType: delegateType
+	};
+} );
+
+// Create mouseenter/leave events using mouseover/out and event-time checks
+// so that event delegation works in jQuery.
+// Do the same for pointerenter/pointerleave and pointerover/pointerout
+//
+// Support: Safari 7 only
+// Safari sends mouseenter too often; see:
+// https://bugs.chromium.org/p/chromium/issues/detail?id=470258
+// for the description of the bug (it existed in older Chrome versions as well).
+jQuery.each( {
+	mouseenter: "mouseover",
+	mouseleave: "mouseout",
+	pointerenter: "pointerover",
+	pointerleave: "pointerout"
+}, function( orig, fix ) {
+	jQuery.event.special[ orig ] = {
+		delegateType: fix,
+		bindType: fix,
+
+		handle: function( event ) {
+			var ret,
+				target = this,
+				related = event.relatedTarget,
+				handleObj = event.handleObj;
+
+			// For mouseenter/leave call the handler if related is outside the target.
+			// NB: No relatedTarget if the mouse left/entered the browser window
+			if ( !related || ( related !== target && !jQuery.contains( target, related ) ) ) {
+				event.type = handleObj.origType;
+				ret = handleObj.handler.apply( this, arguments );
+				event.type = fix;
+			}
+			return ret;
+		}
+	};
+} );
+
+jQuery.fn.extend( {
+
+	on: function( types, selector, data, fn ) {
+		return on( this, types, selector, data, fn );
+	},
+	one: function( types, selector, data, fn ) {
+		return on( this, types, selector, data, fn, 1 );
+	},
+	off: function( types, selector, fn ) {
+		var handleObj, type;
+		if ( types && types.preventDefault && types.handleObj ) {
+
+			// ( event )  dispatched jQuery.Event
+			handleObj = types.handleObj;
+			jQuery( types.delegateTarget ).off(
+				handleObj.namespace ?
+					handleObj.origType + "." + handleObj.namespace :
+					handleObj.origType,
+				handleObj.selector,
+				handleObj.handler
+			);
+			return this;
+		}
+		if ( typeof types === "object" ) {
+
+			// ( types-object [, selector] )
+			for ( type in types ) {
+				this.off( type, selector, types[ type ] );
+			}
+			return this;
+		}
+		if ( selector === false || typeof selector === "function" ) {
+
+			// ( types [, fn] )
+			fn = selector;
+			selector = undefined;
+		}
+		if ( fn === false ) {
+			fn = returnFalse;
+		}
+		return this.each( function() {
+			jQuery.event.remove( this, types, fn, selector );
+		} );
+	}
+} );
+
+
+var
+
+	// Support: IE <=10 - 11, Edge 12 - 13 only
+	// In IE/Edge using regex groups here causes severe slowdowns.
+	// See https://connect.microsoft.com/IE/feedback/details/1736512/
+	rnoInnerhtml = /<script|<style|<link/i,
+
+	// checked="checked" or checked
+	rchecked = /checked\s*(?:[^=]|=\s*.checked.)/i,
+	rcleanScript = /^\s*<!(?:\[CDATA\[|--)|(?:\]\]|--)>\s*$/g;
+
+// Prefer a tbody over its parent table for containing new rows
+function manipulationTarget( elem, content ) {
+	if ( nodeName( elem, "table" ) &&
+		nodeName( content.nodeType !== 11 ? content : content.firstChild, "tr" ) ) {
+
+		return jQuery( elem ).children( "tbody" )[ 0 ] || elem;
+	}
+
+	return elem;
+}
+
+// Replace/restore the type attribute of script elements for safe DOM manipulation
+function disableScript( elem ) {
+	elem.type = ( elem.getAttribute( "type" ) !== null ) + "/" + elem.type;
+	return elem;
+}
+function restoreScript( elem ) {
+	if ( ( elem.type || "" ).slice( 0, 5 ) === "true/" ) {
+		elem.type = elem.type.slice( 5 );
+	} else {
+		elem.removeAttribute( "type" );
+	}
+
+	return elem;
+}
+
+function cloneCopyEvent( src, dest ) {
+	var i, l, type, pdataOld, udataOld, udataCur, events;
+
+	if ( dest.nodeType !== 1 ) {
+		return;
+	}
+
+	// 1. Copy private data: events, handlers, etc.
+	if ( dataPriv.hasData( src ) ) {
+		pdataOld = dataPriv.get( src );
+		events = pdataOld.events;
+
+		if ( events ) {
+			dataPriv.remove( dest, "handle events" );
+
+			for ( type in events ) {
+				for ( i = 0, l = events[ type ].length; i < l; i++ ) {
+					jQuery.event.add( dest, type, events[ type ][ i ] );
+				}
+			}
+		}
+	}
+
+	// 2. Copy user data
+	if ( dataUser.hasData( src ) ) {
+		udataOld = dataUser.access( src );
+		udataCur = jQuery.extend( {}, udataOld );
+
+		dataUser.set( dest, udataCur );
+	}
+}
+
+// Fix IE bugs, see support tests
+function fixInput( src, dest ) {
+	var nodeName = dest.nodeName.toLowerCase();
+
+	// Fails to persist the checked state of a cloned checkbox or radio button.
+	if ( nodeName === "input" && rcheckableType.test( src.type ) ) {
+		dest.checked = src.checked;
+
+	// Fails to return the selected option to the default selected state when cloning options
+	} else if ( nodeName === "input" || nodeName === "textarea" ) {
+		dest.defaultValue = src.defaultValue;
+	}
+}
+
+function domManip( collection, args, callback, ignored ) {
+
+	// Flatten any nested arrays
+	args = flat( args );
+
+	var fragment, first, scripts, hasScripts, node, doc,
+		i = 0,
+		l = collection.length,
+		iNoClone = l - 1,
+		value = args[ 0 ],
+		valueIsFunction = isFunction( value );
+
+	// We can't cloneNode fragments that contain checked, in WebKit
+	if ( valueIsFunction ||
+			( l > 1 && typeof value === "string" &&
+				!support.checkClone && rchecked.test( value ) ) ) {
+		return collection.each( function( index ) {
+			var self = collection.eq( index );
+			if ( valueIsFunction ) {
+				args[ 0 ] = value.call( this, index, self.html() );
+			}
+			domManip( self, args, callback, ignored );
+		} );
+	}
+
+	if ( l ) {
+		fragment = buildFragment( args, collection[ 0 ].ownerDocument, false, collection, ignored );
+		first = fragment.firstChild;
+
+		if ( fragment.childNodes.length === 1 ) {
+			fragment = first;
+		}
+
+		// Require either new content or an interest in ignored elements to invoke the callback
+		if ( first || ignored ) {
+			scripts = jQuery.map( getAll( fragment, "script" ), disableScript );
+			hasScripts = scripts.length;
+
+			// Use the original fragment for the last item
+			// instead of the first because it can end up
+			// being emptied incorrectly in certain situations (#8070).
+			for ( ; i < l; i++ ) {
+				node = fragment;
+
+				if ( i !== iNoClone ) {
+					node = jQuery.clone( node, true, true );
+
+					// Keep references to cloned scripts for later restoration
+					if ( hasScripts ) {
+
+						// Support: Android <=4.0 only, PhantomJS 1 only
+						// push.apply(_, arraylike) throws on ancient WebKit
+						jQuery.merge( scripts, getAll( node, "script" ) );
+					}
+				}
+
+				callback.call( collection[ i ], node, i );
+			}
+
+			if ( hasScripts ) {
+				doc = scripts[ scripts.length - 1 ].ownerDocument;
+
+				// Reenable scripts
+				jQuery.map( scripts, restoreScript );
+
+				// Evaluate executable scripts on first document insertion
+				for ( i = 0; i < hasScripts; i++ ) {
+					node = scripts[ i ];
+					if ( rscriptType.test( node.type || "" ) &&
+						!dataPriv.access( node, "globalEval" ) &&
+						jQuery.contains( doc, node ) ) {
+
+						if ( node.src && ( node.type || "" ).toLowerCase()  !== "module" ) {
+
+							// Optional AJAX dependency, but won't run scripts if not present
+							if ( jQuery._evalUrl && !node.noModule ) {
+								jQuery._evalUrl( node.src, {
+									nonce: node.nonce || node.getAttribute( "nonce" )
+								}, doc );
+							}
+						} else {
+							DOMEval( node.textContent.replace( rcleanScript, "" ), node, doc );
+						}
+					}
+				}
+			}
+		}
+	}
+
+	return collection;
+}
+
+function remove( elem, selector, keepData ) {
+	var node,
+		nodes = selector ? jQuery.filter( selector, elem ) : elem,
+		i = 0;
+
+	for ( ; ( node = nodes[ i ] ) != null; i++ ) {
+		if ( !keepData && node.nodeType === 1 ) {
+			jQuery.cleanData( getAll( node ) );
+		}
+
+		if ( node.parentNode ) {
+			if ( keepData && isAttached( node ) ) {
+				setGlobalEval( getAll( node, "script" ) );
+			}
+			node.parentNode.removeChild( node );
+		}
+	}
+
+	return elem;
+}
+
+jQuery.extend( {
+	htmlPrefilter: function( html ) {
+		return html;
+	},
+
+	clone: function( elem, dataAndEvents, deepDataAndEvents ) {
+		var i, l, srcElements, destElements,
+			clone = elem.cloneNode( true ),
+			inPage = isAttached( elem );
+
+		// Fix IE cloning issues
+		if ( !support.noCloneChecked && ( elem.nodeType === 1 || elem.nodeType === 11 ) &&
+				!jQuery.isXMLDoc( elem ) ) {
+
+			// We eschew Sizzle here for performance reasons: https://jsperf.com/getall-vs-sizzle/2
+			destElements = getAll( clone );
+			srcElements = getAll( elem );
+
+			for ( i = 0, l = srcElements.length; i < l; i++ ) {
+				fixInput( srcElements[ i ], destElements[ i ] );
+			}
+		}
+
+		// Copy the events from the original to the clone
+		if ( dataAndEvents ) {
+			if ( deepDataAndEvents ) {
+				srcElements = srcElements || getAll( elem );
+				destElements = destElements || getAll( clone );
+
+				for ( i = 0, l = srcElements.length; i < l; i++ ) {
+					cloneCopyEvent( srcElements[ i ], destElements[ i ] );
+				}
+			} else {
+				cloneCopyEvent( elem, clone );
+			}
+		}
+
+		// Preserve script evaluation history
+		destElements = getAll( clone, "script" );
+		if ( destElements.length > 0 ) {
+			setGlobalEval( destElements, !inPage && getAll( elem, "script" ) );
+		}
+
+		// Return the cloned set
+		return clone;
+	},
+
+	cleanData: function( elems ) {
+		var data, elem, type,
+			special = jQuery.event.special,
+			i = 0;
+
+		for ( ; ( elem = elems[ i ] ) !== undefined; i++ ) {
+			if ( acceptData( elem ) ) {
+				if ( ( data = elem[ dataPriv.expando ] ) ) {
+					if ( data.events ) {
+						for ( type in data.events ) {
+							if ( special[ type ] ) {
+								jQuery.event.remove( elem, type );
+
+							// This is a shortcut to avoid jQuery.event.remove's overhead
+							} else {
+								jQuery.removeEvent( elem, type, data.handle );
+							}
+						}
+					}
+
+					// Support: Chrome <=35 - 45+
+					// Assign undefined instead of using delete, see Data#remove
+					elem[ dataPriv.expando ] = undefined;
+				}
+				if ( elem[ dataUser.expando ] ) {
+
+					// Support: Chrome <=35 - 45+
+					// Assign undefined instead of using delete, see Data#remove
+					elem[ dataUser.expando ] = undefined;
+				}
+			}
+		}
+	}
+} );
+
+jQuery.fn.extend( {
+	detach: function( selector ) {
+		return remove( this, selector, true );
+	},
+
+	remove: function( selector ) {
+		return remove( this, selector );
+	},
+
+	text: function( value ) {
+		return access( this, function( value ) {
+			return value === undefined ?
+				jQuery.text( this ) :
+				this.empty().each( function() {
+					if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) {
+						this.textContent = value;
+					}
+				} );
+		}, null, value, arguments.length );
+	},
+
+	append: function() {
+		return domManip( this, arguments, function( elem ) {
+			if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) {
+				var target = manipulationTarget( this, elem );
+				target.appendChild( elem );
+			}
+		} );
+	},
+
+	prepend: function() {
+		return domManip( this, arguments, function( elem ) {
+			if ( this.nodeType === 1 || this.nodeType === 11 || this.nodeType === 9 ) {
+				var target = manipulationTarget( this, elem );
+				target.insertBefore( elem, target.firstChild );
+			}
+		} );
+	},
+
+	before: function() {
+		return domManip( this, arguments, function( elem ) {
+			if ( this.parentNode ) {
+				this.parentNode.insertBefore( elem, this );
+			}
+		} );
+	},
+
+	after: function() {
+		return domManip( this, arguments, function( elem ) {
+			if ( this.parentNode ) {
+				this.parentNode.insertBefore( elem, this.nextSibling );
+			}
+		} );
+	},
+
+	empty: function() {
+		var elem,
+			i = 0;
+
+		for ( ; ( elem = this[ i ] ) != null; i++ ) {
+			if ( elem.nodeType === 1 ) {
+
+				// Prevent memory leaks
+				jQuery.cleanData( getAll( elem, false ) );
+
+				// Remove any remaining nodes
+				elem.textContent = "";
+			}
+		}
+
+		return this;
+	},
+
+	clone: function( dataAndEvents, deepDataAndEvents ) {
+		dataAndEvents = dataAndEvents == null ? false : dataAndEvents;
+		deepDataAndEvents = deepDataAndEvents == null ? dataAndEvents : deepDataAndEvents;
+
+		return this.map( function() {
+			return jQuery.clone( this, dataAndEvents, deepDataAndEvents );
+		} );
+	},
+
+	html: function( value ) {
+		return access( this, function( value ) {
+			var elem = this[ 0 ] || {},
+				i = 0,
+				l = this.length;
+
+			if ( value === undefined && elem.nodeType === 1 ) {
+				return elem.innerHTML;
+			}
+
+			// See if we can take a shortcut and just use innerHTML
+			if ( typeof value === "string" && !rnoInnerhtml.test( value ) &&
+				!wrapMap[ ( rtagName.exec( value ) || [ "", "" ] )[ 1 ].toLowerCase() ] ) {
+
+				value = jQuery.htmlPrefilter( value );
+
+				try {
+					for ( ; i < l; i++ ) {
+						elem = this[ i ] || {};
+
+						// Remove element nodes and prevent memory leaks
+						if ( elem.nodeType === 1 ) {
+							jQuery.cleanData( getAll( elem, false ) );
+							elem.innerHTML = value;
+						}
+					}
+
+					elem = 0;
+
+				// If using innerHTML throws an exception, use the fallback method
+				} catch ( e ) {}
+			}
+
+			if ( elem ) {
+				this.empty().append( value );
+			}
+		}, null, value, arguments.length );
+	},
+
+	replaceWith: function() {
+		var ignored = [];
+
+		// Make the changes, replacing each non-ignored context element with the new content
+		return domManip( this, arguments, function( elem ) {
+			var parent = this.parentNode;
+
+			if ( jQuery.inArray( this, ignored ) < 0 ) {
+				jQuery.cleanData( getAll( this ) );
+				if ( parent ) {
+					parent.replaceChild( elem, this );
+				}
+			}
+
+		// Force callback invocation
+		}, ignored );
+	}
+} );
+
+jQuery.each( {
+	appendTo: "append",
+	prependTo: "prepend",
+	insertBefore: "before",
+	insertAfter: "after",
+	replaceAll: "replaceWith"
+}, function( name, original ) {
+	jQuery.fn[ name ] = function( selector ) {
+		var elems,
+			ret = [],
+			insert = jQuery( selector ),
+			last = insert.length - 1,
+			i = 0;
+
+		for ( ; i <= last; i++ ) {
+			elems = i === last ? this : this.clone( true );
+			jQuery( insert[ i ] )[ original ]( elems );
+
+			// Support: Android <=4.0 only, PhantomJS 1 only
+			// .get() because push.apply(_, arraylike) throws on ancient WebKit
+			push.apply( ret, elems.get() );
+		}
+
+		return this.pushStack( ret );
+	};
+} );
+var rnumnonpx = new RegExp( "^(" + pnum + ")(?!px)[a-z%]+$", "i" );
+
+var getStyles = function( elem ) {
+
+		// Support: IE <=11 only, Firefox <=30 (#15098, #14150)
+		// IE throws on elements created in popups
+		// FF meanwhile throws on frame elements through "defaultView.getComputedStyle"
+		var view = elem.ownerDocument.defaultView;
+
+		if ( !view || !view.opener ) {
+			view = window;
+		}
+
+		return view.getComputedStyle( elem );
+	};
+
+var swap = function( elem, options, callback ) {
+	var ret, name,
+		old = {};
+
+	// Remember the old values, and insert the new ones
+	for ( name in options ) {
+		old[ name ] = elem.style[ name ];
+		elem.style[ name ] = options[ name ];
+	}
+
+	ret = callback.call( elem );
+
+	// Revert the old values
+	for ( name in options ) {
+		elem.style[ name ] = old[ name ];
+	}
+
+	return ret;
+};
+
+
+var rboxStyle = new RegExp( cssExpand.join( "|" ), "i" );
+
+
+
+( function() {
+
+	// Executing both pixelPosition & boxSizingReliable tests require only one layout
+	// so they're executed at the same time to save the second computation.
+	function computeStyleTests() {
+
+		// This is a singleton, we need to execute it only once
+		if ( !div ) {
+			return;
+		}
+
+		container.style.cssText = "position:absolute;left:-11111px;width:60px;" +
+			"margin-top:1px;padding:0;border:0";
+		div.style.cssText =
+			"position:relative;display:block;box-sizing:border-box;overflow:scroll;" +
+			"margin:auto;border:1px;padding:1px;" +
+			"width:60%;top:1%";
+		documentElement.appendChild( container ).appendChild( div );
+
+		var divStyle = window.getComputedStyle( div );
+		pixelPositionVal = divStyle.top !== "1%";
+
+		// Support: Android 4.0 - 4.3 only, Firefox <=3 - 44
+		reliableMarginLeftVal = roundPixelMeasures( divStyle.marginLeft ) === 12;
+
+		// Support: Android 4.0 - 4.3 only, Safari <=9.1 - 10.1, iOS <=7.0 - 9.3
+		// Some styles come back with percentage values, even though they shouldn't
+		div.style.right = "60%";
+		pixelBoxStylesVal = roundPixelMeasures( divStyle.right ) === 36;
+
+		// Support: IE 9 - 11 only
+		// Detect misreporting of content dimensions for box-sizing:border-box elements
+		boxSizingReliableVal = roundPixelMeasures( divStyle.width ) === 36;
+
+		// Support: IE 9 only
+		// Detect overflow:scroll screwiness (gh-3699)
+		// Support: Chrome <=64
+		// Don't get tricked when zoom affects offsetWidth (gh-4029)
+		div.style.position = "absolute";
+		scrollboxSizeVal = roundPixelMeasures( div.offsetWidth / 3 ) === 12;
+
+		documentElement.removeChild( container );
+
+		// Nullify the div so it wouldn't be stored in the memory and
+		// it will also be a sign that checks already performed
+		div = null;
+	}
+
+	function roundPixelMeasures( measure ) {
+		return Math.round( parseFloat( measure ) );
+	}
+
+	var pixelPositionVal, boxSizingReliableVal, scrollboxSizeVal, pixelBoxStylesVal,
+		reliableTrDimensionsVal, reliableMarginLeftVal,
+		container = document.createElement( "div" ),
+		div = document.createElement( "div" );
+
+	// Finish early in limited (non-browser) environments
+	if ( !div.style ) {
+		return;
+	}
+
+	// Support: IE <=9 - 11 only
+	// Style of cloned element affects source element cloned (#8908)
+	div.style.backgroundClip = "content-box";
+	div.cloneNode( true ).style.backgroundClip = "";
+	support.clearCloneStyle = div.style.backgroundClip === "content-box";
+
+	jQuery.extend( support, {
+		boxSizingReliable: function() {
+			computeStyleTests();
+			return boxSizingReliableVal;
+		},
+		pixelBoxStyles: function() {
+			computeStyleTests();
+			return pixelBoxStylesVal;
+		},
+		pixelPosition: function() {
+			computeStyleTests();
+			return pixelPositionVal;
+		},
+		reliableMarginLeft: function() {
+			computeStyleTests();
+			return reliableMarginLeftVal;
+		},
+		scrollboxSize: function() {
+			computeStyleTests();
+			return scrollboxSizeVal;
+		},
+
+		// Support: IE 9 - 11+, Edge 15 - 18+
+		// IE/Edge misreport `getComputedStyle` of table rows with width/height
+		// set in CSS while `offset*` properties report correct values.
+		// Behavior in IE 9 is more subtle than in newer versions & it passes
+		// some versions of this test; make sure not to make it pass there!
+		reliableTrDimensions: function() {
+			var table, tr, trChild, trStyle;
+			if ( reliableTrDimensionsVal == null ) {
+				table = document.createElement( "table" );
+				tr = document.createElement( "tr" );
+				trChild = document.createElement( "div" );
+
+				table.style.cssText = "position:absolute;left:-11111px";
+				tr.style.height = "1px";
+				trChild.style.height = "9px";
+
+				documentElement
+					.appendChild( table )
+					.appendChild( tr )
+					.appendChild( trChild );
+
+				trStyle = window.getComputedStyle( tr );
+				reliableTrDimensionsVal = parseInt( trStyle.height ) > 3;
+
+				documentElement.removeChild( table );
+			}
+			return reliableTrDimensionsVal;
+		}
+	} );
+} )();
+
+
+function curCSS( elem, name, computed ) {
+	var width, minWidth, maxWidth, ret,
+
+		// Support: Firefox 51+
+		// Retrieving style before computed somehow
+		// fixes an issue with getting wrong values
+		// on detached elements
+		style = elem.style;
+
+	computed = computed || getStyles( elem );
+
+	// getPropertyValue is needed for:
+	//   .css('filter') (IE 9 only, #12537)
+	//   .css('--customProperty) (#3144)
+	if ( computed ) {
+		ret = computed.getPropertyValue( name ) || computed[ name ];
+
+		if ( ret === "" && !isAttached( elem ) ) {
+			ret = jQuery.style( elem, name );
+		}
+
+		// A tribute to the "awesome hack by Dean Edwards"
+		// Android Browser returns percentage for some values,
+		// but width seems to be reliably pixels.
+		// This is against the CSSOM draft spec:
+		// https://drafts.csswg.org/cssom/#resolved-values
+		if ( !support.pixelBoxStyles() && rnumnonpx.test( ret ) && rboxStyle.test( name ) ) {
+
+			// Remember the original values
+			width = style.width;
+			minWidth = style.minWidth;
+			maxWidth = style.maxWidth;
+
+			// Put in the new values to get a computed value out
+			style.minWidth = style.maxWidth = style.width = ret;
+			ret = computed.width;
+
+			// Revert the changed values
+			style.width = width;
+			style.minWidth = minWidth;
+			style.maxWidth = maxWidth;
+		}
+	}
+
+	return ret !== undefined ?
+
+		// Support: IE <=9 - 11 only
+		// IE returns zIndex value as an integer.
+		ret + "" :
+		ret;
+}
+
+
+function addGetHookIf( conditionFn, hookFn ) {
+
+	// Define the hook, we'll check on the first run if it's really needed.
+	return {
+		get: function() {
+			if ( conditionFn() ) {
+
+				// Hook not needed (or it's not possible to use it due
+				// to missing dependency), remove it.
+				delete this.get;
+				return;
+			}
+
+			// Hook needed; redefine it so that the support test is not executed again.
+			return ( this.get = hookFn ).apply( this, arguments );
+		}
+	};
+}
+
+
+var cssPrefixes = [ "Webkit", "Moz", "ms" ],
+	emptyStyle = document.createElement( "div" ).style,
+	vendorProps = {};
+
+// Return a vendor-prefixed property or undefined
+function vendorPropName( name ) {
+
+	// Check for vendor prefixed names
+	var capName = name[ 0 ].toUpperCase() + name.slice( 1 ),
+		i = cssPrefixes.length;
+
+	while ( i-- ) {
+		name = cssPrefixes[ i ] + capName;
+		if ( name in emptyStyle ) {
+			return name;
+		}
+	}
+}
+
+// Return a potentially-mapped jQuery.cssProps or vendor prefixed property
+function finalPropName( name ) {
+	var final = jQuery.cssProps[ name ] || vendorProps[ name ];
+
+	if ( final ) {
+		return final;
+	}
+	if ( name in emptyStyle ) {
+		return name;
+	}
+	return vendorProps[ name ] = vendorPropName( name ) || name;
+}
+
+
+var
+
+	// Swappable if display is none or starts with table
+	// except "table", "table-cell", or "table-caption"
+	// See here for display values: https://developer.mozilla.org/en-US/docs/CSS/display
+	rdisplayswap = /^(none|table(?!-c[ea]).+)/,
+	rcustomProp = /^--/,
+	cssShow = { position: "absolute", visibility: "hidden", display: "block" },
+	cssNormalTransform = {
+		letterSpacing: "0",
+		fontWeight: "400"
+	};
+
+function setPositiveNumber( _elem, value, subtract ) {
+
+	// Any relative (+/-) values have already been
+	// normalized at this point
+	var matches = rcssNum.exec( value );
+	return matches ?
+
+		// Guard against undefined "subtract", e.g., when used as in cssHooks
+		Math.max( 0, matches[ 2 ] - ( subtract || 0 ) ) + ( matches[ 3 ] || "px" ) :
+		value;
+}
+
+function boxModelAdjustment( elem, dimension, box, isBorderBox, styles, computedVal ) {
+	var i = dimension === "width" ? 1 : 0,
+		extra = 0,
+		delta = 0;
+
+	// Adjustment may not be necessary
+	if ( box === ( isBorderBox ? "border" : "content" ) ) {
+		return 0;
+	}
+
+	for ( ; i < 4; i += 2 ) {
+
+		// Both box models exclude margin
+		if ( box === "margin" ) {
+			delta += jQuery.css( elem, box + cssExpand[ i ], true, styles );
+		}
+
+		// If we get here with a content-box, we're seeking "padding" or "border" or "margin"
+		if ( !isBorderBox ) {
+
+			// Add padding
+			delta += jQuery.css( elem, "padding" + cssExpand[ i ], true, styles );
+
+			// For "border" or "margin", add border
+			if ( box !== "padding" ) {
+				delta += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles );
+
+			// But still keep track of it otherwise
+			} else {
+				extra += jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles );
+			}
+
+		// If we get here with a border-box (content + padding + border), we're seeking "content" or
+		// "padding" or "margin"
+		} else {
+
+			// For "content", subtract padding
+			if ( box === "content" ) {
+				delta -= jQuery.css( elem, "padding" + cssExpand[ i ], true, styles );
+			}
+
+			// For "content" or "padding", subtract border
+			if ( box !== "margin" ) {
+				delta -= jQuery.css( elem, "border" + cssExpand[ i ] + "Width", true, styles );
+			}
+		}
+	}
+
+	// Account for positive content-box scroll gutter when requested by providing computedVal
+	if ( !isBorderBox && computedVal >= 0 ) {
+
+		// offsetWidth/offsetHeight is a rounded sum of content, padding, scroll gutter, and border
+		// Assuming integer scroll gutter, subtract the rest and round down
+		delta += Math.max( 0, Math.ceil(
+			elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] -
+			computedVal -
+			delta -
+			extra -
+			0.5
+
+		// If offsetWidth/offsetHeight is unknown, then we can't determine content-box scroll gutter
+		// Use an explicit zero to avoid NaN (gh-3964)
+		) ) || 0;
+	}
+
+	return delta;
+}
+
+function getWidthOrHeight( elem, dimension, extra ) {
+
+	// Start with computed style
+	var styles = getStyles( elem ),
+
+		// To avoid forcing a reflow, only fetch boxSizing if we need it (gh-4322).
+		// Fake content-box until we know it's needed to know the true value.
+		boxSizingNeeded = !support.boxSizingReliable() || extra,
+		isBorderBox = boxSizingNeeded &&
+			jQuery.css( elem, "boxSizing", false, styles ) === "border-box",
+		valueIsBorderBox = isBorderBox,
+
+		val = curCSS( elem, dimension, styles ),
+		offsetProp = "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 );
+
+	// Support: Firefox <=54
+	// Return a confounding non-pixel value or feign ignorance, as appropriate.
+	if ( rnumnonpx.test( val ) ) {
+		if ( !extra ) {
+			return val;
+		}
+		val = "auto";
+	}
+
+
+	// Support: IE 9 - 11 only
+	// Use offsetWidth/offsetHeight for when box sizing is unreliable.
+	// In those cases, the computed value can be trusted to be border-box.
+	if ( ( !support.boxSizingReliable() && isBorderBox ||
+
+		// Support: IE 10 - 11+, Edge 15 - 18+
+		// IE/Edge misreport `getComputedStyle` of table rows with width/height
+		// set in CSS while `offset*` properties report correct values.
+		// Interestingly, in some cases IE 9 doesn't suffer from this issue.
+		!support.reliableTrDimensions() && nodeName( elem, "tr" ) ||
+
+		// Fall back to offsetWidth/offsetHeight when value is "auto"
+		// This happens for inline elements with no explicit setting (gh-3571)
+		val === "auto" ||
+
+		// Support: Android <=4.1 - 4.3 only
+		// Also use offsetWidth/offsetHeight for misreported inline dimensions (gh-3602)
+		!parseFloat( val ) && jQuery.css( elem, "display", false, styles ) === "inline" ) &&
+
+		// Make sure the element is visible & connected
+		elem.getClientRects().length ) {
+
+		isBorderBox = jQuery.css( elem, "boxSizing", false, styles ) === "border-box";
+
+		// Where available, offsetWidth/offsetHeight approximate border box dimensions.
+		// Where not available (e.g., SVG), assume unreliable box-sizing and interpret the
+		// retrieved value as a content box dimension.
+		valueIsBorderBox = offsetProp in elem;
+		if ( valueIsBorderBox ) {
+			val = elem[ offsetProp ];
+		}
+	}
+
+	// Normalize "" and auto
+	val = parseFloat( val ) || 0;
+
+	// Adjust for the element's box model
+	return ( val +
+		boxModelAdjustment(
+			elem,
+			dimension,
+			extra || ( isBorderBox ? "border" : "content" ),
+			valueIsBorderBox,
+			styles,
+
+			// Provide the current computed size to request scroll gutter calculation (gh-3589)
+			val
+		)
+	) + "px";
+}
+
+jQuery.extend( {
+
+	// Add in style property hooks for overriding the default
+	// behavior of getting and setting a style property
+	cssHooks: {
+		opacity: {
+			get: function( elem, computed ) {
+				if ( computed ) {
+
+					// We should always get a number back from opacity
+					var ret = curCSS( elem, "opacity" );
+					return ret === "" ? "1" : ret;
+				}
+			}
+		}
+	},
+
+	// Don't automatically add "px" to these possibly-unitless properties
+	cssNumber: {
+		"animationIterationCount": true,
+		"columnCount": true,
+		"fillOpacity": true,
+		"flexGrow": true,
+		"flexShrink": true,
+		"fontWeight": true,
+		"gridArea": true,
+		"gridColumn": true,
+		"gridColumnEnd": true,
+		"gridColumnStart": true,
+		"gridRow": true,
+		"gridRowEnd": true,
+		"gridRowStart": true,
+		"lineHeight": true,
+		"opacity": true,
+		"order": true,
+		"orphans": true,
+		"widows": true,
+		"zIndex": true,
+		"zoom": true
+	},
+
+	// Add in properties whose names you wish to fix before
+	// setting or getting the value
+	cssProps: {},
+
+	// Get and set the style property on a DOM Node
+	style: function( elem, name, value, extra ) {
+
+		// Don't set styles on text and comment nodes
+		if ( !elem || elem.nodeType === 3 || elem.nodeType === 8 || !elem.style ) {
+			return;
+		}
+
+		// Make sure that we're working with the right name
+		var ret, type, hooks,
+			origName = camelCase( name ),
+			isCustomProp = rcustomProp.test( name ),
+			style = elem.style;
+
+		// Make sure that we're working with the right name. We don't
+		// want to query the value if it is a CSS custom property
+		// since they are user-defined.
+		if ( !isCustomProp ) {
+			name = finalPropName( origName );
+		}
+
+		// Gets hook for the prefixed version, then unprefixed version
+		hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ];
+
+		// Check if we're setting a value
+		if ( value !== undefined ) {
+			type = typeof value;
+
+			// Convert "+=" or "-=" to relative numbers (#7345)
+			if ( type === "string" && ( ret = rcssNum.exec( value ) ) && ret[ 1 ] ) {
+				value = adjustCSS( elem, name, ret );
+
+				// Fixes bug #9237
+				type = "number";
+			}
+
+			// Make sure that null and NaN values aren't set (#7116)
+			if ( value == null || value !== value ) {
+				return;
+			}
+
+			// If a number was passed in, add the unit (except for certain CSS properties)
+			// The isCustomProp check can be removed in jQuery 4.0 when we only auto-append
+			// "px" to a few hardcoded values.
+			if ( type === "number" && !isCustomProp ) {
+				value += ret && ret[ 3 ] || ( jQuery.cssNumber[ origName ] ? "" : "px" );
+			}
+
+			// background-* props affect original clone's values
+			if ( !support.clearCloneStyle && value === "" && name.indexOf( "background" ) === 0 ) {
+				style[ name ] = "inherit";
+			}
+
+			// If a hook was provided, use that value, otherwise just set the specified value
+			if ( !hooks || !( "set" in hooks ) ||
+				( value = hooks.set( elem, value, extra ) ) !== undefined ) {
+
+				if ( isCustomProp ) {
+					style.setProperty( name, value );
+				} else {
+					style[ name ] = value;
+				}
+			}
+
+		} else {
+
+			// If a hook was provided get the non-computed value from there
+			if ( hooks && "get" in hooks &&
+				( ret = hooks.get( elem, false, extra ) ) !== undefined ) {
+
+				return ret;
+			}
+
+			// Otherwise just get the value from the style object
+			return style[ name ];
+		}
+	},
+
+	css: function( elem, name, extra, styles ) {
+		var val, num, hooks,
+			origName = camelCase( name ),
+			isCustomProp = rcustomProp.test( name );
+
+		// Make sure that we're working with the right name. We don't
+		// want to modify the value if it is a CSS custom property
+		// since they are user-defined.
+		if ( !isCustomProp ) {
+			name = finalPropName( origName );
+		}
+
+		// Try prefixed name followed by the unprefixed name
+		hooks = jQuery.cssHooks[ name ] || jQuery.cssHooks[ origName ];
+
+		// If a hook was provided get the computed value from there
+		if ( hooks && "get" in hooks ) {
+			val = hooks.get( elem, true, extra );
+		}
+
+		// Otherwise, if a way to get the computed value exists, use that
+		if ( val === undefined ) {
+			val = curCSS( elem, name, styles );
+		}
+
+		// Convert "normal" to computed value
+		if ( val === "normal" && name in cssNormalTransform ) {
+			val = cssNormalTransform[ name ];
+		}
+
+		// Make numeric if forced or a qualifier was provided and val looks numeric
+		if ( extra === "" || extra ) {
+			num = parseFloat( val );
+			return extra === true || isFinite( num ) ? num || 0 : val;
+		}
+
+		return val;
+	}
+} );
+
+jQuery.each( [ "height", "width" ], function( _i, dimension ) {
+	jQuery.cssHooks[ dimension ] = {
+		get: function( elem, computed, extra ) {
+			if ( computed ) {
+
+				// Certain elements can have dimension info if we invisibly show them
+				// but it must have a current display style that would benefit
+				return rdisplayswap.test( jQuery.css( elem, "display" ) ) &&
+
+					// Support: Safari 8+
+					// Table columns in Safari have non-zero offsetWidth & zero
+					// getBoundingClientRect().width unless display is changed.
+					// Support: IE <=11 only
+					// Running getBoundingClientRect on a disconnected node
+					// in IE throws an error.
+					( !elem.getClientRects().length || !elem.getBoundingClientRect().width ) ?
+						swap( elem, cssShow, function() {
+							return getWidthOrHeight( elem, dimension, extra );
+						} ) :
+						getWidthOrHeight( elem, dimension, extra );
+			}
+		},
+
+		set: function( elem, value, extra ) {
+			var matches,
+				styles = getStyles( elem ),
+
+				// Only read styles.position if the test has a chance to fail
+				// to avoid forcing a reflow.
+				scrollboxSizeBuggy = !support.scrollboxSize() &&
+					styles.position === "absolute",
+
+				// To avoid forcing a reflow, only fetch boxSizing if we need it (gh-3991)
+				boxSizingNeeded = scrollboxSizeBuggy || extra,
+				isBorderBox = boxSizingNeeded &&
+					jQuery.css( elem, "boxSizing", false, styles ) === "border-box",
+				subtract = extra ?
+					boxModelAdjustment(
+						elem,
+						dimension,
+						extra,
+						isBorderBox,
+						styles
+					) :
+					0;
+
+			// Account for unreliable border-box dimensions by comparing offset* to computed and
+			// faking a content-box to get border and padding (gh-3699)
+			if ( isBorderBox && scrollboxSizeBuggy ) {
+				subtract -= Math.ceil(
+					elem[ "offset" + dimension[ 0 ].toUpperCase() + dimension.slice( 1 ) ] -
+					parseFloat( styles[ dimension ] ) -
+					boxModelAdjustment( elem, dimension, "border", false, styles ) -
+					0.5
+				);
+			}
+
+			// Convert to pixels if value adjustment is needed
+			if ( subtract && ( matches = rcssNum.exec( value ) ) &&
+				( matches[ 3 ] || "px" ) !== "px" ) {
+
+				elem.style[ dimension ] = value;
+				value = jQuery.css( elem, dimension );
+			}
+
+			return setPositiveNumber( elem, value, subtract );
+		}
+	};
+} );
+
+jQuery.cssHooks.marginLeft = addGetHookIf( support.reliableMarginLeft,
+	function( elem, computed ) {
+		if ( computed ) {
+			return ( parseFloat( curCSS( elem, "marginLeft" ) ) ||
+				elem.getBoundingClientRect().left -
+					swap( elem, { marginLeft: 0 }, function() {
+						return elem.getBoundingClientRect().left;
+					} )
+				) + "px";
+		}
+	}
+);
+
+// These hooks are used by animate to expand properties
+jQuery.each( {
+	margin: "",
+	padding: "",
+	border: "Width"
+}, function( prefix, suffix ) {
+	jQuery.cssHooks[ prefix + suffix ] = {
+		expand: function( value ) {
+			var i = 0,
+				expanded = {},
+
+				// Assumes a single number if not a string
+				parts = typeof value === "string" ? value.split( " " ) : [ value ];
+
+			for ( ; i < 4; i++ ) {
+				expanded[ prefix + cssExpand[ i ] + suffix ] =
+					parts[ i ] || parts[ i - 2 ] || parts[ 0 ];
+			}
+
+			return expanded;
+		}
+	};
+
+	if ( prefix !== "margin" ) {
+		jQuery.cssHooks[ prefix + suffix ].set = setPositiveNumber;
+	}
+} );
+
+jQuery.fn.extend( {
+	css: function( name, value ) {
+		return access( this, function( elem, name, value ) {
+			var styles, len,
+				map = {},
+				i = 0;
+
+			if ( Array.isArray( name ) ) {
+				styles = getStyles( elem );
+				len = name.length;
+
+				for ( ; i < len; i++ ) {
+					map[ name[ i ] ] = jQuery.css( elem, name[ i ], false, styles );
+				}
+
+				return map;
+			}
+
+			return value !== undefined ?
+				jQuery.style( elem, name, value ) :
+				jQuery.css( elem, name );
+		}, name, value, arguments.length > 1 );
+	}
+} );
+
+
+function Tween( elem, options, prop, end, easing ) {
+	return new Tween.prototype.init( elem, options, prop, end, easing );
+}
+jQuery.Tween = Tween;
+
+Tween.prototype = {
+	constructor: Tween,
+	init: function( elem, options, prop, end, easing, unit ) {
+		this.elem = elem;
+		this.prop = prop;
+		this.easing = easing || jQuery.easing._default;
+		this.options = options;
+		this.start = this.now = this.cur();
+		this.end = end;
+		this.unit = unit || ( jQuery.cssNumber[ prop ] ? "" : "px" );
+	},
+	cur: function() {
+		var hooks = Tween.propHooks[ this.prop ];
+
+		return hooks && hooks.get ?
+			hooks.get( this ) :
+			Tween.propHooks._default.get( this );
+	},
+	run: function( percent ) {
+		var eased,
+			hooks = Tween.propHooks[ this.prop ];
+
+		if ( this.options.duration ) {
+			this.pos = eased = jQuery.easing[ this.easing ](
+				percent, this.options.duration * percent, 0, 1, this.options.duration
+			);
+		} else {
+			this.pos = eased = percent;
+		}
+		this.now = ( this.end - this.start ) * eased + this.start;
+
+		if ( this.options.step ) {
+			this.options.step.call( this.elem, this.now, this );
+		}
+
+		if ( hooks && hooks.set ) {
+			hooks.set( this );
+		} else {
+			Tween.propHooks._default.set( this );
+		}
+		return this;
+	}
+};
+
+Tween.prototype.init.prototype = Tween.prototype;
+
+Tween.propHooks = {
+	_default: {
+		get: function( tween ) {
+			var result;
+
+			// Use a property on the element directly when it is not a DOM element,
+			// or when there is no matching style property that exists.
+			if ( tween.elem.nodeType !== 1 ||
+				tween.elem[ tween.prop ] != null && tween.elem.style[ tween.prop ] == null ) {
+				return tween.elem[ tween.prop ];
+			}
+
+			// Passing an empty string as a 3rd parameter to .css will automatically
+			// attempt a parseFloat and fallback to a string if the parse fails.
+			// Simple values such as "10px" are parsed to Float;
+			// complex values such as "rotate(1rad)" are returned as-is.
+			result = jQuery.css( tween.elem, tween.prop, "" );
+
+			// Empty strings, null, undefined and "auto" are converted to 0.
+			return !result || result === "auto" ? 0 : result;
+		},
+		set: function( tween ) {
+
+			// Use step hook for back compat.
+			// Use cssHook if its there.
+			// Use .style if available and use plain properties where available.
+			if ( jQuery.fx.step[ tween.prop ] ) {
+				jQuery.fx.step[ tween.prop ]( tween );
+			} else if ( tween.elem.nodeType === 1 && (
+					jQuery.cssHooks[ tween.prop ] ||
+					tween.elem.style[ finalPropName( tween.prop ) ] != null ) ) {
+				jQuery.style( tween.elem, tween.prop, tween.now + tween.unit );
+			} else {
+				tween.elem[ tween.prop ] = tween.now;
+			}
+		}
+	}
+};
+
+// Support: IE <=9 only
+// Panic based approach to setting things on disconnected nodes
+Tween.propHooks.scrollTop = Tween.propHooks.scrollLeft = {
+	set: function( tween ) {
+		if ( tween.elem.nodeType && tween.elem.parentNode ) {
+			tween.elem[ tween.prop ] = tween.now;
+		}
+	}
+};
+
+jQuery.easing = {
+	linear: function( p ) {
+		return p;
+	},
+	swing: function( p ) {
+		return 0.5 - Math.cos( p * Math.PI ) / 2;
+	},
+	_default: "swing"
+};
+
+jQuery.fx = Tween.prototype.init;
+
+// Back compat <1.8 extension point
+jQuery.fx.step = {};
+
+
+
+
+var
+	fxNow, inProgress,
+	rfxtypes = /^(?:toggle|show|hide)$/,
+	rrun = /queueHooks$/;
+
+function schedule() {
+	if ( inProgress ) {
+		if ( document.hidden === false && window.requestAnimationFrame ) {
+			window.requestAnimationFrame( schedule );
+		} else {
+			window.setTimeout( schedule, jQuery.fx.interval );
+		}
+
+		jQuery.fx.tick();
+	}
+}
+
+// Animations created synchronously will run synchronously
+function createFxNow() {
+	window.setTimeout( function() {
+		fxNow = undefined;
+	} );
+	return ( fxNow = Date.now() );
+}
+
+// Generate parameters to create a standard animation
+function genFx( type, includeWidth ) {
+	var which,
+		i = 0,
+		attrs = { height: type };
+
+	// If we include width, step value is 1 to do all cssExpand values,
+	// otherwise step value is 2 to skip over Left and Right
+	includeWidth = includeWidth ? 1 : 0;
+	for ( ; i < 4; i += 2 - includeWidth ) {
+		which = cssExpand[ i ];
+		attrs[ "margin" + which ] = attrs[ "padding" + which ] = type;
+	}
+
+	if ( includeWidth ) {
+		attrs.opacity = attrs.width = type;
+	}
+
+	return attrs;
+}
+
+function createTween( value, prop, animation ) {
+	var tween,
+		collection = ( Animation.tweeners[ prop ] || [] ).concat( Animation.tweeners[ "*" ] ),
+		index = 0,
+		length = collection.length;
+	for ( ; index < length; index++ ) {
+		if ( ( tween = collection[ index ].call( animation, prop, value ) ) ) {
+
+			// We're done with this property
+			return tween;
+		}
+	}
+}
+
+function defaultPrefilter( elem, props, opts ) {
+	var prop, value, toggle, hooks, oldfire, propTween, restoreDisplay, display,
+		isBox = "width" in props || "height" in props,
+		anim = this,
+		orig = {},
+		style = elem.style,
+		hidden = elem.nodeType && isHiddenWithinTree( elem ),
+		dataShow = dataPriv.get( elem, "fxshow" );
+
+	// Queue-skipping animations hijack the fx hooks
+	if ( !opts.queue ) {
+		hooks = jQuery._queueHooks( elem, "fx" );
+		if ( hooks.unqueued == null ) {
+			hooks.unqueued = 0;
+			oldfire = hooks.empty.fire;
+			hooks.empty.fire = function() {
+				if ( !hooks.unqueued ) {
+					oldfire();
+				}
+			};
+		}
+		hooks.unqueued++;
+
+		anim.always( function() {
+
+			// Ensure the complete handler is called before this completes
+			anim.always( function() {
+				hooks.unqueued--;
+				if ( !jQuery.queue( elem, "fx" ).length ) {
+					hooks.empty.fire();
+				}
+			} );
+		} );
+	}
+
+	// Detect show/hide animations
+	for ( prop in props ) {
+		value = props[ prop ];
+		if ( rfxtypes.test( value ) ) {
+			delete props[ prop ];
+			toggle = toggle || value === "toggle";
+			if ( value === ( hidden ? "hide" : "show" ) ) {
+
+				// Pretend to be hidden if this is a "show" and
+				// there is still data from a stopped show/hide
+				if ( value === "show" && dataShow && dataShow[ prop ] !== undefined ) {
+					hidden = true;
+
+				// Ignore all other no-op show/hide data
+				} else {
+					continue;
+				}
+			}
+			orig[ prop ] = dataShow && dataShow[ prop ] || jQuery.style( elem, prop );
+		}
+	}
+
+	// Bail out if this is a no-op like .hide().hide()
+	propTween = !jQuery.isEmptyObject( props );
+	if ( !propTween && jQuery.isEmptyObject( orig ) ) {
+		return;
+	}
+
+	// Restrict "overflow" and "display" styles during box animations
+	if ( isBox && elem.nodeType === 1 ) {
+
+		// Support: IE <=9 - 11, Edge 12 - 15
+		// Record all 3 overflow attributes because IE does not infer the shorthand
+		// from identically-valued overflowX and overflowY and Edge just mirrors
+		// the overflowX value there.
+		opts.overflow = [ style.overflow, style.overflowX, style.overflowY ];
+
+		// Identify a display type, preferring old show/hide data over the CSS cascade
+		restoreDisplay = dataShow && dataShow.display;
+		if ( restoreDisplay == null ) {
+			restoreDisplay = dataPriv.get( elem, "display" );
+		}
+		display = jQuery.css( elem, "display" );
+		if ( display === "none" ) {
+			if ( restoreDisplay ) {
+				display = restoreDisplay;
+			} else {
+
+				// Get nonempty value(s) by temporarily forcing visibility
+				showHide( [ elem ], true );
+				restoreDisplay = elem.style.display || restoreDisplay;
+				display = jQuery.css( elem, "display" );
+				showHide( [ elem ] );
+			}
+		}
+
+		// Animate inline elements as inline-block
+		if ( display === "inline" || display === "inline-block" && restoreDisplay != null ) {
+			if ( jQuery.css( elem, "float" ) === "none" ) {
+
+				// Restore the original display value at the end of pure show/hide animations
+				if ( !propTween ) {
+					anim.done( function() {
+						style.display = restoreDisplay;
+					} );
+					if ( restoreDisplay == null ) {
+						display = style.display;
+						restoreDisplay = display === "none" ? "" : display;
+					}
+				}
+				style.display = "inline-block";
+			}
+		}
+	}
+
+	if ( opts.overflow ) {
+		style.overflow = "hidden";
+		anim.always( function() {
+			style.overflow = opts.overflow[ 0 ];
+			style.overflowX = opts.overflow[ 1 ];
+			style.overflowY = opts.overflow[ 2 ];
+		} );
+	}
+
+	// Implement show/hide animations
+	propTween = false;
+	for ( prop in orig ) {
+
+		// General show/hide setup for this element animation
+		if ( !propTween ) {
+			if ( dataShow ) {
+				if ( "hidden" in dataShow ) {
+					hidden = dataShow.hidden;
+				}
+			} else {
+				dataShow = dataPriv.access( elem, "fxshow", { display: restoreDisplay } );
+			}
+
+			// Store hidden/visible for toggle so `.stop().toggle()` "reverses"
+			if ( toggle ) {
+				dataShow.hidden = !hidden;
+			}
+
+			// Show elements before animating them
+			if ( hidden ) {
+				showHide( [ elem ], true );
+			}
+
+			/* eslint-disable no-loop-func */
+
+			anim.done( function() {
+
+			/* eslint-enable no-loop-func */
+
+				// The final step of a "hide" animation is actually hiding the element
+				if ( !hidden ) {
+					showHide( [ elem ] );
+				}
+				dataPriv.remove( elem, "fxshow" );
+				for ( prop in orig ) {
+					jQuery.style( elem, prop, orig[ prop ] );
+				}
+			} );
+		}
+
+		// Per-property setup
+		propTween = createTween( hidden ? dataShow[ prop ] : 0, prop, anim );
+		if ( !( prop in dataShow ) ) {
+			dataShow[ prop ] = propTween.start;
+			if ( hidden ) {
+				propTween.end = propTween.start;
+				propTween.start = 0;
+			}
+		}
+	}
+}
+
+function propFilter( props, specialEasing ) {
+	var index, name, easing, value, hooks;
+
+	// camelCase, specialEasing and expand cssHook pass
+	for ( index in props ) {
+		name = camelCase( index );
+		easing = specialEasing[ name ];
+		value = props[ index ];
+		if ( Array.isArray( value ) ) {
+			easing = value[ 1 ];
+			value = props[ index ] = value[ 0 ];
+		}
+
+		if ( index !== name ) {
+			props[ name ] = value;
+			delete props[ index ];
+		}
+
+		hooks = jQuery.cssHooks[ name ];
+		if ( hooks && "expand" in hooks ) {
+			value = hooks.expand( value );
+			delete props[ name ];
+
+			// Not quite $.extend, this won't overwrite existing keys.
+			// Reusing 'index' because we have the correct "name"
+			for ( index in value ) {
+				if ( !( index in props ) ) {
+					props[ index ] = value[ index ];
+					specialEasing[ index ] = easing;
+				}
+			}
+		} else {
+			specialEasing[ name ] = easing;
+		}
+	}
+}
+
+function Animation( elem, properties, options ) {
+	var result,
+		stopped,
+		index = 0,
+		length = Animation.prefilters.length,
+		deferred = jQuery.Deferred().always( function() {
+
+			// Don't match elem in the :animated selector
+			delete tick.elem;
+		} ),
+		tick = function() {
+			if ( stopped ) {
+				return false;
+			}
+			var currentTime = fxNow || createFxNow(),
+				remaining = Math.max( 0, animation.startTime + animation.duration - currentTime ),
+
+				// Support: Android 2.3 only
+				// Archaic crash bug won't allow us to use `1 - ( 0.5 || 0 )` (#12497)
+				temp = remaining / animation.duration || 0,
+				percent = 1 - temp,
+				index = 0,
+				length = animation.tweens.length;
+
+			for ( ; index < length; index++ ) {
+				animation.tweens[ index ].run( percent );
+			}
+
+			deferred.notifyWith( elem, [ animation, percent, remaining ] );
+
+			// If there's more to do, yield
+			if ( percent < 1 && length ) {
+				return remaining;
+			}
+
+			// If this was an empty animation, synthesize a final progress notification
+			if ( !length ) {
+				deferred.notifyWith( elem, [ animation, 1, 0 ] );
+			}
+
+			// Resolve the animation and report its conclusion
+			deferred.resolveWith( elem, [ animation ] );
+			return false;
+		},
+		animation = deferred.promise( {
+			elem: elem,
+			props: jQuery.extend( {}, properties ),
+			opts: jQuery.extend( true, {
+				specialEasing: {},
+				easing: jQuery.easing._default
+			}, options ),
+			originalProperties: properties,
+			originalOptions: options,
+			startTime: fxNow || createFxNow(),
+			duration: options.duration,
+			tweens: [],
+			createTween: function( prop, end ) {
+				var tween = jQuery.Tween( elem, animation.opts, prop, end,
+						animation.opts.specialEasing[ prop ] || animation.opts.easing );
+				animation.tweens.push( tween );
+				return tween;
+			},
+			stop: function( gotoEnd ) {
+				var index = 0,
+
+					// If we are going to the end, we want to run all the tweens
+					// otherwise we skip this part
+					length = gotoEnd ? animation.tweens.length : 0;
+				if ( stopped ) {
+					return this;
+				}
+				stopped = true;
+				for ( ; index < length; index++ ) {
+					animation.tweens[ index ].run( 1 );
+				}
+
+				// Resolve when we played the last frame; otherwise, reject
+				if ( gotoEnd ) {
+					deferred.notifyWith( elem, [ animation, 1, 0 ] );
+					deferred.resolveWith( elem, [ animation, gotoEnd ] );
+				} else {
+					deferred.rejectWith( elem, [ animation, gotoEnd ] );
+				}
+				return this;
+			}
+		} ),
+		props = animation.props;
+
+	propFilter( props, animation.opts.specialEasing );
+
+	for ( ; index < length; index++ ) {
+		result = Animation.prefilters[ index ].call( animation, elem, props, animation.opts );
+		if ( result ) {
+			if ( isFunction( result.stop ) ) {
+				jQuery._queueHooks( animation.elem, animation.opts.queue ).stop =
+					result.stop.bind( result );
+			}
+			return result;
+		}
+	}
+
+	jQuery.map( props, createTween, animation );
+
+	if ( isFunction( animation.opts.start ) ) {
+		animation.opts.start.call( elem, animation );
+	}
+
+	// Attach callbacks from options
+	animation
+		.progress( animation.opts.progress )
+		.done( animation.opts.done, animation.opts.complete )
+		.fail( animation.opts.fail )
+		.always( animation.opts.always );
+
+	jQuery.fx.timer(
+		jQuery.extend( tick, {
+			elem: elem,
+			anim: animation,
+			queue: animation.opts.queue
+		} )
+	);
+
+	return animation;
+}
+
+jQuery.Animation = jQuery.extend( Animation, {
+
+	tweeners: {
+		"*": [ function( prop, value ) {
+			var tween = this.createTween( prop, value );
+			adjustCSS( tween.elem, prop, rcssNum.exec( value ), tween );
+			return tween;
+		} ]
+	},
+
+	tweener: function( props, callback ) {
+		if ( isFunction( props ) ) {
+			callback = props;
+			props = [ "*" ];
+		} else {
+			props = props.match( rnothtmlwhite );
+		}
+
+		var prop,
+			index = 0,
+			length = props.length;
+
+		for ( ; index < length; index++ ) {
+			prop = props[ index ];
+			Animation.tweeners[ prop ] = Animation.tweeners[ prop ] || [];
+			Animation.tweeners[ prop ].unshift( callback );
+		}
+	},
+
+	prefilters: [ defaultPrefilter ],
+
+	prefilter: function( callback, prepend ) {
+		if ( prepend ) {
+			Animation.prefilters.unshift( callback );
+		} else {
+			Animation.prefilters.push( callback );
+		}
+	}
+} );
+
+jQuery.speed = function( speed, easing, fn ) {
+	var opt = speed && typeof speed === "object" ? jQuery.extend( {}, speed ) : {
+		complete: fn || !fn && easing ||
+			isFunction( speed ) && speed,
+		duration: speed,
+		easing: fn && easing || easing && !isFunction( easing ) && easing
+	};
+
+	// Go to the end state if fx are off
+	if ( jQuery.fx.off ) {
+		opt.duration = 0;
+
+	} else {
+		if ( typeof opt.duration !== "number" ) {
+			if ( opt.duration in jQuery.fx.speeds ) {
+				opt.duration = jQuery.fx.speeds[ opt.duration ];
+
+			} else {
+				opt.duration = jQuery.fx.speeds._default;
+			}
+		}
+	}
+
+	// Normalize opt.queue - true/undefined/null -> "fx"
+	if ( opt.queue == null || opt.queue === true ) {
+		opt.queue = "fx";
+	}
+
+	// Queueing
+	opt.old = opt.complete;
+
+	opt.complete = function() {
+		if ( isFunction( opt.old ) ) {
+			opt.old.call( this );
+		}
+
+		if ( opt.queue ) {
+			jQuery.dequeue( this, opt.queue );
+		}
+	};
+
+	return opt;
+};
+
+jQuery.fn.extend( {
+	fadeTo: function( speed, to, easing, callback ) {
+
+		// Show any hidden elements after setting opacity to 0
+		return this.filter( isHiddenWithinTree ).css( "opacity", 0 ).show()
+
+			// Animate to the value specified
+			.end().animate( { opacity: to }, speed, easing, callback );
+	},
+	animate: function( prop, speed, easing, callback ) {
+		var empty = jQuery.isEmptyObject( prop ),
+			optall = jQuery.speed( speed, easing, callback ),
+			doAnimation = function() {
+
+				// Operate on a copy of prop so per-property easing won't be lost
+				var anim = Animation( this, jQuery.extend( {}, prop ), optall );
+
+				// Empty animations, or finishing resolves immediately
+				if ( empty || dataPriv.get( this, "finish" ) ) {
+					anim.stop( true );
+				}
+			};
+			doAnimation.finish = doAnimation;
+
+		return empty || optall.queue === false ?
+			this.each( doAnimation ) :
+			this.queue( optall.queue, doAnimation );
+	},
+	stop: function( type, clearQueue, gotoEnd ) {
+		var stopQueue = function( hooks ) {
+			var stop = hooks.stop;
+			delete hooks.stop;
+			stop( gotoEnd );
+		};
+
+		if ( typeof type !== "string" ) {
+			gotoEnd = clearQueue;
+			clearQueue = type;
+			type = undefined;
+		}
+		if ( clearQueue ) {
+			this.queue( type || "fx", [] );
+		}
+
+		return this.each( function() {
+			var dequeue = true,
+				index = type != null && type + "queueHooks",
+				timers = jQuery.timers,
+				data = dataPriv.get( this );
+
+			if ( index ) {
+				if ( data[ index ] && data[ index ].stop ) {
+					stopQueue( data[ index ] );
+				}
+			} else {
+				for ( index in data ) {
+					if ( data[ index ] && data[ index ].stop && rrun.test( index ) ) {
+						stopQueue( data[ index ] );
+					}
+				}
+			}
+
+			for ( index = timers.length; index--; ) {
+				if ( timers[ index ].elem === this &&
+					( type == null || timers[ index ].queue === type ) ) {
+
+					timers[ index ].anim.stop( gotoEnd );
+					dequeue = false;
+					timers.splice( index, 1 );
+				}
+			}
+
+			// Start the next in the queue if the last step wasn't forced.
+			// Timers currently will call their complete callbacks, which
+			// will dequeue but only if they were gotoEnd.
+			if ( dequeue || !gotoEnd ) {
+				jQuery.dequeue( this, type );
+			}
+		} );
+	},
+	finish: function( type ) {
+		if ( type !== false ) {
+			type = type || "fx";
+		}
+		return this.each( function() {
+			var index,
+				data = dataPriv.get( this ),
+				queue = data[ type + "queue" ],
+				hooks = data[ type + "queueHooks" ],
+				timers = jQuery.timers,
+				length = queue ? queue.length : 0;
+
+			// Enable finishing flag on private data
+			data.finish = true;
+
+			// Empty the queue first
+			jQuery.queue( this, type, [] );
+
+			if ( hooks && hooks.stop ) {
+				hooks.stop.call( this, true );
+			}
+
+			// Look for any active animations, and finish them
+			for ( index = timers.length; index--; ) {
+				if ( timers[ index ].elem === this && timers[ index ].queue === type ) {
+					timers[ index ].anim.stop( true );
+					timers.splice( index, 1 );
+				}
+			}
+
+			// Look for any animations in the old queue and finish them
+			for ( index = 0; index < length; index++ ) {
+				if ( queue[ index ] && queue[ index ].finish ) {
+					queue[ index ].finish.call( this );
+				}
+			}
+
+			// Turn off finishing flag
+			delete data.finish;
+		} );
+	}
+} );
+
+jQuery.each( [ "toggle", "show", "hide" ], function( _i, name ) {
+	var cssFn = jQuery.fn[ name ];
+	jQuery.fn[ name ] = function( speed, easing, callback ) {
+		return speed == null || typeof speed === "boolean" ?
+			cssFn.apply( this, arguments ) :
+			this.animate( genFx( name, true ), speed, easing, callback );
+	};
+} );
+
+// Generate shortcuts for custom animations
+jQuery.each( {
+	slideDown: genFx( "show" ),
+	slideUp: genFx( "hide" ),
+	slideToggle: genFx( "toggle" ),
+	fadeIn: { opacity: "show" },
+	fadeOut: { opacity: "hide" },
+	fadeToggle: { opacity: "toggle" }
+}, function( name, props ) {
+	jQuery.fn[ name ] = function( speed, easing, callback ) {
+		return this.animate( props, speed, easing, callback );
+	};
+} );
+
+jQuery.timers = [];
+jQuery.fx.tick = function() {
+	var timer,
+		i = 0,
+		timers = jQuery.timers;
+
+	fxNow = Date.now();
+
+	for ( ; i < timers.length; i++ ) {
+		timer = timers[ i ];
+
+		// Run the timer and safely remove it when done (allowing for external removal)
+		if ( !timer() && timers[ i ] === timer ) {
+			timers.splice( i--, 1 );
+		}
+	}
+
+	if ( !timers.length ) {
+		jQuery.fx.stop();
+	}
+	fxNow = undefined;
+};
+
+jQuery.fx.timer = function( timer ) {
+	jQuery.timers.push( timer );
+	jQuery.fx.start();
+};
+
+jQuery.fx.interval = 13;
+jQuery.fx.start = function() {
+	if ( inProgress ) {
+		return;
+	}
+
+	inProgress = true;
+	schedule();
+};
+
+jQuery.fx.stop = function() {
+	inProgress = null;
+};
+
+jQuery.fx.speeds = {
+	slow: 600,
+	fast: 200,
+
+	// Default speed
+	_default: 400
+};
+
+
+// Based off of the plugin by Clint Helfers, with permission.
+// https://web.archive.org/web/20100324014747/http://blindsignals.com/index.php/2009/07/jquery-delay/
+jQuery.fn.delay = function( time, type ) {
+	time = jQuery.fx ? jQuery.fx.speeds[ time ] || time : time;
+	type = type || "fx";
+
+	return this.queue( type, function( next, hooks ) {
+		var timeout = window.setTimeout( next, time );
+		hooks.stop = function() {
+			window.clearTimeout( timeout );
+		};
+	} );
+};
+
+
+( function() {
+	var input = document.createElement( "input" ),
+		select = document.createElement( "select" ),
+		opt = select.appendChild( document.createElement( "option" ) );
+
+	input.type = "checkbox";
+
+	// Support: Android <=4.3 only
+	// Default value for a checkbox should be "on"
+	support.checkOn = input.value !== "";
+
+	// Support: IE <=11 only
+	// Must access selectedIndex to make default options select
+	support.optSelected = opt.selected;
+
+	// Support: IE <=11 only
+	// An input loses its value after becoming a radio
+	input = document.createElement( "input" );
+	input.value = "t";
+	input.type = "radio";
+	support.radioValue = input.value === "t";
+} )();
+
+
+var boolHook,
+	attrHandle = jQuery.expr.attrHandle;
+
+jQuery.fn.extend( {
+	attr: function( name, value ) {
+		return access( this, jQuery.attr, name, value, arguments.length > 1 );
+	},
+
+	removeAttr: function( name ) {
+		return this.each( function() {
+			jQuery.removeAttr( this, name );
+		} );
+	}
+} );
+
+jQuery.extend( {
+	attr: function( elem, name, value ) {
+		var ret, hooks,
+			nType = elem.nodeType;
+
+		// Don't get/set attributes on text, comment and attribute nodes
+		if ( nType === 3 || nType === 8 || nType === 2 ) {
+			return;
+		}
+
+		// Fallback to prop when attributes are not supported
+		if ( typeof elem.getAttribute === "undefined" ) {
+			return jQuery.prop( elem, name, value );
+		}
+
+		// Attribute hooks are determined by the lowercase version
+		// Grab necessary hook if one is defined
+		if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) {
+			hooks = jQuery.attrHooks[ name.toLowerCase() ] ||
+				( jQuery.expr.match.bool.test( name ) ? boolHook : undefined );
+		}
+
+		if ( value !== undefined ) {
+			if ( value === null ) {
+				jQuery.removeAttr( elem, name );
+				return;
+			}
+
+			if ( hooks && "set" in hooks &&
+				( ret = hooks.set( elem, value, name ) ) !== undefined ) {
+				return ret;
+			}
+
+			elem.setAttribute( name, value + "" );
+			return value;
+		}
+
+		if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) {
+			return ret;
+		}
+
+		ret = jQuery.find.attr( elem, name );
+
+		// Non-existent attributes return null, we normalize to undefined
+		return ret == null ? undefined : ret;
+	},
+
+	attrHooks: {
+		type: {
+			set: function( elem, value ) {
+				if ( !support.radioValue && value === "radio" &&
+					nodeName( elem, "input" ) ) {
+					var val = elem.value;
+					elem.setAttribute( "type", value );
+					if ( val ) {
+						elem.value = val;
+					}
+					return value;
+				}
+			}
+		}
+	},
+
+	removeAttr: function( elem, value ) {
+		var name,
+			i = 0,
+
+			// Attribute names can contain non-HTML whitespace characters
+			// https://html.spec.whatwg.org/multipage/syntax.html#attributes-2
+			attrNames = value && value.match( rnothtmlwhite );
+
+		if ( attrNames && elem.nodeType === 1 ) {
+			while ( ( name = attrNames[ i++ ] ) ) {
+				elem.removeAttribute( name );
+			}
+		}
+	}
+} );
+
+// Hooks for boolean attributes
+boolHook = {
+	set: function( elem, value, name ) {
+		if ( value === false ) {
+
+			// Remove boolean attributes when set to false
+			jQuery.removeAttr( elem, name );
+		} else {
+			elem.setAttribute( name, name );
+		}
+		return name;
+	}
+};
+
+jQuery.each( jQuery.expr.match.bool.source.match( /\w+/g ), function( _i, name ) {
+	var getter = attrHandle[ name ] || jQuery.find.attr;
+
+	attrHandle[ name ] = function( elem, name, isXML ) {
+		var ret, handle,
+			lowercaseName = name.toLowerCase();
+
+		if ( !isXML ) {
+
+			// Avoid an infinite loop by temporarily removing this function from the getter
+			handle = attrHandle[ lowercaseName ];
+			attrHandle[ lowercaseName ] = ret;
+			ret = getter( elem, name, isXML ) != null ?
+				lowercaseName :
+				null;
+			attrHandle[ lowercaseName ] = handle;
+		}
+		return ret;
+	};
+} );
+
+
+
+
+var rfocusable = /^(?:input|select|textarea|button)$/i,
+	rclickable = /^(?:a|area)$/i;
+
+jQuery.fn.extend( {
+	prop: function( name, value ) {
+		return access( this, jQuery.prop, name, value, arguments.length > 1 );
+	},
+
+	removeProp: function( name ) {
+		return this.each( function() {
+			delete this[ jQuery.propFix[ name ] || name ];
+		} );
+	}
+} );
+
+jQuery.extend( {
+	prop: function( elem, name, value ) {
+		var ret, hooks,
+			nType = elem.nodeType;
+
+		// Don't get/set properties on text, comment and attribute nodes
+		if ( nType === 3 || nType === 8 || nType === 2 ) {
+			return;
+		}
+
+		if ( nType !== 1 || !jQuery.isXMLDoc( elem ) ) {
+
+			// Fix name and attach hooks
+			name = jQuery.propFix[ name ] || name;
+			hooks = jQuery.propHooks[ name ];
+		}
+
+		if ( value !== undefined ) {
+			if ( hooks && "set" in hooks &&
+				( ret = hooks.set( elem, value, name ) ) !== undefined ) {
+				return ret;
+			}
+
+			return ( elem[ name ] = value );
+		}
+
+		if ( hooks && "get" in hooks && ( ret = hooks.get( elem, name ) ) !== null ) {
+			return ret;
+		}
+
+		return elem[ name ];
+	},
+
+	propHooks: {
+		tabIndex: {
+			get: function( elem ) {
+
+				// Support: IE <=9 - 11 only
+				// elem.tabIndex doesn't always return the
+				// correct value when it hasn't been explicitly set
+				// https://web.archive.org/web/20141116233347/http://fluidproject.org/blog/2008/01/09/getting-setting-and-removing-tabindex-values-with-javascript/
+				// Use proper attribute retrieval(#12072)
+				var tabindex = jQuery.find.attr( elem, "tabindex" );
+
+				if ( tabindex ) {
+					return parseInt( tabindex, 10 );
+				}
+
+				if (
+					rfocusable.test( elem.nodeName ) ||
+					rclickable.test( elem.nodeName ) &&
+					elem.href
+				) {
+					return 0;
+				}
+
+				return -1;
+			}
+		}
+	},
+
+	propFix: {
+		"for": "htmlFor",
+		"class": "className"
+	}
+} );
+
+// Support: IE <=11 only
+// Accessing the selectedIndex property
+// forces the browser to respect setting selected
+// on the option
+// The getter ensures a default option is selected
+// when in an optgroup
+// eslint rule "no-unused-expressions" is disabled for this code
+// since it considers such accessions noop
+if ( !support.optSelected ) {
+	jQuery.propHooks.selected = {
+		get: function( elem ) {
+
+			/* eslint no-unused-expressions: "off" */
+
+			var parent = elem.parentNode;
+			if ( parent && parent.parentNode ) {
+				parent.parentNode.selectedIndex;
+			}
+			return null;
+		},
+		set: function( elem ) {
+
+			/* eslint no-unused-expressions: "off" */
+
+			var parent = elem.parentNode;
+			if ( parent ) {
+				parent.selectedIndex;
+
+				if ( parent.parentNode ) {
+					parent.parentNode.selectedIndex;
+				}
+			}
+		}
+	};
+}
+
+jQuery.each( [
+	"tabIndex",
+	"readOnly",
+	"maxLength",
+	"cellSpacing",
+	"cellPadding",
+	"rowSpan",
+	"colSpan",
+	"useMap",
+	"frameBorder",
+	"contentEditable"
+], function() {
+	jQuery.propFix[ this.toLowerCase() ] = this;
+} );
+
+
+
+
+	// Strip and collapse whitespace according to HTML spec
+	// https://infra.spec.whatwg.org/#strip-and-collapse-ascii-whitespace
+	function stripAndCollapse( value ) {
+		var tokens = value.match( rnothtmlwhite ) || [];
+		return tokens.join( " " );
+	}
+
+
+function getClass( elem ) {
+	return elem.getAttribute && elem.getAttribute( "class" ) || "";
+}
+
+function classesToArray( value ) {
+	if ( Array.isArray( value ) ) {
+		return value;
+	}
+	if ( typeof value === "string" ) {
+		return value.match( rnothtmlwhite ) || [];
+	}
+	return [];
+}
+
+jQuery.fn.extend( {
+	addClass: function( value ) {
+		var classes, elem, cur, curValue, clazz, j, finalValue,
+			i = 0;
+
+		if ( isFunction( value ) ) {
+			return this.each( function( j ) {
+				jQuery( this ).addClass( value.call( this, j, getClass( this ) ) );
+			} );
+		}
+
+		classes = classesToArray( value );
+
+		if ( classes.length ) {
+			while ( ( elem = this[ i++ ] ) ) {
+				curValue = getClass( elem );
+				cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " );
+
+				if ( cur ) {
+					j = 0;
+					while ( ( clazz = classes[ j++ ] ) ) {
+						if ( cur.indexOf( " " + clazz + " " ) < 0 ) {
+							cur += clazz + " ";
+						}
+					}
+
+					// Only assign if different to avoid unneeded rendering.
+					finalValue = stripAndCollapse( cur );
+					if ( curValue !== finalValue ) {
+						elem.setAttribute( "class", finalValue );
+					}
+				}
+			}
+		}
+
+		return this;
+	},
+
+	removeClass: function( value ) {
+		var classes, elem, cur, curValue, clazz, j, finalValue,
+			i = 0;
+
+		if ( isFunction( value ) ) {
+			return this.each( function( j ) {
+				jQuery( this ).removeClass( value.call( this, j, getClass( this ) ) );
+			} );
+		}
+
+		if ( !arguments.length ) {
+			return this.attr( "class", "" );
+		}
+
+		classes = classesToArray( value );
+
+		if ( classes.length ) {
+			while ( ( elem = this[ i++ ] ) ) {
+				curValue = getClass( elem );
+
+				// This expression is here for better compressibility (see addClass)
+				cur = elem.nodeType === 1 && ( " " + stripAndCollapse( curValue ) + " " );
+
+				if ( cur ) {
+					j = 0;
+					while ( ( clazz = classes[ j++ ] ) ) {
+
+						// Remove *all* instances
+						while ( cur.indexOf( " " + clazz + " " ) > -1 ) {
+							cur = cur.replace( " " + clazz + " ", " " );
+						}
+					}
+
+					// Only assign if different to avoid unneeded rendering.
+					finalValue = stripAndCollapse( cur );
+					if ( curValue !== finalValue ) {
+						elem.setAttribute( "class", finalValue );
+					}
+				}
+			}
+		}
+
+		return this;
+	},
+
+	toggleClass: function( value, stateVal ) {
+		var type = typeof value,
+			isValidValue = type === "string" || Array.isArray( value );
+
+		if ( typeof stateVal === "boolean" && isValidValue ) {
+			return stateVal ? this.addClass( value ) : this.removeClass( value );
+		}
+
+		if ( isFunction( value ) ) {
+			return this.each( function( i ) {
+				jQuery( this ).toggleClass(
+					value.call( this, i, getClass( this ), stateVal ),
+					stateVal
+				);
+			} );
+		}
+
+		return this.each( function() {
+			var className, i, self, classNames;
+
+			if ( isValidValue ) {
+
+				// Toggle individual class names
+				i = 0;
+				self = jQuery( this );
+				classNames = classesToArray( value );
+
+				while ( ( className = classNames[ i++ ] ) ) {
+
+					// Check each className given, space separated list
+					if ( self.hasClass( className ) ) {
+						self.removeClass( className );
+					} else {
+						self.addClass( className );
+					}
+				}
+
+			// Toggle whole class name
+			} else if ( value === undefined || type === "boolean" ) {
+				className = getClass( this );
+				if ( className ) {
+
+					// Store className if set
+					dataPriv.set( this, "__className__", className );
+				}
+
+				// If the element has a class name or if we're passed `false`,
+				// then remove the whole classname (if there was one, the above saved it).
+				// Otherwise bring back whatever was previously saved (if anything),
+				// falling back to the empty string if nothing was stored.
+				if ( this.setAttribute ) {
+					this.setAttribute( "class",
+						className || value === false ?
+						"" :
+						dataPriv.get( this, "__className__" ) || ""
+					);
+				}
+			}
+		} );
+	},
+
+	hasClass: function( selector ) {
+		var className, elem,
+			i = 0;
+
+		className = " " + selector + " ";
+		while ( ( elem = this[ i++ ] ) ) {
+			if ( elem.nodeType === 1 &&
+				( " " + stripAndCollapse( getClass( elem ) ) + " " ).indexOf( className ) > -1 ) {
+					return true;
+			}
+		}
+
+		return false;
+	}
+} );
+
+
+
+
+var rreturn = /\r/g;
+
+jQuery.fn.extend( {
+	val: function( value ) {
+		var hooks, ret, valueIsFunction,
+			elem = this[ 0 ];
+
+		if ( !arguments.length ) {
+			if ( elem ) {
+				hooks = jQuery.valHooks[ elem.type ] ||
+					jQuery.valHooks[ elem.nodeName.toLowerCase() ];
+
+				if ( hooks &&
+					"get" in hooks &&
+					( ret = hooks.get( elem, "value" ) ) !== undefined
+				) {
+					return ret;
+				}
+
+				ret = elem.value;
+
+				// Handle most common string cases
+				if ( typeof ret === "string" ) {
+					return ret.replace( rreturn, "" );
+				}
+
+				// Handle cases where value is null/undef or number
+				return ret == null ? "" : ret;
+			}
+
+			return;
+		}
+
+		valueIsFunction = isFunction( value );
+
+		return this.each( function( i ) {
+			var val;
+
+			if ( this.nodeType !== 1 ) {
+				return;
+			}
+
+			if ( valueIsFunction ) {
+				val = value.call( this, i, jQuery( this ).val() );
+			} else {
+				val = value;
+			}
+
+			// Treat null/undefined as ""; convert numbers to string
+			if ( val == null ) {
+				val = "";
+
+			} else if ( typeof val === "number" ) {
+				val += "";
+
+			} else if ( Array.isArray( val ) ) {
+				val = jQuery.map( val, function( value ) {
+					return value == null ? "" : value + "";
+				} );
+			}
+
+			hooks = jQuery.valHooks[ this.type ] || jQuery.valHooks[ this.nodeName.toLowerCase() ];
+
+			// If set returns undefined, fall back to normal setting
+			if ( !hooks || !( "set" in hooks ) || hooks.set( this, val, "value" ) === undefined ) {
+				this.value = val;
+			}
+		} );
+	}
+} );
+
+jQuery.extend( {
+	valHooks: {
+		option: {
+			get: function( elem ) {
+
+				var val = jQuery.find.attr( elem, "value" );
+				return val != null ?
+					val :
+
+					// Support: IE <=10 - 11 only
+					// option.text throws exceptions (#14686, #14858)
+					// Strip and collapse whitespace
+					// https://html.spec.whatwg.org/#strip-and-collapse-whitespace
+					stripAndCollapse( jQuery.text( elem ) );
+			}
+		},
+		select: {
+			get: function( elem ) {
+				var value, option, i,
+					options = elem.options,
+					index = elem.selectedIndex,
+					one = elem.type === "select-one",
+					values = one ? null : [],
+					max = one ? index + 1 : options.length;
+
+				if ( index < 0 ) {
+					i = max;
+
+				} else {
+					i = one ? index : 0;
+				}
+
+				// Loop through all the selected options
+				for ( ; i < max; i++ ) {
+					option = options[ i ];
+
+					// Support: IE <=9 only
+					// IE8-9 doesn't update selected after form reset (#2551)
+					if ( ( option.selected || i === index ) &&
+
+							// Don't return options that are disabled or in a disabled optgroup
+							!option.disabled &&
+							( !option.parentNode.disabled ||
+								!nodeName( option.parentNode, "optgroup" ) ) ) {
+
+						// Get the specific value for the option
+						value = jQuery( option ).val();
+
+						// We don't need an array for one selects
+						if ( one ) {
+							return value;
+						}
+
+						// Multi-Selects return an array
+						values.push( value );
+					}
+				}
+
+				return values;
+			},
+
+			set: function( elem, value ) {
+				var optionSet, option,
+					options = elem.options,
+					values = jQuery.makeArray( value ),
+					i = options.length;
+
+				while ( i-- ) {
+					option = options[ i ];
+
+					/* eslint-disable no-cond-assign */
+
+					if ( option.selected =
+						jQuery.inArray( jQuery.valHooks.option.get( option ), values ) > -1
+					) {
+						optionSet = true;
+					}
+
+					/* eslint-enable no-cond-assign */
+				}
+
+				// Force browsers to behave consistently when non-matching value is set
+				if ( !optionSet ) {
+					elem.selectedIndex = -1;
+				}
+				return values;
+			}
+		}
+	}
+} );
+
+// Radios and checkboxes getter/setter
+jQuery.each( [ "radio", "checkbox" ], function() {
+	jQuery.valHooks[ this ] = {
+		set: function( elem, value ) {
+			if ( Array.isArray( value ) ) {
+				return ( elem.checked = jQuery.inArray( jQuery( elem ).val(), value ) > -1 );
+			}
+		}
+	};
+	if ( !support.checkOn ) {
+		jQuery.valHooks[ this ].get = function( elem ) {
+			return elem.getAttribute( "value" ) === null ? "on" : elem.value;
+		};
+	}
+} );
+
+
+
+
+// Return jQuery for attributes-only inclusion
+
+
+support.focusin = "onfocusin" in window;
+
+
+var rfocusMorph = /^(?:focusinfocus|focusoutblur)$/,
+	stopPropagationCallback = function( e ) {
+		e.stopPropagation();
+	};
+
+jQuery.extend( jQuery.event, {
+
+	trigger: function( event, data, elem, onlyHandlers ) {
+
+		var i, cur, tmp, bubbleType, ontype, handle, special, lastElement,
+			eventPath = [ elem || document ],
+			type = hasOwn.call( event, "type" ) ? event.type : event,
+			namespaces = hasOwn.call( event, "namespace" ) ? event.namespace.split( "." ) : [];
+
+		cur = lastElement = tmp = elem = elem || document;
+
+		// Don't do events on text and comment nodes
+		if ( elem.nodeType === 3 || elem.nodeType === 8 ) {
+			return;
+		}
+
+		// focus/blur morphs to focusin/out; ensure we're not firing them right now
+		if ( rfocusMorph.test( type + jQuery.event.triggered ) ) {
+			return;
+		}
+
+		if ( type.indexOf( "." ) > -1 ) {
+
+			// Namespaced trigger; create a regexp to match event type in handle()
+			namespaces = type.split( "." );
+			type = namespaces.shift();
+			namespaces.sort();
+		}
+		ontype = type.indexOf( ":" ) < 0 && "on" + type;
+
+		// Caller can pass in a jQuery.Event object, Object, or just an event type string
+		event = event[ jQuery.expando ] ?
+			event :
+			new jQuery.Event( type, typeof event === "object" && event );
+
+		// Trigger bitmask: & 1 for native handlers; & 2 for jQuery (always true)
+		event.isTrigger = onlyHandlers ? 2 : 3;
+		event.namespace = namespaces.join( "." );
+		event.rnamespace = event.namespace ?
+			new RegExp( "(^|\\.)" + namespaces.join( "\\.(?:.*\\.|)" ) + "(\\.|$)" ) :
+			null;
+
+		// Clean up the event in case it is being reused
+		event.result = undefined;
+		if ( !event.target ) {
+			event.target = elem;
+		}
+
+		// Clone any incoming data and prepend the event, creating the handler arg list
+		data = data == null ?
+			[ event ] :
+			jQuery.makeArray( data, [ event ] );
+
+		// Allow special events to draw outside the lines
+		special = jQuery.event.special[ type ] || {};
+		if ( !onlyHandlers && special.trigger && special.trigger.apply( elem, data ) === false ) {
+			return;
+		}
+
+		// Determine event propagation path in advance, per W3C events spec (#9951)
+		// Bubble up to document, then to window; watch for a global ownerDocument var (#9724)
+		if ( !onlyHandlers && !special.noBubble && !isWindow( elem ) ) {
+
+			bubbleType = special.delegateType || type;
+			if ( !rfocusMorph.test( bubbleType + type ) ) {
+				cur = cur.parentNode;
+			}
+			for ( ; cur; cur = cur.parentNode ) {
+				eventPath.push( cur );
+				tmp = cur;
+			}
+
+			// Only add window if we got to document (e.g., not plain obj or detached DOM)
+			if ( tmp === ( elem.ownerDocument || document ) ) {
+				eventPath.push( tmp.defaultView || tmp.parentWindow || window );
+			}
+		}
+
+		// Fire handlers on the event path
+		i = 0;
+		while ( ( cur = eventPath[ i++ ] ) && !event.isPropagationStopped() ) {
+			lastElement = cur;
+			event.type = i > 1 ?
+				bubbleType :
+				special.bindType || type;
+
+			// jQuery handler
+			handle = (
+					dataPriv.get( cur, "events" ) || Object.create( null )
+				)[ event.type ] &&
+				dataPriv.get( cur, "handle" );
+			if ( handle ) {
+				handle.apply( cur, data );
+			}
+
+			// Native handler
+			handle = ontype && cur[ ontype ];
+			if ( handle && handle.apply && acceptData( cur ) ) {
+				event.result = handle.apply( cur, data );
+				if ( event.result === false ) {
+					event.preventDefault();
+				}
+			}
+		}
+		event.type = type;
+
+		// If nobody prevented the default action, do it now
+		if ( !onlyHandlers && !event.isDefaultPrevented() ) {
+
+			if ( ( !special._default ||
+				special._default.apply( eventPath.pop(), data ) === false ) &&
+				acceptData( elem ) ) {
+
+				// Call a native DOM method on the target with the same name as the event.
+				// Don't do default actions on window, that's where global variables be (#6170)
+				if ( ontype && isFunction( elem[ type ] ) && !isWindow( elem ) ) {
+
+					// Don't re-trigger an onFOO event when we call its FOO() method
+					tmp = elem[ ontype ];
+
+					if ( tmp ) {
+						elem[ ontype ] = null;
+					}
+
+					// Prevent re-triggering of the same event, since we already bubbled it above
+					jQuery.event.triggered = type;
+
+					if ( event.isPropagationStopped() ) {
+						lastElement.addEventListener( type, stopPropagationCallback );
+					}
+
+					elem[ type ]();
+
+					if ( event.isPropagationStopped() ) {
+						lastElement.removeEventListener( type, stopPropagationCallback );
+					}
+
+					jQuery.event.triggered = undefined;
+
+					if ( tmp ) {
+						elem[ ontype ] = tmp;
+					}
+				}
+			}
+		}
+
+		return event.result;
+	},
+
+	// Piggyback on a donor event to simulate a different one
+	// Used only for `focus(in | out)` events
+	simulate: function( type, elem, event ) {
+		var e = jQuery.extend(
+			new jQuery.Event(),
+			event,
+			{
+				type: type,
+				isSimulated: true
+			}
+		);
+
+		jQuery.event.trigger( e, null, elem );
+	}
+
+} );
+
+jQuery.fn.extend( {
+
+	trigger: function( type, data ) {
+		return this.each( function() {
+			jQuery.event.trigger( type, data, this );
+		} );
+	},
+	triggerHandler: function( type, data ) {
+		var elem = this[ 0 ];
+		if ( elem ) {
+			return jQuery.event.trigger( type, data, elem, true );
+		}
+	}
+} );
+
+
+// Support: Firefox <=44
+// Firefox doesn't have focus(in | out) events
+// Related ticket - https://bugzilla.mozilla.org/show_bug.cgi?id=687787
+//
+// Support: Chrome <=48 - 49, Safari <=9.0 - 9.1
+// focus(in | out) events fire after focus & blur events,
+// which is spec violation - http://www.w3.org/TR/DOM-Level-3-Events/#events-focusevent-event-order
+// Related ticket - https://bugs.chromium.org/p/chromium/issues/detail?id=449857
+if ( !support.focusin ) {
+	jQuery.each( { focus: "focusin", blur: "focusout" }, function( orig, fix ) {
+
+		// Attach a single capturing handler on the document while someone wants focusin/focusout
+		var handler = function( event ) {
+			jQuery.event.simulate( fix, event.target, jQuery.event.fix( event ) );
+		};
+
+		jQuery.event.special[ fix ] = {
+			setup: function() {
+
+				// Handle: regular nodes (via `this.ownerDocument`), window
+				// (via `this.document`) & document (via `this`).
+				var doc = this.ownerDocument || this.document || this,
+					attaches = dataPriv.access( doc, fix );
+
+				if ( !attaches ) {
+					doc.addEventListener( orig, handler, true );
+				}
+				dataPriv.access( doc, fix, ( attaches || 0 ) + 1 );
+			},
+			teardown: function() {
+				var doc = this.ownerDocument || this.document || this,
+					attaches = dataPriv.access( doc, fix ) - 1;
+
+				if ( !attaches ) {
+					doc.removeEventListener( orig, handler, true );
+					dataPriv.remove( doc, fix );
+
+				} else {
+					dataPriv.access( doc, fix, attaches );
+				}
+			}
+		};
+	} );
+}
+var location = window.location;
+
+var nonce = { guid: Date.now() };
+
+var rquery = ( /\?/ );
+
+
+
+// Cross-browser xml parsing
+jQuery.parseXML = function( data ) {
+	var xml;
+	if ( !data || typeof data !== "string" ) {
+		return null;
+	}
+
+	// Support: IE 9 - 11 only
+	// IE throws on parseFromString with invalid input.
+	try {
+		xml = ( new window.DOMParser() ).parseFromString( data, "text/xml" );
+	} catch ( e ) {
+		xml = undefined;
+	}
+
+	if ( !xml || xml.getElementsByTagName( "parsererror" ).length ) {
+		jQuery.error( "Invalid XML: " + data );
+	}
+	return xml;
+};
+
+
+var
+	rbracket = /\[\]$/,
+	rCRLF = /\r?\n/g,
+	rsubmitterTypes = /^(?:submit|button|image|reset|file)$/i,
+	rsubmittable = /^(?:input|select|textarea|keygen)/i;
+
+function buildParams( prefix, obj, traditional, add ) {
+	var name;
+
+	if ( Array.isArray( obj ) ) {
+
+		// Serialize array item.
+		jQuery.each( obj, function( i, v ) {
+			if ( traditional || rbracket.test( prefix ) ) {
+
+				// Treat each array item as a scalar.
+				add( prefix, v );
+
+			} else {
+
+				// Item is non-scalar (array or object), encode its numeric index.
+				buildParams(
+					prefix + "[" + ( typeof v === "object" && v != null ? i : "" ) + "]",
+					v,
+					traditional,
+					add
+				);
+			}
+		} );
+
+	} else if ( !traditional && toType( obj ) === "object" ) {
+
+		// Serialize object item.
+		for ( name in obj ) {
+			buildParams( prefix + "[" + name + "]", obj[ name ], traditional, add );
+		}
+
+	} else {
+
+		// Serialize scalar item.
+		add( prefix, obj );
+	}
+}
+
+// Serialize an array of form elements or a set of
+// key/values into a query string
+jQuery.param = function( a, traditional ) {
+	var prefix,
+		s = [],
+		add = function( key, valueOrFunction ) {
+
+			// If value is a function, invoke it and use its return value
+			var value = isFunction( valueOrFunction ) ?
+				valueOrFunction() :
+				valueOrFunction;
+
+			s[ s.length ] = encodeURIComponent( key ) + "=" +
+				encodeURIComponent( value == null ? "" : value );
+		};
+
+	if ( a == null ) {
+		return "";
+	}
+
+	// If an array was passed in, assume that it is an array of form elements.
+	if ( Array.isArray( a ) || ( a.jquery && !jQuery.isPlainObject( a ) ) ) {
+
+		// Serialize the form elements
+		jQuery.each( a, function() {
+			add( this.name, this.value );
+		} );
+
+	} else {
+
+		// If traditional, encode the "old" way (the way 1.3.2 or older
+		// did it), otherwise encode params recursively.
+		for ( prefix in a ) {
+			buildParams( prefix, a[ prefix ], traditional, add );
+		}
+	}
+
+	// Return the resulting serialization
+	return s.join( "&" );
+};
+
+jQuery.fn.extend( {
+	serialize: function() {
+		return jQuery.param( this.serializeArray() );
+	},
+	serializeArray: function() {
+		return this.map( function() {
+
+			// Can add propHook for "elements" to filter or add form elements
+			var elements = jQuery.prop( this, "elements" );
+			return elements ? jQuery.makeArray( elements ) : this;
+		} )
+		.filter( function() {
+			var type = this.type;
+
+			// Use .is( ":disabled" ) so that fieldset[disabled] works
+			return this.name && !jQuery( this ).is( ":disabled" ) &&
+				rsubmittable.test( this.nodeName ) && !rsubmitterTypes.test( type ) &&
+				( this.checked || !rcheckableType.test( type ) );
+		} )
+		.map( function( _i, elem ) {
+			var val = jQuery( this ).val();
+
+			if ( val == null ) {
+				return null;
+			}
+
+			if ( Array.isArray( val ) ) {
+				return jQuery.map( val, function( val ) {
+					return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) };
+				} );
+			}
+
+			return { name: elem.name, value: val.replace( rCRLF, "\r\n" ) };
+		} ).get();
+	}
+} );
+
+
+var
+	r20 = /%20/g,
+	rhash = /#.*$/,
+	rantiCache = /([?&])_=[^&]*/,
+	rheaders = /^(.*?):[ \t]*([^\r\n]*)$/mg,
+
+	// #7653, #8125, #8152: local protocol detection
+	rlocalProtocol = /^(?:about|app|app-storage|.+-extension|file|res|widget):$/,
+	rnoContent = /^(?:GET|HEAD)$/,
+	rprotocol = /^\/\//,
+
+	/* Prefilters
+	 * 1) They are useful to introduce custom dataTypes (see ajax/jsonp.js for an example)
+	 * 2) These are called:
+	 *    - BEFORE asking for a transport
+	 *    - AFTER param serialization (s.data is a string if s.processData is true)
+	 * 3) key is the dataType
+	 * 4) the catchall symbol "*" can be used
+	 * 5) execution will start with transport dataType and THEN continue down to "*" if needed
+	 */
+	prefilters = {},
+
+	/* Transports bindings
+	 * 1) key is the dataType
+	 * 2) the catchall symbol "*" can be used
+	 * 3) selection will start with transport dataType and THEN go to "*" if needed
+	 */
+	transports = {},
+
+	// Avoid comment-prolog char sequence (#10098); must appease lint and evade compression
+	allTypes = "*/".concat( "*" ),
+
+	// Anchor tag for parsing the document origin
+	originAnchor = document.createElement( "a" );
+	originAnchor.href = location.href;
+
+// Base "constructor" for jQuery.ajaxPrefilter and jQuery.ajaxTransport
+function addToPrefiltersOrTransports( structure ) {
+
+	// dataTypeExpression is optional and defaults to "*"
+	return function( dataTypeExpression, func ) {
+
+		if ( typeof dataTypeExpression !== "string" ) {
+			func = dataTypeExpression;
+			dataTypeExpression = "*";
+		}
+
+		var dataType,
+			i = 0,
+			dataTypes = dataTypeExpression.toLowerCase().match( rnothtmlwhite ) || [];
+
+		if ( isFunction( func ) ) {
+
+			// For each dataType in the dataTypeExpression
+			while ( ( dataType = dataTypes[ i++ ] ) ) {
+
+				// Prepend if requested
+				if ( dataType[ 0 ] === "+" ) {
+					dataType = dataType.slice( 1 ) || "*";
+					( structure[ dataType ] = structure[ dataType ] || [] ).unshift( func );
+
+				// Otherwise append
+				} else {
+					( structure[ dataType ] = structure[ dataType ] || [] ).push( func );
+				}
+			}
+		}
+	};
+}
+
+// Base inspection function for prefilters and transports
+function inspectPrefiltersOrTransports( structure, options, originalOptions, jqXHR ) {
+
+	var inspected = {},
+		seekingTransport = ( structure === transports );
+
+	function inspect( dataType ) {
+		var selected;
+		inspected[ dataType ] = true;
+		jQuery.each( structure[ dataType ] || [], function( _, prefilterOrFactory ) {
+			var dataTypeOrTransport = prefilterOrFactory( options, originalOptions, jqXHR );
+			if ( typeof dataTypeOrTransport === "string" &&
+				!seekingTransport && !inspected[ dataTypeOrTransport ] ) {
+
+				options.dataTypes.unshift( dataTypeOrTransport );
+				inspect( dataTypeOrTransport );
+				return false;
+			} else if ( seekingTransport ) {
+				return !( selected = dataTypeOrTransport );
+			}
+		} );
+		return selected;
+	}
+
+	return inspect( options.dataTypes[ 0 ] ) || !inspected[ "*" ] && inspect( "*" );
+}
+
+// A special extend for ajax options
+// that takes "flat" options (not to be deep extended)
+// Fixes #9887
+function ajaxExtend( target, src ) {
+	var key, deep,
+		flatOptions = jQuery.ajaxSettings.flatOptions || {};
+
+	for ( key in src ) {
+		if ( src[ key ] !== undefined ) {
+			( flatOptions[ key ] ? target : ( deep || ( deep = {} ) ) )[ key ] = src[ key ];
+		}
+	}
+	if ( deep ) {
+		jQuery.extend( true, target, deep );
+	}
+
+	return target;
+}
+
+/* Handles responses to an ajax request:
+ * - finds the right dataType (mediates between content-type and expected dataType)
+ * - returns the corresponding response
+ */
+function ajaxHandleResponses( s, jqXHR, responses ) {
+
+	var ct, type, finalDataType, firstDataType,
+		contents = s.contents,
+		dataTypes = s.dataTypes;
+
+	// Remove auto dataType and get content-type in the process
+	while ( dataTypes[ 0 ] === "*" ) {
+		dataTypes.shift();
+		if ( ct === undefined ) {
+			ct = s.mimeType || jqXHR.getResponseHeader( "Content-Type" );
+		}
+	}
+
+	// Check if we're dealing with a known content-type
+	if ( ct ) {
+		for ( type in contents ) {
+			if ( contents[ type ] && contents[ type ].test( ct ) ) {
+				dataTypes.unshift( type );
+				break;
+			}
+		}
+	}
+
+	// Check to see if we have a response for the expected dataType
+	if ( dataTypes[ 0 ] in responses ) {
+		finalDataType = dataTypes[ 0 ];
+	} else {
+
+		// Try convertible dataTypes
+		for ( type in responses ) {
+			if ( !dataTypes[ 0 ] || s.converters[ type + " " + dataTypes[ 0 ] ] ) {
+				finalDataType = type;
+				break;
+			}
+			if ( !firstDataType ) {
+				firstDataType = type;
+			}
+		}
+
+		// Or just use first one
+		finalDataType = finalDataType || firstDataType;
+	}
+
+	// If we found a dataType
+	// We add the dataType to the list if needed
+	// and return the corresponding response
+	if ( finalDataType ) {
+		if ( finalDataType !== dataTypes[ 0 ] ) {
+			dataTypes.unshift( finalDataType );
+		}
+		return responses[ finalDataType ];
+	}
+}
+
+/* Chain conversions given the request and the original response
+ * Also sets the responseXXX fields on the jqXHR instance
+ */
+function ajaxConvert( s, response, jqXHR, isSuccess ) {
+	var conv2, current, conv, tmp, prev,
+		converters = {},
+
+		// Work with a copy of dataTypes in case we need to modify it for conversion
+		dataTypes = s.dataTypes.slice();
+
+	// Create converters map with lowercased keys
+	if ( dataTypes[ 1 ] ) {
+		for ( conv in s.converters ) {
+			converters[ conv.toLowerCase() ] = s.converters[ conv ];
+		}
+	}
+
+	current = dataTypes.shift();
+
+	// Convert to each sequential dataType
+	while ( current ) {
+
+		if ( s.responseFields[ current ] ) {
+			jqXHR[ s.responseFields[ current ] ] = response;
+		}
+
+		// Apply the dataFilter if provided
+		if ( !prev && isSuccess && s.dataFilter ) {
+			response = s.dataFilter( response, s.dataType );
+		}
+
+		prev = current;
+		current = dataTypes.shift();
+
+		if ( current ) {
+
+			// There's only work to do if current dataType is non-auto
+			if ( current === "*" ) {
+
+				current = prev;
+
+			// Convert response if prev dataType is non-auto and differs from current
+			} else if ( prev !== "*" && prev !== current ) {
+
+				// Seek a direct converter
+				conv = converters[ prev + " " + current ] || converters[ "* " + current ];
+
+				// If none found, seek a pair
+				if ( !conv ) {
+					for ( conv2 in converters ) {
+
+						// If conv2 outputs current
+						tmp = conv2.split( " " );
+						if ( tmp[ 1 ] === current ) {
+
+							// If prev can be converted to accepted input
+							conv = converters[ prev + " " + tmp[ 0 ] ] ||
+								converters[ "* " + tmp[ 0 ] ];
+							if ( conv ) {
+
+								// Condense equivalence converters
+								if ( conv === true ) {
+									conv = converters[ conv2 ];
+
+								// Otherwise, insert the intermediate dataType
+								} else if ( converters[ conv2 ] !== true ) {
+									current = tmp[ 0 ];
+									dataTypes.unshift( tmp[ 1 ] );
+								}
+								break;
+							}
+						}
+					}
+				}
+
+				// Apply converter (if not an equivalence)
+				if ( conv !== true ) {
+
+					// Unless errors are allowed to bubble, catch and return them
+					if ( conv && s.throws ) {
+						response = conv( response );
+					} else {
+						try {
+							response = conv( response );
+						} catch ( e ) {
+							return {
+								state: "parsererror",
+								error: conv ? e : "No conversion from " + prev + " to " + current
+							};
+						}
+					}
+				}
+			}
+		}
+	}
+
+	return { state: "success", data: response };
+}
+
+jQuery.extend( {
+
+	// Counter for holding the number of active queries
+	active: 0,
+
+	// Last-Modified header cache for next request
+	lastModified: {},
+	etag: {},
+
+	ajaxSettings: {
+		url: location.href,
+		type: "GET",
+		isLocal: rlocalProtocol.test( location.protocol ),
+		global: true,
+		processData: true,
+		async: true,
+		contentType: "application/x-www-form-urlencoded; charset=UTF-8",
+
+		/*
+		timeout: 0,
+		data: null,
+		dataType: null,
+		username: null,
+		password: null,
+		cache: null,
+		throws: false,
+		traditional: false,
+		headers: {},
+		*/
+
+		accepts: {
+			"*": allTypes,
+			text: "text/plain",
+			html: "text/html",
+			xml: "application/xml, text/xml",
+			json: "application/json, text/javascript"
+		},
+
+		contents: {
+			xml: /\bxml\b/,
+			html: /\bhtml/,
+			json: /\bjson\b/
+		},
+
+		responseFields: {
+			xml: "responseXML",
+			text: "responseText",
+			json: "responseJSON"
+		},
+
+		// Data converters
+		// Keys separate source (or catchall "*") and destination types with a single space
+		converters: {
+
+			// Convert anything to text
+			"* text": String,
+
+			// Text to html (true = no transformation)
+			"text html": true,
+
+			// Evaluate text as a json expression
+			"text json": JSON.parse,
+
+			// Parse text as xml
+			"text xml": jQuery.parseXML
+		},
+
+		// For options that shouldn't be deep extended:
+		// you can add your own custom options here if
+		// and when you create one that shouldn't be
+		// deep extended (see ajaxExtend)
+		flatOptions: {
+			url: true,
+			context: true
+		}
+	},
+
+	// Creates a full fledged settings object into target
+	// with both ajaxSettings and settings fields.
+	// If target is omitted, writes into ajaxSettings.
+	ajaxSetup: function( target, settings ) {
+		return settings ?
+
+			// Building a settings object
+			ajaxExtend( ajaxExtend( target, jQuery.ajaxSettings ), settings ) :
+
+			// Extending ajaxSettings
+			ajaxExtend( jQuery.ajaxSettings, target );
+	},
+
+	ajaxPrefilter: addToPrefiltersOrTransports( prefilters ),
+	ajaxTransport: addToPrefiltersOrTransports( transports ),
+
+	// Main method
+	ajax: function( url, options ) {
+
+		// If url is an object, simulate pre-1.5 signature
+		if ( typeof url === "object" ) {
+			options = url;
+			url = undefined;
+		}
+
+		// Force options to be an object
+		options = options || {};
+
+		var transport,
+
+			// URL without anti-cache param
+			cacheURL,
+
+			// Response headers
+			responseHeadersString,
+			responseHeaders,
+
+			// timeout handle
+			timeoutTimer,
+
+			// Url cleanup var
+			urlAnchor,
+
+			// Request state (becomes false upon send and true upon completion)
+			completed,
+
+			// To know if global events are to be dispatched
+			fireGlobals,
+
+			// Loop variable
+			i,
+
+			// uncached part of the url
+			uncached,
+
+			// Create the final options object
+			s = jQuery.ajaxSetup( {}, options ),
+
+			// Callbacks context
+			callbackContext = s.context || s,
+
+			// Context for global events is callbackContext if it is a DOM node or jQuery collection
+			globalEventContext = s.context &&
+				( callbackContext.nodeType || callbackContext.jquery ) ?
+					jQuery( callbackContext ) :
+					jQuery.event,
+
+			// Deferreds
+			deferred = jQuery.Deferred(),
+			completeDeferred = jQuery.Callbacks( "once memory" ),
+
+			// Status-dependent callbacks
+			statusCode = s.statusCode || {},
+
+			// Headers (they are sent all at once)
+			requestHeaders = {},
+			requestHeadersNames = {},
+
+			// Default abort message
+			strAbort = "canceled",
+
+			// Fake xhr
+			jqXHR = {
+				readyState: 0,
+
+				// Builds headers hashtable if needed
+				getResponseHeader: function( key ) {
+					var match;
+					if ( completed ) {
+						if ( !responseHeaders ) {
+							responseHeaders = {};
+							while ( ( match = rheaders.exec( responseHeadersString ) ) ) {
+								responseHeaders[ match[ 1 ].toLowerCase() + " " ] =
+									( responseHeaders[ match[ 1 ].toLowerCase() + " " ] || [] )
+										.concat( match[ 2 ] );
+							}
+						}
+						match = responseHeaders[ key.toLowerCase() + " " ];
+					}
+					return match == null ? null : match.join( ", " );
+				},
+
+				// Raw string
+				getAllResponseHeaders: function() {
+					return completed ? responseHeadersString : null;
+				},
+
+				// Caches the header
+				setRequestHeader: function( name, value ) {
+					if ( completed == null ) {
+						name = requestHeadersNames[ name.toLowerCase() ] =
+							requestHeadersNames[ name.toLowerCase() ] || name;
+						requestHeaders[ name ] = value;
+					}
+					return this;
+				},
+
+				// Overrides response content-type header
+				overrideMimeType: function( type ) {
+					if ( completed == null ) {
+						s.mimeType = type;
+					}
+					return this;
+				},
+
+				// Status-dependent callbacks
+				statusCode: function( map ) {
+					var code;
+					if ( map ) {
+						if ( completed ) {
+
+							// Execute the appropriate callbacks
+							jqXHR.always( map[ jqXHR.status ] );
+						} else {
+
+							// Lazy-add the new callbacks in a way that preserves old ones
+							for ( code in map ) {
+								statusCode[ code ] = [ statusCode[ code ], map[ code ] ];
+							}
+						}
+					}
+					return this;
+				},
+
+				// Cancel the request
+				abort: function( statusText ) {
+					var finalText = statusText || strAbort;
+					if ( transport ) {
+						transport.abort( finalText );
+					}
+					done( 0, finalText );
+					return this;
+				}
+			};
+
+		// Attach deferreds
+		deferred.promise( jqXHR );
+
+		// Add protocol if not provided (prefilters might expect it)
+		// Handle falsy url in the settings object (#10093: consistency with old signature)
+		// We also use the url parameter if available
+		s.url = ( ( url || s.url || location.href ) + "" )
+			.replace( rprotocol, location.protocol + "//" );
+
+		// Alias method option to type as per ticket #12004
+		s.type = options.method || options.type || s.method || s.type;
+
+		// Extract dataTypes list
+		s.dataTypes = ( s.dataType || "*" ).toLowerCase().match( rnothtmlwhite ) || [ "" ];
+
+		// A cross-domain request is in order when the origin doesn't match the current origin.
+		if ( s.crossDomain == null ) {
+			urlAnchor = document.createElement( "a" );
+
+			// Support: IE <=8 - 11, Edge 12 - 15
+			// IE throws exception on accessing the href property if url is malformed,
+			// e.g. http://example.com:80x/
+			try {
+				urlAnchor.href = s.url;
+
+				// Support: IE <=8 - 11 only
+				// Anchor's host property isn't correctly set when s.url is relative
+				urlAnchor.href = urlAnchor.href;
+				s.crossDomain = originAnchor.protocol + "//" + originAnchor.host !==
+					urlAnchor.protocol + "//" + urlAnchor.host;
+			} catch ( e ) {
+
+				// If there is an error parsing the URL, assume it is crossDomain,
+				// it can be rejected by the transport if it is invalid
+				s.crossDomain = true;
+			}
+		}
+
+		// Convert data if not already a string
+		if ( s.data && s.processData && typeof s.data !== "string" ) {
+			s.data = jQuery.param( s.data, s.traditional );
+		}
+
+		// Apply prefilters
+		inspectPrefiltersOrTransports( prefilters, s, options, jqXHR );
+
+		// If request was aborted inside a prefilter, stop there
+		if ( completed ) {
+			return jqXHR;
+		}
+
+		// We can fire global events as of now if asked to
+		// Don't fire events if jQuery.event is undefined in an AMD-usage scenario (#15118)
+		fireGlobals = jQuery.event && s.global;
+
+		// Watch for a new set of requests
+		if ( fireGlobals && jQuery.active++ === 0 ) {
+			jQuery.event.trigger( "ajaxStart" );
+		}
+
+		// Uppercase the type
+		s.type = s.type.toUpperCase();
+
+		// Determine if request has content
+		s.hasContent = !rnoContent.test( s.type );
+
+		// Save the URL in case we're toying with the If-Modified-Since
+		// and/or If-None-Match header later on
+		// Remove hash to simplify url manipulation
+		cacheURL = s.url.replace( rhash, "" );
+
+		// More options handling for requests with no content
+		if ( !s.hasContent ) {
+
+			// Remember the hash so we can put it back
+			uncached = s.url.slice( cacheURL.length );
+
+			// If data is available and should be processed, append data to url
+			if ( s.data && ( s.processData || typeof s.data === "string" ) ) {
+				cacheURL += ( rquery.test( cacheURL ) ? "&" : "?" ) + s.data;
+
+				// #9682: remove data so that it's not used in an eventual retry
+				delete s.data;
+			}
+
+			// Add or update anti-cache param if needed
+			if ( s.cache === false ) {
+				cacheURL = cacheURL.replace( rantiCache, "$1" );
+				uncached = ( rquery.test( cacheURL ) ? "&" : "?" ) + "_=" + ( nonce.guid++ ) +
+					uncached;
+			}
+
+			// Put hash and anti-cache on the URL that will be requested (gh-1732)
+			s.url = cacheURL + uncached;
+
+		// Change '%20' to '+' if this is encoded form body content (gh-2658)
+		} else if ( s.data && s.processData &&
+			( s.contentType || "" ).indexOf( "application/x-www-form-urlencoded" ) === 0 ) {
+			s.data = s.data.replace( r20, "+" );
+		}
+
+		// Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode.
+		if ( s.ifModified ) {
+			if ( jQuery.lastModified[ cacheURL ] ) {
+				jqXHR.setRequestHeader( "If-Modified-Since", jQuery.lastModified[ cacheURL ] );
+			}
+			if ( jQuery.etag[ cacheURL ] ) {
+				jqXHR.setRequestHeader( "If-None-Match", jQuery.etag[ cacheURL ] );
+			}
+		}
+
+		// Set the correct header, if data is being sent
+		if ( s.data && s.hasContent && s.contentType !== false || options.contentType ) {
+			jqXHR.setRequestHeader( "Content-Type", s.contentType );
+		}
+
+		// Set the Accepts header for the server, depending on the dataType
+		jqXHR.setRequestHeader(
+			"Accept",
+			s.dataTypes[ 0 ] && s.accepts[ s.dataTypes[ 0 ] ] ?
+				s.accepts[ s.dataTypes[ 0 ] ] +
+					( s.dataTypes[ 0 ] !== "*" ? ", " + allTypes + "; q=0.01" : "" ) :
+				s.accepts[ "*" ]
+		);
+
+		// Check for headers option
+		for ( i in s.headers ) {
+			jqXHR.setRequestHeader( i, s.headers[ i ] );
+		}
+
+		// Allow custom headers/mimetypes and early abort
+		if ( s.beforeSend &&
+			( s.beforeSend.call( callbackContext, jqXHR, s ) === false || completed ) ) {
+
+			// Abort if not done already and return
+			return jqXHR.abort();
+		}
+
+		// Aborting is no longer a cancellation
+		strAbort = "abort";
+
+		// Install callbacks on deferreds
+		completeDeferred.add( s.complete );
+		jqXHR.done( s.success );
+		jqXHR.fail( s.error );
+
+		// Get transport
+		transport = inspectPrefiltersOrTransports( transports, s, options, jqXHR );
+
+		// If no transport, we auto-abort
+		if ( !transport ) {
+			done( -1, "No Transport" );
+		} else {
+			jqXHR.readyState = 1;
+
+			// Send global event
+			if ( fireGlobals ) {
+				globalEventContext.trigger( "ajaxSend", [ jqXHR, s ] );
+			}
+
+			// If request was aborted inside ajaxSend, stop there
+			if ( completed ) {
+				return jqXHR;
+			}
+
+			// Timeout
+			if ( s.async && s.timeout > 0 ) {
+				timeoutTimer = window.setTimeout( function() {
+					jqXHR.abort( "timeout" );
+				}, s.timeout );
+			}
+
+			try {
+				completed = false;
+				transport.send( requestHeaders, done );
+			} catch ( e ) {
+
+				// Rethrow post-completion exceptions
+				if ( completed ) {
+					throw e;
+				}
+
+				// Propagate others as results
+				done( -1, e );
+			}
+		}
+
+		// Callback for when everything is done
+		function done( status, nativeStatusText, responses, headers ) {
+			var isSuccess, success, error, response, modified,
+				statusText = nativeStatusText;
+
+			// Ignore repeat invocations
+			if ( completed ) {
+				return;
+			}
+
+			completed = true;
+
+			// Clear timeout if it exists
+			if ( timeoutTimer ) {
+				window.clearTimeout( timeoutTimer );
+			}
+
+			// Dereference transport for early garbage collection
+			// (no matter how long the jqXHR object will be used)
+			transport = undefined;
+
+			// Cache response headers
+			responseHeadersString = headers || "";
+
+			// Set readyState
+			jqXHR.readyState = status > 0 ? 4 : 0;
+
+			// Determine if successful
+			isSuccess = status >= 200 && status < 300 || status === 304;
+
+			// Get response data
+			if ( responses ) {
+				response = ajaxHandleResponses( s, jqXHR, responses );
+			}
+
+			// Use a noop converter for missing script
+			if ( !isSuccess && jQuery.inArray( "script", s.dataTypes ) > -1 ) {
+				s.converters[ "text script" ] = function() {};
+			}
+
+			// Convert no matter what (that way responseXXX fields are always set)
+			response = ajaxConvert( s, response, jqXHR, isSuccess );
+
+			// If successful, handle type chaining
+			if ( isSuccess ) {
+
+				// Set the If-Modified-Since and/or If-None-Match header, if in ifModified mode.
+				if ( s.ifModified ) {
+					modified = jqXHR.getResponseHeader( "Last-Modified" );
+					if ( modified ) {
+						jQuery.lastModified[ cacheURL ] = modified;
+					}
+					modified = jqXHR.getResponseHeader( "etag" );
+					if ( modified ) {
+						jQuery.etag[ cacheURL ] = modified;
+					}
+				}
+
+				// if no content
+				if ( status === 204 || s.type === "HEAD" ) {
+					statusText = "nocontent";
+
+				// if not modified
+				} else if ( status === 304 ) {
+					statusText = "notmodified";
+
+				// If we have data, let's convert it
+				} else {
+					statusText = response.state;
+					success = response.data;
+					error = response.error;
+					isSuccess = !error;
+				}
+			} else {
+
+				// Extract error from statusText and normalize for non-aborts
+				error = statusText;
+				if ( status || !statusText ) {
+					statusText = "error";
+					if ( status < 0 ) {
+						status = 0;
+					}
+				}
+			}
+
+			// Set data for the fake xhr object
+			jqXHR.status = status;
+			jqXHR.statusText = ( nativeStatusText || statusText ) + "";
+
+			// Success/Error
+			if ( isSuccess ) {
+				deferred.resolveWith( callbackContext, [ success, statusText, jqXHR ] );
+			} else {
+				deferred.rejectWith( callbackContext, [ jqXHR, statusText, error ] );
+			}
+
+			// Status-dependent callbacks
+			jqXHR.statusCode( statusCode );
+			statusCode = undefined;
+
+			if ( fireGlobals ) {
+				globalEventContext.trigger( isSuccess ? "ajaxSuccess" : "ajaxError",
+					[ jqXHR, s, isSuccess ? success : error ] );
+			}
+
+			// Complete
+			completeDeferred.fireWith( callbackContext, [ jqXHR, statusText ] );
+
+			if ( fireGlobals ) {
+				globalEventContext.trigger( "ajaxComplete", [ jqXHR, s ] );
+
+				// Handle the global AJAX counter
+				if ( !( --jQuery.active ) ) {
+					jQuery.event.trigger( "ajaxStop" );
+				}
+			}
+		}
+
+		return jqXHR;
+	},
+
+	getJSON: function( url, data, callback ) {
+		return jQuery.get( url, data, callback, "json" );
+	},
+
+	getScript: function( url, callback ) {
+		return jQuery.get( url, undefined, callback, "script" );
+	}
+} );
+
+jQuery.each( [ "get", "post" ], function( _i, method ) {
+	jQuery[ method ] = function( url, data, callback, type ) {
+
+		// Shift arguments if data argument was omitted
+		if ( isFunction( data ) ) {
+			type = type || callback;
+			callback = data;
+			data = undefined;
+		}
+
+		// The url can be an options object (which then must have .url)
+		return jQuery.ajax( jQuery.extend( {
+			url: url,
+			type: method,
+			dataType: type,
+			data: data,
+			success: callback
+		}, jQuery.isPlainObject( url ) && url ) );
+	};
+} );
+
+jQuery.ajaxPrefilter( function( s ) {
+	var i;
+	for ( i in s.headers ) {
+		if ( i.toLowerCase() === "content-type" ) {
+			s.contentType = s.headers[ i ] || "";
+		}
+	}
+} );
+
+
+jQuery._evalUrl = function( url, options, doc ) {
+	return jQuery.ajax( {
+		url: url,
+
+		// Make this explicit, since user can override this through ajaxSetup (#11264)
+		type: "GET",
+		dataType: "script",
+		cache: true,
+		async: false,
+		global: false,
+
+		// Only evaluate the response if it is successful (gh-4126)
+		// dataFilter is not invoked for failure responses, so using it instead
+		// of the default converter is kludgy but it works.
+		converters: {
+			"text script": function() {}
+		},
+		dataFilter: function( response ) {
+			jQuery.globalEval( response, options, doc );
+		}
+	} );
+};
+
+
+jQuery.fn.extend( {
+	wrapAll: function( html ) {
+		var wrap;
+
+		if ( this[ 0 ] ) {
+			if ( isFunction( html ) ) {
+				html = html.call( this[ 0 ] );
+			}
+
+			// The elements to wrap the target around
+			wrap = jQuery( html, this[ 0 ].ownerDocument ).eq( 0 ).clone( true );
+
+			if ( this[ 0 ].parentNode ) {
+				wrap.insertBefore( this[ 0 ] );
+			}
+
+			wrap.map( function() {
+				var elem = this;
+
+				while ( elem.firstElementChild ) {
+					elem = elem.firstElementChild;
+				}
+
+				return elem;
+			} ).append( this );
+		}
+
+		return this;
+	},
+
+	wrapInner: function( html ) {
+		if ( isFunction( html ) ) {
+			return this.each( function( i ) {
+				jQuery( this ).wrapInner( html.call( this, i ) );
+			} );
+		}
+
+		return this.each( function() {
+			var self = jQuery( this ),
+				contents = self.contents();
+
+			if ( contents.length ) {
+				contents.wrapAll( html );
+
+			} else {
+				self.append( html );
+			}
+		} );
+	},
+
+	wrap: function( html ) {
+		var htmlIsFunction = isFunction( html );
+
+		return this.each( function( i ) {
+			jQuery( this ).wrapAll( htmlIsFunction ? html.call( this, i ) : html );
+		} );
+	},
+
+	unwrap: function( selector ) {
+		this.parent( selector ).not( "body" ).each( function() {
+			jQuery( this ).replaceWith( this.childNodes );
+		} );
+		return this;
+	}
+} );
+
+
+jQuery.expr.pseudos.hidden = function( elem ) {
+	return !jQuery.expr.pseudos.visible( elem );
+};
+jQuery.expr.pseudos.visible = function( elem ) {
+	return !!( elem.offsetWidth || elem.offsetHeight || elem.getClientRects().length );
+};
+
+
+
+
+jQuery.ajaxSettings.xhr = function() {
+	try {
+		return new window.XMLHttpRequest();
+	} catch ( e ) {}
+};
+
+var xhrSuccessStatus = {
+
+		// File protocol always yields status code 0, assume 200
+		0: 200,
+
+		// Support: IE <=9 only
+		// #1450: sometimes IE returns 1223 when it should be 204
+		1223: 204
+	},
+	xhrSupported = jQuery.ajaxSettings.xhr();
+
+support.cors = !!xhrSupported && ( "withCredentials" in xhrSupported );
+support.ajax = xhrSupported = !!xhrSupported;
+
+jQuery.ajaxTransport( function( options ) {
+	var callback, errorCallback;
+
+	// Cross domain only allowed if supported through XMLHttpRequest
+	if ( support.cors || xhrSupported && !options.crossDomain ) {
+		return {
+			send: function( headers, complete ) {
+				var i,
+					xhr = options.xhr();
+
+				xhr.open(
+					options.type,
+					options.url,
+					options.async,
+					options.username,
+					options.password
+				);
+
+				// Apply custom fields if provided
+				if ( options.xhrFields ) {
+					for ( i in options.xhrFields ) {
+						xhr[ i ] = options.xhrFields[ i ];
+					}
+				}
+
+				// Override mime type if needed
+				if ( options.mimeType && xhr.overrideMimeType ) {
+					xhr.overrideMimeType( options.mimeType );
+				}
+
+				// X-Requested-With header
+				// For cross-domain requests, seeing as conditions for a preflight are
+				// akin to a jigsaw puzzle, we simply never set it to be sure.
+				// (it can always be set on a per-request basis or even using ajaxSetup)
+				// For same-domain requests, won't change header if already provided.
+				if ( !options.crossDomain && !headers[ "X-Requested-With" ] ) {
+					headers[ "X-Requested-With" ] = "XMLHttpRequest";
+				}
+
+				// Set headers
+				for ( i in headers ) {
+					xhr.setRequestHeader( i, headers[ i ] );
+				}
+
+				// Callback
+				callback = function( type ) {
+					return function() {
+						if ( callback ) {
+							callback = errorCallback = xhr.onload =
+								xhr.onerror = xhr.onabort = xhr.ontimeout =
+									xhr.onreadystatechange = null;
+
+							if ( type === "abort" ) {
+								xhr.abort();
+							} else if ( type === "error" ) {
+
+								// Support: IE <=9 only
+								// On a manual native abort, IE9 throws
+								// errors on any property access that is not readyState
+								if ( typeof xhr.status !== "number" ) {
+									complete( 0, "error" );
+								} else {
+									complete(
+
+										// File: protocol always yields status 0; see #8605, #14207
+										xhr.status,
+										xhr.statusText
+									);
+								}
+							} else {
+								complete(
+									xhrSuccessStatus[ xhr.status ] || xhr.status,
+									xhr.statusText,
+
+									// Support: IE <=9 only
+									// IE9 has no XHR2 but throws on binary (trac-11426)
+									// For XHR2 non-text, let the caller handle it (gh-2498)
+									( xhr.responseType || "text" ) !== "text"  ||
+									typeof xhr.responseText !== "string" ?
+										{ binary: xhr.response } :
+										{ text: xhr.responseText },
+									xhr.getAllResponseHeaders()
+								);
+							}
+						}
+					};
+				};
+
+				// Listen to events
+				xhr.onload = callback();
+				errorCallback = xhr.onerror = xhr.ontimeout = callback( "error" );
+
+				// Support: IE 9 only
+				// Use onreadystatechange to replace onabort
+				// to handle uncaught aborts
+				if ( xhr.onabort !== undefined ) {
+					xhr.onabort = errorCallback;
+				} else {
+					xhr.onreadystatechange = function() {
+
+						// Check readyState before timeout as it changes
+						if ( xhr.readyState === 4 ) {
+
+							// Allow onerror to be called first,
+							// but that will not handle a native abort
+							// Also, save errorCallback to a variable
+							// as xhr.onerror cannot be accessed
+							window.setTimeout( function() {
+								if ( callback ) {
+									errorCallback();
+								}
+							} );
+						}
+					};
+				}
+
+				// Create the abort callback
+				callback = callback( "abort" );
+
+				try {
+
+					// Do send the request (this may raise an exception)
+					xhr.send( options.hasContent && options.data || null );
+				} catch ( e ) {
+
+					// #14683: Only rethrow if this hasn't been notified as an error yet
+					if ( callback ) {
+						throw e;
+					}
+				}
+			},
+
+			abort: function() {
+				if ( callback ) {
+					callback();
+				}
+			}
+		};
+	}
+} );
+
+
+
+
+// Prevent auto-execution of scripts when no explicit dataType was provided (See gh-2432)
+jQuery.ajaxPrefilter( function( s ) {
+	if ( s.crossDomain ) {
+		s.contents.script = false;
+	}
+} );
+
+// Install script dataType
+jQuery.ajaxSetup( {
+	accepts: {
+		script: "text/javascript, application/javascript, " +
+			"application/ecmascript, application/x-ecmascript"
+	},
+	contents: {
+		script: /\b(?:java|ecma)script\b/
+	},
+	converters: {
+		"text script": function( text ) {
+			jQuery.globalEval( text );
+			return text;
+		}
+	}
+} );
+
+// Handle cache's special case and crossDomain
+jQuery.ajaxPrefilter( "script", function( s ) {
+	if ( s.cache === undefined ) {
+		s.cache = false;
+	}
+	if ( s.crossDomain ) {
+		s.type = "GET";
+	}
+} );
+
+// Bind script tag hack transport
+jQuery.ajaxTransport( "script", function( s ) {
+
+	// This transport only deals with cross domain or forced-by-attrs requests
+	if ( s.crossDomain || s.scriptAttrs ) {
+		var script, callback;
+		return {
+			send: function( _, complete ) {
+				script = jQuery( "<script>" )
+					.attr( s.scriptAttrs || {} )
+					.prop( { charset: s.scriptCharset, src: s.url } )
+					.on( "load error", callback = function( evt ) {
+						script.remove();
+						callback = null;
+						if ( evt ) {
+							complete( evt.type === "error" ? 404 : 200, evt.type );
+						}
+					} );
+
+				// Use native DOM manipulation to avoid our domManip AJAX trickery
+				document.head.appendChild( script[ 0 ] );
+			},
+			abort: function() {
+				if ( callback ) {
+					callback();
+				}
+			}
+		};
+	}
+} );
+
+
+
+
+var oldCallbacks = [],
+	rjsonp = /(=)\?(?=&|$)|\?\?/;
+
+// Default jsonp settings
+jQuery.ajaxSetup( {
+	jsonp: "callback",
+	jsonpCallback: function() {
+		var callback = oldCallbacks.pop() || ( jQuery.expando + "_" + ( nonce.guid++ ) );
+		this[ callback ] = true;
+		return callback;
+	}
+} );
+
+// Detect, normalize options and install callbacks for jsonp requests
+jQuery.ajaxPrefilter( "json jsonp", function( s, originalSettings, jqXHR ) {
+
+	var callbackName, overwritten, responseContainer,
+		jsonProp = s.jsonp !== false && ( rjsonp.test( s.url ) ?
+			"url" :
+			typeof s.data === "string" &&
+				( s.contentType || "" )
+					.indexOf( "application/x-www-form-urlencoded" ) === 0 &&
+				rjsonp.test( s.data ) && "data"
+		);
+
+	// Handle iff the expected data type is "jsonp" or we have a parameter to set
+	if ( jsonProp || s.dataTypes[ 0 ] === "jsonp" ) {
+
+		// Get callback name, remembering preexisting value associated with it
+		callbackName = s.jsonpCallback = isFunction( s.jsonpCallback ) ?
+			s.jsonpCallback() :
+			s.jsonpCallback;
+
+		// Insert callback into url or form data
+		if ( jsonProp ) {
+			s[ jsonProp ] = s[ jsonProp ].replace( rjsonp, "$1" + callbackName );
+		} else if ( s.jsonp !== false ) {
+			s.url += ( rquery.test( s.url ) ? "&" : "?" ) + s.jsonp + "=" + callbackName;
+		}
+
+		// Use data converter to retrieve json after script execution
+		s.converters[ "script json" ] = function() {
+			if ( !responseContainer ) {
+				jQuery.error( callbackName + " was not called" );
+			}
+			return responseContainer[ 0 ];
+		};
+
+		// Force json dataType
+		s.dataTypes[ 0 ] = "json";
+
+		// Install callback
+		overwritten = window[ callbackName ];
+		window[ callbackName ] = function() {
+			responseContainer = arguments;
+		};
+
+		// Clean-up function (fires after converters)
+		jqXHR.always( function() {
+
+			// If previous value didn't exist - remove it
+			if ( overwritten === undefined ) {
+				jQuery( window ).removeProp( callbackName );
+
+			// Otherwise restore preexisting value
+			} else {
+				window[ callbackName ] = overwritten;
+			}
+
+			// Save back as free
+			if ( s[ callbackName ] ) {
+
+				// Make sure that re-using the options doesn't screw things around
+				s.jsonpCallback = originalSettings.jsonpCallback;
+
+				// Save the callback name for future use
+				oldCallbacks.push( callbackName );
+			}
+
+			// Call if it was a function and we have a response
+			if ( responseContainer && isFunction( overwritten ) ) {
+				overwritten( responseContainer[ 0 ] );
+			}
+
+			responseContainer = overwritten = undefined;
+		} );
+
+		// Delegate to script
+		return "script";
+	}
+} );
+
+
+
+
+// Support: Safari 8 only
+// In Safari 8 documents created via document.implementation.createHTMLDocument
+// collapse sibling forms: the second one becomes a child of the first one.
+// Because of that, this security measure has to be disabled in Safari 8.
+// https://bugs.webkit.org/show_bug.cgi?id=137337
+support.createHTMLDocument = ( function() {
+	var body = document.implementation.createHTMLDocument( "" ).body;
+	body.innerHTML = "<form></form><form></form>";
+	return body.childNodes.length === 2;
+} )();
+
+
+// Argument "data" should be string of html
+// context (optional): If specified, the fragment will be created in this context,
+// defaults to document
+// keepScripts (optional): If true, will include scripts passed in the html string
+jQuery.parseHTML = function( data, context, keepScripts ) {
+	if ( typeof data !== "string" ) {
+		return [];
+	}
+	if ( typeof context === "boolean" ) {
+		keepScripts = context;
+		context = false;
+	}
+
+	var base, parsed, scripts;
+
+	if ( !context ) {
+
+		// Stop scripts or inline event handlers from being executed immediately
+		// by using document.implementation
+		if ( support.createHTMLDocument ) {
+			context = document.implementation.createHTMLDocument( "" );
+
+			// Set the base href for the created document
+			// so any parsed elements with URLs
+			// are based on the document's URL (gh-2965)
+			base = context.createElement( "base" );
+			base.href = document.location.href;
+			context.head.appendChild( base );
+		} else {
+			context = document;
+		}
+	}
+
+	parsed = rsingleTag.exec( data );
+	scripts = !keepScripts && [];
+
+	// Single tag
+	if ( parsed ) {
+		return [ context.createElement( parsed[ 1 ] ) ];
+	}
+
+	parsed = buildFragment( [ data ], context, scripts );
+
+	if ( scripts && scripts.length ) {
+		jQuery( scripts ).remove();
+	}
+
+	return jQuery.merge( [], parsed.childNodes );
+};
+
+
+/**
+ * Load a url into a page
+ */
+jQuery.fn.load = function( url, params, callback ) {
+	var selector, type, response,
+		self = this,
+		off = url.indexOf( " " );
+
+	if ( off > -1 ) {
+		selector = stripAndCollapse( url.slice( off ) );
+		url = url.slice( 0, off );
+	}
+
+	// If it's a function
+	if ( isFunction( params ) ) {
+
+		// We assume that it's the callback
+		callback = params;
+		params = undefined;
+
+	// Otherwise, build a param string
+	} else if ( params && typeof params === "object" ) {
+		type = "POST";
+	}
+
+	// If we have elements to modify, make the request
+	if ( self.length > 0 ) {
+		jQuery.ajax( {
+			url: url,
+
+			// If "type" variable is undefined, then "GET" method will be used.
+			// Make value of this field explicit since
+			// user can override it through ajaxSetup method
+			type: type || "GET",
+			dataType: "html",
+			data: params
+		} ).done( function( responseText ) {
+
+			// Save response for use in complete callback
+			response = arguments;
+
+			self.html( selector ?
+
+				// If a selector was specified, locate the right elements in a dummy div
+				// Exclude scripts to avoid IE 'Permission Denied' errors
+				jQuery( "<div>" ).append( jQuery.parseHTML( responseText ) ).find( selector ) :
+
+				// Otherwise use the full result
+				responseText );
+
+		// If the request succeeds, this function gets "data", "status", "jqXHR"
+		// but they are ignored because response was set above.
+		// If it fails, this function gets "jqXHR", "status", "error"
+		} ).always( callback && function( jqXHR, status ) {
+			self.each( function() {
+				callback.apply( this, response || [ jqXHR.responseText, status, jqXHR ] );
+			} );
+		} );
+	}
+
+	return this;
+};
+
+
+
+
+jQuery.expr.pseudos.animated = function( elem ) {
+	return jQuery.grep( jQuery.timers, function( fn ) {
+		return elem === fn.elem;
+	} ).length;
+};
+
+
+
+
+jQuery.offset = {
+	setOffset: function( elem, options, i ) {
+		var curPosition, curLeft, curCSSTop, curTop, curOffset, curCSSLeft, calculatePosition,
+			position = jQuery.css( elem, "position" ),
+			curElem = jQuery( elem ),
+			props = {};
+
+		// Set position first, in-case top/left are set even on static elem
+		if ( position === "static" ) {
+			elem.style.position = "relative";
+		}
+
+		curOffset = curElem.offset();
+		curCSSTop = jQuery.css( elem, "top" );
+		curCSSLeft = jQuery.css( elem, "left" );
+		calculatePosition = ( position === "absolute" || position === "fixed" ) &&
+			( curCSSTop + curCSSLeft ).indexOf( "auto" ) > -1;
+
+		// Need to be able to calculate position if either
+		// top or left is auto and position is either absolute or fixed
+		if ( calculatePosition ) {
+			curPosition = curElem.position();
+			curTop = curPosition.top;
+			curLeft = curPosition.left;
+
+		} else {
+			curTop = parseFloat( curCSSTop ) || 0;
+			curLeft = parseFloat( curCSSLeft ) || 0;
+		}
+
+		if ( isFunction( options ) ) {
+
+			// Use jQuery.extend here to allow modification of coordinates argument (gh-1848)
+			options = options.call( elem, i, jQuery.extend( {}, curOffset ) );
+		}
+
+		if ( options.top != null ) {
+			props.top = ( options.top - curOffset.top ) + curTop;
+		}
+		if ( options.left != null ) {
+			props.left = ( options.left - curOffset.left ) + curLeft;
+		}
+
+		if ( "using" in options ) {
+			options.using.call( elem, props );
+
+		} else {
+			if ( typeof props.top === "number" ) {
+				props.top += "px";
+			}
+			if ( typeof props.left === "number" ) {
+				props.left += "px";
+			}
+			curElem.css( props );
+		}
+	}
+};
+
+jQuery.fn.extend( {
+
+	// offset() relates an element's border box to the document origin
+	offset: function( options ) {
+
+		// Preserve chaining for setter
+		if ( arguments.length ) {
+			return options === undefined ?
+				this :
+				this.each( function( i ) {
+					jQuery.offset.setOffset( this, options, i );
+				} );
+		}
+
+		var rect, win,
+			elem = this[ 0 ];
+
+		if ( !elem ) {
+			return;
+		}
+
+		// Return zeros for disconnected and hidden (display: none) elements (gh-2310)
+		// Support: IE <=11 only
+		// Running getBoundingClientRect on a
+		// disconnected node in IE throws an error
+		if ( !elem.getClientRects().length ) {
+			return { top: 0, left: 0 };
+		}
+
+		// Get document-relative position by adding viewport scroll to viewport-relative gBCR
+		rect = elem.getBoundingClientRect();
+		win = elem.ownerDocument.defaultView;
+		return {
+			top: rect.top + win.pageYOffset,
+			left: rect.left + win.pageXOffset
+		};
+	},
+
+	// position() relates an element's margin box to its offset parent's padding box
+	// This corresponds to the behavior of CSS absolute positioning
+	position: function() {
+		if ( !this[ 0 ] ) {
+			return;
+		}
+
+		var offsetParent, offset, doc,
+			elem = this[ 0 ],
+			parentOffset = { top: 0, left: 0 };
+
+		// position:fixed elements are offset from the viewport, which itself always has zero offset
+		if ( jQuery.css( elem, "position" ) === "fixed" ) {
+
+			// Assume position:fixed implies availability of getBoundingClientRect
+			offset = elem.getBoundingClientRect();
+
+		} else {
+			offset = this.offset();
+
+			// Account for the *real* offset parent, which can be the document or its root element
+			// when a statically positioned element is identified
+			doc = elem.ownerDocument;
+			offsetParent = elem.offsetParent || doc.documentElement;
+			while ( offsetParent &&
+				( offsetParent === doc.body || offsetParent === doc.documentElement ) &&
+				jQuery.css( offsetParent, "position" ) === "static" ) {
+
+				offsetParent = offsetParent.parentNode;
+			}
+			if ( offsetParent && offsetParent !== elem && offsetParent.nodeType === 1 ) {
+
+				// Incorporate borders into its offset, since they are outside its content origin
+				parentOffset = jQuery( offsetParent ).offset();
+				parentOffset.top += jQuery.css( offsetParent, "borderTopWidth", true );
+				parentOffset.left += jQuery.css( offsetParent, "borderLeftWidth", true );
+			}
+		}
+
+		// Subtract parent offsets and element margins
+		return {
+			top: offset.top - parentOffset.top - jQuery.css( elem, "marginTop", true ),
+			left: offset.left - parentOffset.left - jQuery.css( elem, "marginLeft", true )
+		};
+	},
+
+	// This method will return documentElement in the following cases:
+	// 1) For the element inside the iframe without offsetParent, this method will return
+	//    documentElement of the parent window
+	// 2) For the hidden or detached element
+	// 3) For body or html element, i.e. in case of the html node - it will return itself
+	//
+	// but those exceptions were never presented as a real life use-cases
+	// and might be considered as more preferable results.
+	//
+	// This logic, however, is not guaranteed and can change at any point in the future
+	offsetParent: function() {
+		return this.map( function() {
+			var offsetParent = this.offsetParent;
+
+			while ( offsetParent && jQuery.css( offsetParent, "position" ) === "static" ) {
+				offsetParent = offsetParent.offsetParent;
+			}
+
+			return offsetParent || documentElement;
+		} );
+	}
+} );
+
+// Create scrollLeft and scrollTop methods
+jQuery.each( { scrollLeft: "pageXOffset", scrollTop: "pageYOffset" }, function( method, prop ) {
+	var top = "pageYOffset" === prop;
+
+	jQuery.fn[ method ] = function( val ) {
+		return access( this, function( elem, method, val ) {
+
+			// Coalesce documents and windows
+			var win;
+			if ( isWindow( elem ) ) {
+				win = elem;
+			} else if ( elem.nodeType === 9 ) {
+				win = elem.defaultView;
+			}
+
+			if ( val === undefined ) {
+				return win ? win[ prop ] : elem[ method ];
+			}
+
+			if ( win ) {
+				win.scrollTo(
+					!top ? val : win.pageXOffset,
+					top ? val : win.pageYOffset
+				);
+
+			} else {
+				elem[ method ] = val;
+			}
+		}, method, val, arguments.length );
+	};
+} );
+
+// Support: Safari <=7 - 9.1, Chrome <=37 - 49
+// Add the top/left cssHooks using jQuery.fn.position
+// Webkit bug: https://bugs.webkit.org/show_bug.cgi?id=29084
+// Blink bug: https://bugs.chromium.org/p/chromium/issues/detail?id=589347
+// getComputedStyle returns percent when specified for top/left/bottom/right;
+// rather than make the css module depend on the offset module, just check for it here
+jQuery.each( [ "top", "left" ], function( _i, prop ) {
+	jQuery.cssHooks[ prop ] = addGetHookIf( support.pixelPosition,
+		function( elem, computed ) {
+			if ( computed ) {
+				computed = curCSS( elem, prop );
+
+				// If curCSS returns percentage, fallback to offset
+				return rnumnonpx.test( computed ) ?
+					jQuery( elem ).position()[ prop ] + "px" :
+					computed;
+			}
+		}
+	);
+} );
+
+
+// Create innerHeight, innerWidth, height, width, outerHeight and outerWidth methods
+jQuery.each( { Height: "height", Width: "width" }, function( name, type ) {
+	jQuery.each( { padding: "inner" + name, content: type, "": "outer" + name },
+		function( defaultExtra, funcName ) {
+
+		// Margin is only for outerHeight, outerWidth
+		jQuery.fn[ funcName ] = function( margin, value ) {
+			var chainable = arguments.length && ( defaultExtra || typeof margin !== "boolean" ),
+				extra = defaultExtra || ( margin === true || value === true ? "margin" : "border" );
+
+			return access( this, function( elem, type, value ) {
+				var doc;
+
+				if ( isWindow( elem ) ) {
+
+					// $( window ).outerWidth/Height return w/h including scrollbars (gh-1729)
+					return funcName.indexOf( "outer" ) === 0 ?
+						elem[ "inner" + name ] :
+						elem.document.documentElement[ "client" + name ];
+				}
+
+				// Get document width or height
+				if ( elem.nodeType === 9 ) {
+					doc = elem.documentElement;
+
+					// Either scroll[Width/Height] or offset[Width/Height] or client[Width/Height],
+					// whichever is greatest
+					return Math.max(
+						elem.body[ "scroll" + name ], doc[ "scroll" + name ],
+						elem.body[ "offset" + name ], doc[ "offset" + name ],
+						doc[ "client" + name ]
+					);
+				}
+
+				return value === undefined ?
+
+					// Get width or height on the element, requesting but not forcing parseFloat
+					jQuery.css( elem, type, extra ) :
+
+					// Set width or height on the element
+					jQuery.style( elem, type, value, extra );
+			}, type, chainable ? margin : undefined, chainable );
+		};
+	} );
+} );
+
+
+jQuery.each( [
+	"ajaxStart",
+	"ajaxStop",
+	"ajaxComplete",
+	"ajaxError",
+	"ajaxSuccess",
+	"ajaxSend"
+], function( _i, type ) {
+	jQuery.fn[ type ] = function( fn ) {
+		return this.on( type, fn );
+	};
+} );
+
+
+
+
+jQuery.fn.extend( {
+
+	bind: function( types, data, fn ) {
+		return this.on( types, null, data, fn );
+	},
+	unbind: function( types, fn ) {
+		return this.off( types, null, fn );
+	},
+
+	delegate: function( selector, types, data, fn ) {
+		return this.on( types, selector, data, fn );
+	},
+	undelegate: function( selector, types, fn ) {
+
+		// ( namespace ) or ( selector, types [, fn] )
+		return arguments.length === 1 ?
+			this.off( selector, "**" ) :
+			this.off( types, selector || "**", fn );
+	},
+
+	hover: function( fnOver, fnOut ) {
+		return this.mouseenter( fnOver ).mouseleave( fnOut || fnOver );
+	}
+} );
+
+jQuery.each( ( "blur focus focusin focusout resize scroll click dblclick " +
+	"mousedown mouseup mousemove mouseover mouseout mouseenter mouseleave " +
+	"change select submit keydown keypress keyup contextmenu" ).split( " " ),
+	function( _i, name ) {
+
+		// Handle event binding
+		jQuery.fn[ name ] = function( data, fn ) {
+			return arguments.length > 0 ?
+				this.on( name, null, data, fn ) :
+				this.trigger( name );
+		};
+	} );
+
+
+
+
+// Support: Android <=4.0 only
+// Make sure we trim BOM and NBSP
+var rtrim = /^[\s\uFEFF\xA0]+|[\s\uFEFF\xA0]+$/g;
+
+// Bind a function to a context, optionally partially applying any
+// arguments.
+// jQuery.proxy is deprecated to promote standards (specifically Function#bind)
+// However, it is not slated for removal any time soon
+jQuery.proxy = function( fn, context ) {
+	var tmp, args, proxy;
+
+	if ( typeof context === "string" ) {
+		tmp = fn[ context ];
+		context = fn;
+		fn = tmp;
+	}
+
+	// Quick check to determine if target is callable, in the spec
+	// this throws a TypeError, but we will just return undefined.
+	if ( !isFunction( fn ) ) {
+		return undefined;
+	}
+
+	// Simulated bind
+	args = slice.call( arguments, 2 );
+	proxy = function() {
+		return fn.apply( context || this, args.concat( slice.call( arguments ) ) );
+	};
+
+	// Set the guid of unique handler to the same of original handler, so it can be removed
+	proxy.guid = fn.guid = fn.guid || jQuery.guid++;
+
+	return proxy;
+};
+
+jQuery.holdReady = function( hold ) {
+	if ( hold ) {
+		jQuery.readyWait++;
+	} else {
+		jQuery.ready( true );
+	}
+};
+jQuery.isArray = Array.isArray;
+jQuery.parseJSON = JSON.parse;
+jQuery.nodeName = nodeName;
+jQuery.isFunction = isFunction;
+jQuery.isWindow = isWindow;
+jQuery.camelCase = camelCase;
+jQuery.type = toType;
+
+jQuery.now = Date.now;
+
+jQuery.isNumeric = function( obj ) {
+
+	// As of jQuery 3.0, isNumeric is limited to
+	// strings and numbers (primitives or objects)
+	// that can be coerced to finite numbers (gh-2662)
+	var type = jQuery.type( obj );
+	return ( type === "number" || type === "string" ) &&
+
+		// parseFloat NaNs numeric-cast false positives ("")
+		// ...but misinterprets leading-number strings, particularly hex literals ("0x...")
+		// subtraction forces infinities to NaN
+		!isNaN( obj - parseFloat( obj ) );
+};
+
+jQuery.trim = function( text ) {
+	return text == null ?
+		"" :
+		( text + "" ).replace( rtrim, "" );
+};
+
+
+
+// Register as a named AMD module, since jQuery can be concatenated with other
+// files that may use define, but not via a proper concatenation script that
+// understands anonymous AMD modules. A named AMD is safest and most robust
+// way to register. Lowercase jquery is used because AMD module names are
+// derived from file names, and jQuery is normally delivered in a lowercase
+// file name. Do this after creating the global so that if an AMD module wants
+// to call noConflict to hide this version of jQuery, it will work.
+
+// Note that for maximum portability, libraries that are not jQuery should
+// declare themselves as anonymous modules, and avoid setting a global if an
+// AMD loader is present. jQuery is a special case. For more information, see
+// https://github.com/jrburke/requirejs/wiki/Updating-existing-libraries#wiki-anon
+
+if ( typeof define === "function" && define.amd ) {
+	define( "jquery", [], function() {
+		return jQuery;
+	} );
+}
+
+
+
+
+var
+
+	// Map over jQuery in case of overwrite
+	_jQuery = window.jQuery,
+
+	// Map over the $ in case of overwrite
+	_$ = window.$;
+
+jQuery.noConflict = function( deep ) {
+	if ( window.$ === jQuery ) {
+		window.$ = _$;
+	}
+
+	if ( deep && window.jQuery === jQuery ) {
+		window.jQuery = _jQuery;
+	}
+
+	return jQuery;
+};
+
+// Expose jQuery and $ identifiers, even in AMD
+// (#7102#comment:10, https://github.com/jquery/jquery/pull/557)
+// and CommonJS for browser emulators (#13566)
+if ( typeof noGlobal === "undefined" ) {
+	window.jQuery = window.$ = jQuery;
+}
+
+
+
+
+return jQuery;
+} );
diff --git a/docs/java/jquery/jquery-3.6.1.min.js b/docs/java/jquery/jquery-3.6.1.min.js
new file mode 100644
index 00000000..2c69bc90
--- /dev/null
+++ b/docs/java/jquery/jquery-3.6.1.min.js
@@ -0,0 +1,2 @@
+/*! jQuery v3.6.1 | (c) OpenJS Foundation and other contributors | jquery.org/license */
+!function(e,t){"use strict";"object"==typeof module&&"object"==typeof module.exports?module.exports=e.document?t(e,!0):function(e){if(!e.document)throw new Error("jQuery requires a window with a document");return t(e)}:t(e)}("undefined"!=typeof window?window:this,function(C,e){"use strict";var t=[],r=Object.getPrototypeOf,s=t.slice,g=t.flat?function(e){return t.flat.call(e)}:function(e){return t.concat.apply([],e)},u=t.push,i=t.indexOf,n={},o=n.toString,y=n.hasOwnProperty,a=y.toString,l=a.call(Object),v={},m=function(e){return"function"==typeof e&&"number"!=typeof e.nodeType&&"function"!=typeof e.item},x=function(e){return null!=e&&e===e.window},E=C.document,c={type:!0,src:!0,nonce:!0,noModule:!0};function b(e,t,n){var r,i,o=(n=n||E).createElement("script");if(o.text=e,t)for(r in c)(i=t[r]||t.getAttribute&&t.getAttribute(r))&&o.setAttribute(r,i);n.head.appendChild(o).parentNode.removeChild(o)}function w(e){return null==e?e+"":"object"==typeof e||"function"==typeof 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this.document.one("mousemove",function(){x(t.target).trigger(t.originalEvent)});s=e.item.data("ui-autocomplete-item"),!1!==this._trigger("focus",t,{item:s})&&t.originalEvent&&/^key/.test(t.originalEvent.type)&&this._value(s.value),(i=e.item.attr("aria-label")||s.value)&&String.prototype.trim.call(i).length&&(clearTimeout(this.liveRegionTimer),this.liveRegionTimer=this._delay(function(){this.liveRegion.html(x("<div>").text(i))},100))},menuselect:function(t,e){var i=e.item.data("ui-autocomplete-item"),s=this.previous;this.element[0]!==x.ui.safeActiveElement(this.document[0])&&(this.element.trigger("focus"),this.previous=s,this._delay(function(){this.previous=s,this.selectedItem=i})),!1!==this._trigger("select",t,{item:i})&&this._value(i.value),this.term=this._value(),this.close(t),this.selectedItem=i}}),this.liveRegion=x("<div>",{role:"status","aria-live":"assertive","aria-relevant":"additions"}).appendTo(this.document[0].body),this._addClass(this.liveRegion,null,"ui-helper-hidden-accessible"),this._on(this.window,{beforeunload:function(){this.element.removeAttr("autocomplete")}})},_destroy:function(){clearTimeout(this.searching),this.element.removeAttr("autocomplete"),this.menu.element.remove(),this.liveRegion.remove()},_setOption:function(t,e){this._super(t,e),"source"===t&&this._initSource(),"appendTo"===t&&this.menu.element.appendTo(this._appendTo()),"disabled"===t&&e&&this.xhr&&this.xhr.abort()},_isEventTargetInWidget:function(t){var e=this.menu.element[0];return t.target===this.element[0]||t.target===e||x.contains(e,t.target)},_closeOnClickOutside:function(t){this._isEventTargetInWidget(t)||this.close()},_appendTo:function(){var t=this.options.appendTo;return t=!(t=!(t=t&&(t.jquery||t.nodeType?x(t):this.document.find(t).eq(0)))||!t[0]?this.element.closest(".ui-front, dialog"):t).length?this.document[0].body:t},_initSource:function(){var i,s,n=this;Array.isArray(this.options.source)?(i=this.options.source,this.source=function(t,e){e(x.ui.autocomplete.filter(i,t.term))}):"string"==typeof this.options.source?(s=this.options.source,this.source=function(t,e){n.xhr&&n.xhr.abort(),n.xhr=x.ajax({url:s,data:t,dataType:"json",success:function(t){e(t)},error:function(){e([])}})}):this.source=this.options.source},_searchTimeout:function(s){clearTimeout(this.searching),this.searching=this._delay(function(){var t=this.term===this._value(),e=this.menu.element.is(":visible"),i=s.altKey||s.ctrlKey||s.metaKey||s.shiftKey;t&&(e||i)||(this.selectedItem=null,this.search(null,s))},this.options.delay)},search:function(t,e){return t=null!=t?t:this._value(),this.term=this._value(),t.length<this.options.minLength?this.close(e):!1!==this._trigger("search",e)?this._search(t):void 0},_search:function(t){this.pending++,this._addClass("ui-autocomplete-loading"),this.cancelSearch=!1,this.source({term:t},this._response())},_response:function(){var e=++this.requestIndex;return function(t){e===this.requestIndex&&this.__response(t),this.pending--,this.pending||this._removeClass("ui-autocomplete-loading")}.bind(this)},__response:function(t){t=t&&this._normalize(t),this._trigger("response",null,{content:t}),!this.options.disabled&&t&&t.length&&!this.cancelSearch?(this._suggest(t),this._trigger("open")):this._close()},close:function(t){this.cancelSearch=!0,this._close(t)},_close:function(t){this._off(this.document,"mousedown"),this.menu.element.is(":visible")&&(this.menu.element.hide(),this.menu.blur(),this.isNewMenu=!0,this._trigger("close",t))},_change:function(t){this.previous!==this._value()&&this._trigger("change",t,{item:this.selectedItem})},_normalize:function(t){return t.length&&t[0].label&&t[0].value?t:x.map(t,function(t){return"string"==typeof t?{label:t,value:t}:x.extend({},t,{label:t.label||t.value,value:t.value||t.label})})},_suggest:function(t){var e=this.menu.element.empty();this._renderMenu(e,t),this.isNewMenu=!0,this.menu.refresh(),e.show(),this._resizeMenu(),e.position(x.extend({of:this.element},this.options.position)),this.options.autoFocus&&this.menu.next(),this._on(this.document,{mousedown:"_closeOnClickOutside"})},_resizeMenu:function(){var t=this.menu.element;t.outerWidth(Math.max(t.width("").outerWidth()+1,this.element.outerWidth()))},_renderMenu:function(i,t){var s=this;x.each(t,function(t,e){s._renderItemData(i,e)})},_renderItemData:function(t,e){return this._renderItem(t,e).data("ui-autocomplete-item",e)},_renderItem:function(t,e){return x("<li>").append(x("<div>").text(e.label)).appendTo(t)},_move:function(t,e){if(this.menu.element.is(":visible"))return this.menu.isFirstItem()&&/^previous/.test(t)||this.menu.isLastItem()&&/^next/.test(t)?(this.isMultiLine||this._value(this.term),void this.menu.blur()):void this.menu[t](e);this.search(null,e)},widget:function(){return this.menu.element},_value:function(){return this.valueMethod.apply(this.element,arguments)},_keyEvent:function(t,e){this.isMultiLine&&!this.menu.element.is(":visible")||(this._move(t,e),e.preventDefault())},_isContentEditable:function(t){if(!t.length)return!1;var e=t.prop("contentEditable");return"inherit"===e?this._isContentEditable(t.parent()):"true"===e}}),x.extend(x.ui.autocomplete,{escapeRegex:function(t){return t.replace(/[\-\[\]{}()*+?.,\\\^$|#\s]/g,"\\$&")},filter:function(t,e){var i=new RegExp(x.ui.autocomplete.escapeRegex(e),"i");return x.grep(t,function(t){return i.test(t.label||t.value||t)})}}),x.widget("ui.autocomplete",x.ui.autocomplete,{options:{messages:{noResults:"No search results.",results:function(t){return t+(1<t?" results are":" result is")+" available, use up and down arrow keys to navigate."}}},__response:function(t){var e;this._superApply(arguments),this.options.disabled||this.cancelSearch||(e=t&&t.length?this.options.messages.results(t.length):this.options.messages.noResults,clearTimeout(this.liveRegionTimer),this.liveRegionTimer=this._delay(function(){this.liveRegion.html(x("<div>").text(e))},100))}});x.ui.autocomplete});
\ No newline at end of file
diff --git a/docs/java/jquery/jszip-utils/dist/jszip-utils-ie.js b/docs/java/jquery/jszip-utils/dist/jszip-utils-ie.js
new file mode 100644
index 00000000..a74cc709
--- /dev/null
+++ b/docs/java/jquery/jszip-utils/dist/jszip-utils-ie.js
@@ -0,0 +1,56 @@
+/*!
+
+JSZipUtils - A collection of cross-browser utilities to go along with JSZip.
+<http://stuk.github.io/jszip-utils>
+
+(c) 2014 Stuart Knightley, David Duponchel
+Dual licenced under the MIT license or GPLv3. See https://raw.github.com/Stuk/jszip-utils/master/LICENSE.markdown.
+
+*/
+;(function e(t,n,r){function s(o,u){if(!n[o]){if(!t[o]){var a=typeof require=="function"&&require;if(!u&&a)return a(o,!0);if(i)return i(o,!0);throw new Error("Cannot find module '"+o+"'")}var f=n[o]={exports:{}};t[o][0].call(f.exports,function(e){var n=t[o][1][e];return s(n?n:e)},f,f.exports,e,t,n,r)}return n[o].exports}var i=typeof require=="function"&&require;for(var o=0;o<r.length;o++)s(r[o]);return s})({1:[function(require,module,exports){
+var global=typeof self !== "undefined" ? self : typeof window !== "undefined" ? window : {};/* jshint evil: true, newcap: false */
+/* global IEBinaryToArray_ByteStr, IEBinaryToArray_ByteStr_Last */
+"use strict";
+
+// Adapted from http://stackoverflow.com/questions/1095102/how-do-i-load-binary-image-data-using-javascript-and-xmlhttprequest
+var IEBinaryToArray_ByteStr_Script =
+    "<!-- IEBinaryToArray_ByteStr -->\r\n"+
+    "<script type='text/vbscript'>\r\n"+
+    "Function IEBinaryToArray_ByteStr(Binary)\r\n"+
+    "   IEBinaryToArray_ByteStr = CStr(Binary)\r\n"+
+    "End Function\r\n"+
+    "Function IEBinaryToArray_ByteStr_Last(Binary)\r\n"+
+    "   Dim lastIndex\r\n"+
+    "   lastIndex = LenB(Binary)\r\n"+
+    "   if lastIndex mod 2 Then\r\n"+
+    "       IEBinaryToArray_ByteStr_Last = Chr( AscB( MidB( Binary, lastIndex, 1 ) ) )\r\n"+
+    "   Else\r\n"+
+    "       IEBinaryToArray_ByteStr_Last = "+'""'+"\r\n"+
+    "   End If\r\n"+
+    "End Function\r\n"+
+    "</script>\r\n";
+
+// inject VBScript
+document.write(IEBinaryToArray_ByteStr_Script);
+
+global.JSZipUtils._getBinaryFromXHR = function (xhr) {
+    var binary = xhr.responseBody;
+    var byteMapping = {};
+    for ( var i = 0; i < 256; i++ ) {
+        for ( var j = 0; j < 256; j++ ) {
+            byteMapping[ String.fromCharCode( i + (j << 8) ) ] =
+                String.fromCharCode(i) + String.fromCharCode(j);
+        }
+    }
+    var rawBytes = IEBinaryToArray_ByteStr(binary);
+    var lastChr = IEBinaryToArray_ByteStr_Last(binary);
+    return rawBytes.replace(/[\s\S]/g, function( match ) {
+        return byteMapping[match];
+    }) + lastChr;
+};
+
+// enforcing Stuk's coding style
+// vim: set shiftwidth=4 softtabstop=4:
+
+},{}]},{},[1])
+;
diff --git a/docs/java/jquery/jszip-utils/dist/jszip-utils-ie.min.js b/docs/java/jquery/jszip-utils/dist/jszip-utils-ie.min.js
new file mode 100644
index 00000000..93d8bc8e
--- /dev/null
+++ b/docs/java/jquery/jszip-utils/dist/jszip-utils-ie.min.js
@@ -0,0 +1,10 @@
+/*!
+
+JSZipUtils - A collection of cross-browser utilities to go along with JSZip.
+<http://stuk.github.io/jszip-utils>
+
+(c) 2014 Stuart Knightley, David Duponchel
+Dual licenced under the MIT license or GPLv3. See https://raw.github.com/Stuk/jszip-utils/master/LICENSE.markdown.
+
+*/
+!function a(b,c,d){function e(g,h){if(!c[g]){if(!b[g]){var i="function"==typeof require&&require;if(!h&&i)return i(g,!0);if(f)return f(g,!0);throw new Error("Cannot find module '"+g+"'")}var j=c[g]={exports:{}};b[g][0].call(j.exports,function(a){var c=b[g][1][a];return e(c?c:a)},j,j.exports,a,b,c,d)}return c[g].exports}for(var f="function"==typeof require&&require,g=0;g<d.length;g++)e(d[g]);return e}({1:[function(){var a="undefined"!=typeof self?self:"undefined"!=typeof window?window:{},b="<!-- IEBinaryToArray_ByteStr -->\r\n<script type='text/vbscript'>\r\nFunction IEBinaryToArray_ByteStr(Binary)\r\n   IEBinaryToArray_ByteStr = CStr(Binary)\r\nEnd Function\r\nFunction IEBinaryToArray_ByteStr_Last(Binary)\r\n   Dim lastIndex\r\n   lastIndex = LenB(Binary)\r\n   if lastIndex mod 2 Then\r\n       IEBinaryToArray_ByteStr_Last = Chr( AscB( MidB( Binary, lastIndex, 1 ) ) )\r\n   Else\r\n       IEBinaryToArray_ByteStr_Last = \"\"\r\n   End If\r\nEnd Function\r\n</script>\r\n";document.write(b),a.JSZipUtils._getBinaryFromXHR=function(a){for(var b=a.responseBody,c={},d=0;256>d;d++)for(var e=0;256>e;e++)c[String.fromCharCode(d+(e<<8))]=String.fromCharCode(d)+String.fromCharCode(e);var f=IEBinaryToArray_ByteStr(b),g=IEBinaryToArray_ByteStr_Last(b);return f.replace(/[\s\S]/g,function(a){return c[a]})+g}},{}]},{},[1]);
diff --git a/docs/java/jquery/jszip-utils/dist/jszip-utils.js b/docs/java/jquery/jszip-utils/dist/jszip-utils.js
new file mode 100644
index 00000000..775895ec
--- /dev/null
+++ b/docs/java/jquery/jszip-utils/dist/jszip-utils.js
@@ -0,0 +1,118 @@
+/*!
+
+JSZipUtils - A collection of cross-browser utilities to go along with JSZip.
+<http://stuk.github.io/jszip-utils>
+
+(c) 2014 Stuart Knightley, David Duponchel
+Dual licenced under the MIT license or GPLv3. See https://raw.github.com/Stuk/jszip-utils/master/LICENSE.markdown.
+
+*/
+!function(e){"object"==typeof exports?module.exports=e():"function"==typeof define&&define.amd?define(e):"undefined"!=typeof window?window.JSZipUtils=e():"undefined"!=typeof global?global.JSZipUtils=e():"undefined"!=typeof self&&(self.JSZipUtils=e())}(function(){var define,module,exports;return (function e(t,n,r){function s(o,u){if(!n[o]){if(!t[o]){var a=typeof require=="function"&&require;if(!u&&a)return a(o,!0);if(i)return i(o,!0);throw new Error("Cannot find module '"+o+"'")}var f=n[o]={exports:{}};t[o][0].call(f.exports,function(e){var n=t[o][1][e];return s(n?n:e)},f,f.exports,e,t,n,r)}return n[o].exports}var i=typeof require=="function"&&require;for(var o=0;o<r.length;o++)s(r[o]);return s})({1:[function(require,module,exports){
+'use strict';
+
+var JSZipUtils = {};
+// just use the responseText with xhr1, response with xhr2.
+// The transformation doesn't throw away high-order byte (with responseText)
+// because JSZip handles that case. If not used with JSZip, you may need to
+// do it, see https://developer.mozilla.org/En/Using_XMLHttpRequest#Handling_binary_data
+JSZipUtils._getBinaryFromXHR = function (xhr) {
+    // for xhr.responseText, the 0xFF mask is applied by JSZip
+    return xhr.response || xhr.responseText;
+};
+
+// taken from jQuery
+function createStandardXHR() {
+    try {
+        return new window.XMLHttpRequest();
+    } catch( e ) {}
+}
+
+function createActiveXHR() {
+    try {
+        return new window.ActiveXObject("Microsoft.XMLHTTP");
+    } catch( e ) {}
+}
+
+// Create the request object
+var createXHR = window.ActiveXObject ?
+    /* Microsoft failed to properly
+     * implement the XMLHttpRequest in IE7 (can't request local files),
+     * so we use the ActiveXObject when it is available
+     * Additionally XMLHttpRequest can be disabled in IE7/IE8 so
+     * we need a fallback.
+     */
+    function() {
+    return createStandardXHR() || createActiveXHR();
+} :
+    // For all other browsers, use the standard XMLHttpRequest object
+    createStandardXHR;
+
+
+
+JSZipUtils.getBinaryContent = function(path, callback) {
+    /*
+     * Here is the tricky part : getting the data.
+     * In firefox/chrome/opera/... setting the mimeType to 'text/plain; charset=x-user-defined'
+     * is enough, the result is in the standard xhr.responseText.
+     * cf https://developer.mozilla.org/En/XMLHttpRequest/Using_XMLHttpRequest#Receiving_binary_data_in_older_browsers
+     * In IE <= 9, we must use (the IE only) attribute responseBody
+     * (for binary data, its content is different from responseText).
+     * In IE 10, the 'charset=x-user-defined' trick doesn't work, only the
+     * responseType will work :
+     * http://msdn.microsoft.com/en-us/library/ie/hh673569%28v=vs.85%29.aspx#Binary_Object_upload_and_download
+     *
+     * I'd like to use jQuery to avoid this XHR madness, but it doesn't support
+     * the responseType attribute : http://bugs.jquery.com/ticket/11461
+     */
+    try {
+
+        var xhr = createXHR();
+
+        xhr.open('GET', path, true);
+
+        // recent browsers
+        if ("responseType" in xhr) {
+            xhr.responseType = "arraybuffer";
+        }
+
+        // older browser
+        if(xhr.overrideMimeType) {
+            xhr.overrideMimeType("text/plain; charset=x-user-defined");
+        }
+
+        xhr.onreadystatechange = function(evt) {
+            var file, err;
+            // use `xhr` and not `this`... thanks IE
+            if (xhr.readyState === 4) {
+                if (xhr.status === 200 || xhr.status === 0) {
+                    file = null;
+                    err = null;
+                    try {
+                        file = JSZipUtils._getBinaryFromXHR(xhr);
+                    } catch(e) {
+                        err = new Error(e);
+                    }
+                    callback(err, file);
+                } else {
+                    callback(new Error("Ajax error for " + path + " : " + this.status + " " + this.statusText), null);
+                }
+            }
+        };
+
+        xhr.send();
+
+    } catch (e) {
+        callback(new Error(e), null);
+    }
+};
+
+// export
+module.exports = JSZipUtils;
+
+// enforcing Stuk's coding style
+// vim: set shiftwidth=4 softtabstop=4:
+
+},{}]},{},[1])
+(1)
+});
+;
diff --git a/docs/java/jquery/jszip-utils/dist/jszip-utils.min.js b/docs/java/jquery/jszip-utils/dist/jszip-utils.min.js
new file mode 100644
index 00000000..78c7f5e5
--- /dev/null
+++ b/docs/java/jquery/jszip-utils/dist/jszip-utils.min.js
@@ -0,0 +1,10 @@
+/*!
+
+JSZipUtils - A collection of cross-browser utilities to go along with JSZip.
+<http://stuk.github.io/jszip-utils>
+
+(c) 2014 Stuart Knightley, David Duponchel
+Dual licenced under the MIT license or GPLv3. See https://raw.github.com/Stuk/jszip-utils/master/LICENSE.markdown.
+
+*/
+!function(a){"object"==typeof exports?module.exports=a():"function"==typeof define&&define.amd?define(a):"undefined"!=typeof window?window.JSZipUtils=a():"undefined"!=typeof global?global.JSZipUtils=a():"undefined"!=typeof self&&(self.JSZipUtils=a())}(function(){return function a(b,c,d){function e(g,h){if(!c[g]){if(!b[g]){var i="function"==typeof require&&require;if(!h&&i)return i(g,!0);if(f)return f(g,!0);throw new Error("Cannot find module '"+g+"'")}var j=c[g]={exports:{}};b[g][0].call(j.exports,function(a){var c=b[g][1][a];return e(c?c:a)},j,j.exports,a,b,c,d)}return c[g].exports}for(var f="function"==typeof require&&require,g=0;g<d.length;g++)e(d[g]);return e}({1:[function(a,b){"use strict";function c(){try{return new window.XMLHttpRequest}catch(a){}}function d(){try{return new window.ActiveXObject("Microsoft.XMLHTTP")}catch(a){}}var e={};e._getBinaryFromXHR=function(a){return a.response||a.responseText};var f=window.ActiveXObject?function(){return c()||d()}:c;e.getBinaryContent=function(a,b){try{var c=f();c.open("GET",a,!0),"responseType"in c&&(c.responseType="arraybuffer"),c.overrideMimeType&&c.overrideMimeType("text/plain; charset=x-user-defined"),c.onreadystatechange=function(){var d,f;if(4===c.readyState)if(200===c.status||0===c.status){d=null,f=null;try{d=e._getBinaryFromXHR(c)}catch(g){f=new Error(g)}b(f,d)}else b(new Error("Ajax error for "+a+" : "+this.status+" "+this.statusText),null)},c.send()}catch(d){b(new Error(d),null)}},b.exports=e},{}]},{},[1])(1)});
diff --git a/docs/java/jquery/jszip/dist/jszip.js b/docs/java/jquery/jszip/dist/jszip.js
new file mode 100644
index 00000000..9f0ffc1d
--- /dev/null
+++ b/docs/java/jquery/jszip/dist/jszip.js
@@ -0,0 +1,11370 @@
+/*!
+
+JSZip v3.7.1 - A JavaScript class for generating and reading zip files
+<http://stuartk.com/jszip>
+
+(c) 2009-2016 Stuart Knightley <stuart [at] stuartk.com>
+Dual licenced under the MIT license or GPLv3. See https://raw.github.com/Stuk/jszip/master/LICENSE.markdown.
+
+JSZip uses the library pako released under the MIT license :
+https://github.com/nodeca/pako/blob/master/LICENSE
+*/
+
+(function(f){if(typeof exports==="object"&&typeof module!=="undefined"){module.exports=f()}else if(typeof define==="function"&&define.amd){define([],f)}else{var g;if(typeof window!=="undefined"){g=window}else if(typeof global!=="undefined"){g=global}else if(typeof self!=="undefined"){g=self}else{g=this}g.JSZip = f()}})(function(){var define,module,exports;return (function e(t,n,r){function s(o,u){if(!n[o]){if(!t[o]){var a=typeof require=="function"&&require;if(!u&&a)return a(o,!0);if(i)return i(o,!0);var f=new Error("Cannot find module '"+o+"'");throw f.code="MODULE_NOT_FOUND",f}var l=n[o]={exports:{}};t[o][0].call(l.exports,function(e){var n=t[o][1][e];return s(n?n:e)},l,l.exports,e,t,n,r)}return n[o].exports}var i=typeof require=="function"&&require;for(var o=0;o<r.length;o++)s(r[o]);return s})({1:[function(require,module,exports){
+'use strict';
+var utils = require('./utils');
+var support = require('./support');
+// private property
+var _keyStr = "ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789+/=";
+
+
+// public method for encoding
+exports.encode = function(input) {
+    var output = [];
+    var chr1, chr2, chr3, enc1, enc2, enc3, enc4;
+    var i = 0, len = input.length, remainingBytes = len;
+
+    var isArray = utils.getTypeOf(input) !== "string";
+    while (i < input.length) {
+        remainingBytes = len - i;
+
+        if (!isArray) {
+            chr1 = input.charCodeAt(i++);
+            chr2 = i < len ? input.charCodeAt(i++) : 0;
+            chr3 = i < len ? input.charCodeAt(i++) : 0;
+        } else {
+            chr1 = input[i++];
+            chr2 = i < len ? input[i++] : 0;
+            chr3 = i < len ? input[i++] : 0;
+        }
+
+        enc1 = chr1 >> 2;
+        enc2 = ((chr1 & 3) << 4) | (chr2 >> 4);
+        enc3 = remainingBytes > 1 ? (((chr2 & 15) << 2) | (chr3 >> 6)) : 64;
+        enc4 = remainingBytes > 2 ? (chr3 & 63) : 64;
+
+        output.push(_keyStr.charAt(enc1) + _keyStr.charAt(enc2) + _keyStr.charAt(enc3) + _keyStr.charAt(enc4));
+
+    }
+
+    return output.join("");
+};
+
+// public method for decoding
+exports.decode = function(input) {
+    var chr1, chr2, chr3;
+    var enc1, enc2, enc3, enc4;
+    var i = 0, resultIndex = 0;
+
+    var dataUrlPrefix = "data:";
+
+    if (input.substr(0, dataUrlPrefix.length) === dataUrlPrefix) {
+        // This is a common error: people give a data url
+        // (data:image/png;base64,iVBOR...) with a {base64: true} and
+        // wonders why things don't work.
+        // We can detect that the string input looks like a data url but we
+        // *can't* be sure it is one: removing everything up to the comma would
+        // be too dangerous.
+        throw new Error("Invalid base64 input, it looks like a data url.");
+    }
+
+    input = input.replace(/[^A-Za-z0-9\+\/\=]/g, "");
+
+    var totalLength = input.length * 3 / 4;
+    if(input.charAt(input.length - 1) === _keyStr.charAt(64)) {
+        totalLength--;
+    }
+    if(input.charAt(input.length - 2) === _keyStr.charAt(64)) {
+        totalLength--;
+    }
+    if (totalLength % 1 !== 0) {
+        // totalLength is not an integer, the length does not match a valid
+        // base64 content. That can happen if:
+        // - the input is not a base64 content
+        // - the input is *almost* a base64 content, with a extra chars at the
+        //   beginning or at the end
+        // - the input uses a base64 variant (base64url for example)
+        throw new Error("Invalid base64 input, bad content length.");
+    }
+    var output;
+    if (support.uint8array) {
+        output = new Uint8Array(totalLength|0);
+    } else {
+        output = new Array(totalLength|0);
+    }
+
+    while (i < input.length) {
+
+        enc1 = _keyStr.indexOf(input.charAt(i++));
+        enc2 = _keyStr.indexOf(input.charAt(i++));
+        enc3 = _keyStr.indexOf(input.charAt(i++));
+        enc4 = _keyStr.indexOf(input.charAt(i++));
+
+        chr1 = (enc1 << 2) | (enc2 >> 4);
+        chr2 = ((enc2 & 15) << 4) | (enc3 >> 2);
+        chr3 = ((enc3 & 3) << 6) | enc4;
+
+        output[resultIndex++] = chr1;
+
+        if (enc3 !== 64) {
+            output[resultIndex++] = chr2;
+        }
+        if (enc4 !== 64) {
+            output[resultIndex++] = chr3;
+        }
+
+    }
+
+    return output;
+};
+
+},{"./support":30,"./utils":32}],2:[function(require,module,exports){
+'use strict';
+
+var external = require("./external");
+var DataWorker = require('./stream/DataWorker');
+var Crc32Probe = require('./stream/Crc32Probe');
+var DataLengthProbe = require('./stream/DataLengthProbe');
+
+/**
+ * Represent a compressed object, with everything needed to decompress it.
+ * @constructor
+ * @param {number} compressedSize the size of the data compressed.
+ * @param {number} uncompressedSize the size of the data after decompression.
+ * @param {number} crc32 the crc32 of the decompressed file.
+ * @param {object} compression the type of compression, see lib/compressions.js.
+ * @param {String|ArrayBuffer|Uint8Array|Buffer} data the compressed data.
+ */
+function CompressedObject(compressedSize, uncompressedSize, crc32, compression, data) {
+    this.compressedSize = compressedSize;
+    this.uncompressedSize = uncompressedSize;
+    this.crc32 = crc32;
+    this.compression = compression;
+    this.compressedContent = data;
+}
+
+CompressedObject.prototype = {
+    /**
+     * Create a worker to get the uncompressed content.
+     * @return {GenericWorker} the worker.
+     */
+    getContentWorker: function () {
+        var worker = new DataWorker(external.Promise.resolve(this.compressedContent))
+            .pipe(this.compression.uncompressWorker())
+            .pipe(new DataLengthProbe("data_length"));
+
+        var that = this;
+        worker.on("end", function () {
+            if (this.streamInfo['data_length'] !== that.uncompressedSize) {
+                throw new Error("Bug : uncompressed data size mismatch");
+            }
+        });
+        return worker;
+    },
+    /**
+     * Create a worker to get the compressed content.
+     * @return {GenericWorker} the worker.
+     */
+    getCompressedWorker: function () {
+        return new DataWorker(external.Promise.resolve(this.compressedContent))
+            .withStreamInfo("compressedSize", this.compressedSize)
+            .withStreamInfo("uncompressedSize", this.uncompressedSize)
+            .withStreamInfo("crc32", this.crc32)
+            .withStreamInfo("compression", this.compression)
+            ;
+    }
+};
+
+/**
+ * Chain the given worker with other workers to compress the content with the
+ * given compression.
+ * @param {GenericWorker} uncompressedWorker the worker to pipe.
+ * @param {Object} compression the compression object.
+ * @param {Object} compressionOptions the options to use when compressing.
+ * @return {GenericWorker} the new worker compressing the content.
+ */
+CompressedObject.createWorkerFrom = function (uncompressedWorker, compression, compressionOptions) {
+    return uncompressedWorker
+        .pipe(new Crc32Probe())
+        .pipe(new DataLengthProbe("uncompressedSize"))
+        .pipe(compression.compressWorker(compressionOptions))
+        .pipe(new DataLengthProbe("compressedSize"))
+        .withStreamInfo("compression", compression);
+};
+
+module.exports = CompressedObject;
+
+},{"./external":6,"./stream/Crc32Probe":25,"./stream/DataLengthProbe":26,"./stream/DataWorker":27}],3:[function(require,module,exports){
+'use strict';
+
+var GenericWorker = require("./stream/GenericWorker");
+
+exports.STORE = {
+    magic: "\x00\x00",
+    compressWorker : function (compressionOptions) {
+        return new GenericWorker("STORE compression");
+    },
+    uncompressWorker : function () {
+        return new GenericWorker("STORE decompression");
+    }
+};
+exports.DEFLATE = require('./flate');
+
+},{"./flate":7,"./stream/GenericWorker":28}],4:[function(require,module,exports){
+'use strict';
+
+var utils = require('./utils');
+
+/**
+ * The following functions come from pako, from pako/lib/zlib/crc32.js
+ * released under the MIT license, see pako https://github.com/nodeca/pako/
+ */
+
+// Use ordinary array, since untyped makes no boost here
+function makeTable() {
+    var c, table = [];
+
+    for(var n =0; n < 256; n++){
+        c = n;
+        for(var k =0; k < 8; k++){
+            c = ((c&1) ? (0xEDB88320 ^ (c >>> 1)) : (c >>> 1));
+        }
+        table[n] = c;
+    }
+
+    return table;
+}
+
+// Create table on load. Just 255 signed longs. Not a problem.
+var crcTable = makeTable();
+
+
+function crc32(crc, buf, len, pos) {
+    var t = crcTable, end = pos + len;
+
+    crc = crc ^ (-1);
+
+    for (var i = pos; i < end; i++ ) {
+        crc = (crc >>> 8) ^ t[(crc ^ buf[i]) & 0xFF];
+    }
+
+    return (crc ^ (-1)); // >>> 0;
+}
+
+// That's all for the pako functions.
+
+/**
+ * Compute the crc32 of a string.
+ * This is almost the same as the function crc32, but for strings. Using the
+ * same function for the two use cases leads to horrible performances.
+ * @param {Number} crc the starting value of the crc.
+ * @param {String} str the string to use.
+ * @param {Number} len the length of the string.
+ * @param {Number} pos the starting position for the crc32 computation.
+ * @return {Number} the computed crc32.
+ */
+function crc32str(crc, str, len, pos) {
+    var t = crcTable, end = pos + len;
+
+    crc = crc ^ (-1);
+
+    for (var i = pos; i < end; i++ ) {
+        crc = (crc >>> 8) ^ t[(crc ^ str.charCodeAt(i)) & 0xFF];
+    }
+
+    return (crc ^ (-1)); // >>> 0;
+}
+
+module.exports = function crc32wrapper(input, crc) {
+    if (typeof input === "undefined" || !input.length) {
+        return 0;
+    }
+
+    var isArray = utils.getTypeOf(input) !== "string";
+
+    if(isArray) {
+        return crc32(crc|0, input, input.length, 0);
+    } else {
+        return crc32str(crc|0, input, input.length, 0);
+    }
+};
+
+},{"./utils":32}],5:[function(require,module,exports){
+'use strict';
+exports.base64 = false;
+exports.binary = false;
+exports.dir = false;
+exports.createFolders = true;
+exports.date = null;
+exports.compression = null;
+exports.compressionOptions = null;
+exports.comment = null;
+exports.unixPermissions = null;
+exports.dosPermissions = null;
+
+},{}],6:[function(require,module,exports){
+/* global Promise */
+'use strict';
+
+// load the global object first:
+// - it should be better integrated in the system (unhandledRejection in node)
+// - the environment may have a custom Promise implementation (see zone.js)
+var ES6Promise = null;
+if (typeof Promise !== "undefined") {
+    ES6Promise = Promise;
+} else {
+    ES6Promise = require("lie");
+}
+
+/**
+ * Let the user use/change some implementations.
+ */
+module.exports = {
+    Promise: ES6Promise
+};
+
+},{"lie":37}],7:[function(require,module,exports){
+'use strict';
+var USE_TYPEDARRAY = (typeof Uint8Array !== 'undefined') && (typeof Uint16Array !== 'undefined') && (typeof Uint32Array !== 'undefined');
+
+var pako = require("pako");
+var utils = require("./utils");
+var GenericWorker = require("./stream/GenericWorker");
+
+var ARRAY_TYPE = USE_TYPEDARRAY ? "uint8array" : "array";
+
+exports.magic = "\x08\x00";
+
+/**
+ * Create a worker that uses pako to inflate/deflate.
+ * @constructor
+ * @param {String} action the name of the pako function to call : either "Deflate" or "Inflate".
+ * @param {Object} options the options to use when (de)compressing.
+ */
+function FlateWorker(action, options) {
+    GenericWorker.call(this, "FlateWorker/" + action);
+
+    this._pako = null;
+    this._pakoAction = action;
+    this._pakoOptions = options;
+    // the `meta` object from the last chunk received
+    // this allow this worker to pass around metadata
+    this.meta = {};
+}
+
+utils.inherits(FlateWorker, GenericWorker);
+
+/**
+ * @see GenericWorker.processChunk
+ */
+FlateWorker.prototype.processChunk = function (chunk) {
+    this.meta = chunk.meta;
+    if (this._pako === null) {
+        this._createPako();
+    }
+    this._pako.push(utils.transformTo(ARRAY_TYPE, chunk.data), false);
+};
+
+/**
+ * @see GenericWorker.flush
+ */
+FlateWorker.prototype.flush = function () {
+    GenericWorker.prototype.flush.call(this);
+    if (this._pako === null) {
+        this._createPako();
+    }
+    this._pako.push([], true);
+};
+/**
+ * @see GenericWorker.cleanUp
+ */
+FlateWorker.prototype.cleanUp = function () {
+    GenericWorker.prototype.cleanUp.call(this);
+    this._pako = null;
+};
+
+/**
+ * Create the _pako object.
+ * TODO: lazy-loading this object isn't the best solution but it's the
+ * quickest. The best solution is to lazy-load the worker list. See also the
+ * issue #446.
+ */
+FlateWorker.prototype._createPako = function () {
+    this._pako = new pako[this._pakoAction]({
+        raw: true,
+        level: this._pakoOptions.level || -1 // default compression
+    });
+    var self = this;
+    this._pako.onData = function(data) {
+        self.push({
+            data : data,
+            meta : self.meta
+        });
+    };
+};
+
+exports.compressWorker = function (compressionOptions) {
+    return new FlateWorker("Deflate", compressionOptions);
+};
+exports.uncompressWorker = function () {
+    return new FlateWorker("Inflate", {});
+};
+
+},{"./stream/GenericWorker":28,"./utils":32,"pako":38}],8:[function(require,module,exports){
+'use strict';
+
+var utils = require('../utils');
+var GenericWorker = require('../stream/GenericWorker');
+var utf8 = require('../utf8');
+var crc32 = require('../crc32');
+var signature = require('../signature');
+
+/**
+ * Transform an integer into a string in hexadecimal.
+ * @private
+ * @param {number} dec the number to convert.
+ * @param {number} bytes the number of bytes to generate.
+ * @returns {string} the result.
+ */
+var decToHex = function(dec, bytes) {
+    var hex = "", i;
+    for (i = 0; i < bytes; i++) {
+        hex += String.fromCharCode(dec & 0xff);
+        dec = dec >>> 8;
+    }
+    return hex;
+};
+
+/**
+ * Generate the UNIX part of the external file attributes.
+ * @param {Object} unixPermissions the unix permissions or null.
+ * @param {Boolean} isDir true if the entry is a directory, false otherwise.
+ * @return {Number} a 32 bit integer.
+ *
+ * adapted from http://unix.stackexchange.com/questions/14705/the-zip-formats-external-file-attribute :
+ *
+ * TTTTsstrwxrwxrwx0000000000ADVSHR
+ * ^^^^____________________________ file type, see zipinfo.c (UNX_*)
+ *     ^^^_________________________ setuid, setgid, sticky
+ *        ^^^^^^^^^________________ permissions
+ *                 ^^^^^^^^^^______ not used ?
+ *                           ^^^^^^ DOS attribute bits : Archive, Directory, Volume label, System file, Hidden, Read only
+ */
+var generateUnixExternalFileAttr = function (unixPermissions, isDir) {
+
+    var result = unixPermissions;
+    if (!unixPermissions) {
+        // I can't use octal values in strict mode, hence the hexa.
+        //  040775 => 0x41fd
+        // 0100664 => 0x81b4
+        result = isDir ? 0x41fd : 0x81b4;
+    }
+    return (result & 0xFFFF) << 16;
+};
+
+/**
+ * Generate the DOS part of the external file attributes.
+ * @param {Object} dosPermissions the dos permissions or null.
+ * @param {Boolean} isDir true if the entry is a directory, false otherwise.
+ * @return {Number} a 32 bit integer.
+ *
+ * Bit 0     Read-Only
+ * Bit 1     Hidden
+ * Bit 2     System
+ * Bit 3     Volume Label
+ * Bit 4     Directory
+ * Bit 5     Archive
+ */
+var generateDosExternalFileAttr = function (dosPermissions, isDir) {
+
+    // the dir flag is already set for compatibility
+    return (dosPermissions || 0)  & 0x3F;
+};
+
+/**
+ * Generate the various parts used in the construction of the final zip file.
+ * @param {Object} streamInfo the hash with information about the compressed file.
+ * @param {Boolean} streamedContent is the content streamed ?
+ * @param {Boolean} streamingEnded is the stream finished ?
+ * @param {number} offset the current offset from the start of the zip file.
+ * @param {String} platform let's pretend we are this platform (change platform dependents fields)
+ * @param {Function} encodeFileName the function to encode the file name / comment.
+ * @return {Object} the zip parts.
+ */
+var generateZipParts = function(streamInfo, streamedContent, streamingEnded, offset, platform, encodeFileName) {
+    var file = streamInfo['file'],
+    compression = streamInfo['compression'],
+    useCustomEncoding = encodeFileName !== utf8.utf8encode,
+    encodedFileName = utils.transformTo("string", encodeFileName(file.name)),
+    utfEncodedFileName = utils.transformTo("string", utf8.utf8encode(file.name)),
+    comment = file.comment,
+    encodedComment = utils.transformTo("string", encodeFileName(comment)),
+    utfEncodedComment = utils.transformTo("string", utf8.utf8encode(comment)),
+    useUTF8ForFileName = utfEncodedFileName.length !== file.name.length,
+    useUTF8ForComment = utfEncodedComment.length !== comment.length,
+    dosTime,
+    dosDate,
+    extraFields = "",
+    unicodePathExtraField = "",
+    unicodeCommentExtraField = "",
+    dir = file.dir,
+    date = file.date;
+
+
+    var dataInfo = {
+        crc32 : 0,
+        compressedSize : 0,
+        uncompressedSize : 0
+    };
+
+    // if the content is streamed, the sizes/crc32 are only available AFTER
+    // the end of the stream.
+    if (!streamedContent || streamingEnded) {
+        dataInfo.crc32 = streamInfo['crc32'];
+        dataInfo.compressedSize = streamInfo['compressedSize'];
+        dataInfo.uncompressedSize = streamInfo['uncompressedSize'];
+    }
+
+    var bitflag = 0;
+    if (streamedContent) {
+        // Bit 3: the sizes/crc32 are set to zero in the local header.
+        // The correct values are put in the data descriptor immediately
+        // following the compressed data.
+        bitflag |= 0x0008;
+    }
+    if (!useCustomEncoding && (useUTF8ForFileName || useUTF8ForComment)) {
+        // Bit 11: Language encoding flag (EFS).
+        bitflag |= 0x0800;
+    }
+
+
+    var extFileAttr = 0;
+    var versionMadeBy = 0;
+    if (dir) {
+        // dos or unix, we set the dos dir flag
+        extFileAttr |= 0x00010;
+    }
+    if(platform === "UNIX") {
+        versionMadeBy = 0x031E; // UNIX, version 3.0
+        extFileAttr |= generateUnixExternalFileAttr(file.unixPermissions, dir);
+    } else { // DOS or other, fallback to DOS
+        versionMadeBy = 0x0014; // DOS, version 2.0
+        extFileAttr |= generateDosExternalFileAttr(file.dosPermissions, dir);
+    }
+
+    // date
+    // @see http://www.delorie.com/djgpp/doc/rbinter/it/52/13.html
+    // @see http://www.delorie.com/djgpp/doc/rbinter/it/65/16.html
+    // @see http://www.delorie.com/djgpp/doc/rbinter/it/66/16.html
+
+    dosTime = date.getUTCHours();
+    dosTime = dosTime << 6;
+    dosTime = dosTime | date.getUTCMinutes();
+    dosTime = dosTime << 5;
+    dosTime = dosTime | date.getUTCSeconds() / 2;
+
+    dosDate = date.getUTCFullYear() - 1980;
+    dosDate = dosDate << 4;
+    dosDate = dosDate | (date.getUTCMonth() + 1);
+    dosDate = dosDate << 5;
+    dosDate = dosDate | date.getUTCDate();
+
+    if (useUTF8ForFileName) {
+        // set the unicode path extra field. unzip needs at least one extra
+        // field to correctly handle unicode path, so using the path is as good
+        // as any other information. This could improve the situation with
+        // other archive managers too.
+        // This field is usually used without the utf8 flag, with a non
+        // unicode path in the header (winrar, winzip). This helps (a bit)
+        // with the messy Windows' default compressed folders feature but
+        // breaks on p7zip which doesn't seek the unicode path extra field.
+        // So for now, UTF-8 everywhere !
+        unicodePathExtraField =
+            // Version
+            decToHex(1, 1) +
+            // NameCRC32
+            decToHex(crc32(encodedFileName), 4) +
+            // UnicodeName
+            utfEncodedFileName;
+
+        extraFields +=
+            // Info-ZIP Unicode Path Extra Field
+            "\x75\x70" +
+            // size
+            decToHex(unicodePathExtraField.length, 2) +
+            // content
+            unicodePathExtraField;
+    }
+
+    if(useUTF8ForComment) {
+
+        unicodeCommentExtraField =
+            // Version
+            decToHex(1, 1) +
+            // CommentCRC32
+            decToHex(crc32(encodedComment), 4) +
+            // UnicodeName
+            utfEncodedComment;
+
+        extraFields +=
+            // Info-ZIP Unicode Path Extra Field
+            "\x75\x63" +
+            // size
+            decToHex(unicodeCommentExtraField.length, 2) +
+            // content
+            unicodeCommentExtraField;
+    }
+
+    var header = "";
+
+    // version needed to extract
+    header += "\x0A\x00";
+    // general purpose bit flag
+    header += decToHex(bitflag, 2);
+    // compression method
+    header += compression.magic;
+    // last mod file time
+    header += decToHex(dosTime, 2);
+    // last mod file date
+    header += decToHex(dosDate, 2);
+    // crc-32
+    header += decToHex(dataInfo.crc32, 4);
+    // compressed size
+    header += decToHex(dataInfo.compressedSize, 4);
+    // uncompressed size
+    header += decToHex(dataInfo.uncompressedSize, 4);
+    // file name length
+    header += decToHex(encodedFileName.length, 2);
+    // extra field length
+    header += decToHex(extraFields.length, 2);
+
+
+    var fileRecord = signature.LOCAL_FILE_HEADER + header + encodedFileName + extraFields;
+
+    var dirRecord = signature.CENTRAL_FILE_HEADER +
+        // version made by (00: DOS)
+        decToHex(versionMadeBy, 2) +
+        // file header (common to file and central directory)
+        header +
+        // file comment length
+        decToHex(encodedComment.length, 2) +
+        // disk number start
+        "\x00\x00" +
+        // internal file attributes TODO
+        "\x00\x00" +
+        // external file attributes
+        decToHex(extFileAttr, 4) +
+        // relative offset of local header
+        decToHex(offset, 4) +
+        // file name
+        encodedFileName +
+        // extra field
+        extraFields +
+        // file comment
+        encodedComment;
+
+    return {
+        fileRecord: fileRecord,
+        dirRecord: dirRecord
+    };
+};
+
+/**
+ * Generate the EOCD record.
+ * @param {Number} entriesCount the number of entries in the zip file.
+ * @param {Number} centralDirLength the length (in bytes) of the central dir.
+ * @param {Number} localDirLength the length (in bytes) of the local dir.
+ * @param {String} comment the zip file comment as a binary string.
+ * @param {Function} encodeFileName the function to encode the comment.
+ * @return {String} the EOCD record.
+ */
+var generateCentralDirectoryEnd = function (entriesCount, centralDirLength, localDirLength, comment, encodeFileName) {
+    var dirEnd = "";
+    var encodedComment = utils.transformTo("string", encodeFileName(comment));
+
+    // end of central dir signature
+    dirEnd = signature.CENTRAL_DIRECTORY_END +
+        // number of this disk
+        "\x00\x00" +
+        // number of the disk with the start of the central directory
+        "\x00\x00" +
+        // total number of entries in the central directory on this disk
+        decToHex(entriesCount, 2) +
+        // total number of entries in the central directory
+        decToHex(entriesCount, 2) +
+        // size of the central directory   4 bytes
+        decToHex(centralDirLength, 4) +
+        // offset of start of central directory with respect to the starting disk number
+        decToHex(localDirLength, 4) +
+        // .ZIP file comment length
+        decToHex(encodedComment.length, 2) +
+        // .ZIP file comment
+        encodedComment;
+
+    return dirEnd;
+};
+
+/**
+ * Generate data descriptors for a file entry.
+ * @param {Object} streamInfo the hash generated by a worker, containing information
+ * on the file entry.
+ * @return {String} the data descriptors.
+ */
+var generateDataDescriptors = function (streamInfo) {
+    var descriptor = "";
+    descriptor = signature.DATA_DESCRIPTOR +
+        // crc-32                          4 bytes
+        decToHex(streamInfo['crc32'], 4) +
+        // compressed size                 4 bytes
+        decToHex(streamInfo['compressedSize'], 4) +
+        // uncompressed size               4 bytes
+        decToHex(streamInfo['uncompressedSize'], 4);
+
+    return descriptor;
+};
+
+
+/**
+ * A worker to concatenate other workers to create a zip file.
+ * @param {Boolean} streamFiles `true` to stream the content of the files,
+ * `false` to accumulate it.
+ * @param {String} comment the comment to use.
+ * @param {String} platform the platform to use, "UNIX" or "DOS".
+ * @param {Function} encodeFileName the function to encode file names and comments.
+ */
+function ZipFileWorker(streamFiles, comment, platform, encodeFileName) {
+    GenericWorker.call(this, "ZipFileWorker");
+    // The number of bytes written so far. This doesn't count accumulated chunks.
+    this.bytesWritten = 0;
+    // The comment of the zip file
+    this.zipComment = comment;
+    // The platform "generating" the zip file.
+    this.zipPlatform = platform;
+    // the function to encode file names and comments.
+    this.encodeFileName = encodeFileName;
+    // Should we stream the content of the files ?
+    this.streamFiles = streamFiles;
+    // If `streamFiles` is false, we will need to accumulate the content of the
+    // files to calculate sizes / crc32 (and write them *before* the content).
+    // This boolean indicates if we are accumulating chunks (it will change a lot
+    // during the lifetime of this worker).
+    this.accumulate = false;
+    // The buffer receiving chunks when accumulating content.
+    this.contentBuffer = [];
+    // The list of generated directory records.
+    this.dirRecords = [];
+    // The offset (in bytes) from the beginning of the zip file for the current source.
+    this.currentSourceOffset = 0;
+    // The total number of entries in this zip file.
+    this.entriesCount = 0;
+    // the name of the file currently being added, null when handling the end of the zip file.
+    // Used for the emitted metadata.
+    this.currentFile = null;
+
+
+
+    this._sources = [];
+}
+utils.inherits(ZipFileWorker, GenericWorker);
+
+/**
+ * @see GenericWorker.push
+ */
+ZipFileWorker.prototype.push = function (chunk) {
+
+    var currentFilePercent = chunk.meta.percent || 0;
+    var entriesCount = this.entriesCount;
+    var remainingFiles = this._sources.length;
+
+    if(this.accumulate) {
+        this.contentBuffer.push(chunk);
+    } else {
+        this.bytesWritten += chunk.data.length;
+
+        GenericWorker.prototype.push.call(this, {
+            data : chunk.data,
+            meta : {
+                currentFile : this.currentFile,
+                percent : entriesCount ? (currentFilePercent + 100 * (entriesCount - remainingFiles - 1)) / entriesCount : 100
+            }
+        });
+    }
+};
+
+/**
+ * The worker started a new source (an other worker).
+ * @param {Object} streamInfo the streamInfo object from the new source.
+ */
+ZipFileWorker.prototype.openedSource = function (streamInfo) {
+    this.currentSourceOffset = this.bytesWritten;
+    this.currentFile = streamInfo['file'].name;
+
+    var streamedContent = this.streamFiles && !streamInfo['file'].dir;
+
+    // don't stream folders (because they don't have any content)
+    if(streamedContent) {
+        var record = generateZipParts(streamInfo, streamedContent, false, this.currentSourceOffset, this.zipPlatform, this.encodeFileName);
+        this.push({
+            data : record.fileRecord,
+            meta : {percent:0}
+        });
+    } else {
+        // we need to wait for the whole file before pushing anything
+        this.accumulate = true;
+    }
+};
+
+/**
+ * The worker finished a source (an other worker).
+ * @param {Object} streamInfo the streamInfo object from the finished source.
+ */
+ZipFileWorker.prototype.closedSource = function (streamInfo) {
+    this.accumulate = false;
+    var streamedContent = this.streamFiles && !streamInfo['file'].dir;
+    var record = generateZipParts(streamInfo, streamedContent, true, this.currentSourceOffset, this.zipPlatform, this.encodeFileName);
+
+    this.dirRecords.push(record.dirRecord);
+    if(streamedContent) {
+        // after the streamed file, we put data descriptors
+        this.push({
+            data : generateDataDescriptors(streamInfo),
+            meta : {percent:100}
+        });
+    } else {
+        // the content wasn't streamed, we need to push everything now
+        // first the file record, then the content
+        this.push({
+            data : record.fileRecord,
+            meta : {percent:0}
+        });
+        while(this.contentBuffer.length) {
+            this.push(this.contentBuffer.shift());
+        }
+    }
+    this.currentFile = null;
+};
+
+/**
+ * @see GenericWorker.flush
+ */
+ZipFileWorker.prototype.flush = function () {
+
+    var localDirLength = this.bytesWritten;
+    for(var i = 0; i < this.dirRecords.length; i++) {
+        this.push({
+            data : this.dirRecords[i],
+            meta : {percent:100}
+        });
+    }
+    var centralDirLength = this.bytesWritten - localDirLength;
+
+    var dirEnd = generateCentralDirectoryEnd(this.dirRecords.length, centralDirLength, localDirLength, this.zipComment, this.encodeFileName);
+
+    this.push({
+        data : dirEnd,
+        meta : {percent:100}
+    });
+};
+
+/**
+ * Prepare the next source to be read.
+ */
+ZipFileWorker.prototype.prepareNextSource = function () {
+    this.previous = this._sources.shift();
+    this.openedSource(this.previous.streamInfo);
+    if (this.isPaused) {
+        this.previous.pause();
+    } else {
+        this.previous.resume();
+    }
+};
+
+/**
+ * @see GenericWorker.registerPrevious
+ */
+ZipFileWorker.prototype.registerPrevious = function (previous) {
+    this._sources.push(previous);
+    var self = this;
+
+    previous.on('data', function (chunk) {
+        self.processChunk(chunk);
+    });
+    previous.on('end', function () {
+        self.closedSource(self.previous.streamInfo);
+        if(self._sources.length) {
+            self.prepareNextSource();
+        } else {
+            self.end();
+        }
+    });
+    previous.on('error', function (e) {
+        self.error(e);
+    });
+    return this;
+};
+
+/**
+ * @see GenericWorker.resume
+ */
+ZipFileWorker.prototype.resume = function () {
+    if(!GenericWorker.prototype.resume.call(this)) {
+        return false;
+    }
+
+    if (!this.previous && this._sources.length) {
+        this.prepareNextSource();
+        return true;
+    }
+    if (!this.previous && !this._sources.length && !this.generatedError) {
+        this.end();
+        return true;
+    }
+};
+
+/**
+ * @see GenericWorker.error
+ */
+ZipFileWorker.prototype.error = function (e) {
+    var sources = this._sources;
+    if(!GenericWorker.prototype.error.call(this, e)) {
+        return false;
+    }
+    for(var i = 0; i < sources.length; i++) {
+        try {
+            sources[i].error(e);
+        } catch(e) {
+            // the `error` exploded, nothing to do
+        }
+    }
+    return true;
+};
+
+/**
+ * @see GenericWorker.lock
+ */
+ZipFileWorker.prototype.lock = function () {
+    GenericWorker.prototype.lock.call(this);
+    var sources = this._sources;
+    for(var i = 0; i < sources.length; i++) {
+        sources[i].lock();
+    }
+};
+
+module.exports = ZipFileWorker;
+
+},{"../crc32":4,"../signature":23,"../stream/GenericWorker":28,"../utf8":31,"../utils":32}],9:[function(require,module,exports){
+'use strict';
+
+var compressions = require('../compressions');
+var ZipFileWorker = require('./ZipFileWorker');
+
+/**
+ * Find the compression to use.
+ * @param {String} fileCompression the compression defined at the file level, if any.
+ * @param {String} zipCompression the compression defined at the load() level.
+ * @return {Object} the compression object to use.
+ */
+var getCompression = function (fileCompression, zipCompression) {
+
+    var compressionName = fileCompression || zipCompression;
+    var compression = compressions[compressionName];
+    if (!compression) {
+        throw new Error(compressionName + " is not a valid compression method !");
+    }
+    return compression;
+};
+
+/**
+ * Create a worker to generate a zip file.
+ * @param {JSZip} zip the JSZip instance at the right root level.
+ * @param {Object} options to generate the zip file.
+ * @param {String} comment the comment to use.
+ */
+exports.generateWorker = function (zip, options, comment) {
+
+    var zipFileWorker = new ZipFileWorker(options.streamFiles, comment, options.platform, options.encodeFileName);
+    var entriesCount = 0;
+    try {
+
+        zip.forEach(function (relativePath, file) {
+            entriesCount++;
+            var compression = getCompression(file.options.compression, options.compression);
+            var compressionOptions = file.options.compressionOptions || options.compressionOptions || {};
+            var dir = file.dir, date = file.date;
+
+            file._compressWorker(compression, compressionOptions)
+            .withStreamInfo("file", {
+                name : relativePath,
+                dir : dir,
+                date : date,
+                comment : file.comment || "",
+                unixPermissions : file.unixPermissions,
+                dosPermissions : file.dosPermissions
+            })
+            .pipe(zipFileWorker);
+        });
+        zipFileWorker.entriesCount = entriesCount;
+    } catch (e) {
+        zipFileWorker.error(e);
+    }
+
+    return zipFileWorker;
+};
+
+},{"../compressions":3,"./ZipFileWorker":8}],10:[function(require,module,exports){
+'use strict';
+
+/**
+ * Representation a of zip file in js
+ * @constructor
+ */
+function JSZip() {
+    // if this constructor is used without `new`, it adds `new` before itself:
+    if(!(this instanceof JSZip)) {
+        return new JSZip();
+    }
+
+    if(arguments.length) {
+        throw new Error("The constructor with parameters has been removed in JSZip 3.0, please check the upgrade guide.");
+    }
+
+    // object containing the files :
+    // {
+    //   "folder/" : {...},
+    //   "folder/data.txt" : {...}
+    // }
+    // NOTE: we use a null prototype because we do not
+    // want filenames like "toString" coming from a zip file
+    // to overwrite methods and attributes in a normal Object.
+    this.files = Object.create(null);
+
+    this.comment = null;
+
+    // Where we are in the hierarchy
+    this.root = "";
+    this.clone = function() {
+        var newObj = new JSZip();
+        for (var i in this) {
+            if (typeof this[i] !== "function") {
+                newObj[i] = this[i];
+            }
+        }
+        return newObj;
+    };
+}
+JSZip.prototype = require('./object');
+JSZip.prototype.loadAsync = require('./load');
+JSZip.support = require('./support');
+JSZip.defaults = require('./defaults');
+
+// TODO find a better way to handle this version,
+// a require('package.json').version doesn't work with webpack, see #327
+JSZip.version = "3.7.1";
+
+JSZip.loadAsync = function (content, options) {
+    return new JSZip().loadAsync(content, options);
+};
+
+JSZip.external = require("./external");
+module.exports = JSZip;
+
+},{"./defaults":5,"./external":6,"./load":11,"./object":15,"./support":30}],11:[function(require,module,exports){
+'use strict';
+var utils = require('./utils');
+var external = require("./external");
+var utf8 = require('./utf8');
+var ZipEntries = require('./zipEntries');
+var Crc32Probe = require('./stream/Crc32Probe');
+var nodejsUtils = require("./nodejsUtils");
+
+/**
+ * Check the CRC32 of an entry.
+ * @param {ZipEntry} zipEntry the zip entry to check.
+ * @return {Promise} the result.
+ */
+function checkEntryCRC32(zipEntry) {
+    return new external.Promise(function (resolve, reject) {
+        var worker = zipEntry.decompressed.getContentWorker().pipe(new Crc32Probe());
+        worker.on("error", function (e) {
+            reject(e);
+        })
+            .on("end", function () {
+                if (worker.streamInfo.crc32 !== zipEntry.decompressed.crc32) {
+                    reject(new Error("Corrupted zip : CRC32 mismatch"));
+                } else {
+                    resolve();
+                }
+            })
+            .resume();
+    });
+}
+
+module.exports = function (data, options) {
+    var zip = this;
+    options = utils.extend(options || {}, {
+        base64: false,
+        checkCRC32: false,
+        optimizedBinaryString: false,
+        createFolders: false,
+        decodeFileName: utf8.utf8decode
+    });
+
+    if (nodejsUtils.isNode && nodejsUtils.isStream(data)) {
+        return external.Promise.reject(new Error("JSZip can't accept a stream when loading a zip file."));
+    }
+
+    return utils.prepareContent("the loaded zip file", data, true, options.optimizedBinaryString, options.base64)
+        .then(function (data) {
+            var zipEntries = new ZipEntries(options);
+            zipEntries.load(data);
+            return zipEntries;
+        }).then(function checkCRC32(zipEntries) {
+            var promises = [external.Promise.resolve(zipEntries)];
+            var files = zipEntries.files;
+            if (options.checkCRC32) {
+                for (var i = 0; i < files.length; i++) {
+                    promises.push(checkEntryCRC32(files[i]));
+                }
+            }
+            return external.Promise.all(promises);
+        }).then(function addFiles(results) {
+            var zipEntries = results.shift();
+            var files = zipEntries.files;
+            for (var i = 0; i < files.length; i++) {
+                var input = files[i];
+                zip.file(input.fileNameStr, input.decompressed, {
+                    binary: true,
+                    optimizedBinaryString: true,
+                    date: input.date,
+                    dir: input.dir,
+                    comment: input.fileCommentStr.length ? input.fileCommentStr : null,
+                    unixPermissions: input.unixPermissions,
+                    dosPermissions: input.dosPermissions,
+                    createFolders: options.createFolders
+                });
+            }
+            if (zipEntries.zipComment.length) {
+                zip.comment = zipEntries.zipComment;
+            }
+
+            return zip;
+        });
+};
+
+},{"./external":6,"./nodejsUtils":14,"./stream/Crc32Probe":25,"./utf8":31,"./utils":32,"./zipEntries":33}],12:[function(require,module,exports){
+"use strict";
+
+var utils = require('../utils');
+var GenericWorker = require('../stream/GenericWorker');
+
+/**
+ * A worker that use a nodejs stream as source.
+ * @constructor
+ * @param {String} filename the name of the file entry for this stream.
+ * @param {Readable} stream the nodejs stream.
+ */
+function NodejsStreamInputAdapter(filename, stream) {
+    GenericWorker.call(this, "Nodejs stream input adapter for " + filename);
+    this._upstreamEnded = false;
+    this._bindStream(stream);
+}
+
+utils.inherits(NodejsStreamInputAdapter, GenericWorker);
+
+/**
+ * Prepare the stream and bind the callbacks on it.
+ * Do this ASAP on node 0.10 ! A lazy binding doesn't always work.
+ * @param {Stream} stream the nodejs stream to use.
+ */
+NodejsStreamInputAdapter.prototype._bindStream = function (stream) {
+    var self = this;
+    this._stream = stream;
+    stream.pause();
+    stream
+    .on("data", function (chunk) {
+        self.push({
+            data: chunk,
+            meta : {
+                percent : 0
+            }
+        });
+    })
+    .on("error", function (e) {
+        if(self.isPaused) {
+            this.generatedError = e;
+        } else {
+            self.error(e);
+        }
+    })
+    .on("end", function () {
+        if(self.isPaused) {
+            self._upstreamEnded = true;
+        } else {
+            self.end();
+        }
+    });
+};
+NodejsStreamInputAdapter.prototype.pause = function () {
+    if(!GenericWorker.prototype.pause.call(this)) {
+        return false;
+    }
+    this._stream.pause();
+    return true;
+};
+NodejsStreamInputAdapter.prototype.resume = function () {
+    if(!GenericWorker.prototype.resume.call(this)) {
+        return false;
+    }
+
+    if(this._upstreamEnded) {
+        this.end();
+    } else {
+        this._stream.resume();
+    }
+
+    return true;
+};
+
+module.exports = NodejsStreamInputAdapter;
+
+},{"../stream/GenericWorker":28,"../utils":32}],13:[function(require,module,exports){
+'use strict';
+
+var Readable = require('readable-stream').Readable;
+
+var utils = require('../utils');
+utils.inherits(NodejsStreamOutputAdapter, Readable);
+
+/**
+* A nodejs stream using a worker as source.
+* @see the SourceWrapper in http://nodejs.org/api/stream.html
+* @constructor
+* @param {StreamHelper} helper the helper wrapping the worker
+* @param {Object} options the nodejs stream options
+* @param {Function} updateCb the update callback.
+*/
+function NodejsStreamOutputAdapter(helper, options, updateCb) {
+    Readable.call(this, options);
+    this._helper = helper;
+
+    var self = this;
+    helper.on("data", function (data, meta) {
+        if (!self.push(data)) {
+            self._helper.pause();
+        }
+        if(updateCb) {
+            updateCb(meta);
+        }
+    })
+    .on("error", function(e) {
+        self.emit('error', e);
+    })
+    .on("end", function () {
+        self.push(null);
+    });
+}
+
+
+NodejsStreamOutputAdapter.prototype._read = function() {
+    this._helper.resume();
+};
+
+module.exports = NodejsStreamOutputAdapter;
+
+},{"../utils":32,"readable-stream":16}],14:[function(require,module,exports){
+'use strict';
+
+module.exports = {
+    /**
+     * True if this is running in Nodejs, will be undefined in a browser.
+     * In a browser, browserify won't include this file and the whole module
+     * will be resolved an empty object.
+     */
+    isNode : typeof Buffer !== "undefined",
+    /**
+     * Create a new nodejs Buffer from an existing content.
+     * @param {Object} data the data to pass to the constructor.
+     * @param {String} encoding the encoding to use.
+     * @return {Buffer} a new Buffer.
+     */
+    newBufferFrom: function(data, encoding) {
+        if (Buffer.from && Buffer.from !== Uint8Array.from) {
+            return Buffer.from(data, encoding);
+        } else {
+            if (typeof data === "number") {
+                // Safeguard for old Node.js versions. On newer versions,
+                // Buffer.from(number) / Buffer(number, encoding) already throw.
+                throw new Error("The \"data\" argument must not be a number");
+            }
+            return new Buffer(data, encoding);
+        }
+    },
+    /**
+     * Create a new nodejs Buffer with the specified size.
+     * @param {Integer} size the size of the buffer.
+     * @return {Buffer} a new Buffer.
+     */
+    allocBuffer: function (size) {
+        if (Buffer.alloc) {
+            return Buffer.alloc(size);
+        } else {
+            var buf = new Buffer(size);
+            buf.fill(0);
+            return buf;
+        }
+    },
+    /**
+     * Find out if an object is a Buffer.
+     * @param {Object} b the object to test.
+     * @return {Boolean} true if the object is a Buffer, false otherwise.
+     */
+    isBuffer : function(b){
+        return Buffer.isBuffer(b);
+    },
+
+    isStream : function (obj) {
+        return obj &&
+            typeof obj.on === "function" &&
+            typeof obj.pause === "function" &&
+            typeof obj.resume === "function";
+    }
+};
+
+},{}],15:[function(require,module,exports){
+'use strict';
+var utf8 = require('./utf8');
+var utils = require('./utils');
+var GenericWorker = require('./stream/GenericWorker');
+var StreamHelper = require('./stream/StreamHelper');
+var defaults = require('./defaults');
+var CompressedObject = require('./compressedObject');
+var ZipObject = require('./zipObject');
+var generate = require("./generate");
+var nodejsUtils = require("./nodejsUtils");
+var NodejsStreamInputAdapter = require("./nodejs/NodejsStreamInputAdapter");
+
+
+/**
+ * Add a file in the current folder.
+ * @private
+ * @param {string} name the name of the file
+ * @param {String|ArrayBuffer|Uint8Array|Buffer} data the data of the file
+ * @param {Object} originalOptions the options of the file
+ * @return {Object} the new file.
+ */
+var fileAdd = function(name, data, originalOptions) {
+    // be sure sub folders exist
+    var dataType = utils.getTypeOf(data),
+        parent;
+
+
+    /*
+     * Correct options.
+     */
+
+    var o = utils.extend(originalOptions || {}, defaults);
+    o.date = o.date || new Date();
+    if (o.compression !== null) {
+        o.compression = o.compression.toUpperCase();
+    }
+
+    if (typeof o.unixPermissions === "string") {
+        o.unixPermissions = parseInt(o.unixPermissions, 8);
+    }
+
+    // UNX_IFDIR  0040000 see zipinfo.c
+    if (o.unixPermissions && (o.unixPermissions & 0x4000)) {
+        o.dir = true;
+    }
+    // Bit 4    Directory
+    if (o.dosPermissions && (o.dosPermissions & 0x0010)) {
+        o.dir = true;
+    }
+
+    if (o.dir) {
+        name = forceTrailingSlash(name);
+    }
+    if (o.createFolders && (parent = parentFolder(name))) {
+        folderAdd.call(this, parent, true);
+    }
+
+    var isUnicodeString = dataType === "string" && o.binary === false && o.base64 === false;
+    if (!originalOptions || typeof originalOptions.binary === "undefined") {
+        o.binary = !isUnicodeString;
+    }
+
+
+    var isCompressedEmpty = (data instanceof CompressedObject) && data.uncompressedSize === 0;
+
+    if (isCompressedEmpty || o.dir || !data || data.length === 0) {
+        o.base64 = false;
+        o.binary = true;
+        data = "";
+        o.compression = "STORE";
+        dataType = "string";
+    }
+
+    /*
+     * Convert content to fit.
+     */
+
+    var zipObjectContent = null;
+    if (data instanceof CompressedObject || data instanceof GenericWorker) {
+        zipObjectContent = data;
+    } else if (nodejsUtils.isNode && nodejsUtils.isStream(data)) {
+        zipObjectContent = new NodejsStreamInputAdapter(name, data);
+    } else {
+        zipObjectContent = utils.prepareContent(name, data, o.binary, o.optimizedBinaryString, o.base64);
+    }
+
+    var object = new ZipObject(name, zipObjectContent, o);
+    this.files[name] = object;
+    /*
+    TODO: we can't throw an exception because we have async promises
+    (we can have a promise of a Date() for example) but returning a
+    promise is useless because file(name, data) returns the JSZip
+    object for chaining. Should we break that to allow the user
+    to catch the error ?
+
+    return external.Promise.resolve(zipObjectContent)
+    .then(function () {
+        return object;
+    });
+    */
+};
+
+/**
+ * Find the parent folder of the path.
+ * @private
+ * @param {string} path the path to use
+ * @return {string} the parent folder, or ""
+ */
+var parentFolder = function (path) {
+    if (path.slice(-1) === '/') {
+        path = path.substring(0, path.length - 1);
+    }
+    var lastSlash = path.lastIndexOf('/');
+    return (lastSlash > 0) ? path.substring(0, lastSlash) : "";
+};
+
+/**
+ * Returns the path with a slash at the end.
+ * @private
+ * @param {String} path the path to check.
+ * @return {String} the path with a trailing slash.
+ */
+var forceTrailingSlash = function(path) {
+    // Check the name ends with a /
+    if (path.slice(-1) !== "/") {
+        path += "/"; // IE doesn't like substr(-1)
+    }
+    return path;
+};
+
+/**
+ * Add a (sub) folder in the current folder.
+ * @private
+ * @param {string} name the folder's name
+ * @param {boolean=} [createFolders] If true, automatically create sub
+ *  folders. Defaults to false.
+ * @return {Object} the new folder.
+ */
+var folderAdd = function(name, createFolders) {
+    createFolders = (typeof createFolders !== 'undefined') ? createFolders : defaults.createFolders;
+
+    name = forceTrailingSlash(name);
+
+    // Does this folder already exist?
+    if (!this.files[name]) {
+        fileAdd.call(this, name, null, {
+            dir: true,
+            createFolders: createFolders
+        });
+    }
+    return this.files[name];
+};
+
+/**
+* Cross-window, cross-Node-context regular expression detection
+* @param  {Object}  object Anything
+* @return {Boolean}        true if the object is a regular expression,
+* false otherwise
+*/
+function isRegExp(object) {
+    return Object.prototype.toString.call(object) === "[object RegExp]";
+}
+
+// return the actual prototype of JSZip
+var out = {
+    /**
+     * @see loadAsync
+     */
+    load: function() {
+        throw new Error("This method has been removed in JSZip 3.0, please check the upgrade guide.");
+    },
+
+
+    /**
+     * Call a callback function for each entry at this folder level.
+     * @param {Function} cb the callback function:
+     * function (relativePath, file) {...}
+     * It takes 2 arguments : the relative path and the file.
+     */
+    forEach: function(cb) {
+        var filename, relativePath, file;
+        /* jshint ignore:start */
+        // ignore warning about unwanted properties because this.files is a null prototype object
+        for (filename in this.files) {
+            file = this.files[filename];
+            relativePath = filename.slice(this.root.length, filename.length);
+            if (relativePath && filename.slice(0, this.root.length) === this.root) { // the file is in the current root
+                cb(relativePath, file); // TODO reverse the parameters ? need to be clean AND consistent with the filter search fn...
+            }
+        }
+        /* jshint ignore:end */
+    },
+
+    /**
+     * Filter nested files/folders with the specified function.
+     * @param {Function} search the predicate to use :
+     * function (relativePath, file) {...}
+     * It takes 2 arguments : the relative path and the file.
+     * @return {Array} An array of matching elements.
+     */
+    filter: function(search) {
+        var result = [];
+        this.forEach(function (relativePath, entry) {
+            if (search(relativePath, entry)) { // the file matches the function
+                result.push(entry);
+            }
+
+        });
+        return result;
+    },
+
+    /**
+     * Add a file to the zip file, or search a file.
+     * @param   {string|RegExp} name The name of the file to add (if data is defined),
+     * the name of the file to find (if no data) or a regex to match files.
+     * @param   {String|ArrayBuffer|Uint8Array|Buffer} data  The file data, either raw or base64 encoded
+     * @param   {Object} o     File options
+     * @return  {JSZip|Object|Array} this JSZip object (when adding a file),
+     * a file (when searching by string) or an array of files (when searching by regex).
+     */
+    file: function(name, data, o) {
+        if (arguments.length === 1) {
+            if (isRegExp(name)) {
+                var regexp = name;
+                return this.filter(function(relativePath, file) {
+                    return !file.dir && regexp.test(relativePath);
+                });
+            }
+            else { // text
+                var obj = this.files[this.root + name];
+                if (obj && !obj.dir) {
+                    return obj;
+                } else {
+                    return null;
+                }
+            }
+        }
+        else { // more than one argument : we have data !
+            name = this.root + name;
+            fileAdd.call(this, name, data, o);
+        }
+        return this;
+    },
+
+    /**
+     * Add a directory to the zip file, or search.
+     * @param   {String|RegExp} arg The name of the directory to add, or a regex to search folders.
+     * @return  {JSZip} an object with the new directory as the root, or an array containing matching folders.
+     */
+    folder: function(arg) {
+        if (!arg) {
+            return this;
+        }
+
+        if (isRegExp(arg)) {
+            return this.filter(function(relativePath, file) {
+                return file.dir && arg.test(relativePath);
+            });
+        }
+
+        // else, name is a new folder
+        var name = this.root + arg;
+        var newFolder = folderAdd.call(this, name);
+
+        // Allow chaining by returning a new object with this folder as the root
+        var ret = this.clone();
+        ret.root = newFolder.name;
+        return ret;
+    },
+
+    /**
+     * Delete a file, or a directory and all sub-files, from the zip
+     * @param {string} name the name of the file to delete
+     * @return {JSZip} this JSZip object
+     */
+    remove: function(name) {
+        name = this.root + name;
+        var file = this.files[name];
+        if (!file) {
+            // Look for any folders
+            if (name.slice(-1) !== "/") {
+                name += "/";
+            }
+            file = this.files[name];
+        }
+
+        if (file && !file.dir) {
+            // file
+            delete this.files[name];
+        } else {
+            // maybe a folder, delete recursively
+            var kids = this.filter(function(relativePath, file) {
+                return file.name.slice(0, name.length) === name;
+            });
+            for (var i = 0; i < kids.length; i++) {
+                delete this.files[kids[i].name];
+            }
+        }
+
+        return this;
+    },
+
+    /**
+     * Generate the complete zip file
+     * @param {Object} options the options to generate the zip file :
+     * - compression, "STORE" by default.
+     * - type, "base64" by default. Values are : string, base64, uint8array, arraybuffer, blob.
+     * @return {String|Uint8Array|ArrayBuffer|Buffer|Blob} the zip file
+     */
+    generate: function(options) {
+        throw new Error("This method has been removed in JSZip 3.0, please check the upgrade guide.");
+    },
+
+    /**
+     * Generate the complete zip file as an internal stream.
+     * @param {Object} options the options to generate the zip file :
+     * - compression, "STORE" by default.
+     * - type, "base64" by default. Values are : string, base64, uint8array, arraybuffer, blob.
+     * @return {StreamHelper} the streamed zip file.
+     */
+    generateInternalStream: function(options) {
+      var worker, opts = {};
+      try {
+          opts = utils.extend(options || {}, {
+              streamFiles: false,
+              compression: "STORE",
+              compressionOptions : null,
+              type: "",
+              platform: "DOS",
+              comment: null,
+              mimeType: 'application/zip',
+              encodeFileName: utf8.utf8encode
+          });
+
+          opts.type = opts.type.toLowerCase();
+          opts.compression = opts.compression.toUpperCase();
+
+          // "binarystring" is preferred but the internals use "string".
+          if(opts.type === "binarystring") {
+            opts.type = "string";
+          }
+
+          if (!opts.type) {
+            throw new Error("No output type specified.");
+          }
+
+          utils.checkSupport(opts.type);
+
+          // accept nodejs `process.platform`
+          if(
+              opts.platform === 'darwin' ||
+              opts.platform === 'freebsd' ||
+              opts.platform === 'linux' ||
+              opts.platform === 'sunos'
+          ) {
+              opts.platform = "UNIX";
+          }
+          if (opts.platform === 'win32') {
+              opts.platform = "DOS";
+          }
+
+          var comment = opts.comment || this.comment || "";
+          worker = generate.generateWorker(this, opts, comment);
+      } catch (e) {
+        worker = new GenericWorker("error");
+        worker.error(e);
+      }
+      return new StreamHelper(worker, opts.type || "string", opts.mimeType);
+    },
+    /**
+     * Generate the complete zip file asynchronously.
+     * @see generateInternalStream
+     */
+    generateAsync: function(options, onUpdate) {
+        return this.generateInternalStream(options).accumulate(onUpdate);
+    },
+    /**
+     * Generate the complete zip file asynchronously.
+     * @see generateInternalStream
+     */
+    generateNodeStream: function(options, onUpdate) {
+        options = options || {};
+        if (!options.type) {
+            options.type = "nodebuffer";
+        }
+        return this.generateInternalStream(options).toNodejsStream(onUpdate);
+    }
+};
+module.exports = out;
+
+},{"./compressedObject":2,"./defaults":5,"./generate":9,"./nodejs/NodejsStreamInputAdapter":12,"./nodejsUtils":14,"./stream/GenericWorker":28,"./stream/StreamHelper":29,"./utf8":31,"./utils":32,"./zipObject":35}],16:[function(require,module,exports){
+/*
+ * This file is used by module bundlers (browserify/webpack/etc) when
+ * including a stream implementation. We use "readable-stream" to get a
+ * consistent behavior between nodejs versions but bundlers often have a shim
+ * for "stream". Using this shim greatly improve the compatibility and greatly
+ * reduce the final size of the bundle (only one stream implementation, not
+ * two).
+ */
+module.exports = require("stream");
+
+},{"stream":undefined}],17:[function(require,module,exports){
+'use strict';
+var DataReader = require('./DataReader');
+var utils = require('../utils');
+
+function ArrayReader(data) {
+    DataReader.call(this, data);
+	for(var i = 0; i < this.data.length; i++) {
+		data[i] = data[i] & 0xFF;
+	}
+}
+utils.inherits(ArrayReader, DataReader);
+/**
+ * @see DataReader.byteAt
+ */
+ArrayReader.prototype.byteAt = function(i) {
+    return this.data[this.zero + i];
+};
+/**
+ * @see DataReader.lastIndexOfSignature
+ */
+ArrayReader.prototype.lastIndexOfSignature = function(sig) {
+    var sig0 = sig.charCodeAt(0),
+        sig1 = sig.charCodeAt(1),
+        sig2 = sig.charCodeAt(2),
+        sig3 = sig.charCodeAt(3);
+    for (var i = this.length - 4; i >= 0; --i) {
+        if (this.data[i] === sig0 && this.data[i + 1] === sig1 && this.data[i + 2] === sig2 && this.data[i + 3] === sig3) {
+            return i - this.zero;
+        }
+    }
+
+    return -1;
+};
+/**
+ * @see DataReader.readAndCheckSignature
+ */
+ArrayReader.prototype.readAndCheckSignature = function (sig) {
+    var sig0 = sig.charCodeAt(0),
+        sig1 = sig.charCodeAt(1),
+        sig2 = sig.charCodeAt(2),
+        sig3 = sig.charCodeAt(3),
+        data = this.readData(4);
+    return sig0 === data[0] && sig1 === data[1] && sig2 === data[2] && sig3 === data[3];
+};
+/**
+ * @see DataReader.readData
+ */
+ArrayReader.prototype.readData = function(size) {
+    this.checkOffset(size);
+    if(size === 0) {
+        return [];
+    }
+    var result = this.data.slice(this.zero + this.index, this.zero + this.index + size);
+    this.index += size;
+    return result;
+};
+module.exports = ArrayReader;
+
+},{"../utils":32,"./DataReader":18}],18:[function(require,module,exports){
+'use strict';
+var utils = require('../utils');
+
+function DataReader(data) {
+    this.data = data; // type : see implementation
+    this.length = data.length;
+    this.index = 0;
+    this.zero = 0;
+}
+DataReader.prototype = {
+    /**
+     * Check that the offset will not go too far.
+     * @param {string} offset the additional offset to check.
+     * @throws {Error} an Error if the offset is out of bounds.
+     */
+    checkOffset: function(offset) {
+        this.checkIndex(this.index + offset);
+    },
+    /**
+     * Check that the specified index will not be too far.
+     * @param {string} newIndex the index to check.
+     * @throws {Error} an Error if the index is out of bounds.
+     */
+    checkIndex: function(newIndex) {
+        if (this.length < this.zero + newIndex || newIndex < 0) {
+            throw new Error("End of data reached (data length = " + this.length + ", asked index = " + (newIndex) + "). Corrupted zip ?");
+        }
+    },
+    /**
+     * Change the index.
+     * @param {number} newIndex The new index.
+     * @throws {Error} if the new index is out of the data.
+     */
+    setIndex: function(newIndex) {
+        this.checkIndex(newIndex);
+        this.index = newIndex;
+    },
+    /**
+     * Skip the next n bytes.
+     * @param {number} n the number of bytes to skip.
+     * @throws {Error} if the new index is out of the data.
+     */
+    skip: function(n) {
+        this.setIndex(this.index + n);
+    },
+    /**
+     * Get the byte at the specified index.
+     * @param {number} i the index to use.
+     * @return {number} a byte.
+     */
+    byteAt: function(i) {
+        // see implementations
+    },
+    /**
+     * Get the next number with a given byte size.
+     * @param {number} size the number of bytes to read.
+     * @return {number} the corresponding number.
+     */
+    readInt: function(size) {
+        var result = 0,
+            i;
+        this.checkOffset(size);
+        for (i = this.index + size - 1; i >= this.index; i--) {
+            result = (result << 8) + this.byteAt(i);
+        }
+        this.index += size;
+        return result;
+    },
+    /**
+     * Get the next string with a given byte size.
+     * @param {number} size the number of bytes to read.
+     * @return {string} the corresponding string.
+     */
+    readString: function(size) {
+        return utils.transformTo("string", this.readData(size));
+    },
+    /**
+     * Get raw data without conversion, <size> bytes.
+     * @param {number} size the number of bytes to read.
+     * @return {Object} the raw data, implementation specific.
+     */
+    readData: function(size) {
+        // see implementations
+    },
+    /**
+     * Find the last occurrence of a zip signature (4 bytes).
+     * @param {string} sig the signature to find.
+     * @return {number} the index of the last occurrence, -1 if not found.
+     */
+    lastIndexOfSignature: function(sig) {
+        // see implementations
+    },
+    /**
+     * Read the signature (4 bytes) at the current position and compare it with sig.
+     * @param {string} sig the expected signature
+     * @return {boolean} true if the signature matches, false otherwise.
+     */
+    readAndCheckSignature: function(sig) {
+        // see implementations
+    },
+    /**
+     * Get the next date.
+     * @return {Date} the date.
+     */
+    readDate: function() {
+        var dostime = this.readInt(4);
+        return new Date(Date.UTC(
+        ((dostime >> 25) & 0x7f) + 1980, // year
+        ((dostime >> 21) & 0x0f) - 1, // month
+        (dostime >> 16) & 0x1f, // day
+        (dostime >> 11) & 0x1f, // hour
+        (dostime >> 5) & 0x3f, // minute
+        (dostime & 0x1f) << 1)); // second
+    }
+};
+module.exports = DataReader;
+
+},{"../utils":32}],19:[function(require,module,exports){
+'use strict';
+var Uint8ArrayReader = require('./Uint8ArrayReader');
+var utils = require('../utils');
+
+function NodeBufferReader(data) {
+    Uint8ArrayReader.call(this, data);
+}
+utils.inherits(NodeBufferReader, Uint8ArrayReader);
+
+/**
+ * @see DataReader.readData
+ */
+NodeBufferReader.prototype.readData = function(size) {
+    this.checkOffset(size);
+    var result = this.data.slice(this.zero + this.index, this.zero + this.index + size);
+    this.index += size;
+    return result;
+};
+module.exports = NodeBufferReader;
+
+},{"../utils":32,"./Uint8ArrayReader":21}],20:[function(require,module,exports){
+'use strict';
+var DataReader = require('./DataReader');
+var utils = require('../utils');
+
+function StringReader(data) {
+    DataReader.call(this, data);
+}
+utils.inherits(StringReader, DataReader);
+/**
+ * @see DataReader.byteAt
+ */
+StringReader.prototype.byteAt = function(i) {
+    return this.data.charCodeAt(this.zero + i);
+};
+/**
+ * @see DataReader.lastIndexOfSignature
+ */
+StringReader.prototype.lastIndexOfSignature = function(sig) {
+    return this.data.lastIndexOf(sig) - this.zero;
+};
+/**
+ * @see DataReader.readAndCheckSignature
+ */
+StringReader.prototype.readAndCheckSignature = function (sig) {
+    var data = this.readData(4);
+    return sig === data;
+};
+/**
+ * @see DataReader.readData
+ */
+StringReader.prototype.readData = function(size) {
+    this.checkOffset(size);
+    // this will work because the constructor applied the "& 0xff" mask.
+    var result = this.data.slice(this.zero + this.index, this.zero + this.index + size);
+    this.index += size;
+    return result;
+};
+module.exports = StringReader;
+
+},{"../utils":32,"./DataReader":18}],21:[function(require,module,exports){
+'use strict';
+var ArrayReader = require('./ArrayReader');
+var utils = require('../utils');
+
+function Uint8ArrayReader(data) {
+    ArrayReader.call(this, data);
+}
+utils.inherits(Uint8ArrayReader, ArrayReader);
+/**
+ * @see DataReader.readData
+ */
+Uint8ArrayReader.prototype.readData = function(size) {
+    this.checkOffset(size);
+    if(size === 0) {
+        // in IE10, when using subarray(idx, idx), we get the array [0x00] instead of [].
+        return new Uint8Array(0);
+    }
+    var result = this.data.subarray(this.zero + this.index, this.zero + this.index + size);
+    this.index += size;
+    return result;
+};
+module.exports = Uint8ArrayReader;
+
+},{"../utils":32,"./ArrayReader":17}],22:[function(require,module,exports){
+'use strict';
+
+var utils = require('../utils');
+var support = require('../support');
+var ArrayReader = require('./ArrayReader');
+var StringReader = require('./StringReader');
+var NodeBufferReader = require('./NodeBufferReader');
+var Uint8ArrayReader = require('./Uint8ArrayReader');
+
+/**
+ * Create a reader adapted to the data.
+ * @param {String|ArrayBuffer|Uint8Array|Buffer} data the data to read.
+ * @return {DataReader} the data reader.
+ */
+module.exports = function (data) {
+    var type = utils.getTypeOf(data);
+    utils.checkSupport(type);
+    if (type === "string" && !support.uint8array) {
+        return new StringReader(data);
+    }
+    if (type === "nodebuffer") {
+        return new NodeBufferReader(data);
+    }
+    if (support.uint8array) {
+        return new Uint8ArrayReader(utils.transformTo("uint8array", data));
+    }
+    return new ArrayReader(utils.transformTo("array", data));
+};
+
+},{"../support":30,"../utils":32,"./ArrayReader":17,"./NodeBufferReader":19,"./StringReader":20,"./Uint8ArrayReader":21}],23:[function(require,module,exports){
+'use strict';
+exports.LOCAL_FILE_HEADER = "PK\x03\x04";
+exports.CENTRAL_FILE_HEADER = "PK\x01\x02";
+exports.CENTRAL_DIRECTORY_END = "PK\x05\x06";
+exports.ZIP64_CENTRAL_DIRECTORY_LOCATOR = "PK\x06\x07";
+exports.ZIP64_CENTRAL_DIRECTORY_END = "PK\x06\x06";
+exports.DATA_DESCRIPTOR = "PK\x07\x08";
+
+},{}],24:[function(require,module,exports){
+'use strict';
+
+var GenericWorker = require('./GenericWorker');
+var utils = require('../utils');
+
+/**
+ * A worker which convert chunks to a specified type.
+ * @constructor
+ * @param {String} destType the destination type.
+ */
+function ConvertWorker(destType) {
+    GenericWorker.call(this, "ConvertWorker to " + destType);
+    this.destType = destType;
+}
+utils.inherits(ConvertWorker, GenericWorker);
+
+/**
+ * @see GenericWorker.processChunk
+ */
+ConvertWorker.prototype.processChunk = function (chunk) {
+    this.push({
+        data : utils.transformTo(this.destType, chunk.data),
+        meta : chunk.meta
+    });
+};
+module.exports = ConvertWorker;
+
+},{"../utils":32,"./GenericWorker":28}],25:[function(require,module,exports){
+'use strict';
+
+var GenericWorker = require('./GenericWorker');
+var crc32 = require('../crc32');
+var utils = require('../utils');
+
+/**
+ * A worker which calculate the crc32 of the data flowing through.
+ * @constructor
+ */
+function Crc32Probe() {
+    GenericWorker.call(this, "Crc32Probe");
+    this.withStreamInfo("crc32", 0);
+}
+utils.inherits(Crc32Probe, GenericWorker);
+
+/**
+ * @see GenericWorker.processChunk
+ */
+Crc32Probe.prototype.processChunk = function (chunk) {
+    this.streamInfo.crc32 = crc32(chunk.data, this.streamInfo.crc32 || 0);
+    this.push(chunk);
+};
+module.exports = Crc32Probe;
+
+},{"../crc32":4,"../utils":32,"./GenericWorker":28}],26:[function(require,module,exports){
+'use strict';
+
+var utils = require('../utils');
+var GenericWorker = require('./GenericWorker');
+
+/**
+ * A worker which calculate the total length of the data flowing through.
+ * @constructor
+ * @param {String} propName the name used to expose the length
+ */
+function DataLengthProbe(propName) {
+    GenericWorker.call(this, "DataLengthProbe for " + propName);
+    this.propName = propName;
+    this.withStreamInfo(propName, 0);
+}
+utils.inherits(DataLengthProbe, GenericWorker);
+
+/**
+ * @see GenericWorker.processChunk
+ */
+DataLengthProbe.prototype.processChunk = function (chunk) {
+    if(chunk) {
+        var length = this.streamInfo[this.propName] || 0;
+        this.streamInfo[this.propName] = length + chunk.data.length;
+    }
+    GenericWorker.prototype.processChunk.call(this, chunk);
+};
+module.exports = DataLengthProbe;
+
+
+},{"../utils":32,"./GenericWorker":28}],27:[function(require,module,exports){
+'use strict';
+
+var utils = require('../utils');
+var GenericWorker = require('./GenericWorker');
+
+// the size of the generated chunks
+// TODO expose this as a public variable
+var DEFAULT_BLOCK_SIZE = 16 * 1024;
+
+/**
+ * A worker that reads a content and emits chunks.
+ * @constructor
+ * @param {Promise} dataP the promise of the data to split
+ */
+function DataWorker(dataP) {
+    GenericWorker.call(this, "DataWorker");
+    var self = this;
+    this.dataIsReady = false;
+    this.index = 0;
+    this.max = 0;
+    this.data = null;
+    this.type = "";
+
+    this._tickScheduled = false;
+
+    dataP.then(function (data) {
+        self.dataIsReady = true;
+        self.data = data;
+        self.max = data && data.length || 0;
+        self.type = utils.getTypeOf(data);
+        if(!self.isPaused) {
+            self._tickAndRepeat();
+        }
+    }, function (e) {
+        self.error(e);
+    });
+}
+
+utils.inherits(DataWorker, GenericWorker);
+
+/**
+ * @see GenericWorker.cleanUp
+ */
+DataWorker.prototype.cleanUp = function () {
+    GenericWorker.prototype.cleanUp.call(this);
+    this.data = null;
+};
+
+/**
+ * @see GenericWorker.resume
+ */
+DataWorker.prototype.resume = function () {
+    if(!GenericWorker.prototype.resume.call(this)) {
+        return false;
+    }
+
+    if (!this._tickScheduled && this.dataIsReady) {
+        this._tickScheduled = true;
+        utils.delay(this._tickAndRepeat, [], this);
+    }
+    return true;
+};
+
+/**
+ * Trigger a tick a schedule an other call to this function.
+ */
+DataWorker.prototype._tickAndRepeat = function() {
+    this._tickScheduled = false;
+    if(this.isPaused || this.isFinished) {
+        return;
+    }
+    this._tick();
+    if(!this.isFinished) {
+        utils.delay(this._tickAndRepeat, [], this);
+        this._tickScheduled = true;
+    }
+};
+
+/**
+ * Read and push a chunk.
+ */
+DataWorker.prototype._tick = function() {
+
+    if(this.isPaused || this.isFinished) {
+        return false;
+    }
+
+    var size = DEFAULT_BLOCK_SIZE;
+    var data = null, nextIndex = Math.min(this.max, this.index + size);
+    if (this.index >= this.max) {
+        // EOF
+        return this.end();
+    } else {
+        switch(this.type) {
+            case "string":
+                data = this.data.substring(this.index, nextIndex);
+            break;
+            case "uint8array":
+                data = this.data.subarray(this.index, nextIndex);
+            break;
+            case "array":
+            case "nodebuffer":
+                data = this.data.slice(this.index, nextIndex);
+            break;
+        }
+        this.index = nextIndex;
+        return this.push({
+            data : data,
+            meta : {
+                percent : this.max ? this.index / this.max * 100 : 0
+            }
+        });
+    }
+};
+
+module.exports = DataWorker;
+
+},{"../utils":32,"./GenericWorker":28}],28:[function(require,module,exports){
+'use strict';
+
+/**
+ * A worker that does nothing but passing chunks to the next one. This is like
+ * a nodejs stream but with some differences. On the good side :
+ * - it works on IE 6-9 without any issue / polyfill
+ * - it weights less than the full dependencies bundled with browserify
+ * - it forwards errors (no need to declare an error handler EVERYWHERE)
+ *
+ * A chunk is an object with 2 attributes : `meta` and `data`. The former is an
+ * object containing anything (`percent` for example), see each worker for more
+ * details. The latter is the real data (String, Uint8Array, etc).
+ *
+ * @constructor
+ * @param {String} name the name of the stream (mainly used for debugging purposes)
+ */
+function GenericWorker(name) {
+    // the name of the worker
+    this.name = name || "default";
+    // an object containing metadata about the workers chain
+    this.streamInfo = {};
+    // an error which happened when the worker was paused
+    this.generatedError = null;
+    // an object containing metadata to be merged by this worker into the general metadata
+    this.extraStreamInfo = {};
+    // true if the stream is paused (and should not do anything), false otherwise
+    this.isPaused = true;
+    // true if the stream is finished (and should not do anything), false otherwise
+    this.isFinished = false;
+    // true if the stream is locked to prevent further structure updates (pipe), false otherwise
+    this.isLocked = false;
+    // the event listeners
+    this._listeners = {
+        'data':[],
+        'end':[],
+        'error':[]
+    };
+    // the previous worker, if any
+    this.previous = null;
+}
+
+GenericWorker.prototype = {
+    /**
+     * Push a chunk to the next workers.
+     * @param {Object} chunk the chunk to push
+     */
+    push : function (chunk) {
+        this.emit("data", chunk);
+    },
+    /**
+     * End the stream.
+     * @return {Boolean} true if this call ended the worker, false otherwise.
+     */
+    end : function () {
+        if (this.isFinished) {
+            return false;
+        }
+
+        this.flush();
+        try {
+            this.emit("end");
+            this.cleanUp();
+            this.isFinished = true;
+        } catch (e) {
+            this.emit("error", e);
+        }
+        return true;
+    },
+    /**
+     * End the stream with an error.
+     * @param {Error} e the error which caused the premature end.
+     * @return {Boolean} true if this call ended the worker with an error, false otherwise.
+     */
+    error : function (e) {
+        if (this.isFinished) {
+            return false;
+        }
+
+        if(this.isPaused) {
+            this.generatedError = e;
+        } else {
+            this.isFinished = true;
+
+            this.emit("error", e);
+
+            // in the workers chain exploded in the middle of the chain,
+            // the error event will go downward but we also need to notify
+            // workers upward that there has been an error.
+            if(this.previous) {
+                this.previous.error(e);
+            }
+
+            this.cleanUp();
+        }
+        return true;
+    },
+    /**
+     * Add a callback on an event.
+     * @param {String} name the name of the event (data, end, error)
+     * @param {Function} listener the function to call when the event is triggered
+     * @return {GenericWorker} the current object for chainability
+     */
+    on : function (name, listener) {
+        this._listeners[name].push(listener);
+        return this;
+    },
+    /**
+     * Clean any references when a worker is ending.
+     */
+    cleanUp : function () {
+        this.streamInfo = this.generatedError = this.extraStreamInfo = null;
+        this._listeners = [];
+    },
+    /**
+     * Trigger an event. This will call registered callback with the provided arg.
+     * @param {String} name the name of the event (data, end, error)
+     * @param {Object} arg the argument to call the callback with.
+     */
+    emit : function (name, arg) {
+        if (this._listeners[name]) {
+            for(var i = 0; i < this._listeners[name].length; i++) {
+                this._listeners[name][i].call(this, arg);
+            }
+        }
+    },
+    /**
+     * Chain a worker with an other.
+     * @param {Worker} next the worker receiving events from the current one.
+     * @return {worker} the next worker for chainability
+     */
+    pipe : function (next) {
+        return next.registerPrevious(this);
+    },
+    /**
+     * Same as `pipe` in the other direction.
+     * Using an API with `pipe(next)` is very easy.
+     * Implementing the API with the point of view of the next one registering
+     * a source is easier, see the ZipFileWorker.
+     * @param {Worker} previous the previous worker, sending events to this one
+     * @return {Worker} the current worker for chainability
+     */
+    registerPrevious : function (previous) {
+        if (this.isLocked) {
+            throw new Error("The stream '" + this + "' has already been used.");
+        }
+
+        // sharing the streamInfo...
+        this.streamInfo = previous.streamInfo;
+        // ... and adding our own bits
+        this.mergeStreamInfo();
+        this.previous =  previous;
+        var self = this;
+        previous.on('data', function (chunk) {
+            self.processChunk(chunk);
+        });
+        previous.on('end', function () {
+            self.end();
+        });
+        previous.on('error', function (e) {
+            self.error(e);
+        });
+        return this;
+    },
+    /**
+     * Pause the stream so it doesn't send events anymore.
+     * @return {Boolean} true if this call paused the worker, false otherwise.
+     */
+    pause : function () {
+        if(this.isPaused || this.isFinished) {
+            return false;
+        }
+        this.isPaused = true;
+
+        if(this.previous) {
+            this.previous.pause();
+        }
+        return true;
+    },
+    /**
+     * Resume a paused stream.
+     * @return {Boolean} true if this call resumed the worker, false otherwise.
+     */
+    resume : function () {
+        if(!this.isPaused || this.isFinished) {
+            return false;
+        }
+        this.isPaused = false;
+
+        // if true, the worker tried to resume but failed
+        var withError = false;
+        if(this.generatedError) {
+            this.error(this.generatedError);
+            withError = true;
+        }
+        if(this.previous) {
+            this.previous.resume();
+        }
+
+        return !withError;
+    },
+    /**
+     * Flush any remaining bytes as the stream is ending.
+     */
+    flush : function () {},
+    /**
+     * Process a chunk. This is usually the method overridden.
+     * @param {Object} chunk the chunk to process.
+     */
+    processChunk : function(chunk) {
+        this.push(chunk);
+    },
+    /**
+     * Add a key/value to be added in the workers chain streamInfo once activated.
+     * @param {String} key the key to use
+     * @param {Object} value the associated value
+     * @return {Worker} the current worker for chainability
+     */
+    withStreamInfo : function (key, value) {
+        this.extraStreamInfo[key] = value;
+        this.mergeStreamInfo();
+        return this;
+    },
+    /**
+     * Merge this worker's streamInfo into the chain's streamInfo.
+     */
+    mergeStreamInfo : function () {
+        for(var key in this.extraStreamInfo) {
+            if (!this.extraStreamInfo.hasOwnProperty(key)) {
+                continue;
+            }
+            this.streamInfo[key] = this.extraStreamInfo[key];
+        }
+    },
+
+    /**
+     * Lock the stream to prevent further updates on the workers chain.
+     * After calling this method, all calls to pipe will fail.
+     */
+    lock: function () {
+        if (this.isLocked) {
+            throw new Error("The stream '" + this + "' has already been used.");
+        }
+        this.isLocked = true;
+        if (this.previous) {
+            this.previous.lock();
+        }
+    },
+
+    /**
+     *
+     * Pretty print the workers chain.
+     */
+    toString : function () {
+        var me = "Worker " + this.name;
+        if (this.previous) {
+            return this.previous + " -> " + me;
+        } else {
+            return me;
+        }
+    }
+};
+
+module.exports = GenericWorker;
+
+},{}],29:[function(require,module,exports){
+'use strict';
+
+var utils = require('../utils');
+var ConvertWorker = require('./ConvertWorker');
+var GenericWorker = require('./GenericWorker');
+var base64 = require('../base64');
+var support = require("../support");
+var external = require("../external");
+
+var NodejsStreamOutputAdapter = null;
+if (support.nodestream) {
+    try {
+        NodejsStreamOutputAdapter = require('../nodejs/NodejsStreamOutputAdapter');
+    } catch(e) {}
+}
+
+/**
+ * Apply the final transformation of the data. If the user wants a Blob for
+ * example, it's easier to work with an U8intArray and finally do the
+ * ArrayBuffer/Blob conversion.
+ * @param {String} type the name of the final type
+ * @param {String|Uint8Array|Buffer} content the content to transform
+ * @param {String} mimeType the mime type of the content, if applicable.
+ * @return {String|Uint8Array|ArrayBuffer|Buffer|Blob} the content in the right format.
+ */
+function transformZipOutput(type, content, mimeType) {
+    switch(type) {
+        case "blob" :
+            return utils.newBlob(utils.transformTo("arraybuffer", content), mimeType);
+        case "base64" :
+            return base64.encode(content);
+        default :
+            return utils.transformTo(type, content);
+    }
+}
+
+/**
+ * Concatenate an array of data of the given type.
+ * @param {String} type the type of the data in the given array.
+ * @param {Array} dataArray the array containing the data chunks to concatenate
+ * @return {String|Uint8Array|Buffer} the concatenated data
+ * @throws Error if the asked type is unsupported
+ */
+function concat (type, dataArray) {
+    var i, index = 0, res = null, totalLength = 0;
+    for(i = 0; i < dataArray.length; i++) {
+        totalLength += dataArray[i].length;
+    }
+    switch(type) {
+        case "string":
+            return dataArray.join("");
+          case "array":
+            return Array.prototype.concat.apply([], dataArray);
+        case "uint8array":
+            res = new Uint8Array(totalLength);
+            for(i = 0; i < dataArray.length; i++) {
+                res.set(dataArray[i], index);
+                index += dataArray[i].length;
+            }
+            return res;
+        case "nodebuffer":
+            return Buffer.concat(dataArray);
+        default:
+            throw new Error("concat : unsupported type '"  + type + "'");
+    }
+}
+
+/**
+ * Listen a StreamHelper, accumulate its content and concatenate it into a
+ * complete block.
+ * @param {StreamHelper} helper the helper to use.
+ * @param {Function} updateCallback a callback called on each update. Called
+ * with one arg :
+ * - the metadata linked to the update received.
+ * @return Promise the promise for the accumulation.
+ */
+function accumulate(helper, updateCallback) {
+    return new external.Promise(function (resolve, reject){
+        var dataArray = [];
+        var chunkType = helper._internalType,
+            resultType = helper._outputType,
+            mimeType = helper._mimeType;
+        helper
+        .on('data', function (data, meta) {
+            dataArray.push(data);
+            if(updateCallback) {
+                updateCallback(meta);
+            }
+        })
+        .on('error', function(err) {
+            dataArray = [];
+            reject(err);
+        })
+        .on('end', function (){
+            try {
+                var result = transformZipOutput(resultType, concat(chunkType, dataArray), mimeType);
+                resolve(result);
+            } catch (e) {
+                reject(e);
+            }
+            dataArray = [];
+        })
+        .resume();
+    });
+}
+
+/**
+ * An helper to easily use workers outside of JSZip.
+ * @constructor
+ * @param {Worker} worker the worker to wrap
+ * @param {String} outputType the type of data expected by the use
+ * @param {String} mimeType the mime type of the content, if applicable.
+ */
+function StreamHelper(worker, outputType, mimeType) {
+    var internalType = outputType;
+    switch(outputType) {
+        case "blob":
+        case "arraybuffer":
+            internalType = "uint8array";
+        break;
+        case "base64":
+            internalType = "string";
+        break;
+    }
+
+    try {
+        // the type used internally
+        this._internalType = internalType;
+        // the type used to output results
+        this._outputType = outputType;
+        // the mime type
+        this._mimeType = mimeType;
+        utils.checkSupport(internalType);
+        this._worker = worker.pipe(new ConvertWorker(internalType));
+        // the last workers can be rewired without issues but we need to
+        // prevent any updates on previous workers.
+        worker.lock();
+    } catch(e) {
+        this._worker = new GenericWorker("error");
+        this._worker.error(e);
+    }
+}
+
+StreamHelper.prototype = {
+    /**
+     * Listen a StreamHelper, accumulate its content and concatenate it into a
+     * complete block.
+     * @param {Function} updateCb the update callback.
+     * @return Promise the promise for the accumulation.
+     */
+    accumulate : function (updateCb) {
+        return accumulate(this, updateCb);
+    },
+    /**
+     * Add a listener on an event triggered on a stream.
+     * @param {String} evt the name of the event
+     * @param {Function} fn the listener
+     * @return {StreamHelper} the current helper.
+     */
+    on : function (evt, fn) {
+        var self = this;
+
+        if(evt === "data") {
+            this._worker.on(evt, function (chunk) {
+                fn.call(self, chunk.data, chunk.meta);
+            });
+        } else {
+            this._worker.on(evt, function () {
+                utils.delay(fn, arguments, self);
+            });
+        }
+        return this;
+    },
+    /**
+     * Resume the flow of chunks.
+     * @return {StreamHelper} the current helper.
+     */
+    resume : function () {
+        utils.delay(this._worker.resume, [], this._worker);
+        return this;
+    },
+    /**
+     * Pause the flow of chunks.
+     * @return {StreamHelper} the current helper.
+     */
+    pause : function () {
+        this._worker.pause();
+        return this;
+    },
+    /**
+     * Return a nodejs stream for this helper.
+     * @param {Function} updateCb the update callback.
+     * @return {NodejsStreamOutputAdapter} the nodejs stream.
+     */
+    toNodejsStream : function (updateCb) {
+        utils.checkSupport("nodestream");
+        if (this._outputType !== "nodebuffer") {
+            // an object stream containing blob/arraybuffer/uint8array/string
+            // is strange and I don't know if it would be useful.
+            // I you find this comment and have a good usecase, please open a
+            // bug report !
+            throw new Error(this._outputType + " is not supported by this method");
+        }
+
+        return new NodejsStreamOutputAdapter(this, {
+            objectMode : this._outputType !== "nodebuffer"
+        }, updateCb);
+    }
+};
+
+
+module.exports = StreamHelper;
+
+},{"../base64":1,"../external":6,"../nodejs/NodejsStreamOutputAdapter":13,"../support":30,"../utils":32,"./ConvertWorker":24,"./GenericWorker":28}],30:[function(require,module,exports){
+'use strict';
+
+exports.base64 = true;
+exports.array = true;
+exports.string = true;
+exports.arraybuffer = typeof ArrayBuffer !== "undefined" && typeof Uint8Array !== "undefined";
+exports.nodebuffer = typeof Buffer !== "undefined";
+// contains true if JSZip can read/generate Uint8Array, false otherwise.
+exports.uint8array = typeof Uint8Array !== "undefined";
+
+if (typeof ArrayBuffer === "undefined") {
+    exports.blob = false;
+}
+else {
+    var buffer = new ArrayBuffer(0);
+    try {
+        exports.blob = new Blob([buffer], {
+            type: "application/zip"
+        }).size === 0;
+    }
+    catch (e) {
+        try {
+            var Builder = self.BlobBuilder || self.WebKitBlobBuilder || self.MozBlobBuilder || self.MSBlobBuilder;
+            var builder = new Builder();
+            builder.append(buffer);
+            exports.blob = builder.getBlob('application/zip').size === 0;
+        }
+        catch (e) {
+            exports.blob = false;
+        }
+    }
+}
+
+try {
+    exports.nodestream = !!require('readable-stream').Readable;
+} catch(e) {
+    exports.nodestream = false;
+}
+
+},{"readable-stream":16}],31:[function(require,module,exports){
+'use strict';
+
+var utils = require('./utils');
+var support = require('./support');
+var nodejsUtils = require('./nodejsUtils');
+var GenericWorker = require('./stream/GenericWorker');
+
+/**
+ * The following functions come from pako, from pako/lib/utils/strings
+ * released under the MIT license, see pako https://github.com/nodeca/pako/
+ */
+
+// Table with utf8 lengths (calculated by first byte of sequence)
+// Note, that 5 & 6-byte values and some 4-byte values can not be represented in JS,
+// because max possible codepoint is 0x10ffff
+var _utf8len = new Array(256);
+for (var i=0; i<256; i++) {
+  _utf8len[i] = (i >= 252 ? 6 : i >= 248 ? 5 : i >= 240 ? 4 : i >= 224 ? 3 : i >= 192 ? 2 : 1);
+}
+_utf8len[254]=_utf8len[254]=1; // Invalid sequence start
+
+// convert string to array (typed, when possible)
+var string2buf = function (str) {
+    var buf, c, c2, m_pos, i, str_len = str.length, buf_len = 0;
+
+    // count binary size
+    for (m_pos = 0; m_pos < str_len; m_pos++) {
+        c = str.charCodeAt(m_pos);
+        if ((c & 0xfc00) === 0xd800 && (m_pos+1 < str_len)) {
+            c2 = str.charCodeAt(m_pos+1);
+            if ((c2 & 0xfc00) === 0xdc00) {
+                c = 0x10000 + ((c - 0xd800) << 10) + (c2 - 0xdc00);
+                m_pos++;
+            }
+        }
+        buf_len += c < 0x80 ? 1 : c < 0x800 ? 2 : c < 0x10000 ? 3 : 4;
+    }
+
+    // allocate buffer
+    if (support.uint8array) {
+        buf = new Uint8Array(buf_len);
+    } else {
+        buf = new Array(buf_len);
+    }
+
+    // convert
+    for (i=0, m_pos = 0; i < buf_len; m_pos++) {
+        c = str.charCodeAt(m_pos);
+        if ((c & 0xfc00) === 0xd800 && (m_pos+1 < str_len)) {
+            c2 = str.charCodeAt(m_pos+1);
+            if ((c2 & 0xfc00) === 0xdc00) {
+                c = 0x10000 + ((c - 0xd800) << 10) + (c2 - 0xdc00);
+                m_pos++;
+            }
+        }
+        if (c < 0x80) {
+            /* one byte */
+            buf[i++] = c;
+        } else if (c < 0x800) {
+            /* two bytes */
+            buf[i++] = 0xC0 | (c >>> 6);
+            buf[i++] = 0x80 | (c & 0x3f);
+        } else if (c < 0x10000) {
+            /* three bytes */
+            buf[i++] = 0xE0 | (c >>> 12);
+            buf[i++] = 0x80 | (c >>> 6 & 0x3f);
+            buf[i++] = 0x80 | (c & 0x3f);
+        } else {
+            /* four bytes */
+            buf[i++] = 0xf0 | (c >>> 18);
+            buf[i++] = 0x80 | (c >>> 12 & 0x3f);
+            buf[i++] = 0x80 | (c >>> 6 & 0x3f);
+            buf[i++] = 0x80 | (c & 0x3f);
+        }
+    }
+
+    return buf;
+};
+
+// Calculate max possible position in utf8 buffer,
+// that will not break sequence. If that's not possible
+// - (very small limits) return max size as is.
+//
+// buf[] - utf8 bytes array
+// max   - length limit (mandatory);
+var utf8border = function(buf, max) {
+    var pos;
+
+    max = max || buf.length;
+    if (max > buf.length) { max = buf.length; }
+
+    // go back from last position, until start of sequence found
+    pos = max-1;
+    while (pos >= 0 && (buf[pos] & 0xC0) === 0x80) { pos--; }
+
+    // Fuckup - very small and broken sequence,
+    // return max, because we should return something anyway.
+    if (pos < 0) { return max; }
+
+    // If we came to start of buffer - that means vuffer is too small,
+    // return max too.
+    if (pos === 0) { return max; }
+
+    return (pos + _utf8len[buf[pos]] > max) ? pos : max;
+};
+
+// convert array to string
+var buf2string = function (buf) {
+    var str, i, out, c, c_len;
+    var len = buf.length;
+
+    // Reserve max possible length (2 words per char)
+    // NB: by unknown reasons, Array is significantly faster for
+    //     String.fromCharCode.apply than Uint16Array.
+    var utf16buf = new Array(len*2);
+
+    for (out=0, i=0; i<len;) {
+        c = buf[i++];
+        // quick process ascii
+        if (c < 0x80) { utf16buf[out++] = c; continue; }
+
+        c_len = _utf8len[c];
+        // skip 5 & 6 byte codes
+        if (c_len > 4) { utf16buf[out++] = 0xfffd; i += c_len-1; continue; }
+
+        // apply mask on first byte
+        c &= c_len === 2 ? 0x1f : c_len === 3 ? 0x0f : 0x07;
+        // join the rest
+        while (c_len > 1 && i < len) {
+            c = (c << 6) | (buf[i++] & 0x3f);
+            c_len--;
+        }
+
+        // terminated by end of string?
+        if (c_len > 1) { utf16buf[out++] = 0xfffd; continue; }
+
+        if (c < 0x10000) {
+            utf16buf[out++] = c;
+        } else {
+            c -= 0x10000;
+            utf16buf[out++] = 0xd800 | ((c >> 10) & 0x3ff);
+            utf16buf[out++] = 0xdc00 | (c & 0x3ff);
+        }
+    }
+
+    // shrinkBuf(utf16buf, out)
+    if (utf16buf.length !== out) {
+        if(utf16buf.subarray) {
+            utf16buf = utf16buf.subarray(0, out);
+        } else {
+            utf16buf.length = out;
+        }
+    }
+
+    // return String.fromCharCode.apply(null, utf16buf);
+    return utils.applyFromCharCode(utf16buf);
+};
+
+
+// That's all for the pako functions.
+
+
+/**
+ * Transform a javascript string into an array (typed if possible) of bytes,
+ * UTF-8 encoded.
+ * @param {String} str the string to encode
+ * @return {Array|Uint8Array|Buffer} the UTF-8 encoded string.
+ */
+exports.utf8encode = function utf8encode(str) {
+    if (support.nodebuffer) {
+        return nodejsUtils.newBufferFrom(str, "utf-8");
+    }
+
+    return string2buf(str);
+};
+
+
+/**
+ * Transform a bytes array (or a representation) representing an UTF-8 encoded
+ * string into a javascript string.
+ * @param {Array|Uint8Array|Buffer} buf the data de decode
+ * @return {String} the decoded string.
+ */
+exports.utf8decode = function utf8decode(buf) {
+    if (support.nodebuffer) {
+        return utils.transformTo("nodebuffer", buf).toString("utf-8");
+    }
+
+    buf = utils.transformTo(support.uint8array ? "uint8array" : "array", buf);
+
+    return buf2string(buf);
+};
+
+/**
+ * A worker to decode utf8 encoded binary chunks into string chunks.
+ * @constructor
+ */
+function Utf8DecodeWorker() {
+    GenericWorker.call(this, "utf-8 decode");
+    // the last bytes if a chunk didn't end with a complete codepoint.
+    this.leftOver = null;
+}
+utils.inherits(Utf8DecodeWorker, GenericWorker);
+
+/**
+ * @see GenericWorker.processChunk
+ */
+Utf8DecodeWorker.prototype.processChunk = function (chunk) {
+
+    var data = utils.transformTo(support.uint8array ? "uint8array" : "array", chunk.data);
+
+    // 1st step, re-use what's left of the previous chunk
+    if (this.leftOver && this.leftOver.length) {
+        if(support.uint8array) {
+            var previousData = data;
+            data = new Uint8Array(previousData.length + this.leftOver.length);
+            data.set(this.leftOver, 0);
+            data.set(previousData, this.leftOver.length);
+        } else {
+            data = this.leftOver.concat(data);
+        }
+        this.leftOver = null;
+    }
+
+    var nextBoundary = utf8border(data);
+    var usableData = data;
+    if (nextBoundary !== data.length) {
+        if (support.uint8array) {
+            usableData = data.subarray(0, nextBoundary);
+            this.leftOver = data.subarray(nextBoundary, data.length);
+        } else {
+            usableData = data.slice(0, nextBoundary);
+            this.leftOver = data.slice(nextBoundary, data.length);
+        }
+    }
+
+    this.push({
+        data : exports.utf8decode(usableData),
+        meta : chunk.meta
+    });
+};
+
+/**
+ * @see GenericWorker.flush
+ */
+Utf8DecodeWorker.prototype.flush = function () {
+    if(this.leftOver && this.leftOver.length) {
+        this.push({
+            data : exports.utf8decode(this.leftOver),
+            meta : {}
+        });
+        this.leftOver = null;
+    }
+};
+exports.Utf8DecodeWorker = Utf8DecodeWorker;
+
+/**
+ * A worker to endcode string chunks into utf8 encoded binary chunks.
+ * @constructor
+ */
+function Utf8EncodeWorker() {
+    GenericWorker.call(this, "utf-8 encode");
+}
+utils.inherits(Utf8EncodeWorker, GenericWorker);
+
+/**
+ * @see GenericWorker.processChunk
+ */
+Utf8EncodeWorker.prototype.processChunk = function (chunk) {
+    this.push({
+        data : exports.utf8encode(chunk.data),
+        meta : chunk.meta
+    });
+};
+exports.Utf8EncodeWorker = Utf8EncodeWorker;
+
+},{"./nodejsUtils":14,"./stream/GenericWorker":28,"./support":30,"./utils":32}],32:[function(require,module,exports){
+'use strict';
+
+var support = require('./support');
+var base64 = require('./base64');
+var nodejsUtils = require('./nodejsUtils');
+var setImmediate = require('set-immediate-shim');
+var external = require("./external");
+
+
+/**
+ * Convert a string that pass as a "binary string": it should represent a byte
+ * array but may have > 255 char codes. Be sure to take only the first byte
+ * and returns the byte array.
+ * @param {String} str the string to transform.
+ * @return {Array|Uint8Array} the string in a binary format.
+ */
+function string2binary(str) {
+    var result = null;
+    if (support.uint8array) {
+      result = new Uint8Array(str.length);
+    } else {
+      result = new Array(str.length);
+    }
+    return stringToArrayLike(str, result);
+}
+
+/**
+ * Create a new blob with the given content and the given type.
+ * @param {String|ArrayBuffer} part the content to put in the blob. DO NOT use
+ * an Uint8Array because the stock browser of android 4 won't accept it (it
+ * will be silently converted to a string, "[object Uint8Array]").
+ *
+ * Use only ONE part to build the blob to avoid a memory leak in IE11 / Edge:
+ * when a large amount of Array is used to create the Blob, the amount of
+ * memory consumed is nearly 100 times the original data amount.
+ *
+ * @param {String} type the mime type of the blob.
+ * @return {Blob} the created blob.
+ */
+exports.newBlob = function(part, type) {
+    exports.checkSupport("blob");
+
+    try {
+        // Blob constructor
+        return new Blob([part], {
+            type: type
+        });
+    }
+    catch (e) {
+
+        try {
+            // deprecated, browser only, old way
+            var Builder = self.BlobBuilder || self.WebKitBlobBuilder || self.MozBlobBuilder || self.MSBlobBuilder;
+            var builder = new Builder();
+            builder.append(part);
+            return builder.getBlob(type);
+        }
+        catch (e) {
+
+            // well, fuck ?!
+            throw new Error("Bug : can't construct the Blob.");
+        }
+    }
+
+
+};
+/**
+ * The identity function.
+ * @param {Object} input the input.
+ * @return {Object} the same input.
+ */
+function identity(input) {
+    return input;
+}
+
+/**
+ * Fill in an array with a string.
+ * @param {String} str the string to use.
+ * @param {Array|ArrayBuffer|Uint8Array|Buffer} array the array to fill in (will be mutated).
+ * @return {Array|ArrayBuffer|Uint8Array|Buffer} the updated array.
+ */
+function stringToArrayLike(str, array) {
+    for (var i = 0; i < str.length; ++i) {
+        array[i] = str.charCodeAt(i) & 0xFF;
+    }
+    return array;
+}
+
+/**
+ * An helper for the function arrayLikeToString.
+ * This contains static information and functions that
+ * can be optimized by the browser JIT compiler.
+ */
+var arrayToStringHelper = {
+    /**
+     * Transform an array of int into a string, chunk by chunk.
+     * See the performances notes on arrayLikeToString.
+     * @param {Array|ArrayBuffer|Uint8Array|Buffer} array the array to transform.
+     * @param {String} type the type of the array.
+     * @param {Integer} chunk the chunk size.
+     * @return {String} the resulting string.
+     * @throws Error if the chunk is too big for the stack.
+     */
+    stringifyByChunk: function(array, type, chunk) {
+        var result = [], k = 0, len = array.length;
+        // shortcut
+        if (len <= chunk) {
+            return String.fromCharCode.apply(null, array);
+        }
+        while (k < len) {
+            if (type === "array" || type === "nodebuffer") {
+                result.push(String.fromCharCode.apply(null, array.slice(k, Math.min(k + chunk, len))));
+            }
+            else {
+                result.push(String.fromCharCode.apply(null, array.subarray(k, Math.min(k + chunk, len))));
+            }
+            k += chunk;
+        }
+        return result.join("");
+    },
+    /**
+     * Call String.fromCharCode on every item in the array.
+     * This is the naive implementation, which generate A LOT of intermediate string.
+     * This should be used when everything else fail.
+     * @param {Array|ArrayBuffer|Uint8Array|Buffer} array the array to transform.
+     * @return {String} the result.
+     */
+    stringifyByChar: function(array){
+        var resultStr = "";
+        for(var i = 0; i < array.length; i++) {
+            resultStr += String.fromCharCode(array[i]);
+        }
+        return resultStr;
+    },
+    applyCanBeUsed : {
+        /**
+         * true if the browser accepts to use String.fromCharCode on Uint8Array
+         */
+        uint8array : (function () {
+            try {
+                return support.uint8array && String.fromCharCode.apply(null, new Uint8Array(1)).length === 1;
+            } catch (e) {
+                return false;
+            }
+        })(),
+        /**
+         * true if the browser accepts to use String.fromCharCode on nodejs Buffer.
+         */
+        nodebuffer : (function () {
+            try {
+                return support.nodebuffer && String.fromCharCode.apply(null, nodejsUtils.allocBuffer(1)).length === 1;
+            } catch (e) {
+                return false;
+            }
+        })()
+    }
+};
+
+/**
+ * Transform an array-like object to a string.
+ * @param {Array|ArrayBuffer|Uint8Array|Buffer} array the array to transform.
+ * @return {String} the result.
+ */
+function arrayLikeToString(array) {
+    // Performances notes :
+    // --------------------
+    // String.fromCharCode.apply(null, array) is the fastest, see
+    // see http://jsperf.com/converting-a-uint8array-to-a-string/2
+    // but the stack is limited (and we can get huge arrays !).
+    //
+    // result += String.fromCharCode(array[i]); generate too many strings !
+    //
+    // This code is inspired by http://jsperf.com/arraybuffer-to-string-apply-performance/2
+    // TODO : we now have workers that split the work. Do we still need that ?
+    var chunk = 65536,
+        type = exports.getTypeOf(array),
+        canUseApply = true;
+    if (type === "uint8array") {
+        canUseApply = arrayToStringHelper.applyCanBeUsed.uint8array;
+    } else if (type === "nodebuffer") {
+        canUseApply = arrayToStringHelper.applyCanBeUsed.nodebuffer;
+    }
+
+    if (canUseApply) {
+        while (chunk > 1) {
+            try {
+                return arrayToStringHelper.stringifyByChunk(array, type, chunk);
+            } catch (e) {
+                chunk = Math.floor(chunk / 2);
+            }
+        }
+    }
+
+    // no apply or chunk error : slow and painful algorithm
+    // default browser on android 4.*
+    return arrayToStringHelper.stringifyByChar(array);
+}
+
+exports.applyFromCharCode = arrayLikeToString;
+
+
+/**
+ * Copy the data from an array-like to an other array-like.
+ * @param {Array|ArrayBuffer|Uint8Array|Buffer} arrayFrom the origin array.
+ * @param {Array|ArrayBuffer|Uint8Array|Buffer} arrayTo the destination array which will be mutated.
+ * @return {Array|ArrayBuffer|Uint8Array|Buffer} the updated destination array.
+ */
+function arrayLikeToArrayLike(arrayFrom, arrayTo) {
+    for (var i = 0; i < arrayFrom.length; i++) {
+        arrayTo[i] = arrayFrom[i];
+    }
+    return arrayTo;
+}
+
+// a matrix containing functions to transform everything into everything.
+var transform = {};
+
+// string to ?
+transform["string"] = {
+    "string": identity,
+    "array": function(input) {
+        return stringToArrayLike(input, new Array(input.length));
+    },
+    "arraybuffer": function(input) {
+        return transform["string"]["uint8array"](input).buffer;
+    },
+    "uint8array": function(input) {
+        return stringToArrayLike(input, new Uint8Array(input.length));
+    },
+    "nodebuffer": function(input) {
+        return stringToArrayLike(input, nodejsUtils.allocBuffer(input.length));
+    }
+};
+
+// array to ?
+transform["array"] = {
+    "string": arrayLikeToString,
+    "array": identity,
+    "arraybuffer": function(input) {
+        return (new Uint8Array(input)).buffer;
+    },
+    "uint8array": function(input) {
+        return new Uint8Array(input);
+    },
+    "nodebuffer": function(input) {
+        return nodejsUtils.newBufferFrom(input);
+    }
+};
+
+// arraybuffer to ?
+transform["arraybuffer"] = {
+    "string": function(input) {
+        return arrayLikeToString(new Uint8Array(input));
+    },
+    "array": function(input) {
+        return arrayLikeToArrayLike(new Uint8Array(input), new Array(input.byteLength));
+    },
+    "arraybuffer": identity,
+    "uint8array": function(input) {
+        return new Uint8Array(input);
+    },
+    "nodebuffer": function(input) {
+        return nodejsUtils.newBufferFrom(new Uint8Array(input));
+    }
+};
+
+// uint8array to ?
+transform["uint8array"] = {
+    "string": arrayLikeToString,
+    "array": function(input) {
+        return arrayLikeToArrayLike(input, new Array(input.length));
+    },
+    "arraybuffer": function(input) {
+        return input.buffer;
+    },
+    "uint8array": identity,
+    "nodebuffer": function(input) {
+        return nodejsUtils.newBufferFrom(input);
+    }
+};
+
+// nodebuffer to ?
+transform["nodebuffer"] = {
+    "string": arrayLikeToString,
+    "array": function(input) {
+        return arrayLikeToArrayLike(input, new Array(input.length));
+    },
+    "arraybuffer": function(input) {
+        return transform["nodebuffer"]["uint8array"](input).buffer;
+    },
+    "uint8array": function(input) {
+        return arrayLikeToArrayLike(input, new Uint8Array(input.length));
+    },
+    "nodebuffer": identity
+};
+
+/**
+ * Transform an input into any type.
+ * The supported output type are : string, array, uint8array, arraybuffer, nodebuffer.
+ * If no output type is specified, the unmodified input will be returned.
+ * @param {String} outputType the output type.
+ * @param {String|Array|ArrayBuffer|Uint8Array|Buffer} input the input to convert.
+ * @throws {Error} an Error if the browser doesn't support the requested output type.
+ */
+exports.transformTo = function(outputType, input) {
+    if (!input) {
+        // undefined, null, etc
+        // an empty string won't harm.
+        input = "";
+    }
+    if (!outputType) {
+        return input;
+    }
+    exports.checkSupport(outputType);
+    var inputType = exports.getTypeOf(input);
+    var result = transform[inputType][outputType](input);
+    return result;
+};
+
+/**
+ * Return the type of the input.
+ * The type will be in a format valid for JSZip.utils.transformTo : string, array, uint8array, arraybuffer.
+ * @param {Object} input the input to identify.
+ * @return {String} the (lowercase) type of the input.
+ */
+exports.getTypeOf = function(input) {
+    if (typeof input === "string") {
+        return "string";
+    }
+    if (Object.prototype.toString.call(input) === "[object Array]") {
+        return "array";
+    }
+    if (support.nodebuffer && nodejsUtils.isBuffer(input)) {
+        return "nodebuffer";
+    }
+    if (support.uint8array && input instanceof Uint8Array) {
+        return "uint8array";
+    }
+    if (support.arraybuffer && input instanceof ArrayBuffer) {
+        return "arraybuffer";
+    }
+};
+
+/**
+ * Throw an exception if the type is not supported.
+ * @param {String} type the type to check.
+ * @throws {Error} an Error if the browser doesn't support the requested type.
+ */
+exports.checkSupport = function(type) {
+    var supported = support[type.toLowerCase()];
+    if (!supported) {
+        throw new Error(type + " is not supported by this platform");
+    }
+};
+
+exports.MAX_VALUE_16BITS = 65535;
+exports.MAX_VALUE_32BITS = -1; // well, "\xFF\xFF\xFF\xFF\xFF\xFF\xFF\xFF" is parsed as -1
+
+/**
+ * Prettify a string read as binary.
+ * @param {string} str the string to prettify.
+ * @return {string} a pretty string.
+ */
+exports.pretty = function(str) {
+    var res = '',
+        code, i;
+    for (i = 0; i < (str || "").length; i++) {
+        code = str.charCodeAt(i);
+        res += '\\x' + (code < 16 ? "0" : "") + code.toString(16).toUpperCase();
+    }
+    return res;
+};
+
+/**
+ * Defer the call of a function.
+ * @param {Function} callback the function to call asynchronously.
+ * @param {Array} args the arguments to give to the callback.
+ */
+exports.delay = function(callback, args, self) {
+    setImmediate(function () {
+        callback.apply(self || null, args || []);
+    });
+};
+
+/**
+ * Extends a prototype with an other, without calling a constructor with
+ * side effects. Inspired by nodejs' `utils.inherits`
+ * @param {Function} ctor the constructor to augment
+ * @param {Function} superCtor the parent constructor to use
+ */
+exports.inherits = function (ctor, superCtor) {
+    var Obj = function() {};
+    Obj.prototype = superCtor.prototype;
+    ctor.prototype = new Obj();
+};
+
+/**
+ * Merge the objects passed as parameters into a new one.
+ * @private
+ * @param {...Object} var_args All objects to merge.
+ * @return {Object} a new object with the data of the others.
+ */
+exports.extend = function() {
+    var result = {}, i, attr;
+    for (i = 0; i < arguments.length; i++) { // arguments is not enumerable in some browsers
+        for (attr in arguments[i]) {
+            if (arguments[i].hasOwnProperty(attr) && typeof result[attr] === "undefined") {
+                result[attr] = arguments[i][attr];
+            }
+        }
+    }
+    return result;
+};
+
+/**
+ * Transform arbitrary content into a Promise.
+ * @param {String} name a name for the content being processed.
+ * @param {Object} inputData the content to process.
+ * @param {Boolean} isBinary true if the content is not an unicode string
+ * @param {Boolean} isOptimizedBinaryString true if the string content only has one byte per character.
+ * @param {Boolean} isBase64 true if the string content is encoded with base64.
+ * @return {Promise} a promise in a format usable by JSZip.
+ */
+exports.prepareContent = function(name, inputData, isBinary, isOptimizedBinaryString, isBase64) {
+
+    // if inputData is already a promise, this flatten it.
+    var promise = external.Promise.resolve(inputData).then(function(data) {
+        
+        
+        var isBlob = support.blob && (data instanceof Blob || ['[object File]', '[object Blob]'].indexOf(Object.prototype.toString.call(data)) !== -1);
+
+        if (isBlob && typeof FileReader !== "undefined") {
+            return new external.Promise(function (resolve, reject) {
+                var reader = new FileReader();
+
+                reader.onload = function(e) {
+                    resolve(e.target.result);
+                };
+                reader.onerror = function(e) {
+                    reject(e.target.error);
+                };
+                reader.readAsArrayBuffer(data);
+            });
+        } else {
+            return data;
+        }
+    });
+
+    return promise.then(function(data) {
+        var dataType = exports.getTypeOf(data);
+
+        if (!dataType) {
+            return external.Promise.reject(
+                new Error("Can't read the data of '" + name + "'. Is it " +
+                          "in a supported JavaScript type (String, Blob, ArrayBuffer, etc) ?")
+            );
+        }
+        // special case : it's way easier to work with Uint8Array than with ArrayBuffer
+        if (dataType === "arraybuffer") {
+            data = exports.transformTo("uint8array", data);
+        } else if (dataType === "string") {
+            if (isBase64) {
+                data = base64.decode(data);
+            }
+            else if (isBinary) {
+                // optimizedBinaryString === true means that the file has already been filtered with a 0xFF mask
+                if (isOptimizedBinaryString !== true) {
+                    // this is a string, not in a base64 format.
+                    // Be sure that this is a correct "binary string"
+                    data = string2binary(data);
+                }
+            }
+        }
+        return data;
+    });
+};
+
+},{"./base64":1,"./external":6,"./nodejsUtils":14,"./support":30,"set-immediate-shim":54}],33:[function(require,module,exports){
+'use strict';
+var readerFor = require('./reader/readerFor');
+var utils = require('./utils');
+var sig = require('./signature');
+var ZipEntry = require('./zipEntry');
+var utf8 = require('./utf8');
+var support = require('./support');
+//  class ZipEntries {{{
+/**
+ * All the entries in the zip file.
+ * @constructor
+ * @param {Object} loadOptions Options for loading the stream.
+ */
+function ZipEntries(loadOptions) {
+    this.files = [];
+    this.loadOptions = loadOptions;
+}
+ZipEntries.prototype = {
+    /**
+     * Check that the reader is on the specified signature.
+     * @param {string} expectedSignature the expected signature.
+     * @throws {Error} if it is an other signature.
+     */
+    checkSignature: function(expectedSignature) {
+        if (!this.reader.readAndCheckSignature(expectedSignature)) {
+            this.reader.index -= 4;
+            var signature = this.reader.readString(4);
+            throw new Error("Corrupted zip or bug: unexpected signature " + "(" + utils.pretty(signature) + ", expected " + utils.pretty(expectedSignature) + ")");
+        }
+    },
+    /**
+     * Check if the given signature is at the given index.
+     * @param {number} askedIndex the index to check.
+     * @param {string} expectedSignature the signature to expect.
+     * @return {boolean} true if the signature is here, false otherwise.
+     */
+    isSignature: function(askedIndex, expectedSignature) {
+        var currentIndex = this.reader.index;
+        this.reader.setIndex(askedIndex);
+        var signature = this.reader.readString(4);
+        var result = signature === expectedSignature;
+        this.reader.setIndex(currentIndex);
+        return result;
+    },
+    /**
+     * Read the end of the central directory.
+     */
+    readBlockEndOfCentral: function() {
+        this.diskNumber = this.reader.readInt(2);
+        this.diskWithCentralDirStart = this.reader.readInt(2);
+        this.centralDirRecordsOnThisDisk = this.reader.readInt(2);
+        this.centralDirRecords = this.reader.readInt(2);
+        this.centralDirSize = this.reader.readInt(4);
+        this.centralDirOffset = this.reader.readInt(4);
+
+        this.zipCommentLength = this.reader.readInt(2);
+        // warning : the encoding depends of the system locale
+        // On a linux machine with LANG=en_US.utf8, this field is utf8 encoded.
+        // On a windows machine, this field is encoded with the localized windows code page.
+        var zipComment = this.reader.readData(this.zipCommentLength);
+        var decodeParamType = support.uint8array ? "uint8array" : "array";
+        // To get consistent behavior with the generation part, we will assume that
+        // this is utf8 encoded unless specified otherwise.
+        var decodeContent = utils.transformTo(decodeParamType, zipComment);
+        this.zipComment = this.loadOptions.decodeFileName(decodeContent);
+    },
+    /**
+     * Read the end of the Zip 64 central directory.
+     * Not merged with the method readEndOfCentral :
+     * The end of central can coexist with its Zip64 brother,
+     * I don't want to read the wrong number of bytes !
+     */
+    readBlockZip64EndOfCentral: function() {
+        this.zip64EndOfCentralSize = this.reader.readInt(8);
+        this.reader.skip(4);
+        // this.versionMadeBy = this.reader.readString(2);
+        // this.versionNeeded = this.reader.readInt(2);
+        this.diskNumber = this.reader.readInt(4);
+        this.diskWithCentralDirStart = this.reader.readInt(4);
+        this.centralDirRecordsOnThisDisk = this.reader.readInt(8);
+        this.centralDirRecords = this.reader.readInt(8);
+        this.centralDirSize = this.reader.readInt(8);
+        this.centralDirOffset = this.reader.readInt(8);
+
+        this.zip64ExtensibleData = {};
+        var extraDataSize = this.zip64EndOfCentralSize - 44,
+            index = 0,
+            extraFieldId,
+            extraFieldLength,
+            extraFieldValue;
+        while (index < extraDataSize) {
+            extraFieldId = this.reader.readInt(2);
+            extraFieldLength = this.reader.readInt(4);
+            extraFieldValue = this.reader.readData(extraFieldLength);
+            this.zip64ExtensibleData[extraFieldId] = {
+                id: extraFieldId,
+                length: extraFieldLength,
+                value: extraFieldValue
+            };
+        }
+    },
+    /**
+     * Read the end of the Zip 64 central directory locator.
+     */
+    readBlockZip64EndOfCentralLocator: function() {
+        this.diskWithZip64CentralDirStart = this.reader.readInt(4);
+        this.relativeOffsetEndOfZip64CentralDir = this.reader.readInt(8);
+        this.disksCount = this.reader.readInt(4);
+        if (this.disksCount > 1) {
+            throw new Error("Multi-volumes zip are not supported");
+        }
+    },
+    /**
+     * Read the local files, based on the offset read in the central part.
+     */
+    readLocalFiles: function() {
+        var i, file;
+        for (i = 0; i < this.files.length; i++) {
+            file = this.files[i];
+            this.reader.setIndex(file.localHeaderOffset);
+            this.checkSignature(sig.LOCAL_FILE_HEADER);
+            file.readLocalPart(this.reader);
+            file.handleUTF8();
+            file.processAttributes();
+        }
+    },
+    /**
+     * Read the central directory.
+     */
+    readCentralDir: function() {
+        var file;
+
+        this.reader.setIndex(this.centralDirOffset);
+        while (this.reader.readAndCheckSignature(sig.CENTRAL_FILE_HEADER)) {
+            file = new ZipEntry({
+                zip64: this.zip64
+            }, this.loadOptions);
+            file.readCentralPart(this.reader);
+            this.files.push(file);
+        }
+
+        if (this.centralDirRecords !== this.files.length) {
+            if (this.centralDirRecords !== 0 && this.files.length === 0) {
+                // We expected some records but couldn't find ANY.
+                // This is really suspicious, as if something went wrong.
+                throw new Error("Corrupted zip or bug: expected " + this.centralDirRecords + " records in central dir, got " + this.files.length);
+            } else {
+                // We found some records but not all.
+                // Something is wrong but we got something for the user: no error here.
+                // console.warn("expected", this.centralDirRecords, "records in central dir, got", this.files.length);
+            }
+        }
+    },
+    /**
+     * Read the end of central directory.
+     */
+    readEndOfCentral: function() {
+        var offset = this.reader.lastIndexOfSignature(sig.CENTRAL_DIRECTORY_END);
+        if (offset < 0) {
+            // Check if the content is a truncated zip or complete garbage.
+            // A "LOCAL_FILE_HEADER" is not required at the beginning (auto
+            // extractible zip for example) but it can give a good hint.
+            // If an ajax request was used without responseType, we will also
+            // get unreadable data.
+            var isGarbage = !this.isSignature(0, sig.LOCAL_FILE_HEADER);
+
+            if (isGarbage) {
+                throw new Error("Can't find end of central directory : is this a zip file ? " +
+                                "If it is, see https://stuk.github.io/jszip/documentation/howto/read_zip.html");
+            } else {
+                throw new Error("Corrupted zip: can't find end of central directory");
+            }
+
+        }
+        this.reader.setIndex(offset);
+        var endOfCentralDirOffset = offset;
+        this.checkSignature(sig.CENTRAL_DIRECTORY_END);
+        this.readBlockEndOfCentral();
+
+
+        /* extract from the zip spec :
+            4)  If one of the fields in the end of central directory
+                record is too small to hold required data, the field
+                should be set to -1 (0xFFFF or 0xFFFFFFFF) and the
+                ZIP64 format record should be created.
+            5)  The end of central directory record and the
+                Zip64 end of central directory locator record must
+                reside on the same disk when splitting or spanning
+                an archive.
+         */
+        if (this.diskNumber === utils.MAX_VALUE_16BITS || this.diskWithCentralDirStart === utils.MAX_VALUE_16BITS || this.centralDirRecordsOnThisDisk === utils.MAX_VALUE_16BITS || this.centralDirRecords === utils.MAX_VALUE_16BITS || this.centralDirSize === utils.MAX_VALUE_32BITS || this.centralDirOffset === utils.MAX_VALUE_32BITS) {
+            this.zip64 = true;
+
+            /*
+            Warning : the zip64 extension is supported, but ONLY if the 64bits integer read from
+            the zip file can fit into a 32bits integer. This cannot be solved : JavaScript represents
+            all numbers as 64-bit double precision IEEE 754 floating point numbers.
+            So, we have 53bits for integers and bitwise operations treat everything as 32bits.
+            see https://developer.mozilla.org/en-US/docs/JavaScript/Reference/Operators/Bitwise_Operators
+            and http://www.ecma-international.org/publications/files/ECMA-ST/ECMA-262.pdf section 8.5
+            */
+
+            // should look for a zip64 EOCD locator
+            offset = this.reader.lastIndexOfSignature(sig.ZIP64_CENTRAL_DIRECTORY_LOCATOR);
+            if (offset < 0) {
+                throw new Error("Corrupted zip: can't find the ZIP64 end of central directory locator");
+            }
+            this.reader.setIndex(offset);
+            this.checkSignature(sig.ZIP64_CENTRAL_DIRECTORY_LOCATOR);
+            this.readBlockZip64EndOfCentralLocator();
+
+            // now the zip64 EOCD record
+            if (!this.isSignature(this.relativeOffsetEndOfZip64CentralDir, sig.ZIP64_CENTRAL_DIRECTORY_END)) {
+                // console.warn("ZIP64 end of central directory not where expected.");
+                this.relativeOffsetEndOfZip64CentralDir = this.reader.lastIndexOfSignature(sig.ZIP64_CENTRAL_DIRECTORY_END);
+                if (this.relativeOffsetEndOfZip64CentralDir < 0) {
+                    throw new Error("Corrupted zip: can't find the ZIP64 end of central directory");
+                }
+            }
+            this.reader.setIndex(this.relativeOffsetEndOfZip64CentralDir);
+            this.checkSignature(sig.ZIP64_CENTRAL_DIRECTORY_END);
+            this.readBlockZip64EndOfCentral();
+        }
+
+        var expectedEndOfCentralDirOffset = this.centralDirOffset + this.centralDirSize;
+        if (this.zip64) {
+            expectedEndOfCentralDirOffset += 20; // end of central dir 64 locator
+            expectedEndOfCentralDirOffset += 12 /* should not include the leading 12 bytes */ + this.zip64EndOfCentralSize;
+        }
+
+        var extraBytes = endOfCentralDirOffset - expectedEndOfCentralDirOffset;
+
+        if (extraBytes > 0) {
+            // console.warn(extraBytes, "extra bytes at beginning or within zipfile");
+            if (this.isSignature(endOfCentralDirOffset, sig.CENTRAL_FILE_HEADER)) {
+                // The offsets seem wrong, but we have something at the specified offset.
+                // So… we keep it.
+            } else {
+                // the offset is wrong, update the "zero" of the reader
+                // this happens if data has been prepended (crx files for example)
+                this.reader.zero = extraBytes;
+            }
+        } else if (extraBytes < 0) {
+            throw new Error("Corrupted zip: missing " + Math.abs(extraBytes) + " bytes.");
+        }
+    },
+    prepareReader: function(data) {
+        this.reader = readerFor(data);
+    },
+    /**
+     * Read a zip file and create ZipEntries.
+     * @param {String|ArrayBuffer|Uint8Array|Buffer} data the binary string representing a zip file.
+     */
+    load: function(data) {
+        this.prepareReader(data);
+        this.readEndOfCentral();
+        this.readCentralDir();
+        this.readLocalFiles();
+    }
+};
+// }}} end of ZipEntries
+module.exports = ZipEntries;
+
+},{"./reader/readerFor":22,"./signature":23,"./support":30,"./utf8":31,"./utils":32,"./zipEntry":34}],34:[function(require,module,exports){
+'use strict';
+var readerFor = require('./reader/readerFor');
+var utils = require('./utils');
+var CompressedObject = require('./compressedObject');
+var crc32fn = require('./crc32');
+var utf8 = require('./utf8');
+var compressions = require('./compressions');
+var support = require('./support');
+
+var MADE_BY_DOS = 0x00;
+var MADE_BY_UNIX = 0x03;
+
+/**
+ * Find a compression registered in JSZip.
+ * @param {string} compressionMethod the method magic to find.
+ * @return {Object|null} the JSZip compression object, null if none found.
+ */
+var findCompression = function(compressionMethod) {
+    for (var method in compressions) {
+        if (!compressions.hasOwnProperty(method)) {
+            continue;
+        }
+        if (compressions[method].magic === compressionMethod) {
+            return compressions[method];
+        }
+    }
+    return null;
+};
+
+// class ZipEntry {{{
+/**
+ * An entry in the zip file.
+ * @constructor
+ * @param {Object} options Options of the current file.
+ * @param {Object} loadOptions Options for loading the stream.
+ */
+function ZipEntry(options, loadOptions) {
+    this.options = options;
+    this.loadOptions = loadOptions;
+}
+ZipEntry.prototype = {
+    /**
+     * say if the file is encrypted.
+     * @return {boolean} true if the file is encrypted, false otherwise.
+     */
+    isEncrypted: function() {
+        // bit 1 is set
+        return (this.bitFlag & 0x0001) === 0x0001;
+    },
+    /**
+     * say if the file has utf-8 filename/comment.
+     * @return {boolean} true if the filename/comment is in utf-8, false otherwise.
+     */
+    useUTF8: function() {
+        // bit 11 is set
+        return (this.bitFlag & 0x0800) === 0x0800;
+    },
+    /**
+     * Read the local part of a zip file and add the info in this object.
+     * @param {DataReader} reader the reader to use.
+     */
+    readLocalPart: function(reader) {
+        var compression, localExtraFieldsLength;
+
+        // we already know everything from the central dir !
+        // If the central dir data are false, we are doomed.
+        // On the bright side, the local part is scary  : zip64, data descriptors, both, etc.
+        // The less data we get here, the more reliable this should be.
+        // Let's skip the whole header and dash to the data !
+        reader.skip(22);
+        // in some zip created on windows, the filename stored in the central dir contains \ instead of /.
+        // Strangely, the filename here is OK.
+        // I would love to treat these zip files as corrupted (see http://www.info-zip.org/FAQ.html#backslashes
+        // or APPNOTE#4.4.17.1, "All slashes MUST be forward slashes '/'") but there are a lot of bad zip generators...
+        // Search "unzip mismatching "local" filename continuing with "central" filename version" on
+        // the internet.
+        //
+        // I think I see the logic here : the central directory is used to display
+        // content and the local directory is used to extract the files. Mixing / and \
+        // may be used to display \ to windows users and use / when extracting the files.
+        // Unfortunately, this lead also to some issues : http://seclists.org/fulldisclosure/2009/Sep/394
+        this.fileNameLength = reader.readInt(2);
+        localExtraFieldsLength = reader.readInt(2); // can't be sure this will be the same as the central dir
+        // the fileName is stored as binary data, the handleUTF8 method will take care of the encoding.
+        this.fileName = reader.readData(this.fileNameLength);
+        reader.skip(localExtraFieldsLength);
+
+        if (this.compressedSize === -1 || this.uncompressedSize === -1) {
+            throw new Error("Bug or corrupted zip : didn't get enough information from the central directory " + "(compressedSize === -1 || uncompressedSize === -1)");
+        }
+
+        compression = findCompression(this.compressionMethod);
+        if (compression === null) { // no compression found
+            throw new Error("Corrupted zip : compression " + utils.pretty(this.compressionMethod) + " unknown (inner file : " + utils.transformTo("string", this.fileName) + ")");
+        }
+        this.decompressed = new CompressedObject(this.compressedSize, this.uncompressedSize, this.crc32, compression, reader.readData(this.compressedSize));
+    },
+
+    /**
+     * Read the central part of a zip file and add the info in this object.
+     * @param {DataReader} reader the reader to use.
+     */
+    readCentralPart: function(reader) {
+        this.versionMadeBy = reader.readInt(2);
+        reader.skip(2);
+        // this.versionNeeded = reader.readInt(2);
+        this.bitFlag = reader.readInt(2);
+        this.compressionMethod = reader.readString(2);
+        this.date = reader.readDate();
+        this.crc32 = reader.readInt(4);
+        this.compressedSize = reader.readInt(4);
+        this.uncompressedSize = reader.readInt(4);
+        var fileNameLength = reader.readInt(2);
+        this.extraFieldsLength = reader.readInt(2);
+        this.fileCommentLength = reader.readInt(2);
+        this.diskNumberStart = reader.readInt(2);
+        this.internalFileAttributes = reader.readInt(2);
+        this.externalFileAttributes = reader.readInt(4);
+        this.localHeaderOffset = reader.readInt(4);
+
+        if (this.isEncrypted()) {
+            throw new Error("Encrypted zip are not supported");
+        }
+
+        // will be read in the local part, see the comments there
+        reader.skip(fileNameLength);
+        this.readExtraFields(reader);
+        this.parseZIP64ExtraField(reader);
+        this.fileComment = reader.readData(this.fileCommentLength);
+    },
+
+    /**
+     * Parse the external file attributes and get the unix/dos permissions.
+     */
+    processAttributes: function () {
+        this.unixPermissions = null;
+        this.dosPermissions = null;
+        var madeBy = this.versionMadeBy >> 8;
+
+        // Check if we have the DOS directory flag set.
+        // We look for it in the DOS and UNIX permissions
+        // but some unknown platform could set it as a compatibility flag.
+        this.dir = this.externalFileAttributes & 0x0010 ? true : false;
+
+        if(madeBy === MADE_BY_DOS) {
+            // first 6 bits (0 to 5)
+            this.dosPermissions = this.externalFileAttributes & 0x3F;
+        }
+
+        if(madeBy === MADE_BY_UNIX) {
+            this.unixPermissions = (this.externalFileAttributes >> 16) & 0xFFFF;
+            // the octal permissions are in (this.unixPermissions & 0x01FF).toString(8);
+        }
+
+        // fail safe : if the name ends with a / it probably means a folder
+        if (!this.dir && this.fileNameStr.slice(-1) === '/') {
+            this.dir = true;
+        }
+    },
+
+    /**
+     * Parse the ZIP64 extra field and merge the info in the current ZipEntry.
+     * @param {DataReader} reader the reader to use.
+     */
+    parseZIP64ExtraField: function(reader) {
+
+        if (!this.extraFields[0x0001]) {
+            return;
+        }
+
+        // should be something, preparing the extra reader
+        var extraReader = readerFor(this.extraFields[0x0001].value);
+
+        // I really hope that these 64bits integer can fit in 32 bits integer, because js
+        // won't let us have more.
+        if (this.uncompressedSize === utils.MAX_VALUE_32BITS) {
+            this.uncompressedSize = extraReader.readInt(8);
+        }
+        if (this.compressedSize === utils.MAX_VALUE_32BITS) {
+            this.compressedSize = extraReader.readInt(8);
+        }
+        if (this.localHeaderOffset === utils.MAX_VALUE_32BITS) {
+            this.localHeaderOffset = extraReader.readInt(8);
+        }
+        if (this.diskNumberStart === utils.MAX_VALUE_32BITS) {
+            this.diskNumberStart = extraReader.readInt(4);
+        }
+    },
+    /**
+     * Read the central part of a zip file and add the info in this object.
+     * @param {DataReader} reader the reader to use.
+     */
+    readExtraFields: function(reader) {
+        var end = reader.index + this.extraFieldsLength,
+            extraFieldId,
+            extraFieldLength,
+            extraFieldValue;
+
+        if (!this.extraFields) {
+            this.extraFields = {};
+        }
+
+        while (reader.index + 4 < end) {
+            extraFieldId = reader.readInt(2);
+            extraFieldLength = reader.readInt(2);
+            extraFieldValue = reader.readData(extraFieldLength);
+
+            this.extraFields[extraFieldId] = {
+                id: extraFieldId,
+                length: extraFieldLength,
+                value: extraFieldValue
+            };
+        }
+
+        reader.setIndex(end);
+    },
+    /**
+     * Apply an UTF8 transformation if needed.
+     */
+    handleUTF8: function() {
+        var decodeParamType = support.uint8array ? "uint8array" : "array";
+        if (this.useUTF8()) {
+            this.fileNameStr = utf8.utf8decode(this.fileName);
+            this.fileCommentStr = utf8.utf8decode(this.fileComment);
+        } else {
+            var upath = this.findExtraFieldUnicodePath();
+            if (upath !== null) {
+                this.fileNameStr = upath;
+            } else {
+                // ASCII text or unsupported code page
+                var fileNameByteArray =  utils.transformTo(decodeParamType, this.fileName);
+                this.fileNameStr = this.loadOptions.decodeFileName(fileNameByteArray);
+            }
+
+            var ucomment = this.findExtraFieldUnicodeComment();
+            if (ucomment !== null) {
+                this.fileCommentStr = ucomment;
+            } else {
+                // ASCII text or unsupported code page
+                var commentByteArray =  utils.transformTo(decodeParamType, this.fileComment);
+                this.fileCommentStr = this.loadOptions.decodeFileName(commentByteArray);
+            }
+        }
+    },
+
+    /**
+     * Find the unicode path declared in the extra field, if any.
+     * @return {String} the unicode path, null otherwise.
+     */
+    findExtraFieldUnicodePath: function() {
+        var upathField = this.extraFields[0x7075];
+        if (upathField) {
+            var extraReader = readerFor(upathField.value);
+
+            // wrong version
+            if (extraReader.readInt(1) !== 1) {
+                return null;
+            }
+
+            // the crc of the filename changed, this field is out of date.
+            if (crc32fn(this.fileName) !== extraReader.readInt(4)) {
+                return null;
+            }
+
+            return utf8.utf8decode(extraReader.readData(upathField.length - 5));
+        }
+        return null;
+    },
+
+    /**
+     * Find the unicode comment declared in the extra field, if any.
+     * @return {String} the unicode comment, null otherwise.
+     */
+    findExtraFieldUnicodeComment: function() {
+        var ucommentField = this.extraFields[0x6375];
+        if (ucommentField) {
+            var extraReader = readerFor(ucommentField.value);
+
+            // wrong version
+            if (extraReader.readInt(1) !== 1) {
+                return null;
+            }
+
+            // the crc of the comment changed, this field is out of date.
+            if (crc32fn(this.fileComment) !== extraReader.readInt(4)) {
+                return null;
+            }
+
+            return utf8.utf8decode(extraReader.readData(ucommentField.length - 5));
+        }
+        return null;
+    }
+};
+module.exports = ZipEntry;
+
+},{"./compressedObject":2,"./compressions":3,"./crc32":4,"./reader/readerFor":22,"./support":30,"./utf8":31,"./utils":32}],35:[function(require,module,exports){
+'use strict';
+
+var StreamHelper = require('./stream/StreamHelper');
+var DataWorker = require('./stream/DataWorker');
+var utf8 = require('./utf8');
+var CompressedObject = require('./compressedObject');
+var GenericWorker = require('./stream/GenericWorker');
+
+/**
+ * A simple object representing a file in the zip file.
+ * @constructor
+ * @param {string} name the name of the file
+ * @param {String|ArrayBuffer|Uint8Array|Buffer} data the data
+ * @param {Object} options the options of the file
+ */
+var ZipObject = function(name, data, options) {
+    this.name = name;
+    this.dir = options.dir;
+    this.date = options.date;
+    this.comment = options.comment;
+    this.unixPermissions = options.unixPermissions;
+    this.dosPermissions = options.dosPermissions;
+
+    this._data = data;
+    this._dataBinary = options.binary;
+    // keep only the compression
+    this.options = {
+        compression : options.compression,
+        compressionOptions : options.compressionOptions
+    };
+};
+
+ZipObject.prototype = {
+    /**
+     * Create an internal stream for the content of this object.
+     * @param {String} type the type of each chunk.
+     * @return StreamHelper the stream.
+     */
+    internalStream: function (type) {
+        var result = null, outputType = "string";
+        try {
+            if (!type) {
+                throw new Error("No output type specified.");
+            }
+            outputType = type.toLowerCase();
+            var askUnicodeString = outputType === "string" || outputType === "text";
+            if (outputType === "binarystring" || outputType === "text") {
+                outputType = "string";
+            }
+            result = this._decompressWorker();
+
+            var isUnicodeString = !this._dataBinary;
+
+            if (isUnicodeString && !askUnicodeString) {
+                result = result.pipe(new utf8.Utf8EncodeWorker());
+            }
+            if (!isUnicodeString && askUnicodeString) {
+                result = result.pipe(new utf8.Utf8DecodeWorker());
+            }
+        } catch (e) {
+            result = new GenericWorker("error");
+            result.error(e);
+        }
+
+        return new StreamHelper(result, outputType, "");
+    },
+
+    /**
+     * Prepare the content in the asked type.
+     * @param {String} type the type of the result.
+     * @param {Function} onUpdate a function to call on each internal update.
+     * @return Promise the promise of the result.
+     */
+    async: function (type, onUpdate) {
+        return this.internalStream(type).accumulate(onUpdate);
+    },
+
+    /**
+     * Prepare the content as a nodejs stream.
+     * @param {String} type the type of each chunk.
+     * @param {Function} onUpdate a function to call on each internal update.
+     * @return Stream the stream.
+     */
+    nodeStream: function (type, onUpdate) {
+        return this.internalStream(type || "nodebuffer").toNodejsStream(onUpdate);
+    },
+
+    /**
+     * Return a worker for the compressed content.
+     * @private
+     * @param {Object} compression the compression object to use.
+     * @param {Object} compressionOptions the options to use when compressing.
+     * @return Worker the worker.
+     */
+    _compressWorker: function (compression, compressionOptions) {
+        if (
+            this._data instanceof CompressedObject &&
+            this._data.compression.magic === compression.magic
+        ) {
+            return this._data.getCompressedWorker();
+        } else {
+            var result = this._decompressWorker();
+            if(!this._dataBinary) {
+                result = result.pipe(new utf8.Utf8EncodeWorker());
+            }
+            return CompressedObject.createWorkerFrom(result, compression, compressionOptions);
+        }
+    },
+    /**
+     * Return a worker for the decompressed content.
+     * @private
+     * @return Worker the worker.
+     */
+    _decompressWorker : function () {
+        if (this._data instanceof CompressedObject) {
+            return this._data.getContentWorker();
+        } else if (this._data instanceof GenericWorker) {
+            return this._data;
+        } else {
+            return new DataWorker(this._data);
+        }
+    }
+};
+
+var removedMethods = ["asText", "asBinary", "asNodeBuffer", "asUint8Array", "asArrayBuffer"];
+var removedFn = function () {
+    throw new Error("This method has been removed in JSZip 3.0, please check the upgrade guide.");
+};
+
+for(var i = 0; i < removedMethods.length; i++) {
+    ZipObject.prototype[removedMethods[i]] = removedFn;
+}
+module.exports = ZipObject;
+
+},{"./compressedObject":2,"./stream/DataWorker":27,"./stream/GenericWorker":28,"./stream/StreamHelper":29,"./utf8":31}],36:[function(require,module,exports){
+(function (global){
+'use strict';
+var Mutation = global.MutationObserver || global.WebKitMutationObserver;
+
+var scheduleDrain;
+
+{
+  if (Mutation) {
+    var called = 0;
+    var observer = new Mutation(nextTick);
+    var element = global.document.createTextNode('');
+    observer.observe(element, {
+      characterData: true
+    });
+    scheduleDrain = function () {
+      element.data = (called = ++called % 2);
+    };
+  } else if (!global.setImmediate && typeof global.MessageChannel !== 'undefined') {
+    var channel = new global.MessageChannel();
+    channel.port1.onmessage = nextTick;
+    scheduleDrain = function () {
+      channel.port2.postMessage(0);
+    };
+  } else if ('document' in global && 'onreadystatechange' in global.document.createElement('script')) {
+    scheduleDrain = function () {
+
+      // Create a <script> element; its readystatechange event will be fired asynchronously once it is inserted
+      // into the document. Do so, thus queuing up the task. Remember to clean up once it's been called.
+      var scriptEl = global.document.createElement('script');
+      scriptEl.onreadystatechange = function () {
+        nextTick();
+
+        scriptEl.onreadystatechange = null;
+        scriptEl.parentNode.removeChild(scriptEl);
+        scriptEl = null;
+      };
+      global.document.documentElement.appendChild(scriptEl);
+    };
+  } else {
+    scheduleDrain = function () {
+      setTimeout(nextTick, 0);
+    };
+  }
+}
+
+var draining;
+var queue = [];
+//named nextTick for less confusing stack traces
+function nextTick() {
+  draining = true;
+  var i, oldQueue;
+  var len = queue.length;
+  while (len) {
+    oldQueue = queue;
+    queue = [];
+    i = -1;
+    while (++i < len) {
+      oldQueue[i]();
+    }
+    len = queue.length;
+  }
+  draining = false;
+}
+
+module.exports = immediate;
+function immediate(task) {
+  if (queue.push(task) === 1 && !draining) {
+    scheduleDrain();
+  }
+}
+
+}).call(this,typeof global !== "undefined" ? global : typeof self !== "undefined" ? self : typeof window !== "undefined" ? window : {})
+},{}],37:[function(require,module,exports){
+'use strict';
+var immediate = require('immediate');
+
+/* istanbul ignore next */
+function INTERNAL() {}
+
+var handlers = {};
+
+var REJECTED = ['REJECTED'];
+var FULFILLED = ['FULFILLED'];
+var PENDING = ['PENDING'];
+
+module.exports = Promise;
+
+function Promise(resolver) {
+  if (typeof resolver !== 'function') {
+    throw new TypeError('resolver must be a function');
+  }
+  this.state = PENDING;
+  this.queue = [];
+  this.outcome = void 0;
+  if (resolver !== INTERNAL) {
+    safelyResolveThenable(this, resolver);
+  }
+}
+
+Promise.prototype["finally"] = function (callback) {
+  if (typeof callback !== 'function') {
+    return this;
+  }
+  var p = this.constructor;
+  return this.then(resolve, reject);
+
+  function resolve(value) {
+    function yes () {
+      return value;
+    }
+    return p.resolve(callback()).then(yes);
+  }
+  function reject(reason) {
+    function no () {
+      throw reason;
+    }
+    return p.resolve(callback()).then(no);
+  }
+};
+Promise.prototype["catch"] = function (onRejected) {
+  return this.then(null, onRejected);
+};
+Promise.prototype.then = function (onFulfilled, onRejected) {
+  if (typeof onFulfilled !== 'function' && this.state === FULFILLED ||
+    typeof onRejected !== 'function' && this.state === REJECTED) {
+    return this;
+  }
+  var promise = new this.constructor(INTERNAL);
+  if (this.state !== PENDING) {
+    var resolver = this.state === FULFILLED ? onFulfilled : onRejected;
+    unwrap(promise, resolver, this.outcome);
+  } else {
+    this.queue.push(new QueueItem(promise, onFulfilled, onRejected));
+  }
+
+  return promise;
+};
+function QueueItem(promise, onFulfilled, onRejected) {
+  this.promise = promise;
+  if (typeof onFulfilled === 'function') {
+    this.onFulfilled = onFulfilled;
+    this.callFulfilled = this.otherCallFulfilled;
+  }
+  if (typeof onRejected === 'function') {
+    this.onRejected = onRejected;
+    this.callRejected = this.otherCallRejected;
+  }
+}
+QueueItem.prototype.callFulfilled = function (value) {
+  handlers.resolve(this.promise, value);
+};
+QueueItem.prototype.otherCallFulfilled = function (value) {
+  unwrap(this.promise, this.onFulfilled, value);
+};
+QueueItem.prototype.callRejected = function (value) {
+  handlers.reject(this.promise, value);
+};
+QueueItem.prototype.otherCallRejected = function (value) {
+  unwrap(this.promise, this.onRejected, value);
+};
+
+function unwrap(promise, func, value) {
+  immediate(function () {
+    var returnValue;
+    try {
+      returnValue = func(value);
+    } catch (e) {
+      return handlers.reject(promise, e);
+    }
+    if (returnValue === promise) {
+      handlers.reject(promise, new TypeError('Cannot resolve promise with itself'));
+    } else {
+      handlers.resolve(promise, returnValue);
+    }
+  });
+}
+
+handlers.resolve = function (self, value) {
+  var result = tryCatch(getThen, value);
+  if (result.status === 'error') {
+    return handlers.reject(self, result.value);
+  }
+  var thenable = result.value;
+
+  if (thenable) {
+    safelyResolveThenable(self, thenable);
+  } else {
+    self.state = FULFILLED;
+    self.outcome = value;
+    var i = -1;
+    var len = self.queue.length;
+    while (++i < len) {
+      self.queue[i].callFulfilled(value);
+    }
+  }
+  return self;
+};
+handlers.reject = function (self, error) {
+  self.state = REJECTED;
+  self.outcome = error;
+  var i = -1;
+  var len = self.queue.length;
+  while (++i < len) {
+    self.queue[i].callRejected(error);
+  }
+  return self;
+};
+
+function getThen(obj) {
+  // Make sure we only access the accessor once as required by the spec
+  var then = obj && obj.then;
+  if (obj && (typeof obj === 'object' || typeof obj === 'function') && typeof then === 'function') {
+    return function appyThen() {
+      then.apply(obj, arguments);
+    };
+  }
+}
+
+function safelyResolveThenable(self, thenable) {
+  // Either fulfill, reject or reject with error
+  var called = false;
+  function onError(value) {
+    if (called) {
+      return;
+    }
+    called = true;
+    handlers.reject(self, value);
+  }
+
+  function onSuccess(value) {
+    if (called) {
+      return;
+    }
+    called = true;
+    handlers.resolve(self, value);
+  }
+
+  function tryToUnwrap() {
+    thenable(onSuccess, onError);
+  }
+
+  var result = tryCatch(tryToUnwrap);
+  if (result.status === 'error') {
+    onError(result.value);
+  }
+}
+
+function tryCatch(func, value) {
+  var out = {};
+  try {
+    out.value = func(value);
+    out.status = 'success';
+  } catch (e) {
+    out.status = 'error';
+    out.value = e;
+  }
+  return out;
+}
+
+Promise.resolve = resolve;
+function resolve(value) {
+  if (value instanceof this) {
+    return value;
+  }
+  return handlers.resolve(new this(INTERNAL), value);
+}
+
+Promise.reject = reject;
+function reject(reason) {
+  var promise = new this(INTERNAL);
+  return handlers.reject(promise, reason);
+}
+
+Promise.all = all;
+function all(iterable) {
+  var self = this;
+  if (Object.prototype.toString.call(iterable) !== '[object Array]') {
+    return this.reject(new TypeError('must be an array'));
+  }
+
+  var len = iterable.length;
+  var called = false;
+  if (!len) {
+    return this.resolve([]);
+  }
+
+  var values = new Array(len);
+  var resolved = 0;
+  var i = -1;
+  var promise = new this(INTERNAL);
+
+  while (++i < len) {
+    allResolver(iterable[i], i);
+  }
+  return promise;
+  function allResolver(value, i) {
+    self.resolve(value).then(resolveFromAll, function (error) {
+      if (!called) {
+        called = true;
+        handlers.reject(promise, error);
+      }
+    });
+    function resolveFromAll(outValue) {
+      values[i] = outValue;
+      if (++resolved === len && !called) {
+        called = true;
+        handlers.resolve(promise, values);
+      }
+    }
+  }
+}
+
+Promise.race = race;
+function race(iterable) {
+  var self = this;
+  if (Object.prototype.toString.call(iterable) !== '[object Array]') {
+    return this.reject(new TypeError('must be an array'));
+  }
+
+  var len = iterable.length;
+  var called = false;
+  if (!len) {
+    return this.resolve([]);
+  }
+
+  var i = -1;
+  var promise = new this(INTERNAL);
+
+  while (++i < len) {
+    resolver(iterable[i]);
+  }
+  return promise;
+  function resolver(value) {
+    self.resolve(value).then(function (response) {
+      if (!called) {
+        called = true;
+        handlers.resolve(promise, response);
+      }
+    }, function (error) {
+      if (!called) {
+        called = true;
+        handlers.reject(promise, error);
+      }
+    });
+  }
+}
+
+},{"immediate":36}],38:[function(require,module,exports){
+// Top level file is just a mixin of submodules & constants
+'use strict';
+
+var assign    = require('./lib/utils/common').assign;
+
+var deflate   = require('./lib/deflate');
+var inflate   = require('./lib/inflate');
+var constants = require('./lib/zlib/constants');
+
+var pako = {};
+
+assign(pako, deflate, inflate, constants);
+
+module.exports = pako;
+
+},{"./lib/deflate":39,"./lib/inflate":40,"./lib/utils/common":41,"./lib/zlib/constants":44}],39:[function(require,module,exports){
+'use strict';
+
+
+var zlib_deflate = require('./zlib/deflate');
+var utils        = require('./utils/common');
+var strings      = require('./utils/strings');
+var msg          = require('./zlib/messages');
+var ZStream      = require('./zlib/zstream');
+
+var toString = Object.prototype.toString;
+
+/* Public constants ==========================================================*/
+/* ===========================================================================*/
+
+var Z_NO_FLUSH      = 0;
+var Z_FINISH        = 4;
+
+var Z_OK            = 0;
+var Z_STREAM_END    = 1;
+var Z_SYNC_FLUSH    = 2;
+
+var Z_DEFAULT_COMPRESSION = -1;
+
+var Z_DEFAULT_STRATEGY    = 0;
+
+var Z_DEFLATED  = 8;
+
+/* ===========================================================================*/
+
+
+/**
+ * class Deflate
+ *
+ * Generic JS-style wrapper for zlib calls. If you don't need
+ * streaming behaviour - use more simple functions: [[deflate]],
+ * [[deflateRaw]] and [[gzip]].
+ **/
+
+/* internal
+ * Deflate.chunks -> Array
+ *
+ * Chunks of output data, if [[Deflate#onData]] not overriden.
+ **/
+
+/**
+ * Deflate.result -> Uint8Array|Array
+ *
+ * Compressed result, generated by default [[Deflate#onData]]
+ * and [[Deflate#onEnd]] handlers. Filled after you push last chunk
+ * (call [[Deflate#push]] with `Z_FINISH` / `true` param)  or if you
+ * push a chunk with explicit flush (call [[Deflate#push]] with
+ * `Z_SYNC_FLUSH` param).
+ **/
+
+/**
+ * Deflate.err -> Number
+ *
+ * Error code after deflate finished. 0 (Z_OK) on success.
+ * You will not need it in real life, because deflate errors
+ * are possible only on wrong options or bad `onData` / `onEnd`
+ * custom handlers.
+ **/
+
+/**
+ * Deflate.msg -> String
+ *
+ * Error message, if [[Deflate.err]] != 0
+ **/
+
+
+/**
+ * new Deflate(options)
+ * - options (Object): zlib deflate options.
+ *
+ * Creates new deflator instance with specified params. Throws exception
+ * on bad params. Supported options:
+ *
+ * - `level`
+ * - `windowBits`
+ * - `memLevel`
+ * - `strategy`
+ * - `dictionary`
+ *
+ * [http://zlib.net/manual.html#Advanced](http://zlib.net/manual.html#Advanced)
+ * for more information on these.
+ *
+ * Additional options, for internal needs:
+ *
+ * - `chunkSize` - size of generated data chunks (16K by default)
+ * - `raw` (Boolean) - do raw deflate
+ * - `gzip` (Boolean) - create gzip wrapper
+ * - `to` (String) - if equal to 'string', then result will be "binary string"
+ *    (each char code [0..255])
+ * - `header` (Object) - custom header for gzip
+ *   - `text` (Boolean) - true if compressed data believed to be text
+ *   - `time` (Number) - modification time, unix timestamp
+ *   - `os` (Number) - operation system code
+ *   - `extra` (Array) - array of bytes with extra data (max 65536)
+ *   - `name` (String) - file name (binary string)
+ *   - `comment` (String) - comment (binary string)
+ *   - `hcrc` (Boolean) - true if header crc should be added
+ *
+ * ##### Example:
+ *
+ * ```javascript
+ * var pako = require('pako')
+ *   , chunk1 = Uint8Array([1,2,3,4,5,6,7,8,9])
+ *   , chunk2 = Uint8Array([10,11,12,13,14,15,16,17,18,19]);
+ *
+ * var deflate = new pako.Deflate({ level: 3});
+ *
+ * deflate.push(chunk1, false);
+ * deflate.push(chunk2, true);  // true -> last chunk
+ *
+ * if (deflate.err) { throw new Error(deflate.err); }
+ *
+ * console.log(deflate.result);
+ * ```
+ **/
+function Deflate(options) {
+  if (!(this instanceof Deflate)) return new Deflate(options);
+
+  this.options = utils.assign({
+    level: Z_DEFAULT_COMPRESSION,
+    method: Z_DEFLATED,
+    chunkSize: 16384,
+    windowBits: 15,
+    memLevel: 8,
+    strategy: Z_DEFAULT_STRATEGY,
+    to: ''
+  }, options || {});
+
+  var opt = this.options;
+
+  if (opt.raw && (opt.windowBits > 0)) {
+    opt.windowBits = -opt.windowBits;
+  }
+
+  else if (opt.gzip && (opt.windowBits > 0) && (opt.windowBits < 16)) {
+    opt.windowBits += 16;
+  }
+
+  this.err    = 0;      // error code, if happens (0 = Z_OK)
+  this.msg    = '';     // error message
+  this.ended  = false;  // used to avoid multiple onEnd() calls
+  this.chunks = [];     // chunks of compressed data
+
+  this.strm = new ZStream();
+  this.strm.avail_out = 0;
+
+  var status = zlib_deflate.deflateInit2(
+    this.strm,
+    opt.level,
+    opt.method,
+    opt.windowBits,
+    opt.memLevel,
+    opt.strategy
+  );
+
+  if (status !== Z_OK) {
+    throw new Error(msg[status]);
+  }
+
+  if (opt.header) {
+    zlib_deflate.deflateSetHeader(this.strm, opt.header);
+  }
+
+  if (opt.dictionary) {
+    var dict;
+    // Convert data if needed
+    if (typeof opt.dictionary === 'string') {
+      // If we need to compress text, change encoding to utf8.
+      dict = strings.string2buf(opt.dictionary);
+    } else if (toString.call(opt.dictionary) === '[object ArrayBuffer]') {
+      dict = new Uint8Array(opt.dictionary);
+    } else {
+      dict = opt.dictionary;
+    }
+
+    status = zlib_deflate.deflateSetDictionary(this.strm, dict);
+
+    if (status !== Z_OK) {
+      throw new Error(msg[status]);
+    }
+
+    this._dict_set = true;
+  }
+}
+
+/**
+ * Deflate#push(data[, mode]) -> Boolean
+ * - data (Uint8Array|Array|ArrayBuffer|String): input data. Strings will be
+ *   converted to utf8 byte sequence.
+ * - mode (Number|Boolean): 0..6 for corresponding Z_NO_FLUSH..Z_TREE modes.
+ *   See constants. Skipped or `false` means Z_NO_FLUSH, `true` meansh Z_FINISH.
+ *
+ * Sends input data to deflate pipe, generating [[Deflate#onData]] calls with
+ * new compressed chunks. Returns `true` on success. The last data block must have
+ * mode Z_FINISH (or `true`). That will flush internal pending buffers and call
+ * [[Deflate#onEnd]]. For interim explicit flushes (without ending the stream) you
+ * can use mode Z_SYNC_FLUSH, keeping the compression context.
+ *
+ * On fail call [[Deflate#onEnd]] with error code and return false.
+ *
+ * We strongly recommend to use `Uint8Array` on input for best speed (output
+ * array format is detected automatically). Also, don't skip last param and always
+ * use the same type in your code (boolean or number). That will improve JS speed.
+ *
+ * For regular `Array`-s make sure all elements are [0..255].
+ *
+ * ##### Example
+ *
+ * ```javascript
+ * push(chunk, false); // push one of data chunks
+ * ...
+ * push(chunk, true);  // push last chunk
+ * ```
+ **/
+Deflate.prototype.push = function (data, mode) {
+  var strm = this.strm;
+  var chunkSize = this.options.chunkSize;
+  var status, _mode;
+
+  if (this.ended) { return false; }
+
+  _mode = (mode === ~~mode) ? mode : ((mode === true) ? Z_FINISH : Z_NO_FLUSH);
+
+  // Convert data if needed
+  if (typeof data === 'string') {
+    // If we need to compress text, change encoding to utf8.
+    strm.input = strings.string2buf(data);
+  } else if (toString.call(data) === '[object ArrayBuffer]') {
+    strm.input = new Uint8Array(data);
+  } else {
+    strm.input = data;
+  }
+
+  strm.next_in = 0;
+  strm.avail_in = strm.input.length;
+
+  do {
+    if (strm.avail_out === 0) {
+      strm.output = new utils.Buf8(chunkSize);
+      strm.next_out = 0;
+      strm.avail_out = chunkSize;
+    }
+    status = zlib_deflate.deflate(strm, _mode);    /* no bad return value */
+
+    if (status !== Z_STREAM_END && status !== Z_OK) {
+      this.onEnd(status);
+      this.ended = true;
+      return false;
+    }
+    if (strm.avail_out === 0 || (strm.avail_in === 0 && (_mode === Z_FINISH || _mode === Z_SYNC_FLUSH))) {
+      if (this.options.to === 'string') {
+        this.onData(strings.buf2binstring(utils.shrinkBuf(strm.output, strm.next_out)));
+      } else {
+        this.onData(utils.shrinkBuf(strm.output, strm.next_out));
+      }
+    }
+  } while ((strm.avail_in > 0 || strm.avail_out === 0) && status !== Z_STREAM_END);
+
+  // Finalize on the last chunk.
+  if (_mode === Z_FINISH) {
+    status = zlib_deflate.deflateEnd(this.strm);
+    this.onEnd(status);
+    this.ended = true;
+    return status === Z_OK;
+  }
+
+  // callback interim results if Z_SYNC_FLUSH.
+  if (_mode === Z_SYNC_FLUSH) {
+    this.onEnd(Z_OK);
+    strm.avail_out = 0;
+    return true;
+  }
+
+  return true;
+};
+
+
+/**
+ * Deflate#onData(chunk) -> Void
+ * - chunk (Uint8Array|Array|String): ouput data. Type of array depends
+ *   on js engine support. When string output requested, each chunk
+ *   will be string.
+ *
+ * By default, stores data blocks in `chunks[]` property and glue
+ * those in `onEnd`. Override this handler, if you need another behaviour.
+ **/
+Deflate.prototype.onData = function (chunk) {
+  this.chunks.push(chunk);
+};
+
+
+/**
+ * Deflate#onEnd(status) -> Void
+ * - status (Number): deflate status. 0 (Z_OK) on success,
+ *   other if not.
+ *
+ * Called once after you tell deflate that the input stream is
+ * complete (Z_FINISH) or should be flushed (Z_SYNC_FLUSH)
+ * or if an error happened. By default - join collected chunks,
+ * free memory and fill `results` / `err` properties.
+ **/
+Deflate.prototype.onEnd = function (status) {
+  // On success - join
+  if (status === Z_OK) {
+    if (this.options.to === 'string') {
+      this.result = this.chunks.join('');
+    } else {
+      this.result = utils.flattenChunks(this.chunks);
+    }
+  }
+  this.chunks = [];
+  this.err = status;
+  this.msg = this.strm.msg;
+};
+
+
+/**
+ * deflate(data[, options]) -> Uint8Array|Array|String
+ * - data (Uint8Array|Array|String): input data to compress.
+ * - options (Object): zlib deflate options.
+ *
+ * Compress `data` with deflate algorithm and `options`.
+ *
+ * Supported options are:
+ *
+ * - level
+ * - windowBits
+ * - memLevel
+ * - strategy
+ * - dictionary
+ *
+ * [http://zlib.net/manual.html#Advanced](http://zlib.net/manual.html#Advanced)
+ * for more information on these.
+ *
+ * Sugar (options):
+ *
+ * - `raw` (Boolean) - say that we work with raw stream, if you don't wish to specify
+ *   negative windowBits implicitly.
+ * - `to` (String) - if equal to 'string', then result will be "binary string"
+ *    (each char code [0..255])
+ *
+ * ##### Example:
+ *
+ * ```javascript
+ * var pako = require('pako')
+ *   , data = Uint8Array([1,2,3,4,5,6,7,8,9]);
+ *
+ * console.log(pako.deflate(data));
+ * ```
+ **/
+function deflate(input, options) {
+  var deflator = new Deflate(options);
+
+  deflator.push(input, true);
+
+  // That will never happens, if you don't cheat with options :)
+  if (deflator.err) { throw deflator.msg || msg[deflator.err]; }
+
+  return deflator.result;
+}
+
+
+/**
+ * deflateRaw(data[, options]) -> Uint8Array|Array|String
+ * - data (Uint8Array|Array|String): input data to compress.
+ * - options (Object): zlib deflate options.
+ *
+ * The same as [[deflate]], but creates raw data, without wrapper
+ * (header and adler32 crc).
+ **/
+function deflateRaw(input, options) {
+  options = options || {};
+  options.raw = true;
+  return deflate(input, options);
+}
+
+
+/**
+ * gzip(data[, options]) -> Uint8Array|Array|String
+ * - data (Uint8Array|Array|String): input data to compress.
+ * - options (Object): zlib deflate options.
+ *
+ * The same as [[deflate]], but create gzip wrapper instead of
+ * deflate one.
+ **/
+function gzip(input, options) {
+  options = options || {};
+  options.gzip = true;
+  return deflate(input, options);
+}
+
+
+exports.Deflate = Deflate;
+exports.deflate = deflate;
+exports.deflateRaw = deflateRaw;
+exports.gzip = gzip;
+
+},{"./utils/common":41,"./utils/strings":42,"./zlib/deflate":46,"./zlib/messages":51,"./zlib/zstream":53}],40:[function(require,module,exports){
+'use strict';
+
+
+var zlib_inflate = require('./zlib/inflate');
+var utils        = require('./utils/common');
+var strings      = require('./utils/strings');
+var c            = require('./zlib/constants');
+var msg          = require('./zlib/messages');
+var ZStream      = require('./zlib/zstream');
+var GZheader     = require('./zlib/gzheader');
+
+var toString = Object.prototype.toString;
+
+/**
+ * class Inflate
+ *
+ * Generic JS-style wrapper for zlib calls. If you don't need
+ * streaming behaviour - use more simple functions: [[inflate]]
+ * and [[inflateRaw]].
+ **/
+
+/* internal
+ * inflate.chunks -> Array
+ *
+ * Chunks of output data, if [[Inflate#onData]] not overriden.
+ **/
+
+/**
+ * Inflate.result -> Uint8Array|Array|String
+ *
+ * Uncompressed result, generated by default [[Inflate#onData]]
+ * and [[Inflate#onEnd]] handlers. Filled after you push last chunk
+ * (call [[Inflate#push]] with `Z_FINISH` / `true` param) or if you
+ * push a chunk with explicit flush (call [[Inflate#push]] with
+ * `Z_SYNC_FLUSH` param).
+ **/
+
+/**
+ * Inflate.err -> Number
+ *
+ * Error code after inflate finished. 0 (Z_OK) on success.
+ * Should be checked if broken data possible.
+ **/
+
+/**
+ * Inflate.msg -> String
+ *
+ * Error message, if [[Inflate.err]] != 0
+ **/
+
+
+/**
+ * new Inflate(options)
+ * - options (Object): zlib inflate options.
+ *
+ * Creates new inflator instance with specified params. Throws exception
+ * on bad params. Supported options:
+ *
+ * - `windowBits`
+ * - `dictionary`
+ *
+ * [http://zlib.net/manual.html#Advanced](http://zlib.net/manual.html#Advanced)
+ * for more information on these.
+ *
+ * Additional options, for internal needs:
+ *
+ * - `chunkSize` - size of generated data chunks (16K by default)
+ * - `raw` (Boolean) - do raw inflate
+ * - `to` (String) - if equal to 'string', then result will be converted
+ *   from utf8 to utf16 (javascript) string. When string output requested,
+ *   chunk length can differ from `chunkSize`, depending on content.
+ *
+ * By default, when no options set, autodetect deflate/gzip data format via
+ * wrapper header.
+ *
+ * ##### Example:
+ *
+ * ```javascript
+ * var pako = require('pako')
+ *   , chunk1 = Uint8Array([1,2,3,4,5,6,7,8,9])
+ *   , chunk2 = Uint8Array([10,11,12,13,14,15,16,17,18,19]);
+ *
+ * var inflate = new pako.Inflate({ level: 3});
+ *
+ * inflate.push(chunk1, false);
+ * inflate.push(chunk2, true);  // true -> last chunk
+ *
+ * if (inflate.err) { throw new Error(inflate.err); }
+ *
+ * console.log(inflate.result);
+ * ```
+ **/
+function Inflate(options) {
+  if (!(this instanceof Inflate)) return new Inflate(options);
+
+  this.options = utils.assign({
+    chunkSize: 16384,
+    windowBits: 0,
+    to: ''
+  }, options || {});
+
+  var opt = this.options;
+
+  // Force window size for `raw` data, if not set directly,
+  // because we have no header for autodetect.
+  if (opt.raw && (opt.windowBits >= 0) && (opt.windowBits < 16)) {
+    opt.windowBits = -opt.windowBits;
+    if (opt.windowBits === 0) { opt.windowBits = -15; }
+  }
+
+  // If `windowBits` not defined (and mode not raw) - set autodetect flag for gzip/deflate
+  if ((opt.windowBits >= 0) && (opt.windowBits < 16) &&
+      !(options && options.windowBits)) {
+    opt.windowBits += 32;
+  }
+
+  // Gzip header has no info about windows size, we can do autodetect only
+  // for deflate. So, if window size not set, force it to max when gzip possible
+  if ((opt.windowBits > 15) && (opt.windowBits < 48)) {
+    // bit 3 (16) -> gzipped data
+    // bit 4 (32) -> autodetect gzip/deflate
+    if ((opt.windowBits & 15) === 0) {
+      opt.windowBits |= 15;
+    }
+  }
+
+  this.err    = 0;      // error code, if happens (0 = Z_OK)
+  this.msg    = '';     // error message
+  this.ended  = false;  // used to avoid multiple onEnd() calls
+  this.chunks = [];     // chunks of compressed data
+
+  this.strm   = new ZStream();
+  this.strm.avail_out = 0;
+
+  var status  = zlib_inflate.inflateInit2(
+    this.strm,
+    opt.windowBits
+  );
+
+  if (status !== c.Z_OK) {
+    throw new Error(msg[status]);
+  }
+
+  this.header = new GZheader();
+
+  zlib_inflate.inflateGetHeader(this.strm, this.header);
+}
+
+/**
+ * Inflate#push(data[, mode]) -> Boolean
+ * - data (Uint8Array|Array|ArrayBuffer|String): input data
+ * - mode (Number|Boolean): 0..6 for corresponding Z_NO_FLUSH..Z_TREE modes.
+ *   See constants. Skipped or `false` means Z_NO_FLUSH, `true` meansh Z_FINISH.
+ *
+ * Sends input data to inflate pipe, generating [[Inflate#onData]] calls with
+ * new output chunks. Returns `true` on success. The last data block must have
+ * mode Z_FINISH (or `true`). That will flush internal pending buffers and call
+ * [[Inflate#onEnd]]. For interim explicit flushes (without ending the stream) you
+ * can use mode Z_SYNC_FLUSH, keeping the decompression context.
+ *
+ * On fail call [[Inflate#onEnd]] with error code and return false.
+ *
+ * We strongly recommend to use `Uint8Array` on input for best speed (output
+ * format is detected automatically). Also, don't skip last param and always
+ * use the same type in your code (boolean or number). That will improve JS speed.
+ *
+ * For regular `Array`-s make sure all elements are [0..255].
+ *
+ * ##### Example
+ *
+ * ```javascript
+ * push(chunk, false); // push one of data chunks
+ * ...
+ * push(chunk, true);  // push last chunk
+ * ```
+ **/
+Inflate.prototype.push = function (data, mode) {
+  var strm = this.strm;
+  var chunkSize = this.options.chunkSize;
+  var dictionary = this.options.dictionary;
+  var status, _mode;
+  var next_out_utf8, tail, utf8str;
+  var dict;
+
+  // Flag to properly process Z_BUF_ERROR on testing inflate call
+  // when we check that all output data was flushed.
+  var allowBufError = false;
+
+  if (this.ended) { return false; }
+  _mode = (mode === ~~mode) ? mode : ((mode === true) ? c.Z_FINISH : c.Z_NO_FLUSH);
+
+  // Convert data if needed
+  if (typeof data === 'string') {
+    // Only binary strings can be decompressed on practice
+    strm.input = strings.binstring2buf(data);
+  } else if (toString.call(data) === '[object ArrayBuffer]') {
+    strm.input = new Uint8Array(data);
+  } else {
+    strm.input = data;
+  }
+
+  strm.next_in = 0;
+  strm.avail_in = strm.input.length;
+
+  do {
+    if (strm.avail_out === 0) {
+      strm.output = new utils.Buf8(chunkSize);
+      strm.next_out = 0;
+      strm.avail_out = chunkSize;
+    }
+
+    status = zlib_inflate.inflate(strm, c.Z_NO_FLUSH);    /* no bad return value */
+
+    if (status === c.Z_NEED_DICT && dictionary) {
+      // Convert data if needed
+      if (typeof dictionary === 'string') {
+        dict = strings.string2buf(dictionary);
+      } else if (toString.call(dictionary) === '[object ArrayBuffer]') {
+        dict = new Uint8Array(dictionary);
+      } else {
+        dict = dictionary;
+      }
+
+      status = zlib_inflate.inflateSetDictionary(this.strm, dict);
+
+    }
+
+    if (status === c.Z_BUF_ERROR && allowBufError === true) {
+      status = c.Z_OK;
+      allowBufError = false;
+    }
+
+    if (status !== c.Z_STREAM_END && status !== c.Z_OK) {
+      this.onEnd(status);
+      this.ended = true;
+      return false;
+    }
+
+    if (strm.next_out) {
+      if (strm.avail_out === 0 || status === c.Z_STREAM_END || (strm.avail_in === 0 && (_mode === c.Z_FINISH || _mode === c.Z_SYNC_FLUSH))) {
+
+        if (this.options.to === 'string') {
+
+          next_out_utf8 = strings.utf8border(strm.output, strm.next_out);
+
+          tail = strm.next_out - next_out_utf8;
+          utf8str = strings.buf2string(strm.output, next_out_utf8);
+
+          // move tail
+          strm.next_out = tail;
+          strm.avail_out = chunkSize - tail;
+          if (tail) { utils.arraySet(strm.output, strm.output, next_out_utf8, tail, 0); }
+
+          this.onData(utf8str);
+
+        } else {
+          this.onData(utils.shrinkBuf(strm.output, strm.next_out));
+        }
+      }
+    }
+
+    // When no more input data, we should check that internal inflate buffers
+    // are flushed. The only way to do it when avail_out = 0 - run one more
+    // inflate pass. But if output data not exists, inflate return Z_BUF_ERROR.
+    // Here we set flag to process this error properly.
+    //
+    // NOTE. Deflate does not return error in this case and does not needs such
+    // logic.
+    if (strm.avail_in === 0 && strm.avail_out === 0) {
+      allowBufError = true;
+    }
+
+  } while ((strm.avail_in > 0 || strm.avail_out === 0) && status !== c.Z_STREAM_END);
+
+  if (status === c.Z_STREAM_END) {
+    _mode = c.Z_FINISH;
+  }
+
+  // Finalize on the last chunk.
+  if (_mode === c.Z_FINISH) {
+    status = zlib_inflate.inflateEnd(this.strm);
+    this.onEnd(status);
+    this.ended = true;
+    return status === c.Z_OK;
+  }
+
+  // callback interim results if Z_SYNC_FLUSH.
+  if (_mode === c.Z_SYNC_FLUSH) {
+    this.onEnd(c.Z_OK);
+    strm.avail_out = 0;
+    return true;
+  }
+
+  return true;
+};
+
+
+/**
+ * Inflate#onData(chunk) -> Void
+ * - chunk (Uint8Array|Array|String): ouput data. Type of array depends
+ *   on js engine support. When string output requested, each chunk
+ *   will be string.
+ *
+ * By default, stores data blocks in `chunks[]` property and glue
+ * those in `onEnd`. Override this handler, if you need another behaviour.
+ **/
+Inflate.prototype.onData = function (chunk) {
+  this.chunks.push(chunk);
+};
+
+
+/**
+ * Inflate#onEnd(status) -> Void
+ * - status (Number): inflate status. 0 (Z_OK) on success,
+ *   other if not.
+ *
+ * Called either after you tell inflate that the input stream is
+ * complete (Z_FINISH) or should be flushed (Z_SYNC_FLUSH)
+ * or if an error happened. By default - join collected chunks,
+ * free memory and fill `results` / `err` properties.
+ **/
+Inflate.prototype.onEnd = function (status) {
+  // On success - join
+  if (status === c.Z_OK) {
+    if (this.options.to === 'string') {
+      // Glue & convert here, until we teach pako to send
+      // utf8 alligned strings to onData
+      this.result = this.chunks.join('');
+    } else {
+      this.result = utils.flattenChunks(this.chunks);
+    }
+  }
+  this.chunks = [];
+  this.err = status;
+  this.msg = this.strm.msg;
+};
+
+
+/**
+ * inflate(data[, options]) -> Uint8Array|Array|String
+ * - data (Uint8Array|Array|String): input data to decompress.
+ * - options (Object): zlib inflate options.
+ *
+ * Decompress `data` with inflate/ungzip and `options`. Autodetect
+ * format via wrapper header by default. That's why we don't provide
+ * separate `ungzip` method.
+ *
+ * Supported options are:
+ *
+ * - windowBits
+ *
+ * [http://zlib.net/manual.html#Advanced](http://zlib.net/manual.html#Advanced)
+ * for more information.
+ *
+ * Sugar (options):
+ *
+ * - `raw` (Boolean) - say that we work with raw stream, if you don't wish to specify
+ *   negative windowBits implicitly.
+ * - `to` (String) - if equal to 'string', then result will be converted
+ *   from utf8 to utf16 (javascript) string. When string output requested,
+ *   chunk length can differ from `chunkSize`, depending on content.
+ *
+ *
+ * ##### Example:
+ *
+ * ```javascript
+ * var pako = require('pako')
+ *   , input = pako.deflate([1,2,3,4,5,6,7,8,9])
+ *   , output;
+ *
+ * try {
+ *   output = pako.inflate(input);
+ * } catch (err)
+ *   console.log(err);
+ * }
+ * ```
+ **/
+function inflate(input, options) {
+  var inflator = new Inflate(options);
+
+  inflator.push(input, true);
+
+  // That will never happens, if you don't cheat with options :)
+  if (inflator.err) { throw inflator.msg || msg[inflator.err]; }
+
+  return inflator.result;
+}
+
+
+/**
+ * inflateRaw(data[, options]) -> Uint8Array|Array|String
+ * - data (Uint8Array|Array|String): input data to decompress.
+ * - options (Object): zlib inflate options.
+ *
+ * The same as [[inflate]], but creates raw data, without wrapper
+ * (header and adler32 crc).
+ **/
+function inflateRaw(input, options) {
+  options = options || {};
+  options.raw = true;
+  return inflate(input, options);
+}
+
+
+/**
+ * ungzip(data[, options]) -> Uint8Array|Array|String
+ * - data (Uint8Array|Array|String): input data to decompress.
+ * - options (Object): zlib inflate options.
+ *
+ * Just shortcut to [[inflate]], because it autodetects format
+ * by header.content. Done for convenience.
+ **/
+
+
+exports.Inflate = Inflate;
+exports.inflate = inflate;
+exports.inflateRaw = inflateRaw;
+exports.ungzip  = inflate;
+
+},{"./utils/common":41,"./utils/strings":42,"./zlib/constants":44,"./zlib/gzheader":47,"./zlib/inflate":49,"./zlib/messages":51,"./zlib/zstream":53}],41:[function(require,module,exports){
+'use strict';
+
+
+var TYPED_OK =  (typeof Uint8Array !== 'undefined') &&
+                (typeof Uint16Array !== 'undefined') &&
+                (typeof Int32Array !== 'undefined');
+
+
+exports.assign = function (obj /*from1, from2, from3, ...*/) {
+  var sources = Array.prototype.slice.call(arguments, 1);
+  while (sources.length) {
+    var source = sources.shift();
+    if (!source) { continue; }
+
+    if (typeof source !== 'object') {
+      throw new TypeError(source + 'must be non-object');
+    }
+
+    for (var p in source) {
+      if (source.hasOwnProperty(p)) {
+        obj[p] = source[p];
+      }
+    }
+  }
+
+  return obj;
+};
+
+
+// reduce buffer size, avoiding mem copy
+exports.shrinkBuf = function (buf, size) {
+  if (buf.length === size) { return buf; }
+  if (buf.subarray) { return buf.subarray(0, size); }
+  buf.length = size;
+  return buf;
+};
+
+
+var fnTyped = {
+  arraySet: function (dest, src, src_offs, len, dest_offs) {
+    if (src.subarray && dest.subarray) {
+      dest.set(src.subarray(src_offs, src_offs + len), dest_offs);
+      return;
+    }
+    // Fallback to ordinary array
+    for (var i = 0; i < len; i++) {
+      dest[dest_offs + i] = src[src_offs + i];
+    }
+  },
+  // Join array of chunks to single array.
+  flattenChunks: function (chunks) {
+    var i, l, len, pos, chunk, result;
+
+    // calculate data length
+    len = 0;
+    for (i = 0, l = chunks.length; i < l; i++) {
+      len += chunks[i].length;
+    }
+
+    // join chunks
+    result = new Uint8Array(len);
+    pos = 0;
+    for (i = 0, l = chunks.length; i < l; i++) {
+      chunk = chunks[i];
+      result.set(chunk, pos);
+      pos += chunk.length;
+    }
+
+    return result;
+  }
+};
+
+var fnUntyped = {
+  arraySet: function (dest, src, src_offs, len, dest_offs) {
+    for (var i = 0; i < len; i++) {
+      dest[dest_offs + i] = src[src_offs + i];
+    }
+  },
+  // Join array of chunks to single array.
+  flattenChunks: function (chunks) {
+    return [].concat.apply([], chunks);
+  }
+};
+
+
+// Enable/Disable typed arrays use, for testing
+//
+exports.setTyped = function (on) {
+  if (on) {
+    exports.Buf8  = Uint8Array;
+    exports.Buf16 = Uint16Array;
+    exports.Buf32 = Int32Array;
+    exports.assign(exports, fnTyped);
+  } else {
+    exports.Buf8  = Array;
+    exports.Buf16 = Array;
+    exports.Buf32 = Array;
+    exports.assign(exports, fnUntyped);
+  }
+};
+
+exports.setTyped(TYPED_OK);
+
+},{}],42:[function(require,module,exports){
+// String encode/decode helpers
+'use strict';
+
+
+var utils = require('./common');
+
+
+// Quick check if we can use fast array to bin string conversion
+//
+// - apply(Array) can fail on Android 2.2
+// - apply(Uint8Array) can fail on iOS 5.1 Safary
+//
+var STR_APPLY_OK = true;
+var STR_APPLY_UIA_OK = true;
+
+try { String.fromCharCode.apply(null, [ 0 ]); } catch (__) { STR_APPLY_OK = false; }
+try { String.fromCharCode.apply(null, new Uint8Array(1)); } catch (__) { STR_APPLY_UIA_OK = false; }
+
+
+// Table with utf8 lengths (calculated by first byte of sequence)
+// Note, that 5 & 6-byte values and some 4-byte values can not be represented in JS,
+// because max possible codepoint is 0x10ffff
+var _utf8len = new utils.Buf8(256);
+for (var q = 0; q < 256; q++) {
+  _utf8len[q] = (q >= 252 ? 6 : q >= 248 ? 5 : q >= 240 ? 4 : q >= 224 ? 3 : q >= 192 ? 2 : 1);
+}
+_utf8len[254] = _utf8len[254] = 1; // Invalid sequence start
+
+
+// convert string to array (typed, when possible)
+exports.string2buf = function (str) {
+  var buf, c, c2, m_pos, i, str_len = str.length, buf_len = 0;
+
+  // count binary size
+  for (m_pos = 0; m_pos < str_len; m_pos++) {
+    c = str.charCodeAt(m_pos);
+    if ((c & 0xfc00) === 0xd800 && (m_pos + 1 < str_len)) {
+      c2 = str.charCodeAt(m_pos + 1);
+      if ((c2 & 0xfc00) === 0xdc00) {
+        c = 0x10000 + ((c - 0xd800) << 10) + (c2 - 0xdc00);
+        m_pos++;
+      }
+    }
+    buf_len += c < 0x80 ? 1 : c < 0x800 ? 2 : c < 0x10000 ? 3 : 4;
+  }
+
+  // allocate buffer
+  buf = new utils.Buf8(buf_len);
+
+  // convert
+  for (i = 0, m_pos = 0; i < buf_len; m_pos++) {
+    c = str.charCodeAt(m_pos);
+    if ((c & 0xfc00) === 0xd800 && (m_pos + 1 < str_len)) {
+      c2 = str.charCodeAt(m_pos + 1);
+      if ((c2 & 0xfc00) === 0xdc00) {
+        c = 0x10000 + ((c - 0xd800) << 10) + (c2 - 0xdc00);
+        m_pos++;
+      }
+    }
+    if (c < 0x80) {
+      /* one byte */
+      buf[i++] = c;
+    } else if (c < 0x800) {
+      /* two bytes */
+      buf[i++] = 0xC0 | (c >>> 6);
+      buf[i++] = 0x80 | (c & 0x3f);
+    } else if (c < 0x10000) {
+      /* three bytes */
+      buf[i++] = 0xE0 | (c >>> 12);
+      buf[i++] = 0x80 | (c >>> 6 & 0x3f);
+      buf[i++] = 0x80 | (c & 0x3f);
+    } else {
+      /* four bytes */
+      buf[i++] = 0xf0 | (c >>> 18);
+      buf[i++] = 0x80 | (c >>> 12 & 0x3f);
+      buf[i++] = 0x80 | (c >>> 6 & 0x3f);
+      buf[i++] = 0x80 | (c & 0x3f);
+    }
+  }
+
+  return buf;
+};
+
+// Helper (used in 2 places)
+function buf2binstring(buf, len) {
+  // use fallback for big arrays to avoid stack overflow
+  if (len < 65537) {
+    if ((buf.subarray && STR_APPLY_UIA_OK) || (!buf.subarray && STR_APPLY_OK)) {
+      return String.fromCharCode.apply(null, utils.shrinkBuf(buf, len));
+    }
+  }
+
+  var result = '';
+  for (var i = 0; i < len; i++) {
+    result += String.fromCharCode(buf[i]);
+  }
+  return result;
+}
+
+
+// Convert byte array to binary string
+exports.buf2binstring = function (buf) {
+  return buf2binstring(buf, buf.length);
+};
+
+
+// Convert binary string (typed, when possible)
+exports.binstring2buf = function (str) {
+  var buf = new utils.Buf8(str.length);
+  for (var i = 0, len = buf.length; i < len; i++) {
+    buf[i] = str.charCodeAt(i);
+  }
+  return buf;
+};
+
+
+// convert array to string
+exports.buf2string = function (buf, max) {
+  var i, out, c, c_len;
+  var len = max || buf.length;
+
+  // Reserve max possible length (2 words per char)
+  // NB: by unknown reasons, Array is significantly faster for
+  //     String.fromCharCode.apply than Uint16Array.
+  var utf16buf = new Array(len * 2);
+
+  for (out = 0, i = 0; i < len;) {
+    c = buf[i++];
+    // quick process ascii
+    if (c < 0x80) { utf16buf[out++] = c; continue; }
+
+    c_len = _utf8len[c];
+    // skip 5 & 6 byte codes
+    if (c_len > 4) { utf16buf[out++] = 0xfffd; i += c_len - 1; continue; }
+
+    // apply mask on first byte
+    c &= c_len === 2 ? 0x1f : c_len === 3 ? 0x0f : 0x07;
+    // join the rest
+    while (c_len > 1 && i < len) {
+      c = (c << 6) | (buf[i++] & 0x3f);
+      c_len--;
+    }
+
+    // terminated by end of string?
+    if (c_len > 1) { utf16buf[out++] = 0xfffd; continue; }
+
+    if (c < 0x10000) {
+      utf16buf[out++] = c;
+    } else {
+      c -= 0x10000;
+      utf16buf[out++] = 0xd800 | ((c >> 10) & 0x3ff);
+      utf16buf[out++] = 0xdc00 | (c & 0x3ff);
+    }
+  }
+
+  return buf2binstring(utf16buf, out);
+};
+
+
+// Calculate max possible position in utf8 buffer,
+// that will not break sequence. If that's not possible
+// - (very small limits) return max size as is.
+//
+// buf[] - utf8 bytes array
+// max   - length limit (mandatory);
+exports.utf8border = function (buf, max) {
+  var pos;
+
+  max = max || buf.length;
+  if (max > buf.length) { max = buf.length; }
+
+  // go back from last position, until start of sequence found
+  pos = max - 1;
+  while (pos >= 0 && (buf[pos] & 0xC0) === 0x80) { pos--; }
+
+  // Fuckup - very small and broken sequence,
+  // return max, because we should return something anyway.
+  if (pos < 0) { return max; }
+
+  // If we came to start of buffer - that means vuffer is too small,
+  // return max too.
+  if (pos === 0) { return max; }
+
+  return (pos + _utf8len[buf[pos]] > max) ? pos : max;
+};
+
+},{"./common":41}],43:[function(require,module,exports){
+'use strict';
+
+// Note: adler32 takes 12% for level 0 and 2% for level 6.
+// It doesn't worth to make additional optimizationa as in original.
+// Small size is preferable.
+
+// (C) 1995-2013 Jean-loup Gailly and Mark Adler
+// (C) 2014-2017 Vitaly Puzrin and Andrey Tupitsin
+//
+// This software is provided 'as-is', without any express or implied
+// warranty. In no event will the authors be held liable for any damages
+// arising from the use of this software.
+//
+// Permission is granted to anyone to use this software for any purpose,
+// including commercial applications, and to alter it and redistribute it
+// freely, subject to the following restrictions:
+//
+// 1. The origin of this software must not be misrepresented; you must not
+//   claim that you wrote the original software. If you use this software
+//   in a product, an acknowledgment in the product documentation would be
+//   appreciated but is not required.
+// 2. Altered source versions must be plainly marked as such, and must not be
+//   misrepresented as being the original software.
+// 3. This notice may not be removed or altered from any source distribution.
+
+function adler32(adler, buf, len, pos) {
+  var s1 = (adler & 0xffff) |0,
+      s2 = ((adler >>> 16) & 0xffff) |0,
+      n = 0;
+
+  while (len !== 0) {
+    // Set limit ~ twice less than 5552, to keep
+    // s2 in 31-bits, because we force signed ints.
+    // in other case %= will fail.
+    n = len > 2000 ? 2000 : len;
+    len -= n;
+
+    do {
+      s1 = (s1 + buf[pos++]) |0;
+      s2 = (s2 + s1) |0;
+    } while (--n);
+
+    s1 %= 65521;
+    s2 %= 65521;
+  }
+
+  return (s1 | (s2 << 16)) |0;
+}
+
+
+module.exports = adler32;
+
+},{}],44:[function(require,module,exports){
+'use strict';
+
+// (C) 1995-2013 Jean-loup Gailly and Mark Adler
+// (C) 2014-2017 Vitaly Puzrin and Andrey Tupitsin
+//
+// This software is provided 'as-is', without any express or implied
+// warranty. In no event will the authors be held liable for any damages
+// arising from the use of this software.
+//
+// Permission is granted to anyone to use this software for any purpose,
+// including commercial applications, and to alter it and redistribute it
+// freely, subject to the following restrictions:
+//
+// 1. The origin of this software must not be misrepresented; you must not
+//   claim that you wrote the original software. If you use this software
+//   in a product, an acknowledgment in the product documentation would be
+//   appreciated but is not required.
+// 2. Altered source versions must be plainly marked as such, and must not be
+//   misrepresented as being the original software.
+// 3. This notice may not be removed or altered from any source distribution.
+
+module.exports = {
+
+  /* Allowed flush values; see deflate() and inflate() below for details */
+  Z_NO_FLUSH:         0,
+  Z_PARTIAL_FLUSH:    1,
+  Z_SYNC_FLUSH:       2,
+  Z_FULL_FLUSH:       3,
+  Z_FINISH:           4,
+  Z_BLOCK:            5,
+  Z_TREES:            6,
+
+  /* Return codes for the compression/decompression functions. Negative values
+  * are errors, positive values are used for special but normal events.
+  */
+  Z_OK:               0,
+  Z_STREAM_END:       1,
+  Z_NEED_DICT:        2,
+  Z_ERRNO:           -1,
+  Z_STREAM_ERROR:    -2,
+  Z_DATA_ERROR:      -3,
+  //Z_MEM_ERROR:     -4,
+  Z_BUF_ERROR:       -5,
+  //Z_VERSION_ERROR: -6,
+
+  /* compression levels */
+  Z_NO_COMPRESSION:         0,
+  Z_BEST_SPEED:             1,
+  Z_BEST_COMPRESSION:       9,
+  Z_DEFAULT_COMPRESSION:   -1,
+
+
+  Z_FILTERED:               1,
+  Z_HUFFMAN_ONLY:           2,
+  Z_RLE:                    3,
+  Z_FIXED:                  4,
+  Z_DEFAULT_STRATEGY:       0,
+
+  /* Possible values of the data_type field (though see inflate()) */
+  Z_BINARY:                 0,
+  Z_TEXT:                   1,
+  //Z_ASCII:                1, // = Z_TEXT (deprecated)
+  Z_UNKNOWN:                2,
+
+  /* The deflate compression method */
+  Z_DEFLATED:               8
+  //Z_NULL:                 null // Use -1 or null inline, depending on var type
+};
+
+},{}],45:[function(require,module,exports){
+'use strict';
+
+// Note: we can't get significant speed boost here.
+// So write code to minimize size - no pregenerated tables
+// and array tools dependencies.
+
+// (C) 1995-2013 Jean-loup Gailly and Mark Adler
+// (C) 2014-2017 Vitaly Puzrin and Andrey Tupitsin
+//
+// This software is provided 'as-is', without any express or implied
+// warranty. In no event will the authors be held liable for any damages
+// arising from the use of this software.
+//
+// Permission is granted to anyone to use this software for any purpose,
+// including commercial applications, and to alter it and redistribute it
+// freely, subject to the following restrictions:
+//
+// 1. The origin of this software must not be misrepresented; you must not
+//   claim that you wrote the original software. If you use this software
+//   in a product, an acknowledgment in the product documentation would be
+//   appreciated but is not required.
+// 2. Altered source versions must be plainly marked as such, and must not be
+//   misrepresented as being the original software.
+// 3. This notice may not be removed or altered from any source distribution.
+
+// Use ordinary array, since untyped makes no boost here
+function makeTable() {
+  var c, table = [];
+
+  for (var n = 0; n < 256; n++) {
+    c = n;
+    for (var k = 0; k < 8; k++) {
+      c = ((c & 1) ? (0xEDB88320 ^ (c >>> 1)) : (c >>> 1));
+    }
+    table[n] = c;
+  }
+
+  return table;
+}
+
+// Create table on load. Just 255 signed longs. Not a problem.
+var crcTable = makeTable();
+
+
+function crc32(crc, buf, len, pos) {
+  var t = crcTable,
+      end = pos + len;
+
+  crc ^= -1;
+
+  for (var i = pos; i < end; i++) {
+    crc = (crc >>> 8) ^ t[(crc ^ buf[i]) & 0xFF];
+  }
+
+  return (crc ^ (-1)); // >>> 0;
+}
+
+
+module.exports = crc32;
+
+},{}],46:[function(require,module,exports){
+'use strict';
+
+// (C) 1995-2013 Jean-loup Gailly and Mark Adler
+// (C) 2014-2017 Vitaly Puzrin and Andrey Tupitsin
+//
+// This software is provided 'as-is', without any express or implied
+// warranty. In no event will the authors be held liable for any damages
+// arising from the use of this software.
+//
+// Permission is granted to anyone to use this software for any purpose,
+// including commercial applications, and to alter it and redistribute it
+// freely, subject to the following restrictions:
+//
+// 1. The origin of this software must not be misrepresented; you must not
+//   claim that you wrote the original software. If you use this software
+//   in a product, an acknowledgment in the product documentation would be
+//   appreciated but is not required.
+// 2. Altered source versions must be plainly marked as such, and must not be
+//   misrepresented as being the original software.
+// 3. This notice may not be removed or altered from any source distribution.
+
+var utils   = require('../utils/common');
+var trees   = require('./trees');
+var adler32 = require('./adler32');
+var crc32   = require('./crc32');
+var msg     = require('./messages');
+
+/* Public constants ==========================================================*/
+/* ===========================================================================*/
+
+
+/* Allowed flush values; see deflate() and inflate() below for details */
+var Z_NO_FLUSH      = 0;
+var Z_PARTIAL_FLUSH = 1;
+//var Z_SYNC_FLUSH    = 2;
+var Z_FULL_FLUSH    = 3;
+var Z_FINISH        = 4;
+var Z_BLOCK         = 5;
+//var Z_TREES         = 6;
+
+
+/* Return codes for the compression/decompression functions. Negative values
+ * are errors, positive values are used for special but normal events.
+ */
+var Z_OK            = 0;
+var Z_STREAM_END    = 1;
+//var Z_NEED_DICT     = 2;
+//var Z_ERRNO         = -1;
+var Z_STREAM_ERROR  = -2;
+var Z_DATA_ERROR    = -3;
+//var Z_MEM_ERROR     = -4;
+var Z_BUF_ERROR     = -5;
+//var Z_VERSION_ERROR = -6;
+
+
+/* compression levels */
+//var Z_NO_COMPRESSION      = 0;
+//var Z_BEST_SPEED          = 1;
+//var Z_BEST_COMPRESSION    = 9;
+var Z_DEFAULT_COMPRESSION = -1;
+
+
+var Z_FILTERED            = 1;
+var Z_HUFFMAN_ONLY        = 2;
+var Z_RLE                 = 3;
+var Z_FIXED               = 4;
+var Z_DEFAULT_STRATEGY    = 0;
+
+/* Possible values of the data_type field (though see inflate()) */
+//var Z_BINARY              = 0;
+//var Z_TEXT                = 1;
+//var Z_ASCII               = 1; // = Z_TEXT
+var Z_UNKNOWN             = 2;
+
+
+/* The deflate compression method */
+var Z_DEFLATED  = 8;
+
+/*============================================================================*/
+
+
+var MAX_MEM_LEVEL = 9;
+/* Maximum value for memLevel in deflateInit2 */
+var MAX_WBITS = 15;
+/* 32K LZ77 window */
+var DEF_MEM_LEVEL = 8;
+
+
+var LENGTH_CODES  = 29;
+/* number of length codes, not counting the special END_BLOCK code */
+var LITERALS      = 256;
+/* number of literal bytes 0..255 */
+var L_CODES       = LITERALS + 1 + LENGTH_CODES;
+/* number of Literal or Length codes, including the END_BLOCK code */
+var D_CODES       = 30;
+/* number of distance codes */
+var BL_CODES      = 19;
+/* number of codes used to transfer the bit lengths */
+var HEAP_SIZE     = 2 * L_CODES + 1;
+/* maximum heap size */
+var MAX_BITS  = 15;
+/* All codes must not exceed MAX_BITS bits */
+
+var MIN_MATCH = 3;
+var MAX_MATCH = 258;
+var MIN_LOOKAHEAD = (MAX_MATCH + MIN_MATCH + 1);
+
+var PRESET_DICT = 0x20;
+
+var INIT_STATE = 42;
+var EXTRA_STATE = 69;
+var NAME_STATE = 73;
+var COMMENT_STATE = 91;
+var HCRC_STATE = 103;
+var BUSY_STATE = 113;
+var FINISH_STATE = 666;
+
+var BS_NEED_MORE      = 1; /* block not completed, need more input or more output */
+var BS_BLOCK_DONE     = 2; /* block flush performed */
+var BS_FINISH_STARTED = 3; /* finish started, need only more output at next deflate */
+var BS_FINISH_DONE    = 4; /* finish done, accept no more input or output */
+
+var OS_CODE = 0x03; // Unix :) . Don't detect, use this default.
+
+function err(strm, errorCode) {
+  strm.msg = msg[errorCode];
+  return errorCode;
+}
+
+function rank(f) {
+  return ((f) << 1) - ((f) > 4 ? 9 : 0);
+}
+
+function zero(buf) { var len = buf.length; while (--len >= 0) { buf[len] = 0; } }
+
+
+/* =========================================================================
+ * Flush as much pending output as possible. All deflate() output goes
+ * through this function so some applications may wish to modify it
+ * to avoid allocating a large strm->output buffer and copying into it.
+ * (See also read_buf()).
+ */
+function flush_pending(strm) {
+  var s = strm.state;
+
+  //_tr_flush_bits(s);
+  var len = s.pending;
+  if (len > strm.avail_out) {
+    len = strm.avail_out;
+  }
+  if (len === 0) { return; }
+
+  utils.arraySet(strm.output, s.pending_buf, s.pending_out, len, strm.next_out);
+  strm.next_out += len;
+  s.pending_out += len;
+  strm.total_out += len;
+  strm.avail_out -= len;
+  s.pending -= len;
+  if (s.pending === 0) {
+    s.pending_out = 0;
+  }
+}
+
+
+function flush_block_only(s, last) {
+  trees._tr_flush_block(s, (s.block_start >= 0 ? s.block_start : -1), s.strstart - s.block_start, last);
+  s.block_start = s.strstart;
+  flush_pending(s.strm);
+}
+
+
+function put_byte(s, b) {
+  s.pending_buf[s.pending++] = b;
+}
+
+
+/* =========================================================================
+ * Put a short in the pending buffer. The 16-bit value is put in MSB order.
+ * IN assertion: the stream state is correct and there is enough room in
+ * pending_buf.
+ */
+function putShortMSB(s, b) {
+//  put_byte(s, (Byte)(b >> 8));
+//  put_byte(s, (Byte)(b & 0xff));
+  s.pending_buf[s.pending++] = (b >>> 8) & 0xff;
+  s.pending_buf[s.pending++] = b & 0xff;
+}
+
+
+/* ===========================================================================
+ * Read a new buffer from the current input stream, update the adler32
+ * and total number of bytes read.  All deflate() input goes through
+ * this function so some applications may wish to modify it to avoid
+ * allocating a large strm->input buffer and copying from it.
+ * (See also flush_pending()).
+ */
+function read_buf(strm, buf, start, size) {
+  var len = strm.avail_in;
+
+  if (len > size) { len = size; }
+  if (len === 0) { return 0; }
+
+  strm.avail_in -= len;
+
+  // zmemcpy(buf, strm->next_in, len);
+  utils.arraySet(buf, strm.input, strm.next_in, len, start);
+  if (strm.state.wrap === 1) {
+    strm.adler = adler32(strm.adler, buf, len, start);
+  }
+
+  else if (strm.state.wrap === 2) {
+    strm.adler = crc32(strm.adler, buf, len, start);
+  }
+
+  strm.next_in += len;
+  strm.total_in += len;
+
+  return len;
+}
+
+
+/* ===========================================================================
+ * Set match_start to the longest match starting at the given string and
+ * return its length. Matches shorter or equal to prev_length are discarded,
+ * in which case the result is equal to prev_length and match_start is
+ * garbage.
+ * IN assertions: cur_match is the head of the hash chain for the current
+ *   string (strstart) and its distance is <= MAX_DIST, and prev_length >= 1
+ * OUT assertion: the match length is not greater than s->lookahead.
+ */
+function longest_match(s, cur_match) {
+  var chain_length = s.max_chain_length;      /* max hash chain length */
+  var scan = s.strstart; /* current string */
+  var match;                       /* matched string */
+  var len;                           /* length of current match */
+  var best_len = s.prev_length;              /* best match length so far */
+  var nice_match = s.nice_match;             /* stop if match long enough */
+  var limit = (s.strstart > (s.w_size - MIN_LOOKAHEAD)) ?
+      s.strstart - (s.w_size - MIN_LOOKAHEAD) : 0/*NIL*/;
+
+  var _win = s.window; // shortcut
+
+  var wmask = s.w_mask;
+  var prev  = s.prev;
+
+  /* Stop when cur_match becomes <= limit. To simplify the code,
+   * we prevent matches with the string of window index 0.
+   */
+
+  var strend = s.strstart + MAX_MATCH;
+  var scan_end1  = _win[scan + best_len - 1];
+  var scan_end   = _win[scan + best_len];
+
+  /* The code is optimized for HASH_BITS >= 8 and MAX_MATCH-2 multiple of 16.
+   * It is easy to get rid of this optimization if necessary.
+   */
+  // Assert(s->hash_bits >= 8 && MAX_MATCH == 258, "Code too clever");
+
+  /* Do not waste too much time if we already have a good match: */
+  if (s.prev_length >= s.good_match) {
+    chain_length >>= 2;
+  }
+  /* Do not look for matches beyond the end of the input. This is necessary
+   * to make deflate deterministic.
+   */
+  if (nice_match > s.lookahead) { nice_match = s.lookahead; }
+
+  // Assert((ulg)s->strstart <= s->window_size-MIN_LOOKAHEAD, "need lookahead");
+
+  do {
+    // Assert(cur_match < s->strstart, "no future");
+    match = cur_match;
+
+    /* Skip to next match if the match length cannot increase
+     * or if the match length is less than 2.  Note that the checks below
+     * for insufficient lookahead only occur occasionally for performance
+     * reasons.  Therefore uninitialized memory will be accessed, and
+     * conditional jumps will be made that depend on those values.
+     * However the length of the match is limited to the lookahead, so
+     * the output of deflate is not affected by the uninitialized values.
+     */
+
+    if (_win[match + best_len]     !== scan_end  ||
+        _win[match + best_len - 1] !== scan_end1 ||
+        _win[match]                !== _win[scan] ||
+        _win[++match]              !== _win[scan + 1]) {
+      continue;
+    }
+
+    /* The check at best_len-1 can be removed because it will be made
+     * again later. (This heuristic is not always a win.)
+     * It is not necessary to compare scan[2] and match[2] since they
+     * are always equal when the other bytes match, given that
+     * the hash keys are equal and that HASH_BITS >= 8.
+     */
+    scan += 2;
+    match++;
+    // Assert(*scan == *match, "match[2]?");
+
+    /* We check for insufficient lookahead only every 8th comparison;
+     * the 256th check will be made at strstart+258.
+     */
+    do {
+      /*jshint noempty:false*/
+    } while (_win[++scan] === _win[++match] && _win[++scan] === _win[++match] &&
+             _win[++scan] === _win[++match] && _win[++scan] === _win[++match] &&
+             _win[++scan] === _win[++match] && _win[++scan] === _win[++match] &&
+             _win[++scan] === _win[++match] && _win[++scan] === _win[++match] &&
+             scan < strend);
+
+    // Assert(scan <= s->window+(unsigned)(s->window_size-1), "wild scan");
+
+    len = MAX_MATCH - (strend - scan);
+    scan = strend - MAX_MATCH;
+
+    if (len > best_len) {
+      s.match_start = cur_match;
+      best_len = len;
+      if (len >= nice_match) {
+        break;
+      }
+      scan_end1  = _win[scan + best_len - 1];
+      scan_end   = _win[scan + best_len];
+    }
+  } while ((cur_match = prev[cur_match & wmask]) > limit && --chain_length !== 0);
+
+  if (best_len <= s.lookahead) {
+    return best_len;
+  }
+  return s.lookahead;
+}
+
+
+/* ===========================================================================
+ * Fill the window when the lookahead becomes insufficient.
+ * Updates strstart and lookahead.
+ *
+ * IN assertion: lookahead < MIN_LOOKAHEAD
+ * OUT assertions: strstart <= window_size-MIN_LOOKAHEAD
+ *    At least one byte has been read, or avail_in == 0; reads are
+ *    performed for at least two bytes (required for the zip translate_eol
+ *    option -- not supported here).
+ */
+function fill_window(s) {
+  var _w_size = s.w_size;
+  var p, n, m, more, str;
+
+  //Assert(s->lookahead < MIN_LOOKAHEAD, "already enough lookahead");
+
+  do {
+    more = s.window_size - s.lookahead - s.strstart;
+
+    // JS ints have 32 bit, block below not needed
+    /* Deal with !@#$% 64K limit: */
+    //if (sizeof(int) <= 2) {
+    //    if (more == 0 && s->strstart == 0 && s->lookahead == 0) {
+    //        more = wsize;
+    //
+    //  } else if (more == (unsigned)(-1)) {
+    //        /* Very unlikely, but possible on 16 bit machine if
+    //         * strstart == 0 && lookahead == 1 (input done a byte at time)
+    //         */
+    //        more--;
+    //    }
+    //}
+
+
+    /* If the window is almost full and there is insufficient lookahead,
+     * move the upper half to the lower one to make room in the upper half.
+     */
+    if (s.strstart >= _w_size + (_w_size - MIN_LOOKAHEAD)) {
+
+      utils.arraySet(s.window, s.window, _w_size, _w_size, 0);
+      s.match_start -= _w_size;
+      s.strstart -= _w_size;
+      /* we now have strstart >= MAX_DIST */
+      s.block_start -= _w_size;
+
+      /* Slide the hash table (could be avoided with 32 bit values
+       at the expense of memory usage). We slide even when level == 0
+       to keep the hash table consistent if we switch back to level > 0
+       later. (Using level 0 permanently is not an optimal usage of
+       zlib, so we don't care about this pathological case.)
+       */
+
+      n = s.hash_size;
+      p = n;
+      do {
+        m = s.head[--p];
+        s.head[p] = (m >= _w_size ? m - _w_size : 0);
+      } while (--n);
+
+      n = _w_size;
+      p = n;
+      do {
+        m = s.prev[--p];
+        s.prev[p] = (m >= _w_size ? m - _w_size : 0);
+        /* If n is not on any hash chain, prev[n] is garbage but
+         * its value will never be used.
+         */
+      } while (--n);
+
+      more += _w_size;
+    }
+    if (s.strm.avail_in === 0) {
+      break;
+    }
+
+    /* If there was no sliding:
+     *    strstart <= WSIZE+MAX_DIST-1 && lookahead <= MIN_LOOKAHEAD - 1 &&
+     *    more == window_size - lookahead - strstart
+     * => more >= window_size - (MIN_LOOKAHEAD-1 + WSIZE + MAX_DIST-1)
+     * => more >= window_size - 2*WSIZE + 2
+     * In the BIG_MEM or MMAP case (not yet supported),
+     *   window_size == input_size + MIN_LOOKAHEAD  &&
+     *   strstart + s->lookahead <= input_size => more >= MIN_LOOKAHEAD.
+     * Otherwise, window_size == 2*WSIZE so more >= 2.
+     * If there was sliding, more >= WSIZE. So in all cases, more >= 2.
+     */
+    //Assert(more >= 2, "more < 2");
+    n = read_buf(s.strm, s.window, s.strstart + s.lookahead, more);
+    s.lookahead += n;
+
+    /* Initialize the hash value now that we have some input: */
+    if (s.lookahead + s.insert >= MIN_MATCH) {
+      str = s.strstart - s.insert;
+      s.ins_h = s.window[str];
+
+      /* UPDATE_HASH(s, s->ins_h, s->window[str + 1]); */
+      s.ins_h = ((s.ins_h << s.hash_shift) ^ s.window[str + 1]) & s.hash_mask;
+//#if MIN_MATCH != 3
+//        Call update_hash() MIN_MATCH-3 more times
+//#endif
+      while (s.insert) {
+        /* UPDATE_HASH(s, s->ins_h, s->window[str + MIN_MATCH-1]); */
+        s.ins_h = ((s.ins_h << s.hash_shift) ^ s.window[str + MIN_MATCH - 1]) & s.hash_mask;
+
+        s.prev[str & s.w_mask] = s.head[s.ins_h];
+        s.head[s.ins_h] = str;
+        str++;
+        s.insert--;
+        if (s.lookahead + s.insert < MIN_MATCH) {
+          break;
+        }
+      }
+    }
+    /* If the whole input has less than MIN_MATCH bytes, ins_h is garbage,
+     * but this is not important since only literal bytes will be emitted.
+     */
+
+  } while (s.lookahead < MIN_LOOKAHEAD && s.strm.avail_in !== 0);
+
+  /* If the WIN_INIT bytes after the end of the current data have never been
+   * written, then zero those bytes in order to avoid memory check reports of
+   * the use of uninitialized (or uninitialised as Julian writes) bytes by
+   * the longest match routines.  Update the high water mark for the next
+   * time through here.  WIN_INIT is set to MAX_MATCH since the longest match
+   * routines allow scanning to strstart + MAX_MATCH, ignoring lookahead.
+   */
+//  if (s.high_water < s.window_size) {
+//    var curr = s.strstart + s.lookahead;
+//    var init = 0;
+//
+//    if (s.high_water < curr) {
+//      /* Previous high water mark below current data -- zero WIN_INIT
+//       * bytes or up to end of window, whichever is less.
+//       */
+//      init = s.window_size - curr;
+//      if (init > WIN_INIT)
+//        init = WIN_INIT;
+//      zmemzero(s->window + curr, (unsigned)init);
+//      s->high_water = curr + init;
+//    }
+//    else if (s->high_water < (ulg)curr + WIN_INIT) {
+//      /* High water mark at or above current data, but below current data
+//       * plus WIN_INIT -- zero out to current data plus WIN_INIT, or up
+//       * to end of window, whichever is less.
+//       */
+//      init = (ulg)curr + WIN_INIT - s->high_water;
+//      if (init > s->window_size - s->high_water)
+//        init = s->window_size - s->high_water;
+//      zmemzero(s->window + s->high_water, (unsigned)init);
+//      s->high_water += init;
+//    }
+//  }
+//
+//  Assert((ulg)s->strstart <= s->window_size - MIN_LOOKAHEAD,
+//    "not enough room for search");
+}
+
+/* ===========================================================================
+ * Copy without compression as much as possible from the input stream, return
+ * the current block state.
+ * This function does not insert new strings in the dictionary since
+ * uncompressible data is probably not useful. This function is used
+ * only for the level=0 compression option.
+ * NOTE: this function should be optimized to avoid extra copying from
+ * window to pending_buf.
+ */
+function deflate_stored(s, flush) {
+  /* Stored blocks are limited to 0xffff bytes, pending_buf is limited
+   * to pending_buf_size, and each stored block has a 5 byte header:
+   */
+  var max_block_size = 0xffff;
+
+  if (max_block_size > s.pending_buf_size - 5) {
+    max_block_size = s.pending_buf_size - 5;
+  }
+
+  /* Copy as much as possible from input to output: */
+  for (;;) {
+    /* Fill the window as much as possible: */
+    if (s.lookahead <= 1) {
+
+      //Assert(s->strstart < s->w_size+MAX_DIST(s) ||
+      //  s->block_start >= (long)s->w_size, "slide too late");
+//      if (!(s.strstart < s.w_size + (s.w_size - MIN_LOOKAHEAD) ||
+//        s.block_start >= s.w_size)) {
+//        throw  new Error("slide too late");
+//      }
+
+      fill_window(s);
+      if (s.lookahead === 0 && flush === Z_NO_FLUSH) {
+        return BS_NEED_MORE;
+      }
+
+      if (s.lookahead === 0) {
+        break;
+      }
+      /* flush the current block */
+    }
+    //Assert(s->block_start >= 0L, "block gone");
+//    if (s.block_start < 0) throw new Error("block gone");
+
+    s.strstart += s.lookahead;
+    s.lookahead = 0;
+
+    /* Emit a stored block if pending_buf will be full: */
+    var max_start = s.block_start + max_block_size;
+
+    if (s.strstart === 0 || s.strstart >= max_start) {
+      /* strstart == 0 is possible when wraparound on 16-bit machine */
+      s.lookahead = s.strstart - max_start;
+      s.strstart = max_start;
+      /*** FLUSH_BLOCK(s, 0); ***/
+      flush_block_only(s, false);
+      if (s.strm.avail_out === 0) {
+        return BS_NEED_MORE;
+      }
+      /***/
+
+
+    }
+    /* Flush if we may have to slide, otherwise block_start may become
+     * negative and the data will be gone:
+     */
+    if (s.strstart - s.block_start >= (s.w_size - MIN_LOOKAHEAD)) {
+      /*** FLUSH_BLOCK(s, 0); ***/
+      flush_block_only(s, false);
+      if (s.strm.avail_out === 0) {
+        return BS_NEED_MORE;
+      }
+      /***/
+    }
+  }
+
+  s.insert = 0;
+
+  if (flush === Z_FINISH) {
+    /*** FLUSH_BLOCK(s, 1); ***/
+    flush_block_only(s, true);
+    if (s.strm.avail_out === 0) {
+      return BS_FINISH_STARTED;
+    }
+    /***/
+    return BS_FINISH_DONE;
+  }
+
+  if (s.strstart > s.block_start) {
+    /*** FLUSH_BLOCK(s, 0); ***/
+    flush_block_only(s, false);
+    if (s.strm.avail_out === 0) {
+      return BS_NEED_MORE;
+    }
+    /***/
+  }
+
+  return BS_NEED_MORE;
+}
+
+/* ===========================================================================
+ * Compress as much as possible from the input stream, return the current
+ * block state.
+ * This function does not perform lazy evaluation of matches and inserts
+ * new strings in the dictionary only for unmatched strings or for short
+ * matches. It is used only for the fast compression options.
+ */
+function deflate_fast(s, flush) {
+  var hash_head;        /* head of the hash chain */
+  var bflush;           /* set if current block must be flushed */
+
+  for (;;) {
+    /* Make sure that we always have enough lookahead, except
+     * at the end of the input file. We need MAX_MATCH bytes
+     * for the next match, plus MIN_MATCH bytes to insert the
+     * string following the next match.
+     */
+    if (s.lookahead < MIN_LOOKAHEAD) {
+      fill_window(s);
+      if (s.lookahead < MIN_LOOKAHEAD && flush === Z_NO_FLUSH) {
+        return BS_NEED_MORE;
+      }
+      if (s.lookahead === 0) {
+        break; /* flush the current block */
+      }
+    }
+
+    /* Insert the string window[strstart .. strstart+2] in the
+     * dictionary, and set hash_head to the head of the hash chain:
+     */
+    hash_head = 0/*NIL*/;
+    if (s.lookahead >= MIN_MATCH) {
+      /*** INSERT_STRING(s, s.strstart, hash_head); ***/
+      s.ins_h = ((s.ins_h << s.hash_shift) ^ s.window[s.strstart + MIN_MATCH - 1]) & s.hash_mask;
+      hash_head = s.prev[s.strstart & s.w_mask] = s.head[s.ins_h];
+      s.head[s.ins_h] = s.strstart;
+      /***/
+    }
+
+    /* Find the longest match, discarding those <= prev_length.
+     * At this point we have always match_length < MIN_MATCH
+     */
+    if (hash_head !== 0/*NIL*/ && ((s.strstart - hash_head) <= (s.w_size - MIN_LOOKAHEAD))) {
+      /* To simplify the code, we prevent matches with the string
+       * of window index 0 (in particular we have to avoid a match
+       * of the string with itself at the start of the input file).
+       */
+      s.match_length = longest_match(s, hash_head);
+      /* longest_match() sets match_start */
+    }
+    if (s.match_length >= MIN_MATCH) {
+      // check_match(s, s.strstart, s.match_start, s.match_length); // for debug only
+
+      /*** _tr_tally_dist(s, s.strstart - s.match_start,
+                     s.match_length - MIN_MATCH, bflush); ***/
+      bflush = trees._tr_tally(s, s.strstart - s.match_start, s.match_length - MIN_MATCH);
+
+      s.lookahead -= s.match_length;
+
+      /* Insert new strings in the hash table only if the match length
+       * is not too large. This saves time but degrades compression.
+       */
+      if (s.match_length <= s.max_lazy_match/*max_insert_length*/ && s.lookahead >= MIN_MATCH) {
+        s.match_length--; /* string at strstart already in table */
+        do {
+          s.strstart++;
+          /*** INSERT_STRING(s, s.strstart, hash_head); ***/
+          s.ins_h = ((s.ins_h << s.hash_shift) ^ s.window[s.strstart + MIN_MATCH - 1]) & s.hash_mask;
+          hash_head = s.prev[s.strstart & s.w_mask] = s.head[s.ins_h];
+          s.head[s.ins_h] = s.strstart;
+          /***/
+          /* strstart never exceeds WSIZE-MAX_MATCH, so there are
+           * always MIN_MATCH bytes ahead.
+           */
+        } while (--s.match_length !== 0);
+        s.strstart++;
+      } else
+      {
+        s.strstart += s.match_length;
+        s.match_length = 0;
+        s.ins_h = s.window[s.strstart];
+        /* UPDATE_HASH(s, s.ins_h, s.window[s.strstart+1]); */
+        s.ins_h = ((s.ins_h << s.hash_shift) ^ s.window[s.strstart + 1]) & s.hash_mask;
+
+//#if MIN_MATCH != 3
+//                Call UPDATE_HASH() MIN_MATCH-3 more times
+//#endif
+        /* If lookahead < MIN_MATCH, ins_h is garbage, but it does not
+         * matter since it will be recomputed at next deflate call.
+         */
+      }
+    } else {
+      /* No match, output a literal byte */
+      //Tracevv((stderr,"%c", s.window[s.strstart]));
+      /*** _tr_tally_lit(s, s.window[s.strstart], bflush); ***/
+      bflush = trees._tr_tally(s, 0, s.window[s.strstart]);
+
+      s.lookahead--;
+      s.strstart++;
+    }
+    if (bflush) {
+      /*** FLUSH_BLOCK(s, 0); ***/
+      flush_block_only(s, false);
+      if (s.strm.avail_out === 0) {
+        return BS_NEED_MORE;
+      }
+      /***/
+    }
+  }
+  s.insert = ((s.strstart < (MIN_MATCH - 1)) ? s.strstart : MIN_MATCH - 1);
+  if (flush === Z_FINISH) {
+    /*** FLUSH_BLOCK(s, 1); ***/
+    flush_block_only(s, true);
+    if (s.strm.avail_out === 0) {
+      return BS_FINISH_STARTED;
+    }
+    /***/
+    return BS_FINISH_DONE;
+  }
+  if (s.last_lit) {
+    /*** FLUSH_BLOCK(s, 0); ***/
+    flush_block_only(s, false);
+    if (s.strm.avail_out === 0) {
+      return BS_NEED_MORE;
+    }
+    /***/
+  }
+  return BS_BLOCK_DONE;
+}
+
+/* ===========================================================================
+ * Same as above, but achieves better compression. We use a lazy
+ * evaluation for matches: a match is finally adopted only if there is
+ * no better match at the next window position.
+ */
+function deflate_slow(s, flush) {
+  var hash_head;          /* head of hash chain */
+  var bflush;              /* set if current block must be flushed */
+
+  var max_insert;
+
+  /* Process the input block. */
+  for (;;) {
+    /* Make sure that we always have enough lookahead, except
+     * at the end of the input file. We need MAX_MATCH bytes
+     * for the next match, plus MIN_MATCH bytes to insert the
+     * string following the next match.
+     */
+    if (s.lookahead < MIN_LOOKAHEAD) {
+      fill_window(s);
+      if (s.lookahead < MIN_LOOKAHEAD && flush === Z_NO_FLUSH) {
+        return BS_NEED_MORE;
+      }
+      if (s.lookahead === 0) { break; } /* flush the current block */
+    }
+
+    /* Insert the string window[strstart .. strstart+2] in the
+     * dictionary, and set hash_head to the head of the hash chain:
+     */
+    hash_head = 0/*NIL*/;
+    if (s.lookahead >= MIN_MATCH) {
+      /*** INSERT_STRING(s, s.strstart, hash_head); ***/
+      s.ins_h = ((s.ins_h << s.hash_shift) ^ s.window[s.strstart + MIN_MATCH - 1]) & s.hash_mask;
+      hash_head = s.prev[s.strstart & s.w_mask] = s.head[s.ins_h];
+      s.head[s.ins_h] = s.strstart;
+      /***/
+    }
+
+    /* Find the longest match, discarding those <= prev_length.
+     */
+    s.prev_length = s.match_length;
+    s.prev_match = s.match_start;
+    s.match_length = MIN_MATCH - 1;
+
+    if (hash_head !== 0/*NIL*/ && s.prev_length < s.max_lazy_match &&
+        s.strstart - hash_head <= (s.w_size - MIN_LOOKAHEAD)/*MAX_DIST(s)*/) {
+      /* To simplify the code, we prevent matches with the string
+       * of window index 0 (in particular we have to avoid a match
+       * of the string with itself at the start of the input file).
+       */
+      s.match_length = longest_match(s, hash_head);
+      /* longest_match() sets match_start */
+
+      if (s.match_length <= 5 &&
+         (s.strategy === Z_FILTERED || (s.match_length === MIN_MATCH && s.strstart - s.match_start > 4096/*TOO_FAR*/))) {
+
+        /* If prev_match is also MIN_MATCH, match_start is garbage
+         * but we will ignore the current match anyway.
+         */
+        s.match_length = MIN_MATCH - 1;
+      }
+    }
+    /* If there was a match at the previous step and the current
+     * match is not better, output the previous match:
+     */
+    if (s.prev_length >= MIN_MATCH && s.match_length <= s.prev_length) {
+      max_insert = s.strstart + s.lookahead - MIN_MATCH;
+      /* Do not insert strings in hash table beyond this. */
+
+      //check_match(s, s.strstart-1, s.prev_match, s.prev_length);
+
+      /***_tr_tally_dist(s, s.strstart - 1 - s.prev_match,
+                     s.prev_length - MIN_MATCH, bflush);***/
+      bflush = trees._tr_tally(s, s.strstart - 1 - s.prev_match, s.prev_length - MIN_MATCH);
+      /* Insert in hash table all strings up to the end of the match.
+       * strstart-1 and strstart are already inserted. If there is not
+       * enough lookahead, the last two strings are not inserted in
+       * the hash table.
+       */
+      s.lookahead -= s.prev_length - 1;
+      s.prev_length -= 2;
+      do {
+        if (++s.strstart <= max_insert) {
+          /*** INSERT_STRING(s, s.strstart, hash_head); ***/
+          s.ins_h = ((s.ins_h << s.hash_shift) ^ s.window[s.strstart + MIN_MATCH - 1]) & s.hash_mask;
+          hash_head = s.prev[s.strstart & s.w_mask] = s.head[s.ins_h];
+          s.head[s.ins_h] = s.strstart;
+          /***/
+        }
+      } while (--s.prev_length !== 0);
+      s.match_available = 0;
+      s.match_length = MIN_MATCH - 1;
+      s.strstart++;
+
+      if (bflush) {
+        /*** FLUSH_BLOCK(s, 0); ***/
+        flush_block_only(s, false);
+        if (s.strm.avail_out === 0) {
+          return BS_NEED_MORE;
+        }
+        /***/
+      }
+
+    } else if (s.match_available) {
+      /* If there was no match at the previous position, output a
+       * single literal. If there was a match but the current match
+       * is longer, truncate the previous match to a single literal.
+       */
+      //Tracevv((stderr,"%c", s->window[s->strstart-1]));
+      /*** _tr_tally_lit(s, s.window[s.strstart-1], bflush); ***/
+      bflush = trees._tr_tally(s, 0, s.window[s.strstart - 1]);
+
+      if (bflush) {
+        /*** FLUSH_BLOCK_ONLY(s, 0) ***/
+        flush_block_only(s, false);
+        /***/
+      }
+      s.strstart++;
+      s.lookahead--;
+      if (s.strm.avail_out === 0) {
+        return BS_NEED_MORE;
+      }
+    } else {
+      /* There is no previous match to compare with, wait for
+       * the next step to decide.
+       */
+      s.match_available = 1;
+      s.strstart++;
+      s.lookahead--;
+    }
+  }
+  //Assert (flush != Z_NO_FLUSH, "no flush?");
+  if (s.match_available) {
+    //Tracevv((stderr,"%c", s->window[s->strstart-1]));
+    /*** _tr_tally_lit(s, s.window[s.strstart-1], bflush); ***/
+    bflush = trees._tr_tally(s, 0, s.window[s.strstart - 1]);
+
+    s.match_available = 0;
+  }
+  s.insert = s.strstart < MIN_MATCH - 1 ? s.strstart : MIN_MATCH - 1;
+  if (flush === Z_FINISH) {
+    /*** FLUSH_BLOCK(s, 1); ***/
+    flush_block_only(s, true);
+    if (s.strm.avail_out === 0) {
+      return BS_FINISH_STARTED;
+    }
+    /***/
+    return BS_FINISH_DONE;
+  }
+  if (s.last_lit) {
+    /*** FLUSH_BLOCK(s, 0); ***/
+    flush_block_only(s, false);
+    if (s.strm.avail_out === 0) {
+      return BS_NEED_MORE;
+    }
+    /***/
+  }
+
+  return BS_BLOCK_DONE;
+}
+
+
+/* ===========================================================================
+ * For Z_RLE, simply look for runs of bytes, generate matches only of distance
+ * one.  Do not maintain a hash table.  (It will be regenerated if this run of
+ * deflate switches away from Z_RLE.)
+ */
+function deflate_rle(s, flush) {
+  var bflush;            /* set if current block must be flushed */
+  var prev;              /* byte at distance one to match */
+  var scan, strend;      /* scan goes up to strend for length of run */
+
+  var _win = s.window;
+
+  for (;;) {
+    /* Make sure that we always have enough lookahead, except
+     * at the end of the input file. We need MAX_MATCH bytes
+     * for the longest run, plus one for the unrolled loop.
+     */
+    if (s.lookahead <= MAX_MATCH) {
+      fill_window(s);
+      if (s.lookahead <= MAX_MATCH && flush === Z_NO_FLUSH) {
+        return BS_NEED_MORE;
+      }
+      if (s.lookahead === 0) { break; } /* flush the current block */
+    }
+
+    /* See how many times the previous byte repeats */
+    s.match_length = 0;
+    if (s.lookahead >= MIN_MATCH && s.strstart > 0) {
+      scan = s.strstart - 1;
+      prev = _win[scan];
+      if (prev === _win[++scan] && prev === _win[++scan] && prev === _win[++scan]) {
+        strend = s.strstart + MAX_MATCH;
+        do {
+          /*jshint noempty:false*/
+        } while (prev === _win[++scan] && prev === _win[++scan] &&
+                 prev === _win[++scan] && prev === _win[++scan] &&
+                 prev === _win[++scan] && prev === _win[++scan] &&
+                 prev === _win[++scan] && prev === _win[++scan] &&
+                 scan < strend);
+        s.match_length = MAX_MATCH - (strend - scan);
+        if (s.match_length > s.lookahead) {
+          s.match_length = s.lookahead;
+        }
+      }
+      //Assert(scan <= s->window+(uInt)(s->window_size-1), "wild scan");
+    }
+
+    /* Emit match if have run of MIN_MATCH or longer, else emit literal */
+    if (s.match_length >= MIN_MATCH) {
+      //check_match(s, s.strstart, s.strstart - 1, s.match_length);
+
+      /*** _tr_tally_dist(s, 1, s.match_length - MIN_MATCH, bflush); ***/
+      bflush = trees._tr_tally(s, 1, s.match_length - MIN_MATCH);
+
+      s.lookahead -= s.match_length;
+      s.strstart += s.match_length;
+      s.match_length = 0;
+    } else {
+      /* No match, output a literal byte */
+      //Tracevv((stderr,"%c", s->window[s->strstart]));
+      /*** _tr_tally_lit(s, s.window[s.strstart], bflush); ***/
+      bflush = trees._tr_tally(s, 0, s.window[s.strstart]);
+
+      s.lookahead--;
+      s.strstart++;
+    }
+    if (bflush) {
+      /*** FLUSH_BLOCK(s, 0); ***/
+      flush_block_only(s, false);
+      if (s.strm.avail_out === 0) {
+        return BS_NEED_MORE;
+      }
+      /***/
+    }
+  }
+  s.insert = 0;
+  if (flush === Z_FINISH) {
+    /*** FLUSH_BLOCK(s, 1); ***/
+    flush_block_only(s, true);
+    if (s.strm.avail_out === 0) {
+      return BS_FINISH_STARTED;
+    }
+    /***/
+    return BS_FINISH_DONE;
+  }
+  if (s.last_lit) {
+    /*** FLUSH_BLOCK(s, 0); ***/
+    flush_block_only(s, false);
+    if (s.strm.avail_out === 0) {
+      return BS_NEED_MORE;
+    }
+    /***/
+  }
+  return BS_BLOCK_DONE;
+}
+
+/* ===========================================================================
+ * For Z_HUFFMAN_ONLY, do not look for matches.  Do not maintain a hash table.
+ * (It will be regenerated if this run of deflate switches away from Huffman.)
+ */
+function deflate_huff(s, flush) {
+  var bflush;             /* set if current block must be flushed */
+
+  for (;;) {
+    /* Make sure that we have a literal to write. */
+    if (s.lookahead === 0) {
+      fill_window(s);
+      if (s.lookahead === 0) {
+        if (flush === Z_NO_FLUSH) {
+          return BS_NEED_MORE;
+        }
+        break;      /* flush the current block */
+      }
+    }
+
+    /* Output a literal byte */
+    s.match_length = 0;
+    //Tracevv((stderr,"%c", s->window[s->strstart]));
+    /*** _tr_tally_lit(s, s.window[s.strstart], bflush); ***/
+    bflush = trees._tr_tally(s, 0, s.window[s.strstart]);
+    s.lookahead--;
+    s.strstart++;
+    if (bflush) {
+      /*** FLUSH_BLOCK(s, 0); ***/
+      flush_block_only(s, false);
+      if (s.strm.avail_out === 0) {
+        return BS_NEED_MORE;
+      }
+      /***/
+    }
+  }
+  s.insert = 0;
+  if (flush === Z_FINISH) {
+    /*** FLUSH_BLOCK(s, 1); ***/
+    flush_block_only(s, true);
+    if (s.strm.avail_out === 0) {
+      return BS_FINISH_STARTED;
+    }
+    /***/
+    return BS_FINISH_DONE;
+  }
+  if (s.last_lit) {
+    /*** FLUSH_BLOCK(s, 0); ***/
+    flush_block_only(s, false);
+    if (s.strm.avail_out === 0) {
+      return BS_NEED_MORE;
+    }
+    /***/
+  }
+  return BS_BLOCK_DONE;
+}
+
+/* Values for max_lazy_match, good_match and max_chain_length, depending on
+ * the desired pack level (0..9). The values given below have been tuned to
+ * exclude worst case performance for pathological files. Better values may be
+ * found for specific files.
+ */
+function Config(good_length, max_lazy, nice_length, max_chain, func) {
+  this.good_length = good_length;
+  this.max_lazy = max_lazy;
+  this.nice_length = nice_length;
+  this.max_chain = max_chain;
+  this.func = func;
+}
+
+var configuration_table;
+
+configuration_table = [
+  /*      good lazy nice chain */
+  new Config(0, 0, 0, 0, deflate_stored),          /* 0 store only */
+  new Config(4, 4, 8, 4, deflate_fast),            /* 1 max speed, no lazy matches */
+  new Config(4, 5, 16, 8, deflate_fast),           /* 2 */
+  new Config(4, 6, 32, 32, deflate_fast),          /* 3 */
+
+  new Config(4, 4, 16, 16, deflate_slow),          /* 4 lazy matches */
+  new Config(8, 16, 32, 32, deflate_slow),         /* 5 */
+  new Config(8, 16, 128, 128, deflate_slow),       /* 6 */
+  new Config(8, 32, 128, 256, deflate_slow),       /* 7 */
+  new Config(32, 128, 258, 1024, deflate_slow),    /* 8 */
+  new Config(32, 258, 258, 4096, deflate_slow)     /* 9 max compression */
+];
+
+
+/* ===========================================================================
+ * Initialize the "longest match" routines for a new zlib stream
+ */
+function lm_init(s) {
+  s.window_size = 2 * s.w_size;
+
+  /*** CLEAR_HASH(s); ***/
+  zero(s.head); // Fill with NIL (= 0);
+
+  /* Set the default configuration parameters:
+   */
+  s.max_lazy_match = configuration_table[s.level].max_lazy;
+  s.good_match = configuration_table[s.level].good_length;
+  s.nice_match = configuration_table[s.level].nice_length;
+  s.max_chain_length = configuration_table[s.level].max_chain;
+
+  s.strstart = 0;
+  s.block_start = 0;
+  s.lookahead = 0;
+  s.insert = 0;
+  s.match_length = s.prev_length = MIN_MATCH - 1;
+  s.match_available = 0;
+  s.ins_h = 0;
+}
+
+
+function DeflateState() {
+  this.strm = null;            /* pointer back to this zlib stream */
+  this.status = 0;            /* as the name implies */
+  this.pending_buf = null;      /* output still pending */
+  this.pending_buf_size = 0;  /* size of pending_buf */
+  this.pending_out = 0;       /* next pending byte to output to the stream */
+  this.pending = 0;           /* nb of bytes in the pending buffer */
+  this.wrap = 0;              /* bit 0 true for zlib, bit 1 true for gzip */
+  this.gzhead = null;         /* gzip header information to write */
+  this.gzindex = 0;           /* where in extra, name, or comment */
+  this.method = Z_DEFLATED; /* can only be DEFLATED */
+  this.last_flush = -1;   /* value of flush param for previous deflate call */
+
+  this.w_size = 0;  /* LZ77 window size (32K by default) */
+  this.w_bits = 0;  /* log2(w_size)  (8..16) */
+  this.w_mask = 0;  /* w_size - 1 */
+
+  this.window = null;
+  /* Sliding window. Input bytes are read into the second half of the window,
+   * and move to the first half later to keep a dictionary of at least wSize
+   * bytes. With this organization, matches are limited to a distance of
+   * wSize-MAX_MATCH bytes, but this ensures that IO is always
+   * performed with a length multiple of the block size.
+   */
+
+  this.window_size = 0;
+  /* Actual size of window: 2*wSize, except when the user input buffer
+   * is directly used as sliding window.
+   */
+
+  this.prev = null;
+  /* Link to older string with same hash index. To limit the size of this
+   * array to 64K, this link is maintained only for the last 32K strings.
+   * An index in this array is thus a window index modulo 32K.
+   */
+
+  this.head = null;   /* Heads of the hash chains or NIL. */
+
+  this.ins_h = 0;       /* hash index of string to be inserted */
+  this.hash_size = 0;   /* number of elements in hash table */
+  this.hash_bits = 0;   /* log2(hash_size) */
+  this.hash_mask = 0;   /* hash_size-1 */
+
+  this.hash_shift = 0;
+  /* Number of bits by which ins_h must be shifted at each input
+   * step. It must be such that after MIN_MATCH steps, the oldest
+   * byte no longer takes part in the hash key, that is:
+   *   hash_shift * MIN_MATCH >= hash_bits
+   */
+
+  this.block_start = 0;
+  /* Window position at the beginning of the current output block. Gets
+   * negative when the window is moved backwards.
+   */
+
+  this.match_length = 0;      /* length of best match */
+  this.prev_match = 0;        /* previous match */
+  this.match_available = 0;   /* set if previous match exists */
+  this.strstart = 0;          /* start of string to insert */
+  this.match_start = 0;       /* start of matching string */
+  this.lookahead = 0;         /* number of valid bytes ahead in window */
+
+  this.prev_length = 0;
+  /* Length of the best match at previous step. Matches not greater than this
+   * are discarded. This is used in the lazy match evaluation.
+   */
+
+  this.max_chain_length = 0;
+  /* To speed up deflation, hash chains are never searched beyond this
+   * length.  A higher limit improves compression ratio but degrades the
+   * speed.
+   */
+
+  this.max_lazy_match = 0;
+  /* Attempt to find a better match only when the current match is strictly
+   * smaller than this value. This mechanism is used only for compression
+   * levels >= 4.
+   */
+  // That's alias to max_lazy_match, don't use directly
+  //this.max_insert_length = 0;
+  /* Insert new strings in the hash table only if the match length is not
+   * greater than this length. This saves time but degrades compression.
+   * max_insert_length is used only for compression levels <= 3.
+   */
+
+  this.level = 0;     /* compression level (1..9) */
+  this.strategy = 0;  /* favor or force Huffman coding*/
+
+  this.good_match = 0;
+  /* Use a faster search when the previous match is longer than this */
+
+  this.nice_match = 0; /* Stop searching when current match exceeds this */
+
+              /* used by trees.c: */
+
+  /* Didn't use ct_data typedef below to suppress compiler warning */
+
+  // struct ct_data_s dyn_ltree[HEAP_SIZE];   /* literal and length tree */
+  // struct ct_data_s dyn_dtree[2*D_CODES+1]; /* distance tree */
+  // struct ct_data_s bl_tree[2*BL_CODES+1];  /* Huffman tree for bit lengths */
+
+  // Use flat array of DOUBLE size, with interleaved fata,
+  // because JS does not support effective
+  this.dyn_ltree  = new utils.Buf16(HEAP_SIZE * 2);
+  this.dyn_dtree  = new utils.Buf16((2 * D_CODES + 1) * 2);
+  this.bl_tree    = new utils.Buf16((2 * BL_CODES + 1) * 2);
+  zero(this.dyn_ltree);
+  zero(this.dyn_dtree);
+  zero(this.bl_tree);
+
+  this.l_desc   = null;         /* desc. for literal tree */
+  this.d_desc   = null;         /* desc. for distance tree */
+  this.bl_desc  = null;         /* desc. for bit length tree */
+
+  //ush bl_count[MAX_BITS+1];
+  this.bl_count = new utils.Buf16(MAX_BITS + 1);
+  /* number of codes at each bit length for an optimal tree */
+
+  //int heap[2*L_CODES+1];      /* heap used to build the Huffman trees */
+  this.heap = new utils.Buf16(2 * L_CODES + 1);  /* heap used to build the Huffman trees */
+  zero(this.heap);
+
+  this.heap_len = 0;               /* number of elements in the heap */
+  this.heap_max = 0;               /* element of largest frequency */
+  /* The sons of heap[n] are heap[2*n] and heap[2*n+1]. heap[0] is not used.
+   * The same heap array is used to build all trees.
+   */
+
+  this.depth = new utils.Buf16(2 * L_CODES + 1); //uch depth[2*L_CODES+1];
+  zero(this.depth);
+  /* Depth of each subtree used as tie breaker for trees of equal frequency
+   */
+
+  this.l_buf = 0;          /* buffer index for literals or lengths */
+
+  this.lit_bufsize = 0;
+  /* Size of match buffer for literals/lengths.  There are 4 reasons for
+   * limiting lit_bufsize to 64K:
+   *   - frequencies can be kept in 16 bit counters
+   *   - if compression is not successful for the first block, all input
+   *     data is still in the window so we can still emit a stored block even
+   *     when input comes from standard input.  (This can also be done for
+   *     all blocks if lit_bufsize is not greater than 32K.)
+   *   - if compression is not successful for a file smaller than 64K, we can
+   *     even emit a stored file instead of a stored block (saving 5 bytes).
+   *     This is applicable only for zip (not gzip or zlib).
+   *   - creating new Huffman trees less frequently may not provide fast
+   *     adaptation to changes in the input data statistics. (Take for
+   *     example a binary file with poorly compressible code followed by
+   *     a highly compressible string table.) Smaller buffer sizes give
+   *     fast adaptation but have of course the overhead of transmitting
+   *     trees more frequently.
+   *   - I can't count above 4
+   */
+
+  this.last_lit = 0;      /* running index in l_buf */
+
+  this.d_buf = 0;
+  /* Buffer index for distances. To simplify the code, d_buf and l_buf have
+   * the same number of elements. To use different lengths, an extra flag
+   * array would be necessary.
+   */
+
+  this.opt_len = 0;       /* bit length of current block with optimal trees */
+  this.static_len = 0;    /* bit length of current block with static trees */
+  this.matches = 0;       /* number of string matches in current block */
+  this.insert = 0;        /* bytes at end of window left to insert */
+
+
+  this.bi_buf = 0;
+  /* Output buffer. bits are inserted starting at the bottom (least
+   * significant bits).
+   */
+  this.bi_valid = 0;
+  /* Number of valid bits in bi_buf.  All bits above the last valid bit
+   * are always zero.
+   */
+
+  // Used for window memory init. We safely ignore it for JS. That makes
+  // sense only for pointers and memory check tools.
+  //this.high_water = 0;
+  /* High water mark offset in window for initialized bytes -- bytes above
+   * this are set to zero in order to avoid memory check warnings when
+   * longest match routines access bytes past the input.  This is then
+   * updated to the new high water mark.
+   */
+}
+
+
+function deflateResetKeep(strm) {
+  var s;
+
+  if (!strm || !strm.state) {
+    return err(strm, Z_STREAM_ERROR);
+  }
+
+  strm.total_in = strm.total_out = 0;
+  strm.data_type = Z_UNKNOWN;
+
+  s = strm.state;
+  s.pending = 0;
+  s.pending_out = 0;
+
+  if (s.wrap < 0) {
+    s.wrap = -s.wrap;
+    /* was made negative by deflate(..., Z_FINISH); */
+  }
+  s.status = (s.wrap ? INIT_STATE : BUSY_STATE);
+  strm.adler = (s.wrap === 2) ?
+    0  // crc32(0, Z_NULL, 0)
+  :
+    1; // adler32(0, Z_NULL, 0)
+  s.last_flush = Z_NO_FLUSH;
+  trees._tr_init(s);
+  return Z_OK;
+}
+
+
+function deflateReset(strm) {
+  var ret = deflateResetKeep(strm);
+  if (ret === Z_OK) {
+    lm_init(strm.state);
+  }
+  return ret;
+}
+
+
+function deflateSetHeader(strm, head) {
+  if (!strm || !strm.state) { return Z_STREAM_ERROR; }
+  if (strm.state.wrap !== 2) { return Z_STREAM_ERROR; }
+  strm.state.gzhead = head;
+  return Z_OK;
+}
+
+
+function deflateInit2(strm, level, method, windowBits, memLevel, strategy) {
+  if (!strm) { // === Z_NULL
+    return Z_STREAM_ERROR;
+  }
+  var wrap = 1;
+
+  if (level === Z_DEFAULT_COMPRESSION) {
+    level = 6;
+  }
+
+  if (windowBits < 0) { /* suppress zlib wrapper */
+    wrap = 0;
+    windowBits = -windowBits;
+  }
+
+  else if (windowBits > 15) {
+    wrap = 2;           /* write gzip wrapper instead */
+    windowBits -= 16;
+  }
+
+
+  if (memLevel < 1 || memLevel > MAX_MEM_LEVEL || method !== Z_DEFLATED ||
+    windowBits < 8 || windowBits > 15 || level < 0 || level > 9 ||
+    strategy < 0 || strategy > Z_FIXED) {
+    return err(strm, Z_STREAM_ERROR);
+  }
+
+
+  if (windowBits === 8) {
+    windowBits = 9;
+  }
+  /* until 256-byte window bug fixed */
+
+  var s = new DeflateState();
+
+  strm.state = s;
+  s.strm = strm;
+
+  s.wrap = wrap;
+  s.gzhead = null;
+  s.w_bits = windowBits;
+  s.w_size = 1 << s.w_bits;
+  s.w_mask = s.w_size - 1;
+
+  s.hash_bits = memLevel + 7;
+  s.hash_size = 1 << s.hash_bits;
+  s.hash_mask = s.hash_size - 1;
+  s.hash_shift = ~~((s.hash_bits + MIN_MATCH - 1) / MIN_MATCH);
+
+  s.window = new utils.Buf8(s.w_size * 2);
+  s.head = new utils.Buf16(s.hash_size);
+  s.prev = new utils.Buf16(s.w_size);
+
+  // Don't need mem init magic for JS.
+  //s.high_water = 0;  /* nothing written to s->window yet */
+
+  s.lit_bufsize = 1 << (memLevel + 6); /* 16K elements by default */
+
+  s.pending_buf_size = s.lit_bufsize * 4;
+
+  //overlay = (ushf *) ZALLOC(strm, s->lit_bufsize, sizeof(ush)+2);
+  //s->pending_buf = (uchf *) overlay;
+  s.pending_buf = new utils.Buf8(s.pending_buf_size);
+
+  // It is offset from `s.pending_buf` (size is `s.lit_bufsize * 2`)
+  //s->d_buf = overlay + s->lit_bufsize/sizeof(ush);
+  s.d_buf = 1 * s.lit_bufsize;
+
+  //s->l_buf = s->pending_buf + (1+sizeof(ush))*s->lit_bufsize;
+  s.l_buf = (1 + 2) * s.lit_bufsize;
+
+  s.level = level;
+  s.strategy = strategy;
+  s.method = method;
+
+  return deflateReset(strm);
+}
+
+function deflateInit(strm, level) {
+  return deflateInit2(strm, level, Z_DEFLATED, MAX_WBITS, DEF_MEM_LEVEL, Z_DEFAULT_STRATEGY);
+}
+
+
+function deflate(strm, flush) {
+  var old_flush, s;
+  var beg, val; // for gzip header write only
+
+  if (!strm || !strm.state ||
+    flush > Z_BLOCK || flush < 0) {
+    return strm ? err(strm, Z_STREAM_ERROR) : Z_STREAM_ERROR;
+  }
+
+  s = strm.state;
+
+  if (!strm.output ||
+      (!strm.input && strm.avail_in !== 0) ||
+      (s.status === FINISH_STATE && flush !== Z_FINISH)) {
+    return err(strm, (strm.avail_out === 0) ? Z_BUF_ERROR : Z_STREAM_ERROR);
+  }
+
+  s.strm = strm; /* just in case */
+  old_flush = s.last_flush;
+  s.last_flush = flush;
+
+  /* Write the header */
+  if (s.status === INIT_STATE) {
+
+    if (s.wrap === 2) { // GZIP header
+      strm.adler = 0;  //crc32(0L, Z_NULL, 0);
+      put_byte(s, 31);
+      put_byte(s, 139);
+      put_byte(s, 8);
+      if (!s.gzhead) { // s->gzhead == Z_NULL
+        put_byte(s, 0);
+        put_byte(s, 0);
+        put_byte(s, 0);
+        put_byte(s, 0);
+        put_byte(s, 0);
+        put_byte(s, s.level === 9 ? 2 :
+                    (s.strategy >= Z_HUFFMAN_ONLY || s.level < 2 ?
+                     4 : 0));
+        put_byte(s, OS_CODE);
+        s.status = BUSY_STATE;
+      }
+      else {
+        put_byte(s, (s.gzhead.text ? 1 : 0) +
+                    (s.gzhead.hcrc ? 2 : 0) +
+                    (!s.gzhead.extra ? 0 : 4) +
+                    (!s.gzhead.name ? 0 : 8) +
+                    (!s.gzhead.comment ? 0 : 16)
+                );
+        put_byte(s, s.gzhead.time & 0xff);
+        put_byte(s, (s.gzhead.time >> 8) & 0xff);
+        put_byte(s, (s.gzhead.time >> 16) & 0xff);
+        put_byte(s, (s.gzhead.time >> 24) & 0xff);
+        put_byte(s, s.level === 9 ? 2 :
+                    (s.strategy >= Z_HUFFMAN_ONLY || s.level < 2 ?
+                     4 : 0));
+        put_byte(s, s.gzhead.os & 0xff);
+        if (s.gzhead.extra && s.gzhead.extra.length) {
+          put_byte(s, s.gzhead.extra.length & 0xff);
+          put_byte(s, (s.gzhead.extra.length >> 8) & 0xff);
+        }
+        if (s.gzhead.hcrc) {
+          strm.adler = crc32(strm.adler, s.pending_buf, s.pending, 0);
+        }
+        s.gzindex = 0;
+        s.status = EXTRA_STATE;
+      }
+    }
+    else // DEFLATE header
+    {
+      var header = (Z_DEFLATED + ((s.w_bits - 8) << 4)) << 8;
+      var level_flags = -1;
+
+      if (s.strategy >= Z_HUFFMAN_ONLY || s.level < 2) {
+        level_flags = 0;
+      } else if (s.level < 6) {
+        level_flags = 1;
+      } else if (s.level === 6) {
+        level_flags = 2;
+      } else {
+        level_flags = 3;
+      }
+      header |= (level_flags << 6);
+      if (s.strstart !== 0) { header |= PRESET_DICT; }
+      header += 31 - (header % 31);
+
+      s.status = BUSY_STATE;
+      putShortMSB(s, header);
+
+      /* Save the adler32 of the preset dictionary: */
+      if (s.strstart !== 0) {
+        putShortMSB(s, strm.adler >>> 16);
+        putShortMSB(s, strm.adler & 0xffff);
+      }
+      strm.adler = 1; // adler32(0L, Z_NULL, 0);
+    }
+  }
+
+//#ifdef GZIP
+  if (s.status === EXTRA_STATE) {
+    if (s.gzhead.extra/* != Z_NULL*/) {
+      beg = s.pending;  /* start of bytes to update crc */
+
+      while (s.gzindex < (s.gzhead.extra.length & 0xffff)) {
+        if (s.pending === s.pending_buf_size) {
+          if (s.gzhead.hcrc && s.pending > beg) {
+            strm.adler = crc32(strm.adler, s.pending_buf, s.pending - beg, beg);
+          }
+          flush_pending(strm);
+          beg = s.pending;
+          if (s.pending === s.pending_buf_size) {
+            break;
+          }
+        }
+        put_byte(s, s.gzhead.extra[s.gzindex] & 0xff);
+        s.gzindex++;
+      }
+      if (s.gzhead.hcrc && s.pending > beg) {
+        strm.adler = crc32(strm.adler, s.pending_buf, s.pending - beg, beg);
+      }
+      if (s.gzindex === s.gzhead.extra.length) {
+        s.gzindex = 0;
+        s.status = NAME_STATE;
+      }
+    }
+    else {
+      s.status = NAME_STATE;
+    }
+  }
+  if (s.status === NAME_STATE) {
+    if (s.gzhead.name/* != Z_NULL*/) {
+      beg = s.pending;  /* start of bytes to update crc */
+      //int val;
+
+      do {
+        if (s.pending === s.pending_buf_size) {
+          if (s.gzhead.hcrc && s.pending > beg) {
+            strm.adler = crc32(strm.adler, s.pending_buf, s.pending - beg, beg);
+          }
+          flush_pending(strm);
+          beg = s.pending;
+          if (s.pending === s.pending_buf_size) {
+            val = 1;
+            break;
+          }
+        }
+        // JS specific: little magic to add zero terminator to end of string
+        if (s.gzindex < s.gzhead.name.length) {
+          val = s.gzhead.name.charCodeAt(s.gzindex++) & 0xff;
+        } else {
+          val = 0;
+        }
+        put_byte(s, val);
+      } while (val !== 0);
+
+      if (s.gzhead.hcrc && s.pending > beg) {
+        strm.adler = crc32(strm.adler, s.pending_buf, s.pending - beg, beg);
+      }
+      if (val === 0) {
+        s.gzindex = 0;
+        s.status = COMMENT_STATE;
+      }
+    }
+    else {
+      s.status = COMMENT_STATE;
+    }
+  }
+  if (s.status === COMMENT_STATE) {
+    if (s.gzhead.comment/* != Z_NULL*/) {
+      beg = s.pending;  /* start of bytes to update crc */
+      //int val;
+
+      do {
+        if (s.pending === s.pending_buf_size) {
+          if (s.gzhead.hcrc && s.pending > beg) {
+            strm.adler = crc32(strm.adler, s.pending_buf, s.pending - beg, beg);
+          }
+          flush_pending(strm);
+          beg = s.pending;
+          if (s.pending === s.pending_buf_size) {
+            val = 1;
+            break;
+          }
+        }
+        // JS specific: little magic to add zero terminator to end of string
+        if (s.gzindex < s.gzhead.comment.length) {
+          val = s.gzhead.comment.charCodeAt(s.gzindex++) & 0xff;
+        } else {
+          val = 0;
+        }
+        put_byte(s, val);
+      } while (val !== 0);
+
+      if (s.gzhead.hcrc && s.pending > beg) {
+        strm.adler = crc32(strm.adler, s.pending_buf, s.pending - beg, beg);
+      }
+      if (val === 0) {
+        s.status = HCRC_STATE;
+      }
+    }
+    else {
+      s.status = HCRC_STATE;
+    }
+  }
+  if (s.status === HCRC_STATE) {
+    if (s.gzhead.hcrc) {
+      if (s.pending + 2 > s.pending_buf_size) {
+        flush_pending(strm);
+      }
+      if (s.pending + 2 <= s.pending_buf_size) {
+        put_byte(s, strm.adler & 0xff);
+        put_byte(s, (strm.adler >> 8) & 0xff);
+        strm.adler = 0; //crc32(0L, Z_NULL, 0);
+        s.status = BUSY_STATE;
+      }
+    }
+    else {
+      s.status = BUSY_STATE;
+    }
+  }
+//#endif
+
+  /* Flush as much pending output as possible */
+  if (s.pending !== 0) {
+    flush_pending(strm);
+    if (strm.avail_out === 0) {
+      /* Since avail_out is 0, deflate will be called again with
+       * more output space, but possibly with both pending and
+       * avail_in equal to zero. There won't be anything to do,
+       * but this is not an error situation so make sure we
+       * return OK instead of BUF_ERROR at next call of deflate:
+       */
+      s.last_flush = -1;
+      return Z_OK;
+    }
+
+    /* Make sure there is something to do and avoid duplicate consecutive
+     * flushes. For repeated and useless calls with Z_FINISH, we keep
+     * returning Z_STREAM_END instead of Z_BUF_ERROR.
+     */
+  } else if (strm.avail_in === 0 && rank(flush) <= rank(old_flush) &&
+    flush !== Z_FINISH) {
+    return err(strm, Z_BUF_ERROR);
+  }
+
+  /* User must not provide more input after the first FINISH: */
+  if (s.status === FINISH_STATE && strm.avail_in !== 0) {
+    return err(strm, Z_BUF_ERROR);
+  }
+
+  /* Start a new block or continue the current one.
+   */
+  if (strm.avail_in !== 0 || s.lookahead !== 0 ||
+    (flush !== Z_NO_FLUSH && s.status !== FINISH_STATE)) {
+    var bstate = (s.strategy === Z_HUFFMAN_ONLY) ? deflate_huff(s, flush) :
+      (s.strategy === Z_RLE ? deflate_rle(s, flush) :
+        configuration_table[s.level].func(s, flush));
+
+    if (bstate === BS_FINISH_STARTED || bstate === BS_FINISH_DONE) {
+      s.status = FINISH_STATE;
+    }
+    if (bstate === BS_NEED_MORE || bstate === BS_FINISH_STARTED) {
+      if (strm.avail_out === 0) {
+        s.last_flush = -1;
+        /* avoid BUF_ERROR next call, see above */
+      }
+      return Z_OK;
+      /* If flush != Z_NO_FLUSH && avail_out == 0, the next call
+       * of deflate should use the same flush parameter to make sure
+       * that the flush is complete. So we don't have to output an
+       * empty block here, this will be done at next call. This also
+       * ensures that for a very small output buffer, we emit at most
+       * one empty block.
+       */
+    }
+    if (bstate === BS_BLOCK_DONE) {
+      if (flush === Z_PARTIAL_FLUSH) {
+        trees._tr_align(s);
+      }
+      else if (flush !== Z_BLOCK) { /* FULL_FLUSH or SYNC_FLUSH */
+
+        trees._tr_stored_block(s, 0, 0, false);
+        /* For a full flush, this empty block will be recognized
+         * as a special marker by inflate_sync().
+         */
+        if (flush === Z_FULL_FLUSH) {
+          /*** CLEAR_HASH(s); ***/             /* forget history */
+          zero(s.head); // Fill with NIL (= 0);
+
+          if (s.lookahead === 0) {
+            s.strstart = 0;
+            s.block_start = 0;
+            s.insert = 0;
+          }
+        }
+      }
+      flush_pending(strm);
+      if (strm.avail_out === 0) {
+        s.last_flush = -1; /* avoid BUF_ERROR at next call, see above */
+        return Z_OK;
+      }
+    }
+  }
+  //Assert(strm->avail_out > 0, "bug2");
+  //if (strm.avail_out <= 0) { throw new Error("bug2");}
+
+  if (flush !== Z_FINISH) { return Z_OK; }
+  if (s.wrap <= 0) { return Z_STREAM_END; }
+
+  /* Write the trailer */
+  if (s.wrap === 2) {
+    put_byte(s, strm.adler & 0xff);
+    put_byte(s, (strm.adler >> 8) & 0xff);
+    put_byte(s, (strm.adler >> 16) & 0xff);
+    put_byte(s, (strm.adler >> 24) & 0xff);
+    put_byte(s, strm.total_in & 0xff);
+    put_byte(s, (strm.total_in >> 8) & 0xff);
+    put_byte(s, (strm.total_in >> 16) & 0xff);
+    put_byte(s, (strm.total_in >> 24) & 0xff);
+  }
+  else
+  {
+    putShortMSB(s, strm.adler >>> 16);
+    putShortMSB(s, strm.adler & 0xffff);
+  }
+
+  flush_pending(strm);
+  /* If avail_out is zero, the application will call deflate again
+   * to flush the rest.
+   */
+  if (s.wrap > 0) { s.wrap = -s.wrap; }
+  /* write the trailer only once! */
+  return s.pending !== 0 ? Z_OK : Z_STREAM_END;
+}
+
+function deflateEnd(strm) {
+  var status;
+
+  if (!strm/*== Z_NULL*/ || !strm.state/*== Z_NULL*/) {
+    return Z_STREAM_ERROR;
+  }
+
+  status = strm.state.status;
+  if (status !== INIT_STATE &&
+    status !== EXTRA_STATE &&
+    status !== NAME_STATE &&
+    status !== COMMENT_STATE &&
+    status !== HCRC_STATE &&
+    status !== BUSY_STATE &&
+    status !== FINISH_STATE
+  ) {
+    return err(strm, Z_STREAM_ERROR);
+  }
+
+  strm.state = null;
+
+  return status === BUSY_STATE ? err(strm, Z_DATA_ERROR) : Z_OK;
+}
+
+
+/* =========================================================================
+ * Initializes the compression dictionary from the given byte
+ * sequence without producing any compressed output.
+ */
+function deflateSetDictionary(strm, dictionary) {
+  var dictLength = dictionary.length;
+
+  var s;
+  var str, n;
+  var wrap;
+  var avail;
+  var next;
+  var input;
+  var tmpDict;
+
+  if (!strm/*== Z_NULL*/ || !strm.state/*== Z_NULL*/) {
+    return Z_STREAM_ERROR;
+  }
+
+  s = strm.state;
+  wrap = s.wrap;
+
+  if (wrap === 2 || (wrap === 1 && s.status !== INIT_STATE) || s.lookahead) {
+    return Z_STREAM_ERROR;
+  }
+
+  /* when using zlib wrappers, compute Adler-32 for provided dictionary */
+  if (wrap === 1) {
+    /* adler32(strm->adler, dictionary, dictLength); */
+    strm.adler = adler32(strm.adler, dictionary, dictLength, 0);
+  }
+
+  s.wrap = 0;   /* avoid computing Adler-32 in read_buf */
+
+  /* if dictionary would fill window, just replace the history */
+  if (dictLength >= s.w_size) {
+    if (wrap === 0) {            /* already empty otherwise */
+      /*** CLEAR_HASH(s); ***/
+      zero(s.head); // Fill with NIL (= 0);
+      s.strstart = 0;
+      s.block_start = 0;
+      s.insert = 0;
+    }
+    /* use the tail */
+    // dictionary = dictionary.slice(dictLength - s.w_size);
+    tmpDict = new utils.Buf8(s.w_size);
+    utils.arraySet(tmpDict, dictionary, dictLength - s.w_size, s.w_size, 0);
+    dictionary = tmpDict;
+    dictLength = s.w_size;
+  }
+  /* insert dictionary into window and hash */
+  avail = strm.avail_in;
+  next = strm.next_in;
+  input = strm.input;
+  strm.avail_in = dictLength;
+  strm.next_in = 0;
+  strm.input = dictionary;
+  fill_window(s);
+  while (s.lookahead >= MIN_MATCH) {
+    str = s.strstart;
+    n = s.lookahead - (MIN_MATCH - 1);
+    do {
+      /* UPDATE_HASH(s, s->ins_h, s->window[str + MIN_MATCH-1]); */
+      s.ins_h = ((s.ins_h << s.hash_shift) ^ s.window[str + MIN_MATCH - 1]) & s.hash_mask;
+
+      s.prev[str & s.w_mask] = s.head[s.ins_h];
+
+      s.head[s.ins_h] = str;
+      str++;
+    } while (--n);
+    s.strstart = str;
+    s.lookahead = MIN_MATCH - 1;
+    fill_window(s);
+  }
+  s.strstart += s.lookahead;
+  s.block_start = s.strstart;
+  s.insert = s.lookahead;
+  s.lookahead = 0;
+  s.match_length = s.prev_length = MIN_MATCH - 1;
+  s.match_available = 0;
+  strm.next_in = next;
+  strm.input = input;
+  strm.avail_in = avail;
+  s.wrap = wrap;
+  return Z_OK;
+}
+
+
+exports.deflateInit = deflateInit;
+exports.deflateInit2 = deflateInit2;
+exports.deflateReset = deflateReset;
+exports.deflateResetKeep = deflateResetKeep;
+exports.deflateSetHeader = deflateSetHeader;
+exports.deflate = deflate;
+exports.deflateEnd = deflateEnd;
+exports.deflateSetDictionary = deflateSetDictionary;
+exports.deflateInfo = 'pako deflate (from Nodeca project)';
+
+/* Not implemented
+exports.deflateBound = deflateBound;
+exports.deflateCopy = deflateCopy;
+exports.deflateParams = deflateParams;
+exports.deflatePending = deflatePending;
+exports.deflatePrime = deflatePrime;
+exports.deflateTune = deflateTune;
+*/
+
+},{"../utils/common":41,"./adler32":43,"./crc32":45,"./messages":51,"./trees":52}],47:[function(require,module,exports){
+'use strict';
+
+// (C) 1995-2013 Jean-loup Gailly and Mark Adler
+// (C) 2014-2017 Vitaly Puzrin and Andrey Tupitsin
+//
+// This software is provided 'as-is', without any express or implied
+// warranty. In no event will the authors be held liable for any damages
+// arising from the use of this software.
+//
+// Permission is granted to anyone to use this software for any purpose,
+// including commercial applications, and to alter it and redistribute it
+// freely, subject to the following restrictions:
+//
+// 1. The origin of this software must not be misrepresented; you must not
+//   claim that you wrote the original software. If you use this software
+//   in a product, an acknowledgment in the product documentation would be
+//   appreciated but is not required.
+// 2. Altered source versions must be plainly marked as such, and must not be
+//   misrepresented as being the original software.
+// 3. This notice may not be removed or altered from any source distribution.
+
+function GZheader() {
+  /* true if compressed data believed to be text */
+  this.text       = 0;
+  /* modification time */
+  this.time       = 0;
+  /* extra flags (not used when writing a gzip file) */
+  this.xflags     = 0;
+  /* operating system */
+  this.os         = 0;
+  /* pointer to extra field or Z_NULL if none */
+  this.extra      = null;
+  /* extra field length (valid if extra != Z_NULL) */
+  this.extra_len  = 0; // Actually, we don't need it in JS,
+                       // but leave for few code modifications
+
+  //
+  // Setup limits is not necessary because in js we should not preallocate memory
+  // for inflate use constant limit in 65536 bytes
+  //
+
+  /* space at extra (only when reading header) */
+  // this.extra_max  = 0;
+  /* pointer to zero-terminated file name or Z_NULL */
+  this.name       = '';
+  /* space at name (only when reading header) */
+  // this.name_max   = 0;
+  /* pointer to zero-terminated comment or Z_NULL */
+  this.comment    = '';
+  /* space at comment (only when reading header) */
+  // this.comm_max   = 0;
+  /* true if there was or will be a header crc */
+  this.hcrc       = 0;
+  /* true when done reading gzip header (not used when writing a gzip file) */
+  this.done       = false;
+}
+
+module.exports = GZheader;
+
+},{}],48:[function(require,module,exports){
+'use strict';
+
+// (C) 1995-2013 Jean-loup Gailly and Mark Adler
+// (C) 2014-2017 Vitaly Puzrin and Andrey Tupitsin
+//
+// This software is provided 'as-is', without any express or implied
+// warranty. In no event will the authors be held liable for any damages
+// arising from the use of this software.
+//
+// Permission is granted to anyone to use this software for any purpose,
+// including commercial applications, and to alter it and redistribute it
+// freely, subject to the following restrictions:
+//
+// 1. The origin of this software must not be misrepresented; you must not
+//   claim that you wrote the original software. If you use this software
+//   in a product, an acknowledgment in the product documentation would be
+//   appreciated but is not required.
+// 2. Altered source versions must be plainly marked as such, and must not be
+//   misrepresented as being the original software.
+// 3. This notice may not be removed or altered from any source distribution.
+
+// See state defs from inflate.js
+var BAD = 30;       /* got a data error -- remain here until reset */
+var TYPE = 12;      /* i: waiting for type bits, including last-flag bit */
+
+/*
+   Decode literal, length, and distance codes and write out the resulting
+   literal and match bytes until either not enough input or output is
+   available, an end-of-block is encountered, or a data error is encountered.
+   When large enough input and output buffers are supplied to inflate(), for
+   example, a 16K input buffer and a 64K output buffer, more than 95% of the
+   inflate execution time is spent in this routine.
+
+   Entry assumptions:
+
+        state.mode === LEN
+        strm.avail_in >= 6
+        strm.avail_out >= 258
+        start >= strm.avail_out
+        state.bits < 8
+
+   On return, state.mode is one of:
+
+        LEN -- ran out of enough output space or enough available input
+        TYPE -- reached end of block code, inflate() to interpret next block
+        BAD -- error in block data
+
+   Notes:
+
+    - The maximum input bits used by a length/distance pair is 15 bits for the
+      length code, 5 bits for the length extra, 15 bits for the distance code,
+      and 13 bits for the distance extra.  This totals 48 bits, or six bytes.
+      Therefore if strm.avail_in >= 6, then there is enough input to avoid
+      checking for available input while decoding.
+
+    - The maximum bytes that a single length/distance pair can output is 258
+      bytes, which is the maximum length that can be coded.  inflate_fast()
+      requires strm.avail_out >= 258 for each loop to avoid checking for
+      output space.
+ */
+module.exports = function inflate_fast(strm, start) {
+  var state;
+  var _in;                    /* local strm.input */
+  var last;                   /* have enough input while in < last */
+  var _out;                   /* local strm.output */
+  var beg;                    /* inflate()'s initial strm.output */
+  var end;                    /* while out < end, enough space available */
+//#ifdef INFLATE_STRICT
+  var dmax;                   /* maximum distance from zlib header */
+//#endif
+  var wsize;                  /* window size or zero if not using window */
+  var whave;                  /* valid bytes in the window */
+  var wnext;                  /* window write index */
+  // Use `s_window` instead `window`, avoid conflict with instrumentation tools
+  var s_window;               /* allocated sliding window, if wsize != 0 */
+  var hold;                   /* local strm.hold */
+  var bits;                   /* local strm.bits */
+  var lcode;                  /* local strm.lencode */
+  var dcode;                  /* local strm.distcode */
+  var lmask;                  /* mask for first level of length codes */
+  var dmask;                  /* mask for first level of distance codes */
+  var here;                   /* retrieved table entry */
+  var op;                     /* code bits, operation, extra bits, or */
+                              /*  window position, window bytes to copy */
+  var len;                    /* match length, unused bytes */
+  var dist;                   /* match distance */
+  var from;                   /* where to copy match from */
+  var from_source;
+
+
+  var input, output; // JS specific, because we have no pointers
+
+  /* copy state to local variables */
+  state = strm.state;
+  //here = state.here;
+  _in = strm.next_in;
+  input = strm.input;
+  last = _in + (strm.avail_in - 5);
+  _out = strm.next_out;
+  output = strm.output;
+  beg = _out - (start - strm.avail_out);
+  end = _out + (strm.avail_out - 257);
+//#ifdef INFLATE_STRICT
+  dmax = state.dmax;
+//#endif
+  wsize = state.wsize;
+  whave = state.whave;
+  wnext = state.wnext;
+  s_window = state.window;
+  hold = state.hold;
+  bits = state.bits;
+  lcode = state.lencode;
+  dcode = state.distcode;
+  lmask = (1 << state.lenbits) - 1;
+  dmask = (1 << state.distbits) - 1;
+
+
+  /* decode literals and length/distances until end-of-block or not enough
+     input data or output space */
+
+  top:
+  do {
+    if (bits < 15) {
+      hold += input[_in++] << bits;
+      bits += 8;
+      hold += input[_in++] << bits;
+      bits += 8;
+    }
+
+    here = lcode[hold & lmask];
+
+    dolen:
+    for (;;) { // Goto emulation
+      op = here >>> 24/*here.bits*/;
+      hold >>>= op;
+      bits -= op;
+      op = (here >>> 16) & 0xff/*here.op*/;
+      if (op === 0) {                          /* literal */
+        //Tracevv((stderr, here.val >= 0x20 && here.val < 0x7f ?
+        //        "inflate:         literal '%c'\n" :
+        //        "inflate:         literal 0x%02x\n", here.val));
+        output[_out++] = here & 0xffff/*here.val*/;
+      }
+      else if (op & 16) {                     /* length base */
+        len = here & 0xffff/*here.val*/;
+        op &= 15;                           /* number of extra bits */
+        if (op) {
+          if (bits < op) {
+            hold += input[_in++] << bits;
+            bits += 8;
+          }
+          len += hold & ((1 << op) - 1);
+          hold >>>= op;
+          bits -= op;
+        }
+        //Tracevv((stderr, "inflate:         length %u\n", len));
+        if (bits < 15) {
+          hold += input[_in++] << bits;
+          bits += 8;
+          hold += input[_in++] << bits;
+          bits += 8;
+        }
+        here = dcode[hold & dmask];
+
+        dodist:
+        for (;;) { // goto emulation
+          op = here >>> 24/*here.bits*/;
+          hold >>>= op;
+          bits -= op;
+          op = (here >>> 16) & 0xff/*here.op*/;
+
+          if (op & 16) {                      /* distance base */
+            dist = here & 0xffff/*here.val*/;
+            op &= 15;                       /* number of extra bits */
+            if (bits < op) {
+              hold += input[_in++] << bits;
+              bits += 8;
+              if (bits < op) {
+                hold += input[_in++] << bits;
+                bits += 8;
+              }
+            }
+            dist += hold & ((1 << op) - 1);
+//#ifdef INFLATE_STRICT
+            if (dist > dmax) {
+              strm.msg = 'invalid distance too far back';
+              state.mode = BAD;
+              break top;
+            }
+//#endif
+            hold >>>= op;
+            bits -= op;
+            //Tracevv((stderr, "inflate:         distance %u\n", dist));
+            op = _out - beg;                /* max distance in output */
+            if (dist > op) {                /* see if copy from window */
+              op = dist - op;               /* distance back in window */
+              if (op > whave) {
+                if (state.sane) {
+                  strm.msg = 'invalid distance too far back';
+                  state.mode = BAD;
+                  break top;
+                }
+
+// (!) This block is disabled in zlib defailts,
+// don't enable it for binary compatibility
+//#ifdef INFLATE_ALLOW_INVALID_DISTANCE_TOOFAR_ARRR
+//                if (len <= op - whave) {
+//                  do {
+//                    output[_out++] = 0;
+//                  } while (--len);
+//                  continue top;
+//                }
+//                len -= op - whave;
+//                do {
+//                  output[_out++] = 0;
+//                } while (--op > whave);
+//                if (op === 0) {
+//                  from = _out - dist;
+//                  do {
+//                    output[_out++] = output[from++];
+//                  } while (--len);
+//                  continue top;
+//                }
+//#endif
+              }
+              from = 0; // window index
+              from_source = s_window;
+              if (wnext === 0) {           /* very common case */
+                from += wsize - op;
+                if (op < len) {         /* some from window */
+                  len -= op;
+                  do {
+                    output[_out++] = s_window[from++];
+                  } while (--op);
+                  from = _out - dist;  /* rest from output */
+                  from_source = output;
+                }
+              }
+              else if (wnext < op) {      /* wrap around window */
+                from += wsize + wnext - op;
+                op -= wnext;
+                if (op < len) {         /* some from end of window */
+                  len -= op;
+                  do {
+                    output[_out++] = s_window[from++];
+                  } while (--op);
+                  from = 0;
+                  if (wnext < len) {  /* some from start of window */
+                    op = wnext;
+                    len -= op;
+                    do {
+                      output[_out++] = s_window[from++];
+                    } while (--op);
+                    from = _out - dist;      /* rest from output */
+                    from_source = output;
+                  }
+                }
+              }
+              else {                      /* contiguous in window */
+                from += wnext - op;
+                if (op < len) {         /* some from window */
+                  len -= op;
+                  do {
+                    output[_out++] = s_window[from++];
+                  } while (--op);
+                  from = _out - dist;  /* rest from output */
+                  from_source = output;
+                }
+              }
+              while (len > 2) {
+                output[_out++] = from_source[from++];
+                output[_out++] = from_source[from++];
+                output[_out++] = from_source[from++];
+                len -= 3;
+              }
+              if (len) {
+                output[_out++] = from_source[from++];
+                if (len > 1) {
+                  output[_out++] = from_source[from++];
+                }
+              }
+            }
+            else {
+              from = _out - dist;          /* copy direct from output */
+              do {                        /* minimum length is three */
+                output[_out++] = output[from++];
+                output[_out++] = output[from++];
+                output[_out++] = output[from++];
+                len -= 3;
+              } while (len > 2);
+              if (len) {
+                output[_out++] = output[from++];
+                if (len > 1) {
+                  output[_out++] = output[from++];
+                }
+              }
+            }
+          }
+          else if ((op & 64) === 0) {          /* 2nd level distance code */
+            here = dcode[(here & 0xffff)/*here.val*/ + (hold & ((1 << op) - 1))];
+            continue dodist;
+          }
+          else {
+            strm.msg = 'invalid distance code';
+            state.mode = BAD;
+            break top;
+          }
+
+          break; // need to emulate goto via "continue"
+        }
+      }
+      else if ((op & 64) === 0) {              /* 2nd level length code */
+        here = lcode[(here & 0xffff)/*here.val*/ + (hold & ((1 << op) - 1))];
+        continue dolen;
+      }
+      else if (op & 32) {                     /* end-of-block */
+        //Tracevv((stderr, "inflate:         end of block\n"));
+        state.mode = TYPE;
+        break top;
+      }
+      else {
+        strm.msg = 'invalid literal/length code';
+        state.mode = BAD;
+        break top;
+      }
+
+      break; // need to emulate goto via "continue"
+    }
+  } while (_in < last && _out < end);
+
+  /* return unused bytes (on entry, bits < 8, so in won't go too far back) */
+  len = bits >> 3;
+  _in -= len;
+  bits -= len << 3;
+  hold &= (1 << bits) - 1;
+
+  /* update state and return */
+  strm.next_in = _in;
+  strm.next_out = _out;
+  strm.avail_in = (_in < last ? 5 + (last - _in) : 5 - (_in - last));
+  strm.avail_out = (_out < end ? 257 + (end - _out) : 257 - (_out - end));
+  state.hold = hold;
+  state.bits = bits;
+  return;
+};
+
+},{}],49:[function(require,module,exports){
+'use strict';
+
+// (C) 1995-2013 Jean-loup Gailly and Mark Adler
+// (C) 2014-2017 Vitaly Puzrin and Andrey Tupitsin
+//
+// This software is provided 'as-is', without any express or implied
+// warranty. In no event will the authors be held liable for any damages
+// arising from the use of this software.
+//
+// Permission is granted to anyone to use this software for any purpose,
+// including commercial applications, and to alter it and redistribute it
+// freely, subject to the following restrictions:
+//
+// 1. The origin of this software must not be misrepresented; you must not
+//   claim that you wrote the original software. If you use this software
+//   in a product, an acknowledgment in the product documentation would be
+//   appreciated but is not required.
+// 2. Altered source versions must be plainly marked as such, and must not be
+//   misrepresented as being the original software.
+// 3. This notice may not be removed or altered from any source distribution.
+
+var utils         = require('../utils/common');
+var adler32       = require('./adler32');
+var crc32         = require('./crc32');
+var inflate_fast  = require('./inffast');
+var inflate_table = require('./inftrees');
+
+var CODES = 0;
+var LENS = 1;
+var DISTS = 2;
+
+/* Public constants ==========================================================*/
+/* ===========================================================================*/
+
+
+/* Allowed flush values; see deflate() and inflate() below for details */
+//var Z_NO_FLUSH      = 0;
+//var Z_PARTIAL_FLUSH = 1;
+//var Z_SYNC_FLUSH    = 2;
+//var Z_FULL_FLUSH    = 3;
+var Z_FINISH        = 4;
+var Z_BLOCK         = 5;
+var Z_TREES         = 6;
+
+
+/* Return codes for the compression/decompression functions. Negative values
+ * are errors, positive values are used for special but normal events.
+ */
+var Z_OK            = 0;
+var Z_STREAM_END    = 1;
+var Z_NEED_DICT     = 2;
+//var Z_ERRNO         = -1;
+var Z_STREAM_ERROR  = -2;
+var Z_DATA_ERROR    = -3;
+var Z_MEM_ERROR     = -4;
+var Z_BUF_ERROR     = -5;
+//var Z_VERSION_ERROR = -6;
+
+/* The deflate compression method */
+var Z_DEFLATED  = 8;
+
+
+/* STATES ====================================================================*/
+/* ===========================================================================*/
+
+
+var    HEAD = 1;       /* i: waiting for magic header */
+var    FLAGS = 2;      /* i: waiting for method and flags (gzip) */
+var    TIME = 3;       /* i: waiting for modification time (gzip) */
+var    OS = 4;         /* i: waiting for extra flags and operating system (gzip) */
+var    EXLEN = 5;      /* i: waiting for extra length (gzip) */
+var    EXTRA = 6;      /* i: waiting for extra bytes (gzip) */
+var    NAME = 7;       /* i: waiting for end of file name (gzip) */
+var    COMMENT = 8;    /* i: waiting for end of comment (gzip) */
+var    HCRC = 9;       /* i: waiting for header crc (gzip) */
+var    DICTID = 10;    /* i: waiting for dictionary check value */
+var    DICT = 11;      /* waiting for inflateSetDictionary() call */
+var        TYPE = 12;      /* i: waiting for type bits, including last-flag bit */
+var        TYPEDO = 13;    /* i: same, but skip check to exit inflate on new block */
+var        STORED = 14;    /* i: waiting for stored size (length and complement) */
+var        COPY_ = 15;     /* i/o: same as COPY below, but only first time in */
+var        COPY = 16;      /* i/o: waiting for input or output to copy stored block */
+var        TABLE = 17;     /* i: waiting for dynamic block table lengths */
+var        LENLENS = 18;   /* i: waiting for code length code lengths */
+var        CODELENS = 19;  /* i: waiting for length/lit and distance code lengths */
+var            LEN_ = 20;      /* i: same as LEN below, but only first time in */
+var            LEN = 21;       /* i: waiting for length/lit/eob code */
+var            LENEXT = 22;    /* i: waiting for length extra bits */
+var            DIST = 23;      /* i: waiting for distance code */
+var            DISTEXT = 24;   /* i: waiting for distance extra bits */
+var            MATCH = 25;     /* o: waiting for output space to copy string */
+var            LIT = 26;       /* o: waiting for output space to write literal */
+var    CHECK = 27;     /* i: waiting for 32-bit check value */
+var    LENGTH = 28;    /* i: waiting for 32-bit length (gzip) */
+var    DONE = 29;      /* finished check, done -- remain here until reset */
+var    BAD = 30;       /* got a data error -- remain here until reset */
+var    MEM = 31;       /* got an inflate() memory error -- remain here until reset */
+var    SYNC = 32;      /* looking for synchronization bytes to restart inflate() */
+
+/* ===========================================================================*/
+
+
+
+var ENOUGH_LENS = 852;
+var ENOUGH_DISTS = 592;
+//var ENOUGH =  (ENOUGH_LENS+ENOUGH_DISTS);
+
+var MAX_WBITS = 15;
+/* 32K LZ77 window */
+var DEF_WBITS = MAX_WBITS;
+
+
+function zswap32(q) {
+  return  (((q >>> 24) & 0xff) +
+          ((q >>> 8) & 0xff00) +
+          ((q & 0xff00) << 8) +
+          ((q & 0xff) << 24));
+}
+
+
+function InflateState() {
+  this.mode = 0;             /* current inflate mode */
+  this.last = false;          /* true if processing last block */
+  this.wrap = 0;              /* bit 0 true for zlib, bit 1 true for gzip */
+  this.havedict = false;      /* true if dictionary provided */
+  this.flags = 0;             /* gzip header method and flags (0 if zlib) */
+  this.dmax = 0;              /* zlib header max distance (INFLATE_STRICT) */
+  this.check = 0;             /* protected copy of check value */
+  this.total = 0;             /* protected copy of output count */
+  // TODO: may be {}
+  this.head = null;           /* where to save gzip header information */
+
+  /* sliding window */
+  this.wbits = 0;             /* log base 2 of requested window size */
+  this.wsize = 0;             /* window size or zero if not using window */
+  this.whave = 0;             /* valid bytes in the window */
+  this.wnext = 0;             /* window write index */
+  this.window = null;         /* allocated sliding window, if needed */
+
+  /* bit accumulator */
+  this.hold = 0;              /* input bit accumulator */
+  this.bits = 0;              /* number of bits in "in" */
+
+  /* for string and stored block copying */
+  this.length = 0;            /* literal or length of data to copy */
+  this.offset = 0;            /* distance back to copy string from */
+
+  /* for table and code decoding */
+  this.extra = 0;             /* extra bits needed */
+
+  /* fixed and dynamic code tables */
+  this.lencode = null;          /* starting table for length/literal codes */
+  this.distcode = null;         /* starting table for distance codes */
+  this.lenbits = 0;           /* index bits for lencode */
+  this.distbits = 0;          /* index bits for distcode */
+
+  /* dynamic table building */
+  this.ncode = 0;             /* number of code length code lengths */
+  this.nlen = 0;              /* number of length code lengths */
+  this.ndist = 0;             /* number of distance code lengths */
+  this.have = 0;              /* number of code lengths in lens[] */
+  this.next = null;              /* next available space in codes[] */
+
+  this.lens = new utils.Buf16(320); /* temporary storage for code lengths */
+  this.work = new utils.Buf16(288); /* work area for code table building */
+
+  /*
+   because we don't have pointers in js, we use lencode and distcode directly
+   as buffers so we don't need codes
+  */
+  //this.codes = new utils.Buf32(ENOUGH);       /* space for code tables */
+  this.lendyn = null;              /* dynamic table for length/literal codes (JS specific) */
+  this.distdyn = null;             /* dynamic table for distance codes (JS specific) */
+  this.sane = 0;                   /* if false, allow invalid distance too far */
+  this.back = 0;                   /* bits back of last unprocessed length/lit */
+  this.was = 0;                    /* initial length of match */
+}
+
+function inflateResetKeep(strm) {
+  var state;
+
+  if (!strm || !strm.state) { return Z_STREAM_ERROR; }
+  state = strm.state;
+  strm.total_in = strm.total_out = state.total = 0;
+  strm.msg = ''; /*Z_NULL*/
+  if (state.wrap) {       /* to support ill-conceived Java test suite */
+    strm.adler = state.wrap & 1;
+  }
+  state.mode = HEAD;
+  state.last = 0;
+  state.havedict = 0;
+  state.dmax = 32768;
+  state.head = null/*Z_NULL*/;
+  state.hold = 0;
+  state.bits = 0;
+  //state.lencode = state.distcode = state.next = state.codes;
+  state.lencode = state.lendyn = new utils.Buf32(ENOUGH_LENS);
+  state.distcode = state.distdyn = new utils.Buf32(ENOUGH_DISTS);
+
+  state.sane = 1;
+  state.back = -1;
+  //Tracev((stderr, "inflate: reset\n"));
+  return Z_OK;
+}
+
+function inflateReset(strm) {
+  var state;
+
+  if (!strm || !strm.state) { return Z_STREAM_ERROR; }
+  state = strm.state;
+  state.wsize = 0;
+  state.whave = 0;
+  state.wnext = 0;
+  return inflateResetKeep(strm);
+
+}
+
+function inflateReset2(strm, windowBits) {
+  var wrap;
+  var state;
+
+  /* get the state */
+  if (!strm || !strm.state) { return Z_STREAM_ERROR; }
+  state = strm.state;
+
+  /* extract wrap request from windowBits parameter */
+  if (windowBits < 0) {
+    wrap = 0;
+    windowBits = -windowBits;
+  }
+  else {
+    wrap = (windowBits >> 4) + 1;
+    if (windowBits < 48) {
+      windowBits &= 15;
+    }
+  }
+
+  /* set number of window bits, free window if different */
+  if (windowBits && (windowBits < 8 || windowBits > 15)) {
+    return Z_STREAM_ERROR;
+  }
+  if (state.window !== null && state.wbits !== windowBits) {
+    state.window = null;
+  }
+
+  /* update state and reset the rest of it */
+  state.wrap = wrap;
+  state.wbits = windowBits;
+  return inflateReset(strm);
+}
+
+function inflateInit2(strm, windowBits) {
+  var ret;
+  var state;
+
+  if (!strm) { return Z_STREAM_ERROR; }
+  //strm.msg = Z_NULL;                 /* in case we return an error */
+
+  state = new InflateState();
+
+  //if (state === Z_NULL) return Z_MEM_ERROR;
+  //Tracev((stderr, "inflate: allocated\n"));
+  strm.state = state;
+  state.window = null/*Z_NULL*/;
+  ret = inflateReset2(strm, windowBits);
+  if (ret !== Z_OK) {
+    strm.state = null/*Z_NULL*/;
+  }
+  return ret;
+}
+
+function inflateInit(strm) {
+  return inflateInit2(strm, DEF_WBITS);
+}
+
+
+/*
+ Return state with length and distance decoding tables and index sizes set to
+ fixed code decoding.  Normally this returns fixed tables from inffixed.h.
+ If BUILDFIXED is defined, then instead this routine builds the tables the
+ first time it's called, and returns those tables the first time and
+ thereafter.  This reduces the size of the code by about 2K bytes, in
+ exchange for a little execution time.  However, BUILDFIXED should not be
+ used for threaded applications, since the rewriting of the tables and virgin
+ may not be thread-safe.
+ */
+var virgin = true;
+
+var lenfix, distfix; // We have no pointers in JS, so keep tables separate
+
+function fixedtables(state) {
+  /* build fixed huffman tables if first call (may not be thread safe) */
+  if (virgin) {
+    var sym;
+
+    lenfix = new utils.Buf32(512);
+    distfix = new utils.Buf32(32);
+
+    /* literal/length table */
+    sym = 0;
+    while (sym < 144) { state.lens[sym++] = 8; }
+    while (sym < 256) { state.lens[sym++] = 9; }
+    while (sym < 280) { state.lens[sym++] = 7; }
+    while (sym < 288) { state.lens[sym++] = 8; }
+
+    inflate_table(LENS,  state.lens, 0, 288, lenfix,   0, state.work, { bits: 9 });
+
+    /* distance table */
+    sym = 0;
+    while (sym < 32) { state.lens[sym++] = 5; }
+
+    inflate_table(DISTS, state.lens, 0, 32,   distfix, 0, state.work, { bits: 5 });
+
+    /* do this just once */
+    virgin = false;
+  }
+
+  state.lencode = lenfix;
+  state.lenbits = 9;
+  state.distcode = distfix;
+  state.distbits = 5;
+}
+
+
+/*
+ Update the window with the last wsize (normally 32K) bytes written before
+ returning.  If window does not exist yet, create it.  This is only called
+ when a window is already in use, or when output has been written during this
+ inflate call, but the end of the deflate stream has not been reached yet.
+ It is also called to create a window for dictionary data when a dictionary
+ is loaded.
+
+ Providing output buffers larger than 32K to inflate() should provide a speed
+ advantage, since only the last 32K of output is copied to the sliding window
+ upon return from inflate(), and since all distances after the first 32K of
+ output will fall in the output data, making match copies simpler and faster.
+ The advantage may be dependent on the size of the processor's data caches.
+ */
+function updatewindow(strm, src, end, copy) {
+  var dist;
+  var state = strm.state;
+
+  /* if it hasn't been done already, allocate space for the window */
+  if (state.window === null) {
+    state.wsize = 1 << state.wbits;
+    state.wnext = 0;
+    state.whave = 0;
+
+    state.window = new utils.Buf8(state.wsize);
+  }
+
+  /* copy state->wsize or less output bytes into the circular window */
+  if (copy >= state.wsize) {
+    utils.arraySet(state.window, src, end - state.wsize, state.wsize, 0);
+    state.wnext = 0;
+    state.whave = state.wsize;
+  }
+  else {
+    dist = state.wsize - state.wnext;
+    if (dist > copy) {
+      dist = copy;
+    }
+    //zmemcpy(state->window + state->wnext, end - copy, dist);
+    utils.arraySet(state.window, src, end - copy, dist, state.wnext);
+    copy -= dist;
+    if (copy) {
+      //zmemcpy(state->window, end - copy, copy);
+      utils.arraySet(state.window, src, end - copy, copy, 0);
+      state.wnext = copy;
+      state.whave = state.wsize;
+    }
+    else {
+      state.wnext += dist;
+      if (state.wnext === state.wsize) { state.wnext = 0; }
+      if (state.whave < state.wsize) { state.whave += dist; }
+    }
+  }
+  return 0;
+}
+
+function inflate(strm, flush) {
+  var state;
+  var input, output;          // input/output buffers
+  var next;                   /* next input INDEX */
+  var put;                    /* next output INDEX */
+  var have, left;             /* available input and output */
+  var hold;                   /* bit buffer */
+  var bits;                   /* bits in bit buffer */
+  var _in, _out;              /* save starting available input and output */
+  var copy;                   /* number of stored or match bytes to copy */
+  var from;                   /* where to copy match bytes from */
+  var from_source;
+  var here = 0;               /* current decoding table entry */
+  var here_bits, here_op, here_val; // paked "here" denormalized (JS specific)
+  //var last;                   /* parent table entry */
+  var last_bits, last_op, last_val; // paked "last" denormalized (JS specific)
+  var len;                    /* length to copy for repeats, bits to drop */
+  var ret;                    /* return code */
+  var hbuf = new utils.Buf8(4);    /* buffer for gzip header crc calculation */
+  var opts;
+
+  var n; // temporary var for NEED_BITS
+
+  var order = /* permutation of code lengths */
+    [ 16, 17, 18, 0, 8, 7, 9, 6, 10, 5, 11, 4, 12, 3, 13, 2, 14, 1, 15 ];
+
+
+  if (!strm || !strm.state || !strm.output ||
+      (!strm.input && strm.avail_in !== 0)) {
+    return Z_STREAM_ERROR;
+  }
+
+  state = strm.state;
+  if (state.mode === TYPE) { state.mode = TYPEDO; }    /* skip check */
+
+
+  //--- LOAD() ---
+  put = strm.next_out;
+  output = strm.output;
+  left = strm.avail_out;
+  next = strm.next_in;
+  input = strm.input;
+  have = strm.avail_in;
+  hold = state.hold;
+  bits = state.bits;
+  //---
+
+  _in = have;
+  _out = left;
+  ret = Z_OK;
+
+  inf_leave: // goto emulation
+  for (;;) {
+    switch (state.mode) {
+    case HEAD:
+      if (state.wrap === 0) {
+        state.mode = TYPEDO;
+        break;
+      }
+      //=== NEEDBITS(16);
+      while (bits < 16) {
+        if (have === 0) { break inf_leave; }
+        have--;
+        hold += input[next++] << bits;
+        bits += 8;
+      }
+      //===//
+      if ((state.wrap & 2) && hold === 0x8b1f) {  /* gzip header */
+        state.check = 0/*crc32(0L, Z_NULL, 0)*/;
+        //=== CRC2(state.check, hold);
+        hbuf[0] = hold & 0xff;
+        hbuf[1] = (hold >>> 8) & 0xff;
+        state.check = crc32(state.check, hbuf, 2, 0);
+        //===//
+
+        //=== INITBITS();
+        hold = 0;
+        bits = 0;
+        //===//
+        state.mode = FLAGS;
+        break;
+      }
+      state.flags = 0;           /* expect zlib header */
+      if (state.head) {
+        state.head.done = false;
+      }
+      if (!(state.wrap & 1) ||   /* check if zlib header allowed */
+        (((hold & 0xff)/*BITS(8)*/ << 8) + (hold >> 8)) % 31) {
+        strm.msg = 'incorrect header check';
+        state.mode = BAD;
+        break;
+      }
+      if ((hold & 0x0f)/*BITS(4)*/ !== Z_DEFLATED) {
+        strm.msg = 'unknown compression method';
+        state.mode = BAD;
+        break;
+      }
+      //--- DROPBITS(4) ---//
+      hold >>>= 4;
+      bits -= 4;
+      //---//
+      len = (hold & 0x0f)/*BITS(4)*/ + 8;
+      if (state.wbits === 0) {
+        state.wbits = len;
+      }
+      else if (len > state.wbits) {
+        strm.msg = 'invalid window size';
+        state.mode = BAD;
+        break;
+      }
+      state.dmax = 1 << len;
+      //Tracev((stderr, "inflate:   zlib header ok\n"));
+      strm.adler = state.check = 1/*adler32(0L, Z_NULL, 0)*/;
+      state.mode = hold & 0x200 ? DICTID : TYPE;
+      //=== INITBITS();
+      hold = 0;
+      bits = 0;
+      //===//
+      break;
+    case FLAGS:
+      //=== NEEDBITS(16); */
+      while (bits < 16) {
+        if (have === 0) { break inf_leave; }
+        have--;
+        hold += input[next++] << bits;
+        bits += 8;
+      }
+      //===//
+      state.flags = hold;
+      if ((state.flags & 0xff) !== Z_DEFLATED) {
+        strm.msg = 'unknown compression method';
+        state.mode = BAD;
+        break;
+      }
+      if (state.flags & 0xe000) {
+        strm.msg = 'unknown header flags set';
+        state.mode = BAD;
+        break;
+      }
+      if (state.head) {
+        state.head.text = ((hold >> 8) & 1);
+      }
+      if (state.flags & 0x0200) {
+        //=== CRC2(state.check, hold);
+        hbuf[0] = hold & 0xff;
+        hbuf[1] = (hold >>> 8) & 0xff;
+        state.check = crc32(state.check, hbuf, 2, 0);
+        //===//
+      }
+      //=== INITBITS();
+      hold = 0;
+      bits = 0;
+      //===//
+      state.mode = TIME;
+      /* falls through */
+    case TIME:
+      //=== NEEDBITS(32); */
+      while (bits < 32) {
+        if (have === 0) { break inf_leave; }
+        have--;
+        hold += input[next++] << bits;
+        bits += 8;
+      }
+      //===//
+      if (state.head) {
+        state.head.time = hold;
+      }
+      if (state.flags & 0x0200) {
+        //=== CRC4(state.check, hold)
+        hbuf[0] = hold & 0xff;
+        hbuf[1] = (hold >>> 8) & 0xff;
+        hbuf[2] = (hold >>> 16) & 0xff;
+        hbuf[3] = (hold >>> 24) & 0xff;
+        state.check = crc32(state.check, hbuf, 4, 0);
+        //===
+      }
+      //=== INITBITS();
+      hold = 0;
+      bits = 0;
+      //===//
+      state.mode = OS;
+      /* falls through */
+    case OS:
+      //=== NEEDBITS(16); */
+      while (bits < 16) {
+        if (have === 0) { break inf_leave; }
+        have--;
+        hold += input[next++] << bits;
+        bits += 8;
+      }
+      //===//
+      if (state.head) {
+        state.head.xflags = (hold & 0xff);
+        state.head.os = (hold >> 8);
+      }
+      if (state.flags & 0x0200) {
+        //=== CRC2(state.check, hold);
+        hbuf[0] = hold & 0xff;
+        hbuf[1] = (hold >>> 8) & 0xff;
+        state.check = crc32(state.check, hbuf, 2, 0);
+        //===//
+      }
+      //=== INITBITS();
+      hold = 0;
+      bits = 0;
+      //===//
+      state.mode = EXLEN;
+      /* falls through */
+    case EXLEN:
+      if (state.flags & 0x0400) {
+        //=== NEEDBITS(16); */
+        while (bits < 16) {
+          if (have === 0) { break inf_leave; }
+          have--;
+          hold += input[next++] << bits;
+          bits += 8;
+        }
+        //===//
+        state.length = hold;
+        if (state.head) {
+          state.head.extra_len = hold;
+        }
+        if (state.flags & 0x0200) {
+          //=== CRC2(state.check, hold);
+          hbuf[0] = hold & 0xff;
+          hbuf[1] = (hold >>> 8) & 0xff;
+          state.check = crc32(state.check, hbuf, 2, 0);
+          //===//
+        }
+        //=== INITBITS();
+        hold = 0;
+        bits = 0;
+        //===//
+      }
+      else if (state.head) {
+        state.head.extra = null/*Z_NULL*/;
+      }
+      state.mode = EXTRA;
+      /* falls through */
+    case EXTRA:
+      if (state.flags & 0x0400) {
+        copy = state.length;
+        if (copy > have) { copy = have; }
+        if (copy) {
+          if (state.head) {
+            len = state.head.extra_len - state.length;
+            if (!state.head.extra) {
+              // Use untyped array for more conveniend processing later
+              state.head.extra = new Array(state.head.extra_len);
+            }
+            utils.arraySet(
+              state.head.extra,
+              input,
+              next,
+              // extra field is limited to 65536 bytes
+              // - no need for additional size check
+              copy,
+              /*len + copy > state.head.extra_max - len ? state.head.extra_max : copy,*/
+              len
+            );
+            //zmemcpy(state.head.extra + len, next,
+            //        len + copy > state.head.extra_max ?
+            //        state.head.extra_max - len : copy);
+          }
+          if (state.flags & 0x0200) {
+            state.check = crc32(state.check, input, copy, next);
+          }
+          have -= copy;
+          next += copy;
+          state.length -= copy;
+        }
+        if (state.length) { break inf_leave; }
+      }
+      state.length = 0;
+      state.mode = NAME;
+      /* falls through */
+    case NAME:
+      if (state.flags & 0x0800) {
+        if (have === 0) { break inf_leave; }
+        copy = 0;
+        do {
+          // TODO: 2 or 1 bytes?
+          len = input[next + copy++];
+          /* use constant limit because in js we should not preallocate memory */
+          if (state.head && len &&
+              (state.length < 65536 /*state.head.name_max*/)) {
+            state.head.name += String.fromCharCode(len);
+          }
+        } while (len && copy < have);
+
+        if (state.flags & 0x0200) {
+          state.check = crc32(state.check, input, copy, next);
+        }
+        have -= copy;
+        next += copy;
+        if (len) { break inf_leave; }
+      }
+      else if (state.head) {
+        state.head.name = null;
+      }
+      state.length = 0;
+      state.mode = COMMENT;
+      /* falls through */
+    case COMMENT:
+      if (state.flags & 0x1000) {
+        if (have === 0) { break inf_leave; }
+        copy = 0;
+        do {
+          len = input[next + copy++];
+          /* use constant limit because in js we should not preallocate memory */
+          if (state.head && len &&
+              (state.length < 65536 /*state.head.comm_max*/)) {
+            state.head.comment += String.fromCharCode(len);
+          }
+        } while (len && copy < have);
+        if (state.flags & 0x0200) {
+          state.check = crc32(state.check, input, copy, next);
+        }
+        have -= copy;
+        next += copy;
+        if (len) { break inf_leave; }
+      }
+      else if (state.head) {
+        state.head.comment = null;
+      }
+      state.mode = HCRC;
+      /* falls through */
+    case HCRC:
+      if (state.flags & 0x0200) {
+        //=== NEEDBITS(16); */
+        while (bits < 16) {
+          if (have === 0) { break inf_leave; }
+          have--;
+          hold += input[next++] << bits;
+          bits += 8;
+        }
+        //===//
+        if (hold !== (state.check & 0xffff)) {
+          strm.msg = 'header crc mismatch';
+          state.mode = BAD;
+          break;
+        }
+        //=== INITBITS();
+        hold = 0;
+        bits = 0;
+        //===//
+      }
+      if (state.head) {
+        state.head.hcrc = ((state.flags >> 9) & 1);
+        state.head.done = true;
+      }
+      strm.adler = state.check = 0;
+      state.mode = TYPE;
+      break;
+    case DICTID:
+      //=== NEEDBITS(32); */
+      while (bits < 32) {
+        if (have === 0) { break inf_leave; }
+        have--;
+        hold += input[next++] << bits;
+        bits += 8;
+      }
+      //===//
+      strm.adler = state.check = zswap32(hold);
+      //=== INITBITS();
+      hold = 0;
+      bits = 0;
+      //===//
+      state.mode = DICT;
+      /* falls through */
+    case DICT:
+      if (state.havedict === 0) {
+        //--- RESTORE() ---
+        strm.next_out = put;
+        strm.avail_out = left;
+        strm.next_in = next;
+        strm.avail_in = have;
+        state.hold = hold;
+        state.bits = bits;
+        //---
+        return Z_NEED_DICT;
+      }
+      strm.adler = state.check = 1/*adler32(0L, Z_NULL, 0)*/;
+      state.mode = TYPE;
+      /* falls through */
+    case TYPE:
+      if (flush === Z_BLOCK || flush === Z_TREES) { break inf_leave; }
+      /* falls through */
+    case TYPEDO:
+      if (state.last) {
+        //--- BYTEBITS() ---//
+        hold >>>= bits & 7;
+        bits -= bits & 7;
+        //---//
+        state.mode = CHECK;
+        break;
+      }
+      //=== NEEDBITS(3); */
+      while (bits < 3) {
+        if (have === 0) { break inf_leave; }
+        have--;
+        hold += input[next++] << bits;
+        bits += 8;
+      }
+      //===//
+      state.last = (hold & 0x01)/*BITS(1)*/;
+      //--- DROPBITS(1) ---//
+      hold >>>= 1;
+      bits -= 1;
+      //---//
+
+      switch ((hold & 0x03)/*BITS(2)*/) {
+      case 0:                             /* stored block */
+        //Tracev((stderr, "inflate:     stored block%s\n",
+        //        state.last ? " (last)" : ""));
+        state.mode = STORED;
+        break;
+      case 1:                             /* fixed block */
+        fixedtables(state);
+        //Tracev((stderr, "inflate:     fixed codes block%s\n",
+        //        state.last ? " (last)" : ""));
+        state.mode = LEN_;             /* decode codes */
+        if (flush === Z_TREES) {
+          //--- DROPBITS(2) ---//
+          hold >>>= 2;
+          bits -= 2;
+          //---//
+          break inf_leave;
+        }
+        break;
+      case 2:                             /* dynamic block */
+        //Tracev((stderr, "inflate:     dynamic codes block%s\n",
+        //        state.last ? " (last)" : ""));
+        state.mode = TABLE;
+        break;
+      case 3:
+        strm.msg = 'invalid block type';
+        state.mode = BAD;
+      }
+      //--- DROPBITS(2) ---//
+      hold >>>= 2;
+      bits -= 2;
+      //---//
+      break;
+    case STORED:
+      //--- BYTEBITS() ---// /* go to byte boundary */
+      hold >>>= bits & 7;
+      bits -= bits & 7;
+      //---//
+      //=== NEEDBITS(32); */
+      while (bits < 32) {
+        if (have === 0) { break inf_leave; }
+        have--;
+        hold += input[next++] << bits;
+        bits += 8;
+      }
+      //===//
+      if ((hold & 0xffff) !== ((hold >>> 16) ^ 0xffff)) {
+        strm.msg = 'invalid stored block lengths';
+        state.mode = BAD;
+        break;
+      }
+      state.length = hold & 0xffff;
+      //Tracev((stderr, "inflate:       stored length %u\n",
+      //        state.length));
+      //=== INITBITS();
+      hold = 0;
+      bits = 0;
+      //===//
+      state.mode = COPY_;
+      if (flush === Z_TREES) { break inf_leave; }
+      /* falls through */
+    case COPY_:
+      state.mode = COPY;
+      /* falls through */
+    case COPY:
+      copy = state.length;
+      if (copy) {
+        if (copy > have) { copy = have; }
+        if (copy > left) { copy = left; }
+        if (copy === 0) { break inf_leave; }
+        //--- zmemcpy(put, next, copy); ---
+        utils.arraySet(output, input, next, copy, put);
+        //---//
+        have -= copy;
+        next += copy;
+        left -= copy;
+        put += copy;
+        state.length -= copy;
+        break;
+      }
+      //Tracev((stderr, "inflate:       stored end\n"));
+      state.mode = TYPE;
+      break;
+    case TABLE:
+      //=== NEEDBITS(14); */
+      while (bits < 14) {
+        if (have === 0) { break inf_leave; }
+        have--;
+        hold += input[next++] << bits;
+        bits += 8;
+      }
+      //===//
+      state.nlen = (hold & 0x1f)/*BITS(5)*/ + 257;
+      //--- DROPBITS(5) ---//
+      hold >>>= 5;
+      bits -= 5;
+      //---//
+      state.ndist = (hold & 0x1f)/*BITS(5)*/ + 1;
+      //--- DROPBITS(5) ---//
+      hold >>>= 5;
+      bits -= 5;
+      //---//
+      state.ncode = (hold & 0x0f)/*BITS(4)*/ + 4;
+      //--- DROPBITS(4) ---//
+      hold >>>= 4;
+      bits -= 4;
+      //---//
+//#ifndef PKZIP_BUG_WORKAROUND
+      if (state.nlen > 286 || state.ndist > 30) {
+        strm.msg = 'too many length or distance symbols';
+        state.mode = BAD;
+        break;
+      }
+//#endif
+      //Tracev((stderr, "inflate:       table sizes ok\n"));
+      state.have = 0;
+      state.mode = LENLENS;
+      /* falls through */
+    case LENLENS:
+      while (state.have < state.ncode) {
+        //=== NEEDBITS(3);
+        while (bits < 3) {
+          if (have === 0) { break inf_leave; }
+          have--;
+          hold += input[next++] << bits;
+          bits += 8;
+        }
+        //===//
+        state.lens[order[state.have++]] = (hold & 0x07);//BITS(3);
+        //--- DROPBITS(3) ---//
+        hold >>>= 3;
+        bits -= 3;
+        //---//
+      }
+      while (state.have < 19) {
+        state.lens[order[state.have++]] = 0;
+      }
+      // We have separate tables & no pointers. 2 commented lines below not needed.
+      //state.next = state.codes;
+      //state.lencode = state.next;
+      // Switch to use dynamic table
+      state.lencode = state.lendyn;
+      state.lenbits = 7;
+
+      opts = { bits: state.lenbits };
+      ret = inflate_table(CODES, state.lens, 0, 19, state.lencode, 0, state.work, opts);
+      state.lenbits = opts.bits;
+
+      if (ret) {
+        strm.msg = 'invalid code lengths set';
+        state.mode = BAD;
+        break;
+      }
+      //Tracev((stderr, "inflate:       code lengths ok\n"));
+      state.have = 0;
+      state.mode = CODELENS;
+      /* falls through */
+    case CODELENS:
+      while (state.have < state.nlen + state.ndist) {
+        for (;;) {
+          here = state.lencode[hold & ((1 << state.lenbits) - 1)];/*BITS(state.lenbits)*/
+          here_bits = here >>> 24;
+          here_op = (here >>> 16) & 0xff;
+          here_val = here & 0xffff;
+
+          if ((here_bits) <= bits) { break; }
+          //--- PULLBYTE() ---//
+          if (have === 0) { break inf_leave; }
+          have--;
+          hold += input[next++] << bits;
+          bits += 8;
+          //---//
+        }
+        if (here_val < 16) {
+          //--- DROPBITS(here.bits) ---//
+          hold >>>= here_bits;
+          bits -= here_bits;
+          //---//
+          state.lens[state.have++] = here_val;
+        }
+        else {
+          if (here_val === 16) {
+            //=== NEEDBITS(here.bits + 2);
+            n = here_bits + 2;
+            while (bits < n) {
+              if (have === 0) { break inf_leave; }
+              have--;
+              hold += input[next++] << bits;
+              bits += 8;
+            }
+            //===//
+            //--- DROPBITS(here.bits) ---//
+            hold >>>= here_bits;
+            bits -= here_bits;
+            //---//
+            if (state.have === 0) {
+              strm.msg = 'invalid bit length repeat';
+              state.mode = BAD;
+              break;
+            }
+            len = state.lens[state.have - 1];
+            copy = 3 + (hold & 0x03);//BITS(2);
+            //--- DROPBITS(2) ---//
+            hold >>>= 2;
+            bits -= 2;
+            //---//
+          }
+          else if (here_val === 17) {
+            //=== NEEDBITS(here.bits + 3);
+            n = here_bits + 3;
+            while (bits < n) {
+              if (have === 0) { break inf_leave; }
+              have--;
+              hold += input[next++] << bits;
+              bits += 8;
+            }
+            //===//
+            //--- DROPBITS(here.bits) ---//
+            hold >>>= here_bits;
+            bits -= here_bits;
+            //---//
+            len = 0;
+            copy = 3 + (hold & 0x07);//BITS(3);
+            //--- DROPBITS(3) ---//
+            hold >>>= 3;
+            bits -= 3;
+            //---//
+          }
+          else {
+            //=== NEEDBITS(here.bits + 7);
+            n = here_bits + 7;
+            while (bits < n) {
+              if (have === 0) { break inf_leave; }
+              have--;
+              hold += input[next++] << bits;
+              bits += 8;
+            }
+            //===//
+            //--- DROPBITS(here.bits) ---//
+            hold >>>= here_bits;
+            bits -= here_bits;
+            //---//
+            len = 0;
+            copy = 11 + (hold & 0x7f);//BITS(7);
+            //--- DROPBITS(7) ---//
+            hold >>>= 7;
+            bits -= 7;
+            //---//
+          }
+          if (state.have + copy > state.nlen + state.ndist) {
+            strm.msg = 'invalid bit length repeat';
+            state.mode = BAD;
+            break;
+          }
+          while (copy--) {
+            state.lens[state.have++] = len;
+          }
+        }
+      }
+
+      /* handle error breaks in while */
+      if (state.mode === BAD) { break; }
+
+      /* check for end-of-block code (better have one) */
+      if (state.lens[256] === 0) {
+        strm.msg = 'invalid code -- missing end-of-block';
+        state.mode = BAD;
+        break;
+      }
+
+      /* build code tables -- note: do not change the lenbits or distbits
+         values here (9 and 6) without reading the comments in inftrees.h
+         concerning the ENOUGH constants, which depend on those values */
+      state.lenbits = 9;
+
+      opts = { bits: state.lenbits };
+      ret = inflate_table(LENS, state.lens, 0, state.nlen, state.lencode, 0, state.work, opts);
+      // We have separate tables & no pointers. 2 commented lines below not needed.
+      // state.next_index = opts.table_index;
+      state.lenbits = opts.bits;
+      // state.lencode = state.next;
+
+      if (ret) {
+        strm.msg = 'invalid literal/lengths set';
+        state.mode = BAD;
+        break;
+      }
+
+      state.distbits = 6;
+      //state.distcode.copy(state.codes);
+      // Switch to use dynamic table
+      state.distcode = state.distdyn;
+      opts = { bits: state.distbits };
+      ret = inflate_table(DISTS, state.lens, state.nlen, state.ndist, state.distcode, 0, state.work, opts);
+      // We have separate tables & no pointers. 2 commented lines below not needed.
+      // state.next_index = opts.table_index;
+      state.distbits = opts.bits;
+      // state.distcode = state.next;
+
+      if (ret) {
+        strm.msg = 'invalid distances set';
+        state.mode = BAD;
+        break;
+      }
+      //Tracev((stderr, 'inflate:       codes ok\n'));
+      state.mode = LEN_;
+      if (flush === Z_TREES) { break inf_leave; }
+      /* falls through */
+    case LEN_:
+      state.mode = LEN;
+      /* falls through */
+    case LEN:
+      if (have >= 6 && left >= 258) {
+        //--- RESTORE() ---
+        strm.next_out = put;
+        strm.avail_out = left;
+        strm.next_in = next;
+        strm.avail_in = have;
+        state.hold = hold;
+        state.bits = bits;
+        //---
+        inflate_fast(strm, _out);
+        //--- LOAD() ---
+        put = strm.next_out;
+        output = strm.output;
+        left = strm.avail_out;
+        next = strm.next_in;
+        input = strm.input;
+        have = strm.avail_in;
+        hold = state.hold;
+        bits = state.bits;
+        //---
+
+        if (state.mode === TYPE) {
+          state.back = -1;
+        }
+        break;
+      }
+      state.back = 0;
+      for (;;) {
+        here = state.lencode[hold & ((1 << state.lenbits) - 1)];  /*BITS(state.lenbits)*/
+        here_bits = here >>> 24;
+        here_op = (here >>> 16) & 0xff;
+        here_val = here & 0xffff;
+
+        if (here_bits <= bits) { break; }
+        //--- PULLBYTE() ---//
+        if (have === 0) { break inf_leave; }
+        have--;
+        hold += input[next++] << bits;
+        bits += 8;
+        //---//
+      }
+      if (here_op && (here_op & 0xf0) === 0) {
+        last_bits = here_bits;
+        last_op = here_op;
+        last_val = here_val;
+        for (;;) {
+          here = state.lencode[last_val +
+                  ((hold & ((1 << (last_bits + last_op)) - 1))/*BITS(last.bits + last.op)*/ >> last_bits)];
+          here_bits = here >>> 24;
+          here_op = (here >>> 16) & 0xff;
+          here_val = here & 0xffff;
+
+          if ((last_bits + here_bits) <= bits) { break; }
+          //--- PULLBYTE() ---//
+          if (have === 0) { break inf_leave; }
+          have--;
+          hold += input[next++] << bits;
+          bits += 8;
+          //---//
+        }
+        //--- DROPBITS(last.bits) ---//
+        hold >>>= last_bits;
+        bits -= last_bits;
+        //---//
+        state.back += last_bits;
+      }
+      //--- DROPBITS(here.bits) ---//
+      hold >>>= here_bits;
+      bits -= here_bits;
+      //---//
+      state.back += here_bits;
+      state.length = here_val;
+      if (here_op === 0) {
+        //Tracevv((stderr, here.val >= 0x20 && here.val < 0x7f ?
+        //        "inflate:         literal '%c'\n" :
+        //        "inflate:         literal 0x%02x\n", here.val));
+        state.mode = LIT;
+        break;
+      }
+      if (here_op & 32) {
+        //Tracevv((stderr, "inflate:         end of block\n"));
+        state.back = -1;
+        state.mode = TYPE;
+        break;
+      }
+      if (here_op & 64) {
+        strm.msg = 'invalid literal/length code';
+        state.mode = BAD;
+        break;
+      }
+      state.extra = here_op & 15;
+      state.mode = LENEXT;
+      /* falls through */
+    case LENEXT:
+      if (state.extra) {
+        //=== NEEDBITS(state.extra);
+        n = state.extra;
+        while (bits < n) {
+          if (have === 0) { break inf_leave; }
+          have--;
+          hold += input[next++] << bits;
+          bits += 8;
+        }
+        //===//
+        state.length += hold & ((1 << state.extra) - 1)/*BITS(state.extra)*/;
+        //--- DROPBITS(state.extra) ---//
+        hold >>>= state.extra;
+        bits -= state.extra;
+        //---//
+        state.back += state.extra;
+      }
+      //Tracevv((stderr, "inflate:         length %u\n", state.length));
+      state.was = state.length;
+      state.mode = DIST;
+      /* falls through */
+    case DIST:
+      for (;;) {
+        here = state.distcode[hold & ((1 << state.distbits) - 1)];/*BITS(state.distbits)*/
+        here_bits = here >>> 24;
+        here_op = (here >>> 16) & 0xff;
+        here_val = here & 0xffff;
+
+        if ((here_bits) <= bits) { break; }
+        //--- PULLBYTE() ---//
+        if (have === 0) { break inf_leave; }
+        have--;
+        hold += input[next++] << bits;
+        bits += 8;
+        //---//
+      }
+      if ((here_op & 0xf0) === 0) {
+        last_bits = here_bits;
+        last_op = here_op;
+        last_val = here_val;
+        for (;;) {
+          here = state.distcode[last_val +
+                  ((hold & ((1 << (last_bits + last_op)) - 1))/*BITS(last.bits + last.op)*/ >> last_bits)];
+          here_bits = here >>> 24;
+          here_op = (here >>> 16) & 0xff;
+          here_val = here & 0xffff;
+
+          if ((last_bits + here_bits) <= bits) { break; }
+          //--- PULLBYTE() ---//
+          if (have === 0) { break inf_leave; }
+          have--;
+          hold += input[next++] << bits;
+          bits += 8;
+          //---//
+        }
+        //--- DROPBITS(last.bits) ---//
+        hold >>>= last_bits;
+        bits -= last_bits;
+        //---//
+        state.back += last_bits;
+      }
+      //--- DROPBITS(here.bits) ---//
+      hold >>>= here_bits;
+      bits -= here_bits;
+      //---//
+      state.back += here_bits;
+      if (here_op & 64) {
+        strm.msg = 'invalid distance code';
+        state.mode = BAD;
+        break;
+      }
+      state.offset = here_val;
+      state.extra = (here_op) & 15;
+      state.mode = DISTEXT;
+      /* falls through */
+    case DISTEXT:
+      if (state.extra) {
+        //=== NEEDBITS(state.extra);
+        n = state.extra;
+        while (bits < n) {
+          if (have === 0) { break inf_leave; }
+          have--;
+          hold += input[next++] << bits;
+          bits += 8;
+        }
+        //===//
+        state.offset += hold & ((1 << state.extra) - 1)/*BITS(state.extra)*/;
+        //--- DROPBITS(state.extra) ---//
+        hold >>>= state.extra;
+        bits -= state.extra;
+        //---//
+        state.back += state.extra;
+      }
+//#ifdef INFLATE_STRICT
+      if (state.offset > state.dmax) {
+        strm.msg = 'invalid distance too far back';
+        state.mode = BAD;
+        break;
+      }
+//#endif
+      //Tracevv((stderr, "inflate:         distance %u\n", state.offset));
+      state.mode = MATCH;
+      /* falls through */
+    case MATCH:
+      if (left === 0) { break inf_leave; }
+      copy = _out - left;
+      if (state.offset > copy) {         /* copy from window */
+        copy = state.offset - copy;
+        if (copy > state.whave) {
+          if (state.sane) {
+            strm.msg = 'invalid distance too far back';
+            state.mode = BAD;
+            break;
+          }
+// (!) This block is disabled in zlib defailts,
+// don't enable it for binary compatibility
+//#ifdef INFLATE_ALLOW_INVALID_DISTANCE_TOOFAR_ARRR
+//          Trace((stderr, "inflate.c too far\n"));
+//          copy -= state.whave;
+//          if (copy > state.length) { copy = state.length; }
+//          if (copy > left) { copy = left; }
+//          left -= copy;
+//          state.length -= copy;
+//          do {
+//            output[put++] = 0;
+//          } while (--copy);
+//          if (state.length === 0) { state.mode = LEN; }
+//          break;
+//#endif
+        }
+        if (copy > state.wnext) {
+          copy -= state.wnext;
+          from = state.wsize - copy;
+        }
+        else {
+          from = state.wnext - copy;
+        }
+        if (copy > state.length) { copy = state.length; }
+        from_source = state.window;
+      }
+      else {                              /* copy from output */
+        from_source = output;
+        from = put - state.offset;
+        copy = state.length;
+      }
+      if (copy > left) { copy = left; }
+      left -= copy;
+      state.length -= copy;
+      do {
+        output[put++] = from_source[from++];
+      } while (--copy);
+      if (state.length === 0) { state.mode = LEN; }
+      break;
+    case LIT:
+      if (left === 0) { break inf_leave; }
+      output[put++] = state.length;
+      left--;
+      state.mode = LEN;
+      break;
+    case CHECK:
+      if (state.wrap) {
+        //=== NEEDBITS(32);
+        while (bits < 32) {
+          if (have === 0) { break inf_leave; }
+          have--;
+          // Use '|' insdead of '+' to make sure that result is signed
+          hold |= input[next++] << bits;
+          bits += 8;
+        }
+        //===//
+        _out -= left;
+        strm.total_out += _out;
+        state.total += _out;
+        if (_out) {
+          strm.adler = state.check =
+              /*UPDATE(state.check, put - _out, _out);*/
+              (state.flags ? crc32(state.check, output, _out, put - _out) : adler32(state.check, output, _out, put - _out));
+
+        }
+        _out = left;
+        // NB: crc32 stored as signed 32-bit int, zswap32 returns signed too
+        if ((state.flags ? hold : zswap32(hold)) !== state.check) {
+          strm.msg = 'incorrect data check';
+          state.mode = BAD;
+          break;
+        }
+        //=== INITBITS();
+        hold = 0;
+        bits = 0;
+        //===//
+        //Tracev((stderr, "inflate:   check matches trailer\n"));
+      }
+      state.mode = LENGTH;
+      /* falls through */
+    case LENGTH:
+      if (state.wrap && state.flags) {
+        //=== NEEDBITS(32);
+        while (bits < 32) {
+          if (have === 0) { break inf_leave; }
+          have--;
+          hold += input[next++] << bits;
+          bits += 8;
+        }
+        //===//
+        if (hold !== (state.total & 0xffffffff)) {
+          strm.msg = 'incorrect length check';
+          state.mode = BAD;
+          break;
+        }
+        //=== INITBITS();
+        hold = 0;
+        bits = 0;
+        //===//
+        //Tracev((stderr, "inflate:   length matches trailer\n"));
+      }
+      state.mode = DONE;
+      /* falls through */
+    case DONE:
+      ret = Z_STREAM_END;
+      break inf_leave;
+    case BAD:
+      ret = Z_DATA_ERROR;
+      break inf_leave;
+    case MEM:
+      return Z_MEM_ERROR;
+    case SYNC:
+      /* falls through */
+    default:
+      return Z_STREAM_ERROR;
+    }
+  }
+
+  // inf_leave <- here is real place for "goto inf_leave", emulated via "break inf_leave"
+
+  /*
+     Return from inflate(), updating the total counts and the check value.
+     If there was no progress during the inflate() call, return a buffer
+     error.  Call updatewindow() to create and/or update the window state.
+     Note: a memory error from inflate() is non-recoverable.
+   */
+
+  //--- RESTORE() ---
+  strm.next_out = put;
+  strm.avail_out = left;
+  strm.next_in = next;
+  strm.avail_in = have;
+  state.hold = hold;
+  state.bits = bits;
+  //---
+
+  if (state.wsize || (_out !== strm.avail_out && state.mode < BAD &&
+                      (state.mode < CHECK || flush !== Z_FINISH))) {
+    if (updatewindow(strm, strm.output, strm.next_out, _out - strm.avail_out)) {
+      state.mode = MEM;
+      return Z_MEM_ERROR;
+    }
+  }
+  _in -= strm.avail_in;
+  _out -= strm.avail_out;
+  strm.total_in += _in;
+  strm.total_out += _out;
+  state.total += _out;
+  if (state.wrap && _out) {
+    strm.adler = state.check = /*UPDATE(state.check, strm.next_out - _out, _out);*/
+      (state.flags ? crc32(state.check, output, _out, strm.next_out - _out) : adler32(state.check, output, _out, strm.next_out - _out));
+  }
+  strm.data_type = state.bits + (state.last ? 64 : 0) +
+                    (state.mode === TYPE ? 128 : 0) +
+                    (state.mode === LEN_ || state.mode === COPY_ ? 256 : 0);
+  if (((_in === 0 && _out === 0) || flush === Z_FINISH) && ret === Z_OK) {
+    ret = Z_BUF_ERROR;
+  }
+  return ret;
+}
+
+function inflateEnd(strm) {
+
+  if (!strm || !strm.state /*|| strm->zfree == (free_func)0*/) {
+    return Z_STREAM_ERROR;
+  }
+
+  var state = strm.state;
+  if (state.window) {
+    state.window = null;
+  }
+  strm.state = null;
+  return Z_OK;
+}
+
+function inflateGetHeader(strm, head) {
+  var state;
+
+  /* check state */
+  if (!strm || !strm.state) { return Z_STREAM_ERROR; }
+  state = strm.state;
+  if ((state.wrap & 2) === 0) { return Z_STREAM_ERROR; }
+
+  /* save header structure */
+  state.head = head;
+  head.done = false;
+  return Z_OK;
+}
+
+function inflateSetDictionary(strm, dictionary) {
+  var dictLength = dictionary.length;
+
+  var state;
+  var dictid;
+  var ret;
+
+  /* check state */
+  if (!strm /* == Z_NULL */ || !strm.state /* == Z_NULL */) { return Z_STREAM_ERROR; }
+  state = strm.state;
+
+  if (state.wrap !== 0 && state.mode !== DICT) {
+    return Z_STREAM_ERROR;
+  }
+
+  /* check for correct dictionary identifier */
+  if (state.mode === DICT) {
+    dictid = 1; /* adler32(0, null, 0)*/
+    /* dictid = adler32(dictid, dictionary, dictLength); */
+    dictid = adler32(dictid, dictionary, dictLength, 0);
+    if (dictid !== state.check) {
+      return Z_DATA_ERROR;
+    }
+  }
+  /* copy dictionary to window using updatewindow(), which will amend the
+   existing dictionary if appropriate */
+  ret = updatewindow(strm, dictionary, dictLength, dictLength);
+  if (ret) {
+    state.mode = MEM;
+    return Z_MEM_ERROR;
+  }
+  state.havedict = 1;
+  // Tracev((stderr, "inflate:   dictionary set\n"));
+  return Z_OK;
+}
+
+exports.inflateReset = inflateReset;
+exports.inflateReset2 = inflateReset2;
+exports.inflateResetKeep = inflateResetKeep;
+exports.inflateInit = inflateInit;
+exports.inflateInit2 = inflateInit2;
+exports.inflate = inflate;
+exports.inflateEnd = inflateEnd;
+exports.inflateGetHeader = inflateGetHeader;
+exports.inflateSetDictionary = inflateSetDictionary;
+exports.inflateInfo = 'pako inflate (from Nodeca project)';
+
+/* Not implemented
+exports.inflateCopy = inflateCopy;
+exports.inflateGetDictionary = inflateGetDictionary;
+exports.inflateMark = inflateMark;
+exports.inflatePrime = inflatePrime;
+exports.inflateSync = inflateSync;
+exports.inflateSyncPoint = inflateSyncPoint;
+exports.inflateUndermine = inflateUndermine;
+*/
+
+},{"../utils/common":41,"./adler32":43,"./crc32":45,"./inffast":48,"./inftrees":50}],50:[function(require,module,exports){
+'use strict';
+
+// (C) 1995-2013 Jean-loup Gailly and Mark Adler
+// (C) 2014-2017 Vitaly Puzrin and Andrey Tupitsin
+//
+// This software is provided 'as-is', without any express or implied
+// warranty. In no event will the authors be held liable for any damages
+// arising from the use of this software.
+//
+// Permission is granted to anyone to use this software for any purpose,
+// including commercial applications, and to alter it and redistribute it
+// freely, subject to the following restrictions:
+//
+// 1. The origin of this software must not be misrepresented; you must not
+//   claim that you wrote the original software. If you use this software
+//   in a product, an acknowledgment in the product documentation would be
+//   appreciated but is not required.
+// 2. Altered source versions must be plainly marked as such, and must not be
+//   misrepresented as being the original software.
+// 3. This notice may not be removed or altered from any source distribution.
+
+var utils = require('../utils/common');
+
+var MAXBITS = 15;
+var ENOUGH_LENS = 852;
+var ENOUGH_DISTS = 592;
+//var ENOUGH = (ENOUGH_LENS+ENOUGH_DISTS);
+
+var CODES = 0;
+var LENS = 1;
+var DISTS = 2;
+
+var lbase = [ /* Length codes 257..285 base */
+  3, 4, 5, 6, 7, 8, 9, 10, 11, 13, 15, 17, 19, 23, 27, 31,
+  35, 43, 51, 59, 67, 83, 99, 115, 131, 163, 195, 227, 258, 0, 0
+];
+
+var lext = [ /* Length codes 257..285 extra */
+  16, 16, 16, 16, 16, 16, 16, 16, 17, 17, 17, 17, 18, 18, 18, 18,
+  19, 19, 19, 19, 20, 20, 20, 20, 21, 21, 21, 21, 16, 72, 78
+];
+
+var dbase = [ /* Distance codes 0..29 base */
+  1, 2, 3, 4, 5, 7, 9, 13, 17, 25, 33, 49, 65, 97, 129, 193,
+  257, 385, 513, 769, 1025, 1537, 2049, 3073, 4097, 6145,
+  8193, 12289, 16385, 24577, 0, 0
+];
+
+var dext = [ /* Distance codes 0..29 extra */
+  16, 16, 16, 16, 17, 17, 18, 18, 19, 19, 20, 20, 21, 21, 22, 22,
+  23, 23, 24, 24, 25, 25, 26, 26, 27, 27,
+  28, 28, 29, 29, 64, 64
+];
+
+module.exports = function inflate_table(type, lens, lens_index, codes, table, table_index, work, opts)
+{
+  var bits = opts.bits;
+      //here = opts.here; /* table entry for duplication */
+
+  var len = 0;               /* a code's length in bits */
+  var sym = 0;               /* index of code symbols */
+  var min = 0, max = 0;          /* minimum and maximum code lengths */
+  var root = 0;              /* number of index bits for root table */
+  var curr = 0;              /* number of index bits for current table */
+  var drop = 0;              /* code bits to drop for sub-table */
+  var left = 0;                   /* number of prefix codes available */
+  var used = 0;              /* code entries in table used */
+  var huff = 0;              /* Huffman code */
+  var incr;              /* for incrementing code, index */
+  var fill;              /* index for replicating entries */
+  var low;               /* low bits for current root entry */
+  var mask;              /* mask for low root bits */
+  var next;             /* next available space in table */
+  var base = null;     /* base value table to use */
+  var base_index = 0;
+//  var shoextra;    /* extra bits table to use */
+  var end;                    /* use base and extra for symbol > end */
+  var count = new utils.Buf16(MAXBITS + 1); //[MAXBITS+1];    /* number of codes of each length */
+  var offs = new utils.Buf16(MAXBITS + 1); //[MAXBITS+1];     /* offsets in table for each length */
+  var extra = null;
+  var extra_index = 0;
+
+  var here_bits, here_op, here_val;
+
+  /*
+   Process a set of code lengths to create a canonical Huffman code.  The
+   code lengths are lens[0..codes-1].  Each length corresponds to the
+   symbols 0..codes-1.  The Huffman code is generated by first sorting the
+   symbols by length from short to long, and retaining the symbol order
+   for codes with equal lengths.  Then the code starts with all zero bits
+   for the first code of the shortest length, and the codes are integer
+   increments for the same length, and zeros are appended as the length
+   increases.  For the deflate format, these bits are stored backwards
+   from their more natural integer increment ordering, and so when the
+   decoding tables are built in the large loop below, the integer codes
+   are incremented backwards.
+
+   This routine assumes, but does not check, that all of the entries in
+   lens[] are in the range 0..MAXBITS.  The caller must assure this.
+   1..MAXBITS is interpreted as that code length.  zero means that that
+   symbol does not occur in this code.
+
+   The codes are sorted by computing a count of codes for each length,
+   creating from that a table of starting indices for each length in the
+   sorted table, and then entering the symbols in order in the sorted
+   table.  The sorted table is work[], with that space being provided by
+   the caller.
+
+   The length counts are used for other purposes as well, i.e. finding
+   the minimum and maximum length codes, determining if there are any
+   codes at all, checking for a valid set of lengths, and looking ahead
+   at length counts to determine sub-table sizes when building the
+   decoding tables.
+   */
+
+  /* accumulate lengths for codes (assumes lens[] all in 0..MAXBITS) */
+  for (len = 0; len <= MAXBITS; len++) {
+    count[len] = 0;
+  }
+  for (sym = 0; sym < codes; sym++) {
+    count[lens[lens_index + sym]]++;
+  }
+
+  /* bound code lengths, force root to be within code lengths */
+  root = bits;
+  for (max = MAXBITS; max >= 1; max--) {
+    if (count[max] !== 0) { break; }
+  }
+  if (root > max) {
+    root = max;
+  }
+  if (max === 0) {                     /* no symbols to code at all */
+    //table.op[opts.table_index] = 64;  //here.op = (var char)64;    /* invalid code marker */
+    //table.bits[opts.table_index] = 1;   //here.bits = (var char)1;
+    //table.val[opts.table_index++] = 0;   //here.val = (var short)0;
+    table[table_index++] = (1 << 24) | (64 << 16) | 0;
+
+
+    //table.op[opts.table_index] = 64;
+    //table.bits[opts.table_index] = 1;
+    //table.val[opts.table_index++] = 0;
+    table[table_index++] = (1 << 24) | (64 << 16) | 0;
+
+    opts.bits = 1;
+    return 0;     /* no symbols, but wait for decoding to report error */
+  }
+  for (min = 1; min < max; min++) {
+    if (count[min] !== 0) { break; }
+  }
+  if (root < min) {
+    root = min;
+  }
+
+  /* check for an over-subscribed or incomplete set of lengths */
+  left = 1;
+  for (len = 1; len <= MAXBITS; len++) {
+    left <<= 1;
+    left -= count[len];
+    if (left < 0) {
+      return -1;
+    }        /* over-subscribed */
+  }
+  if (left > 0 && (type === CODES || max !== 1)) {
+    return -1;                      /* incomplete set */
+  }
+
+  /* generate offsets into symbol table for each length for sorting */
+  offs[1] = 0;
+  for (len = 1; len < MAXBITS; len++) {
+    offs[len + 1] = offs[len] + count[len];
+  }
+
+  /* sort symbols by length, by symbol order within each length */
+  for (sym = 0; sym < codes; sym++) {
+    if (lens[lens_index + sym] !== 0) {
+      work[offs[lens[lens_index + sym]]++] = sym;
+    }
+  }
+
+  /*
+   Create and fill in decoding tables.  In this loop, the table being
+   filled is at next and has curr index bits.  The code being used is huff
+   with length len.  That code is converted to an index by dropping drop
+   bits off of the bottom.  For codes where len is less than drop + curr,
+   those top drop + curr - len bits are incremented through all values to
+   fill the table with replicated entries.
+
+   root is the number of index bits for the root table.  When len exceeds
+   root, sub-tables are created pointed to by the root entry with an index
+   of the low root bits of huff.  This is saved in low to check for when a
+   new sub-table should be started.  drop is zero when the root table is
+   being filled, and drop is root when sub-tables are being filled.
+
+   When a new sub-table is needed, it is necessary to look ahead in the
+   code lengths to determine what size sub-table is needed.  The length
+   counts are used for this, and so count[] is decremented as codes are
+   entered in the tables.
+
+   used keeps track of how many table entries have been allocated from the
+   provided *table space.  It is checked for LENS and DIST tables against
+   the constants ENOUGH_LENS and ENOUGH_DISTS to guard against changes in
+   the initial root table size constants.  See the comments in inftrees.h
+   for more information.
+
+   sym increments through all symbols, and the loop terminates when
+   all codes of length max, i.e. all codes, have been processed.  This
+   routine permits incomplete codes, so another loop after this one fills
+   in the rest of the decoding tables with invalid code markers.
+   */
+
+  /* set up for code type */
+  // poor man optimization - use if-else instead of switch,
+  // to avoid deopts in old v8
+  if (type === CODES) {
+    base = extra = work;    /* dummy value--not used */
+    end = 19;
+
+  } else if (type === LENS) {
+    base = lbase;
+    base_index -= 257;
+    extra = lext;
+    extra_index -= 257;
+    end = 256;
+
+  } else {                    /* DISTS */
+    base = dbase;
+    extra = dext;
+    end = -1;
+  }
+
+  /* initialize opts for loop */
+  huff = 0;                   /* starting code */
+  sym = 0;                    /* starting code symbol */
+  len = min;                  /* starting code length */
+  next = table_index;              /* current table to fill in */
+  curr = root;                /* current table index bits */
+  drop = 0;                   /* current bits to drop from code for index */
+  low = -1;                   /* trigger new sub-table when len > root */
+  used = 1 << root;          /* use root table entries */
+  mask = used - 1;            /* mask for comparing low */
+
+  /* check available table space */
+  if ((type === LENS && used > ENOUGH_LENS) ||
+    (type === DISTS && used > ENOUGH_DISTS)) {
+    return 1;
+  }
+
+  /* process all codes and make table entries */
+  for (;;) {
+    /* create table entry */
+    here_bits = len - drop;
+    if (work[sym] < end) {
+      here_op = 0;
+      here_val = work[sym];
+    }
+    else if (work[sym] > end) {
+      here_op = extra[extra_index + work[sym]];
+      here_val = base[base_index + work[sym]];
+    }
+    else {
+      here_op = 32 + 64;         /* end of block */
+      here_val = 0;
+    }
+
+    /* replicate for those indices with low len bits equal to huff */
+    incr = 1 << (len - drop);
+    fill = 1 << curr;
+    min = fill;                 /* save offset to next table */
+    do {
+      fill -= incr;
+      table[next + (huff >> drop) + fill] = (here_bits << 24) | (here_op << 16) | here_val |0;
+    } while (fill !== 0);
+
+    /* backwards increment the len-bit code huff */
+    incr = 1 << (len - 1);
+    while (huff & incr) {
+      incr >>= 1;
+    }
+    if (incr !== 0) {
+      huff &= incr - 1;
+      huff += incr;
+    } else {
+      huff = 0;
+    }
+
+    /* go to next symbol, update count, len */
+    sym++;
+    if (--count[len] === 0) {
+      if (len === max) { break; }
+      len = lens[lens_index + work[sym]];
+    }
+
+    /* create new sub-table if needed */
+    if (len > root && (huff & mask) !== low) {
+      /* if first time, transition to sub-tables */
+      if (drop === 0) {
+        drop = root;
+      }
+
+      /* increment past last table */
+      next += min;            /* here min is 1 << curr */
+
+      /* determine length of next table */
+      curr = len - drop;
+      left = 1 << curr;
+      while (curr + drop < max) {
+        left -= count[curr + drop];
+        if (left <= 0) { break; }
+        curr++;
+        left <<= 1;
+      }
+
+      /* check for enough space */
+      used += 1 << curr;
+      if ((type === LENS && used > ENOUGH_LENS) ||
+        (type === DISTS && used > ENOUGH_DISTS)) {
+        return 1;
+      }
+
+      /* point entry in root table to sub-table */
+      low = huff & mask;
+      /*table.op[low] = curr;
+      table.bits[low] = root;
+      table.val[low] = next - opts.table_index;*/
+      table[low] = (root << 24) | (curr << 16) | (next - table_index) |0;
+    }
+  }
+
+  /* fill in remaining table entry if code is incomplete (guaranteed to have
+   at most one remaining entry, since if the code is incomplete, the
+   maximum code length that was allowed to get this far is one bit) */
+  if (huff !== 0) {
+    //table.op[next + huff] = 64;            /* invalid code marker */
+    //table.bits[next + huff] = len - drop;
+    //table.val[next + huff] = 0;
+    table[next + huff] = ((len - drop) << 24) | (64 << 16) |0;
+  }
+
+  /* set return parameters */
+  //opts.table_index += used;
+  opts.bits = root;
+  return 0;
+};
+
+},{"../utils/common":41}],51:[function(require,module,exports){
+'use strict';
+
+// (C) 1995-2013 Jean-loup Gailly and Mark Adler
+// (C) 2014-2017 Vitaly Puzrin and Andrey Tupitsin
+//
+// This software is provided 'as-is', without any express or implied
+// warranty. In no event will the authors be held liable for any damages
+// arising from the use of this software.
+//
+// Permission is granted to anyone to use this software for any purpose,
+// including commercial applications, and to alter it and redistribute it
+// freely, subject to the following restrictions:
+//
+// 1. The origin of this software must not be misrepresented; you must not
+//   claim that you wrote the original software. If you use this software
+//   in a product, an acknowledgment in the product documentation would be
+//   appreciated but is not required.
+// 2. Altered source versions must be plainly marked as such, and must not be
+//   misrepresented as being the original software.
+// 3. This notice may not be removed or altered from any source distribution.
+
+module.exports = {
+  2:      'need dictionary',     /* Z_NEED_DICT       2  */
+  1:      'stream end',          /* Z_STREAM_END      1  */
+  0:      '',                    /* Z_OK              0  */
+  '-1':   'file error',          /* Z_ERRNO         (-1) */
+  '-2':   'stream error',        /* Z_STREAM_ERROR  (-2) */
+  '-3':   'data error',          /* Z_DATA_ERROR    (-3) */
+  '-4':   'insufficient memory', /* Z_MEM_ERROR     (-4) */
+  '-5':   'buffer error',        /* Z_BUF_ERROR     (-5) */
+  '-6':   'incompatible version' /* Z_VERSION_ERROR (-6) */
+};
+
+},{}],52:[function(require,module,exports){
+'use strict';
+
+// (C) 1995-2013 Jean-loup Gailly and Mark Adler
+// (C) 2014-2017 Vitaly Puzrin and Andrey Tupitsin
+//
+// This software is provided 'as-is', without any express or implied
+// warranty. In no event will the authors be held liable for any damages
+// arising from the use of this software.
+//
+// Permission is granted to anyone to use this software for any purpose,
+// including commercial applications, and to alter it and redistribute it
+// freely, subject to the following restrictions:
+//
+// 1. The origin of this software must not be misrepresented; you must not
+//   claim that you wrote the original software. If you use this software
+//   in a product, an acknowledgment in the product documentation would be
+//   appreciated but is not required.
+// 2. Altered source versions must be plainly marked as such, and must not be
+//   misrepresented as being the original software.
+// 3. This notice may not be removed or altered from any source distribution.
+
+var utils = require('../utils/common');
+
+/* Public constants ==========================================================*/
+/* ===========================================================================*/
+
+
+//var Z_FILTERED          = 1;
+//var Z_HUFFMAN_ONLY      = 2;
+//var Z_RLE               = 3;
+var Z_FIXED               = 4;
+//var Z_DEFAULT_STRATEGY  = 0;
+
+/* Possible values of the data_type field (though see inflate()) */
+var Z_BINARY              = 0;
+var Z_TEXT                = 1;
+//var Z_ASCII             = 1; // = Z_TEXT
+var Z_UNKNOWN             = 2;
+
+/*============================================================================*/
+
+
+function zero(buf) { var len = buf.length; while (--len >= 0) { buf[len] = 0; } }
+
+// From zutil.h
+
+var STORED_BLOCK = 0;
+var STATIC_TREES = 1;
+var DYN_TREES    = 2;
+/* The three kinds of block type */
+
+var MIN_MATCH    = 3;
+var MAX_MATCH    = 258;
+/* The minimum and maximum match lengths */
+
+// From deflate.h
+/* ===========================================================================
+ * Internal compression state.
+ */
+
+var LENGTH_CODES  = 29;
+/* number of length codes, not counting the special END_BLOCK code */
+
+var LITERALS      = 256;
+/* number of literal bytes 0..255 */
+
+var L_CODES       = LITERALS + 1 + LENGTH_CODES;
+/* number of Literal or Length codes, including the END_BLOCK code */
+
+var D_CODES       = 30;
+/* number of distance codes */
+
+var BL_CODES      = 19;
+/* number of codes used to transfer the bit lengths */
+
+var HEAP_SIZE     = 2 * L_CODES + 1;
+/* maximum heap size */
+
+var MAX_BITS      = 15;
+/* All codes must not exceed MAX_BITS bits */
+
+var Buf_size      = 16;
+/* size of bit buffer in bi_buf */
+
+
+/* ===========================================================================
+ * Constants
+ */
+
+var MAX_BL_BITS = 7;
+/* Bit length codes must not exceed MAX_BL_BITS bits */
+
+var END_BLOCK   = 256;
+/* end of block literal code */
+
+var REP_3_6     = 16;
+/* repeat previous bit length 3-6 times (2 bits of repeat count) */
+
+var REPZ_3_10   = 17;
+/* repeat a zero length 3-10 times  (3 bits of repeat count) */
+
+var REPZ_11_138 = 18;
+/* repeat a zero length 11-138 times  (7 bits of repeat count) */
+
+/* eslint-disable comma-spacing,array-bracket-spacing */
+var extra_lbits =   /* extra bits for each length code */
+  [0,0,0,0,0,0,0,0,1,1,1,1,2,2,2,2,3,3,3,3,4,4,4,4,5,5,5,5,0];
+
+var extra_dbits =   /* extra bits for each distance code */
+  [0,0,0,0,1,1,2,2,3,3,4,4,5,5,6,6,7,7,8,8,9,9,10,10,11,11,12,12,13,13];
+
+var extra_blbits =  /* extra bits for each bit length code */
+  [0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,3,7];
+
+var bl_order =
+  [16,17,18,0,8,7,9,6,10,5,11,4,12,3,13,2,14,1,15];
+/* eslint-enable comma-spacing,array-bracket-spacing */
+
+/* The lengths of the bit length codes are sent in order of decreasing
+ * probability, to avoid transmitting the lengths for unused bit length codes.
+ */
+
+/* ===========================================================================
+ * Local data. These are initialized only once.
+ */
+
+// We pre-fill arrays with 0 to avoid uninitialized gaps
+
+var DIST_CODE_LEN = 512; /* see definition of array dist_code below */
+
+// !!!! Use flat array insdead of structure, Freq = i*2, Len = i*2+1
+var static_ltree  = new Array((L_CODES + 2) * 2);
+zero(static_ltree);
+/* The static literal tree. Since the bit lengths are imposed, there is no
+ * need for the L_CODES extra codes used during heap construction. However
+ * The codes 286 and 287 are needed to build a canonical tree (see _tr_init
+ * below).
+ */
+
+var static_dtree  = new Array(D_CODES * 2);
+zero(static_dtree);
+/* The static distance tree. (Actually a trivial tree since all codes use
+ * 5 bits.)
+ */
+
+var _dist_code    = new Array(DIST_CODE_LEN);
+zero(_dist_code);
+/* Distance codes. The first 256 values correspond to the distances
+ * 3 .. 258, the last 256 values correspond to the top 8 bits of
+ * the 15 bit distances.
+ */
+
+var _length_code  = new Array(MAX_MATCH - MIN_MATCH + 1);
+zero(_length_code);
+/* length code for each normalized match length (0 == MIN_MATCH) */
+
+var base_length   = new Array(LENGTH_CODES);
+zero(base_length);
+/* First normalized length for each code (0 = MIN_MATCH) */
+
+var base_dist     = new Array(D_CODES);
+zero(base_dist);
+/* First normalized distance for each code (0 = distance of 1) */
+
+
+function StaticTreeDesc(static_tree, extra_bits, extra_base, elems, max_length) {
+
+  this.static_tree  = static_tree;  /* static tree or NULL */
+  this.extra_bits   = extra_bits;   /* extra bits for each code or NULL */
+  this.extra_base   = extra_base;   /* base index for extra_bits */
+  this.elems        = elems;        /* max number of elements in the tree */
+  this.max_length   = max_length;   /* max bit length for the codes */
+
+  // show if `static_tree` has data or dummy - needed for monomorphic objects
+  this.has_stree    = static_tree && static_tree.length;
+}
+
+
+var static_l_desc;
+var static_d_desc;
+var static_bl_desc;
+
+
+function TreeDesc(dyn_tree, stat_desc) {
+  this.dyn_tree = dyn_tree;     /* the dynamic tree */
+  this.max_code = 0;            /* largest code with non zero frequency */
+  this.stat_desc = stat_desc;   /* the corresponding static tree */
+}
+
+
+
+function d_code(dist) {
+  return dist < 256 ? _dist_code[dist] : _dist_code[256 + (dist >>> 7)];
+}
+
+
+/* ===========================================================================
+ * Output a short LSB first on the stream.
+ * IN assertion: there is enough room in pendingBuf.
+ */
+function put_short(s, w) {
+//    put_byte(s, (uch)((w) & 0xff));
+//    put_byte(s, (uch)((ush)(w) >> 8));
+  s.pending_buf[s.pending++] = (w) & 0xff;
+  s.pending_buf[s.pending++] = (w >>> 8) & 0xff;
+}
+
+
+/* ===========================================================================
+ * Send a value on a given number of bits.
+ * IN assertion: length <= 16 and value fits in length bits.
+ */
+function send_bits(s, value, length) {
+  if (s.bi_valid > (Buf_size - length)) {
+    s.bi_buf |= (value << s.bi_valid) & 0xffff;
+    put_short(s, s.bi_buf);
+    s.bi_buf = value >> (Buf_size - s.bi_valid);
+    s.bi_valid += length - Buf_size;
+  } else {
+    s.bi_buf |= (value << s.bi_valid) & 0xffff;
+    s.bi_valid += length;
+  }
+}
+
+
+function send_code(s, c, tree) {
+  send_bits(s, tree[c * 2]/*.Code*/, tree[c * 2 + 1]/*.Len*/);
+}
+
+
+/* ===========================================================================
+ * Reverse the first len bits of a code, using straightforward code (a faster
+ * method would use a table)
+ * IN assertion: 1 <= len <= 15
+ */
+function bi_reverse(code, len) {
+  var res = 0;
+  do {
+    res |= code & 1;
+    code >>>= 1;
+    res <<= 1;
+  } while (--len > 0);
+  return res >>> 1;
+}
+
+
+/* ===========================================================================
+ * Flush the bit buffer, keeping at most 7 bits in it.
+ */
+function bi_flush(s) {
+  if (s.bi_valid === 16) {
+    put_short(s, s.bi_buf);
+    s.bi_buf = 0;
+    s.bi_valid = 0;
+
+  } else if (s.bi_valid >= 8) {
+    s.pending_buf[s.pending++] = s.bi_buf & 0xff;
+    s.bi_buf >>= 8;
+    s.bi_valid -= 8;
+  }
+}
+
+
+/* ===========================================================================
+ * Compute the optimal bit lengths for a tree and update the total bit length
+ * for the current block.
+ * IN assertion: the fields freq and dad are set, heap[heap_max] and
+ *    above are the tree nodes sorted by increasing frequency.
+ * OUT assertions: the field len is set to the optimal bit length, the
+ *     array bl_count contains the frequencies for each bit length.
+ *     The length opt_len is updated; static_len is also updated if stree is
+ *     not null.
+ */
+function gen_bitlen(s, desc)
+//    deflate_state *s;
+//    tree_desc *desc;    /* the tree descriptor */
+{
+  var tree            = desc.dyn_tree;
+  var max_code        = desc.max_code;
+  var stree           = desc.stat_desc.static_tree;
+  var has_stree       = desc.stat_desc.has_stree;
+  var extra           = desc.stat_desc.extra_bits;
+  var base            = desc.stat_desc.extra_base;
+  var max_length      = desc.stat_desc.max_length;
+  var h;              /* heap index */
+  var n, m;           /* iterate over the tree elements */
+  var bits;           /* bit length */
+  var xbits;          /* extra bits */
+  var f;              /* frequency */
+  var overflow = 0;   /* number of elements with bit length too large */
+
+  for (bits = 0; bits <= MAX_BITS; bits++) {
+    s.bl_count[bits] = 0;
+  }
+
+  /* In a first pass, compute the optimal bit lengths (which may
+   * overflow in the case of the bit length tree).
+   */
+  tree[s.heap[s.heap_max] * 2 + 1]/*.Len*/ = 0; /* root of the heap */
+
+  for (h = s.heap_max + 1; h < HEAP_SIZE; h++) {
+    n = s.heap[h];
+    bits = tree[tree[n * 2 + 1]/*.Dad*/ * 2 + 1]/*.Len*/ + 1;
+    if (bits > max_length) {
+      bits = max_length;
+      overflow++;
+    }
+    tree[n * 2 + 1]/*.Len*/ = bits;
+    /* We overwrite tree[n].Dad which is no longer needed */
+
+    if (n > max_code) { continue; } /* not a leaf node */
+
+    s.bl_count[bits]++;
+    xbits = 0;
+    if (n >= base) {
+      xbits = extra[n - base];
+    }
+    f = tree[n * 2]/*.Freq*/;
+    s.opt_len += f * (bits + xbits);
+    if (has_stree) {
+      s.static_len += f * (stree[n * 2 + 1]/*.Len*/ + xbits);
+    }
+  }
+  if (overflow === 0) { return; }
+
+  // Trace((stderr,"\nbit length overflow\n"));
+  /* This happens for example on obj2 and pic of the Calgary corpus */
+
+  /* Find the first bit length which could increase: */
+  do {
+    bits = max_length - 1;
+    while (s.bl_count[bits] === 0) { bits--; }
+    s.bl_count[bits]--;      /* move one leaf down the tree */
+    s.bl_count[bits + 1] += 2; /* move one overflow item as its brother */
+    s.bl_count[max_length]--;
+    /* The brother of the overflow item also moves one step up,
+     * but this does not affect bl_count[max_length]
+     */
+    overflow -= 2;
+  } while (overflow > 0);
+
+  /* Now recompute all bit lengths, scanning in increasing frequency.
+   * h is still equal to HEAP_SIZE. (It is simpler to reconstruct all
+   * lengths instead of fixing only the wrong ones. This idea is taken
+   * from 'ar' written by Haruhiko Okumura.)
+   */
+  for (bits = max_length; bits !== 0; bits--) {
+    n = s.bl_count[bits];
+    while (n !== 0) {
+      m = s.heap[--h];
+      if (m > max_code) { continue; }
+      if (tree[m * 2 + 1]/*.Len*/ !== bits) {
+        // Trace((stderr,"code %d bits %d->%d\n", m, tree[m].Len, bits));
+        s.opt_len += (bits - tree[m * 2 + 1]/*.Len*/) * tree[m * 2]/*.Freq*/;
+        tree[m * 2 + 1]/*.Len*/ = bits;
+      }
+      n--;
+    }
+  }
+}
+
+
+/* ===========================================================================
+ * Generate the codes for a given tree and bit counts (which need not be
+ * optimal).
+ * IN assertion: the array bl_count contains the bit length statistics for
+ * the given tree and the field len is set for all tree elements.
+ * OUT assertion: the field code is set for all tree elements of non
+ *     zero code length.
+ */
+function gen_codes(tree, max_code, bl_count)
+//    ct_data *tree;             /* the tree to decorate */
+//    int max_code;              /* largest code with non zero frequency */
+//    ushf *bl_count;            /* number of codes at each bit length */
+{
+  var next_code = new Array(MAX_BITS + 1); /* next code value for each bit length */
+  var code = 0;              /* running code value */
+  var bits;                  /* bit index */
+  var n;                     /* code index */
+
+  /* The distribution counts are first used to generate the code values
+   * without bit reversal.
+   */
+  for (bits = 1; bits <= MAX_BITS; bits++) {
+    next_code[bits] = code = (code + bl_count[bits - 1]) << 1;
+  }
+  /* Check that the bit counts in bl_count are consistent. The last code
+   * must be all ones.
+   */
+  //Assert (code + bl_count[MAX_BITS]-1 == (1<<MAX_BITS)-1,
+  //        "inconsistent bit counts");
+  //Tracev((stderr,"\ngen_codes: max_code %d ", max_code));
+
+  for (n = 0;  n <= max_code; n++) {
+    var len = tree[n * 2 + 1]/*.Len*/;
+    if (len === 0) { continue; }
+    /* Now reverse the bits */
+    tree[n * 2]/*.Code*/ = bi_reverse(next_code[len]++, len);
+
+    //Tracecv(tree != static_ltree, (stderr,"\nn %3d %c l %2d c %4x (%x) ",
+    //     n, (isgraph(n) ? n : ' '), len, tree[n].Code, next_code[len]-1));
+  }
+}
+
+
+/* ===========================================================================
+ * Initialize the various 'constant' tables.
+ */
+function tr_static_init() {
+  var n;        /* iterates over tree elements */
+  var bits;     /* bit counter */
+  var length;   /* length value */
+  var code;     /* code value */
+  var dist;     /* distance index */
+  var bl_count = new Array(MAX_BITS + 1);
+  /* number of codes at each bit length for an optimal tree */
+
+  // do check in _tr_init()
+  //if (static_init_done) return;
+
+  /* For some embedded targets, global variables are not initialized: */
+/*#ifdef NO_INIT_GLOBAL_POINTERS
+  static_l_desc.static_tree = static_ltree;
+  static_l_desc.extra_bits = extra_lbits;
+  static_d_desc.static_tree = static_dtree;
+  static_d_desc.extra_bits = extra_dbits;
+  static_bl_desc.extra_bits = extra_blbits;
+#endif*/
+
+  /* Initialize the mapping length (0..255) -> length code (0..28) */
+  length = 0;
+  for (code = 0; code < LENGTH_CODES - 1; code++) {
+    base_length[code] = length;
+    for (n = 0; n < (1 << extra_lbits[code]); n++) {
+      _length_code[length++] = code;
+    }
+  }
+  //Assert (length == 256, "tr_static_init: length != 256");
+  /* Note that the length 255 (match length 258) can be represented
+   * in two different ways: code 284 + 5 bits or code 285, so we
+   * overwrite length_code[255] to use the best encoding:
+   */
+  _length_code[length - 1] = code;
+
+  /* Initialize the mapping dist (0..32K) -> dist code (0..29) */
+  dist = 0;
+  for (code = 0; code < 16; code++) {
+    base_dist[code] = dist;
+    for (n = 0; n < (1 << extra_dbits[code]); n++) {
+      _dist_code[dist++] = code;
+    }
+  }
+  //Assert (dist == 256, "tr_static_init: dist != 256");
+  dist >>= 7; /* from now on, all distances are divided by 128 */
+  for (; code < D_CODES; code++) {
+    base_dist[code] = dist << 7;
+    for (n = 0; n < (1 << (extra_dbits[code] - 7)); n++) {
+      _dist_code[256 + dist++] = code;
+    }
+  }
+  //Assert (dist == 256, "tr_static_init: 256+dist != 512");
+
+  /* Construct the codes of the static literal tree */
+  for (bits = 0; bits <= MAX_BITS; bits++) {
+    bl_count[bits] = 0;
+  }
+
+  n = 0;
+  while (n <= 143) {
+    static_ltree[n * 2 + 1]/*.Len*/ = 8;
+    n++;
+    bl_count[8]++;
+  }
+  while (n <= 255) {
+    static_ltree[n * 2 + 1]/*.Len*/ = 9;
+    n++;
+    bl_count[9]++;
+  }
+  while (n <= 279) {
+    static_ltree[n * 2 + 1]/*.Len*/ = 7;
+    n++;
+    bl_count[7]++;
+  }
+  while (n <= 287) {
+    static_ltree[n * 2 + 1]/*.Len*/ = 8;
+    n++;
+    bl_count[8]++;
+  }
+  /* Codes 286 and 287 do not exist, but we must include them in the
+   * tree construction to get a canonical Huffman tree (longest code
+   * all ones)
+   */
+  gen_codes(static_ltree, L_CODES + 1, bl_count);
+
+  /* The static distance tree is trivial: */
+  for (n = 0; n < D_CODES; n++) {
+    static_dtree[n * 2 + 1]/*.Len*/ = 5;
+    static_dtree[n * 2]/*.Code*/ = bi_reverse(n, 5);
+  }
+
+  // Now data ready and we can init static trees
+  static_l_desc = new StaticTreeDesc(static_ltree, extra_lbits, LITERALS + 1, L_CODES, MAX_BITS);
+  static_d_desc = new StaticTreeDesc(static_dtree, extra_dbits, 0,          D_CODES, MAX_BITS);
+  static_bl_desc = new StaticTreeDesc(new Array(0), extra_blbits, 0,         BL_CODES, MAX_BL_BITS);
+
+  //static_init_done = true;
+}
+
+
+/* ===========================================================================
+ * Initialize a new block.
+ */
+function init_block(s) {
+  var n; /* iterates over tree elements */
+
+  /* Initialize the trees. */
+  for (n = 0; n < L_CODES;  n++) { s.dyn_ltree[n * 2]/*.Freq*/ = 0; }
+  for (n = 0; n < D_CODES;  n++) { s.dyn_dtree[n * 2]/*.Freq*/ = 0; }
+  for (n = 0; n < BL_CODES; n++) { s.bl_tree[n * 2]/*.Freq*/ = 0; }
+
+  s.dyn_ltree[END_BLOCK * 2]/*.Freq*/ = 1;
+  s.opt_len = s.static_len = 0;
+  s.last_lit = s.matches = 0;
+}
+
+
+/* ===========================================================================
+ * Flush the bit buffer and align the output on a byte boundary
+ */
+function bi_windup(s)
+{
+  if (s.bi_valid > 8) {
+    put_short(s, s.bi_buf);
+  } else if (s.bi_valid > 0) {
+    //put_byte(s, (Byte)s->bi_buf);
+    s.pending_buf[s.pending++] = s.bi_buf;
+  }
+  s.bi_buf = 0;
+  s.bi_valid = 0;
+}
+
+/* ===========================================================================
+ * Copy a stored block, storing first the length and its
+ * one's complement if requested.
+ */
+function copy_block(s, buf, len, header)
+//DeflateState *s;
+//charf    *buf;    /* the input data */
+//unsigned len;     /* its length */
+//int      header;  /* true if block header must be written */
+{
+  bi_windup(s);        /* align on byte boundary */
+
+  if (header) {
+    put_short(s, len);
+    put_short(s, ~len);
+  }
+//  while (len--) {
+//    put_byte(s, *buf++);
+//  }
+  utils.arraySet(s.pending_buf, s.window, buf, len, s.pending);
+  s.pending += len;
+}
+
+/* ===========================================================================
+ * Compares to subtrees, using the tree depth as tie breaker when
+ * the subtrees have equal frequency. This minimizes the worst case length.
+ */
+function smaller(tree, n, m, depth) {
+  var _n2 = n * 2;
+  var _m2 = m * 2;
+  return (tree[_n2]/*.Freq*/ < tree[_m2]/*.Freq*/ ||
+         (tree[_n2]/*.Freq*/ === tree[_m2]/*.Freq*/ && depth[n] <= depth[m]));
+}
+
+/* ===========================================================================
+ * Restore the heap property by moving down the tree starting at node k,
+ * exchanging a node with the smallest of its two sons if necessary, stopping
+ * when the heap property is re-established (each father smaller than its
+ * two sons).
+ */
+function pqdownheap(s, tree, k)
+//    deflate_state *s;
+//    ct_data *tree;  /* the tree to restore */
+//    int k;               /* node to move down */
+{
+  var v = s.heap[k];
+  var j = k << 1;  /* left son of k */
+  while (j <= s.heap_len) {
+    /* Set j to the smallest of the two sons: */
+    if (j < s.heap_len &&
+      smaller(tree, s.heap[j + 1], s.heap[j], s.depth)) {
+      j++;
+    }
+    /* Exit if v is smaller than both sons */
+    if (smaller(tree, v, s.heap[j], s.depth)) { break; }
+
+    /* Exchange v with the smallest son */
+    s.heap[k] = s.heap[j];
+    k = j;
+
+    /* And continue down the tree, setting j to the left son of k */
+    j <<= 1;
+  }
+  s.heap[k] = v;
+}
+
+
+// inlined manually
+// var SMALLEST = 1;
+
+/* ===========================================================================
+ * Send the block data compressed using the given Huffman trees
+ */
+function compress_block(s, ltree, dtree)
+//    deflate_state *s;
+//    const ct_data *ltree; /* literal tree */
+//    const ct_data *dtree; /* distance tree */
+{
+  var dist;           /* distance of matched string */
+  var lc;             /* match length or unmatched char (if dist == 0) */
+  var lx = 0;         /* running index in l_buf */
+  var code;           /* the code to send */
+  var extra;          /* number of extra bits to send */
+
+  if (s.last_lit !== 0) {
+    do {
+      dist = (s.pending_buf[s.d_buf + lx * 2] << 8) | (s.pending_buf[s.d_buf + lx * 2 + 1]);
+      lc = s.pending_buf[s.l_buf + lx];
+      lx++;
+
+      if (dist === 0) {
+        send_code(s, lc, ltree); /* send a literal byte */
+        //Tracecv(isgraph(lc), (stderr," '%c' ", lc));
+      } else {
+        /* Here, lc is the match length - MIN_MATCH */
+        code = _length_code[lc];
+        send_code(s, code + LITERALS + 1, ltree); /* send the length code */
+        extra = extra_lbits[code];
+        if (extra !== 0) {
+          lc -= base_length[code];
+          send_bits(s, lc, extra);       /* send the extra length bits */
+        }
+        dist--; /* dist is now the match distance - 1 */
+        code = d_code(dist);
+        //Assert (code < D_CODES, "bad d_code");
+
+        send_code(s, code, dtree);       /* send the distance code */
+        extra = extra_dbits[code];
+        if (extra !== 0) {
+          dist -= base_dist[code];
+          send_bits(s, dist, extra);   /* send the extra distance bits */
+        }
+      } /* literal or match pair ? */
+
+      /* Check that the overlay between pending_buf and d_buf+l_buf is ok: */
+      //Assert((uInt)(s->pending) < s->lit_bufsize + 2*lx,
+      //       "pendingBuf overflow");
+
+    } while (lx < s.last_lit);
+  }
+
+  send_code(s, END_BLOCK, ltree);
+}
+
+
+/* ===========================================================================
+ * Construct one Huffman tree and assigns the code bit strings and lengths.
+ * Update the total bit length for the current block.
+ * IN assertion: the field freq is set for all tree elements.
+ * OUT assertions: the fields len and code are set to the optimal bit length
+ *     and corresponding code. The length opt_len is updated; static_len is
+ *     also updated if stree is not null. The field max_code is set.
+ */
+function build_tree(s, desc)
+//    deflate_state *s;
+//    tree_desc *desc; /* the tree descriptor */
+{
+  var tree     = desc.dyn_tree;
+  var stree    = desc.stat_desc.static_tree;
+  var has_stree = desc.stat_desc.has_stree;
+  var elems    = desc.stat_desc.elems;
+  var n, m;          /* iterate over heap elements */
+  var max_code = -1; /* largest code with non zero frequency */
+  var node;          /* new node being created */
+
+  /* Construct the initial heap, with least frequent element in
+   * heap[SMALLEST]. The sons of heap[n] are heap[2*n] and heap[2*n+1].
+   * heap[0] is not used.
+   */
+  s.heap_len = 0;
+  s.heap_max = HEAP_SIZE;
+
+  for (n = 0; n < elems; n++) {
+    if (tree[n * 2]/*.Freq*/ !== 0) {
+      s.heap[++s.heap_len] = max_code = n;
+      s.depth[n] = 0;
+
+    } else {
+      tree[n * 2 + 1]/*.Len*/ = 0;
+    }
+  }
+
+  /* The pkzip format requires that at least one distance code exists,
+   * and that at least one bit should be sent even if there is only one
+   * possible code. So to avoid special checks later on we force at least
+   * two codes of non zero frequency.
+   */
+  while (s.heap_len < 2) {
+    node = s.heap[++s.heap_len] = (max_code < 2 ? ++max_code : 0);
+    tree[node * 2]/*.Freq*/ = 1;
+    s.depth[node] = 0;
+    s.opt_len--;
+
+    if (has_stree) {
+      s.static_len -= stree[node * 2 + 1]/*.Len*/;
+    }
+    /* node is 0 or 1 so it does not have extra bits */
+  }
+  desc.max_code = max_code;
+
+  /* The elements heap[heap_len/2+1 .. heap_len] are leaves of the tree,
+   * establish sub-heaps of increasing lengths:
+   */
+  for (n = (s.heap_len >> 1/*int /2*/); n >= 1; n--) { pqdownheap(s, tree, n); }
+
+  /* Construct the Huffman tree by repeatedly combining the least two
+   * frequent nodes.
+   */
+  node = elems;              /* next internal node of the tree */
+  do {
+    //pqremove(s, tree, n);  /* n = node of least frequency */
+    /*** pqremove ***/
+    n = s.heap[1/*SMALLEST*/];
+    s.heap[1/*SMALLEST*/] = s.heap[s.heap_len--];
+    pqdownheap(s, tree, 1/*SMALLEST*/);
+    /***/
+
+    m = s.heap[1/*SMALLEST*/]; /* m = node of next least frequency */
+
+    s.heap[--s.heap_max] = n; /* keep the nodes sorted by frequency */
+    s.heap[--s.heap_max] = m;
+
+    /* Create a new node father of n and m */
+    tree[node * 2]/*.Freq*/ = tree[n * 2]/*.Freq*/ + tree[m * 2]/*.Freq*/;
+    s.depth[node] = (s.depth[n] >= s.depth[m] ? s.depth[n] : s.depth[m]) + 1;
+    tree[n * 2 + 1]/*.Dad*/ = tree[m * 2 + 1]/*.Dad*/ = node;
+
+    /* and insert the new node in the heap */
+    s.heap[1/*SMALLEST*/] = node++;
+    pqdownheap(s, tree, 1/*SMALLEST*/);
+
+  } while (s.heap_len >= 2);
+
+  s.heap[--s.heap_max] = s.heap[1/*SMALLEST*/];
+
+  /* At this point, the fields freq and dad are set. We can now
+   * generate the bit lengths.
+   */
+  gen_bitlen(s, desc);
+
+  /* The field len is now set, we can generate the bit codes */
+  gen_codes(tree, max_code, s.bl_count);
+}
+
+
+/* ===========================================================================
+ * Scan a literal or distance tree to determine the frequencies of the codes
+ * in the bit length tree.
+ */
+function scan_tree(s, tree, max_code)
+//    deflate_state *s;
+//    ct_data *tree;   /* the tree to be scanned */
+//    int max_code;    /* and its largest code of non zero frequency */
+{
+  var n;                     /* iterates over all tree elements */
+  var prevlen = -1;          /* last emitted length */
+  var curlen;                /* length of current code */
+
+  var nextlen = tree[0 * 2 + 1]/*.Len*/; /* length of next code */
+
+  var count = 0;             /* repeat count of the current code */
+  var max_count = 7;         /* max repeat count */
+  var min_count = 4;         /* min repeat count */
+
+  if (nextlen === 0) {
+    max_count = 138;
+    min_count = 3;
+  }
+  tree[(max_code + 1) * 2 + 1]/*.Len*/ = 0xffff; /* guard */
+
+  for (n = 0; n <= max_code; n++) {
+    curlen = nextlen;
+    nextlen = tree[(n + 1) * 2 + 1]/*.Len*/;
+
+    if (++count < max_count && curlen === nextlen) {
+      continue;
+
+    } else if (count < min_count) {
+      s.bl_tree[curlen * 2]/*.Freq*/ += count;
+
+    } else if (curlen !== 0) {
+
+      if (curlen !== prevlen) { s.bl_tree[curlen * 2]/*.Freq*/++; }
+      s.bl_tree[REP_3_6 * 2]/*.Freq*/++;
+
+    } else if (count <= 10) {
+      s.bl_tree[REPZ_3_10 * 2]/*.Freq*/++;
+
+    } else {
+      s.bl_tree[REPZ_11_138 * 2]/*.Freq*/++;
+    }
+
+    count = 0;
+    prevlen = curlen;
+
+    if (nextlen === 0) {
+      max_count = 138;
+      min_count = 3;
+
+    } else if (curlen === nextlen) {
+      max_count = 6;
+      min_count = 3;
+
+    } else {
+      max_count = 7;
+      min_count = 4;
+    }
+  }
+}
+
+
+/* ===========================================================================
+ * Send a literal or distance tree in compressed form, using the codes in
+ * bl_tree.
+ */
+function send_tree(s, tree, max_code)
+//    deflate_state *s;
+//    ct_data *tree; /* the tree to be scanned */
+//    int max_code;       /* and its largest code of non zero frequency */
+{
+  var n;                     /* iterates over all tree elements */
+  var prevlen = -1;          /* last emitted length */
+  var curlen;                /* length of current code */
+
+  var nextlen = tree[0 * 2 + 1]/*.Len*/; /* length of next code */
+
+  var count = 0;             /* repeat count of the current code */
+  var max_count = 7;         /* max repeat count */
+  var min_count = 4;         /* min repeat count */
+
+  /* tree[max_code+1].Len = -1; */  /* guard already set */
+  if (nextlen === 0) {
+    max_count = 138;
+    min_count = 3;
+  }
+
+  for (n = 0; n <= max_code; n++) {
+    curlen = nextlen;
+    nextlen = tree[(n + 1) * 2 + 1]/*.Len*/;
+
+    if (++count < max_count && curlen === nextlen) {
+      continue;
+
+    } else if (count < min_count) {
+      do { send_code(s, curlen, s.bl_tree); } while (--count !== 0);
+
+    } else if (curlen !== 0) {
+      if (curlen !== prevlen) {
+        send_code(s, curlen, s.bl_tree);
+        count--;
+      }
+      //Assert(count >= 3 && count <= 6, " 3_6?");
+      send_code(s, REP_3_6, s.bl_tree);
+      send_bits(s, count - 3, 2);
+
+    } else if (count <= 10) {
+      send_code(s, REPZ_3_10, s.bl_tree);
+      send_bits(s, count - 3, 3);
+
+    } else {
+      send_code(s, REPZ_11_138, s.bl_tree);
+      send_bits(s, count - 11, 7);
+    }
+
+    count = 0;
+    prevlen = curlen;
+    if (nextlen === 0) {
+      max_count = 138;
+      min_count = 3;
+
+    } else if (curlen === nextlen) {
+      max_count = 6;
+      min_count = 3;
+
+    } else {
+      max_count = 7;
+      min_count = 4;
+    }
+  }
+}
+
+
+/* ===========================================================================
+ * Construct the Huffman tree for the bit lengths and return the index in
+ * bl_order of the last bit length code to send.
+ */
+function build_bl_tree(s) {
+  var max_blindex;  /* index of last bit length code of non zero freq */
+
+  /* Determine the bit length frequencies for literal and distance trees */
+  scan_tree(s, s.dyn_ltree, s.l_desc.max_code);
+  scan_tree(s, s.dyn_dtree, s.d_desc.max_code);
+
+  /* Build the bit length tree: */
+  build_tree(s, s.bl_desc);
+  /* opt_len now includes the length of the tree representations, except
+   * the lengths of the bit lengths codes and the 5+5+4 bits for the counts.
+   */
+
+  /* Determine the number of bit length codes to send. The pkzip format
+   * requires that at least 4 bit length codes be sent. (appnote.txt says
+   * 3 but the actual value used is 4.)
+   */
+  for (max_blindex = BL_CODES - 1; max_blindex >= 3; max_blindex--) {
+    if (s.bl_tree[bl_order[max_blindex] * 2 + 1]/*.Len*/ !== 0) {
+      break;
+    }
+  }
+  /* Update opt_len to include the bit length tree and counts */
+  s.opt_len += 3 * (max_blindex + 1) + 5 + 5 + 4;
+  //Tracev((stderr, "\ndyn trees: dyn %ld, stat %ld",
+  //        s->opt_len, s->static_len));
+
+  return max_blindex;
+}
+
+
+/* ===========================================================================
+ * Send the header for a block using dynamic Huffman trees: the counts, the
+ * lengths of the bit length codes, the literal tree and the distance tree.
+ * IN assertion: lcodes >= 257, dcodes >= 1, blcodes >= 4.
+ */
+function send_all_trees(s, lcodes, dcodes, blcodes)
+//    deflate_state *s;
+//    int lcodes, dcodes, blcodes; /* number of codes for each tree */
+{
+  var rank;                    /* index in bl_order */
+
+  //Assert (lcodes >= 257 && dcodes >= 1 && blcodes >= 4, "not enough codes");
+  //Assert (lcodes <= L_CODES && dcodes <= D_CODES && blcodes <= BL_CODES,
+  //        "too many codes");
+  //Tracev((stderr, "\nbl counts: "));
+  send_bits(s, lcodes - 257, 5); /* not +255 as stated in appnote.txt */
+  send_bits(s, dcodes - 1,   5);
+  send_bits(s, blcodes - 4,  4); /* not -3 as stated in appnote.txt */
+  for (rank = 0; rank < blcodes; rank++) {
+    //Tracev((stderr, "\nbl code %2d ", bl_order[rank]));
+    send_bits(s, s.bl_tree[bl_order[rank] * 2 + 1]/*.Len*/, 3);
+  }
+  //Tracev((stderr, "\nbl tree: sent %ld", s->bits_sent));
+
+  send_tree(s, s.dyn_ltree, lcodes - 1); /* literal tree */
+  //Tracev((stderr, "\nlit tree: sent %ld", s->bits_sent));
+
+  send_tree(s, s.dyn_dtree, dcodes - 1); /* distance tree */
+  //Tracev((stderr, "\ndist tree: sent %ld", s->bits_sent));
+}
+
+
+/* ===========================================================================
+ * Check if the data type is TEXT or BINARY, using the following algorithm:
+ * - TEXT if the two conditions below are satisfied:
+ *    a) There are no non-portable control characters belonging to the
+ *       "black list" (0..6, 14..25, 28..31).
+ *    b) There is at least one printable character belonging to the
+ *       "white list" (9 {TAB}, 10 {LF}, 13 {CR}, 32..255).
+ * - BINARY otherwise.
+ * - The following partially-portable control characters form a
+ *   "gray list" that is ignored in this detection algorithm:
+ *   (7 {BEL}, 8 {BS}, 11 {VT}, 12 {FF}, 26 {SUB}, 27 {ESC}).
+ * IN assertion: the fields Freq of dyn_ltree are set.
+ */
+function detect_data_type(s) {
+  /* black_mask is the bit mask of black-listed bytes
+   * set bits 0..6, 14..25, and 28..31
+   * 0xf3ffc07f = binary 11110011111111111100000001111111
+   */
+  var black_mask = 0xf3ffc07f;
+  var n;
+
+  /* Check for non-textual ("black-listed") bytes. */
+  for (n = 0; n <= 31; n++, black_mask >>>= 1) {
+    if ((black_mask & 1) && (s.dyn_ltree[n * 2]/*.Freq*/ !== 0)) {
+      return Z_BINARY;
+    }
+  }
+
+  /* Check for textual ("white-listed") bytes. */
+  if (s.dyn_ltree[9 * 2]/*.Freq*/ !== 0 || s.dyn_ltree[10 * 2]/*.Freq*/ !== 0 ||
+      s.dyn_ltree[13 * 2]/*.Freq*/ !== 0) {
+    return Z_TEXT;
+  }
+  for (n = 32; n < LITERALS; n++) {
+    if (s.dyn_ltree[n * 2]/*.Freq*/ !== 0) {
+      return Z_TEXT;
+    }
+  }
+
+  /* There are no "black-listed" or "white-listed" bytes:
+   * this stream either is empty or has tolerated ("gray-listed") bytes only.
+   */
+  return Z_BINARY;
+}
+
+
+var static_init_done = false;
+
+/* ===========================================================================
+ * Initialize the tree data structures for a new zlib stream.
+ */
+function _tr_init(s)
+{
+
+  if (!static_init_done) {
+    tr_static_init();
+    static_init_done = true;
+  }
+
+  s.l_desc  = new TreeDesc(s.dyn_ltree, static_l_desc);
+  s.d_desc  = new TreeDesc(s.dyn_dtree, static_d_desc);
+  s.bl_desc = new TreeDesc(s.bl_tree, static_bl_desc);
+
+  s.bi_buf = 0;
+  s.bi_valid = 0;
+
+  /* Initialize the first block of the first file: */
+  init_block(s);
+}
+
+
+/* ===========================================================================
+ * Send a stored block
+ */
+function _tr_stored_block(s, buf, stored_len, last)
+//DeflateState *s;
+//charf *buf;       /* input block */
+//ulg stored_len;   /* length of input block */
+//int last;         /* one if this is the last block for a file */
+{
+  send_bits(s, (STORED_BLOCK << 1) + (last ? 1 : 0), 3);    /* send block type */
+  copy_block(s, buf, stored_len, true); /* with header */
+}
+
+
+/* ===========================================================================
+ * Send one empty static block to give enough lookahead for inflate.
+ * This takes 10 bits, of which 7 may remain in the bit buffer.
+ */
+function _tr_align(s) {
+  send_bits(s, STATIC_TREES << 1, 3);
+  send_code(s, END_BLOCK, static_ltree);
+  bi_flush(s);
+}
+
+
+/* ===========================================================================
+ * Determine the best encoding for the current block: dynamic trees, static
+ * trees or store, and output the encoded block to the zip file.
+ */
+function _tr_flush_block(s, buf, stored_len, last)
+//DeflateState *s;
+//charf *buf;       /* input block, or NULL if too old */
+//ulg stored_len;   /* length of input block */
+//int last;         /* one if this is the last block for a file */
+{
+  var opt_lenb, static_lenb;  /* opt_len and static_len in bytes */
+  var max_blindex = 0;        /* index of last bit length code of non zero freq */
+
+  /* Build the Huffman trees unless a stored block is forced */
+  if (s.level > 0) {
+
+    /* Check if the file is binary or text */
+    if (s.strm.data_type === Z_UNKNOWN) {
+      s.strm.data_type = detect_data_type(s);
+    }
+
+    /* Construct the literal and distance trees */
+    build_tree(s, s.l_desc);
+    // Tracev((stderr, "\nlit data: dyn %ld, stat %ld", s->opt_len,
+    //        s->static_len));
+
+    build_tree(s, s.d_desc);
+    // Tracev((stderr, "\ndist data: dyn %ld, stat %ld", s->opt_len,
+    //        s->static_len));
+    /* At this point, opt_len and static_len are the total bit lengths of
+     * the compressed block data, excluding the tree representations.
+     */
+
+    /* Build the bit length tree for the above two trees, and get the index
+     * in bl_order of the last bit length code to send.
+     */
+    max_blindex = build_bl_tree(s);
+
+    /* Determine the best encoding. Compute the block lengths in bytes. */
+    opt_lenb = (s.opt_len + 3 + 7) >>> 3;
+    static_lenb = (s.static_len + 3 + 7) >>> 3;
+
+    // Tracev((stderr, "\nopt %lu(%lu) stat %lu(%lu) stored %lu lit %u ",
+    //        opt_lenb, s->opt_len, static_lenb, s->static_len, stored_len,
+    //        s->last_lit));
+
+    if (static_lenb <= opt_lenb) { opt_lenb = static_lenb; }
+
+  } else {
+    // Assert(buf != (char*)0, "lost buf");
+    opt_lenb = static_lenb = stored_len + 5; /* force a stored block */
+  }
+
+  if ((stored_len + 4 <= opt_lenb) && (buf !== -1)) {
+    /* 4: two words for the lengths */
+
+    /* The test buf != NULL is only necessary if LIT_BUFSIZE > WSIZE.
+     * Otherwise we can't have processed more than WSIZE input bytes since
+     * the last block flush, because compression would have been
+     * successful. If LIT_BUFSIZE <= WSIZE, it is never too late to
+     * transform a block into a stored block.
+     */
+    _tr_stored_block(s, buf, stored_len, last);
+
+  } else if (s.strategy === Z_FIXED || static_lenb === opt_lenb) {
+
+    send_bits(s, (STATIC_TREES << 1) + (last ? 1 : 0), 3);
+    compress_block(s, static_ltree, static_dtree);
+
+  } else {
+    send_bits(s, (DYN_TREES << 1) + (last ? 1 : 0), 3);
+    send_all_trees(s, s.l_desc.max_code + 1, s.d_desc.max_code + 1, max_blindex + 1);
+    compress_block(s, s.dyn_ltree, s.dyn_dtree);
+  }
+  // Assert (s->compressed_len == s->bits_sent, "bad compressed size");
+  /* The above check is made mod 2^32, for files larger than 512 MB
+   * and uLong implemented on 32 bits.
+   */
+  init_block(s);
+
+  if (last) {
+    bi_windup(s);
+  }
+  // Tracev((stderr,"\ncomprlen %lu(%lu) ", s->compressed_len>>3,
+  //       s->compressed_len-7*last));
+}
+
+/* ===========================================================================
+ * Save the match info and tally the frequency counts. Return true if
+ * the current block must be flushed.
+ */
+function _tr_tally(s, dist, lc)
+//    deflate_state *s;
+//    unsigned dist;  /* distance of matched string */
+//    unsigned lc;    /* match length-MIN_MATCH or unmatched char (if dist==0) */
+{
+  //var out_length, in_length, dcode;
+
+  s.pending_buf[s.d_buf + s.last_lit * 2]     = (dist >>> 8) & 0xff;
+  s.pending_buf[s.d_buf + s.last_lit * 2 + 1] = dist & 0xff;
+
+  s.pending_buf[s.l_buf + s.last_lit] = lc & 0xff;
+  s.last_lit++;
+
+  if (dist === 0) {
+    /* lc is the unmatched char */
+    s.dyn_ltree[lc * 2]/*.Freq*/++;
+  } else {
+    s.matches++;
+    /* Here, lc is the match length - MIN_MATCH */
+    dist--;             /* dist = match distance - 1 */
+    //Assert((ush)dist < (ush)MAX_DIST(s) &&
+    //       (ush)lc <= (ush)(MAX_MATCH-MIN_MATCH) &&
+    //       (ush)d_code(dist) < (ush)D_CODES,  "_tr_tally: bad match");
+
+    s.dyn_ltree[(_length_code[lc] + LITERALS + 1) * 2]/*.Freq*/++;
+    s.dyn_dtree[d_code(dist) * 2]/*.Freq*/++;
+  }
+
+// (!) This block is disabled in zlib defailts,
+// don't enable it for binary compatibility
+
+//#ifdef TRUNCATE_BLOCK
+//  /* Try to guess if it is profitable to stop the current block here */
+//  if ((s.last_lit & 0x1fff) === 0 && s.level > 2) {
+//    /* Compute an upper bound for the compressed length */
+//    out_length = s.last_lit*8;
+//    in_length = s.strstart - s.block_start;
+//
+//    for (dcode = 0; dcode < D_CODES; dcode++) {
+//      out_length += s.dyn_dtree[dcode*2]/*.Freq*/ * (5 + extra_dbits[dcode]);
+//    }
+//    out_length >>>= 3;
+//    //Tracev((stderr,"\nlast_lit %u, in %ld, out ~%ld(%ld%%) ",
+//    //       s->last_lit, in_length, out_length,
+//    //       100L - out_length*100L/in_length));
+//    if (s.matches < (s.last_lit>>1)/*int /2*/ && out_length < (in_length>>1)/*int /2*/) {
+//      return true;
+//    }
+//  }
+//#endif
+
+  return (s.last_lit === s.lit_bufsize - 1);
+  /* We avoid equality with lit_bufsize because of wraparound at 64K
+   * on 16 bit machines and because stored blocks are restricted to
+   * 64K-1 bytes.
+   */
+}
+
+exports._tr_init  = _tr_init;
+exports._tr_stored_block = _tr_stored_block;
+exports._tr_flush_block  = _tr_flush_block;
+exports._tr_tally = _tr_tally;
+exports._tr_align = _tr_align;
+
+},{"../utils/common":41}],53:[function(require,module,exports){
+'use strict';
+
+// (C) 1995-2013 Jean-loup Gailly and Mark Adler
+// (C) 2014-2017 Vitaly Puzrin and Andrey Tupitsin
+//
+// This software is provided 'as-is', without any express or implied
+// warranty. In no event will the authors be held liable for any damages
+// arising from the use of this software.
+//
+// Permission is granted to anyone to use this software for any purpose,
+// including commercial applications, and to alter it and redistribute it
+// freely, subject to the following restrictions:
+//
+// 1. The origin of this software must not be misrepresented; you must not
+//   claim that you wrote the original software. If you use this software
+//   in a product, an acknowledgment in the product documentation would be
+//   appreciated but is not required.
+// 2. Altered source versions must be plainly marked as such, and must not be
+//   misrepresented as being the original software.
+// 3. This notice may not be removed or altered from any source distribution.
+
+function ZStream() {
+  /* next input byte */
+  this.input = null; // JS specific, because we have no pointers
+  this.next_in = 0;
+  /* number of bytes available at input */
+  this.avail_in = 0;
+  /* total number of input bytes read so far */
+  this.total_in = 0;
+  /* next output byte should be put there */
+  this.output = null; // JS specific, because we have no pointers
+  this.next_out = 0;
+  /* remaining free space at output */
+  this.avail_out = 0;
+  /* total number of bytes output so far */
+  this.total_out = 0;
+  /* last error message, NULL if no error */
+  this.msg = ''/*Z_NULL*/;
+  /* not visible by applications */
+  this.state = null;
+  /* best guess about the data type: binary or text */
+  this.data_type = 2/*Z_UNKNOWN*/;
+  /* adler32 value of the uncompressed data */
+  this.adler = 0;
+}
+
+module.exports = ZStream;
+
+},{}],54:[function(require,module,exports){
+'use strict';
+module.exports = typeof setImmediate === 'function' ? setImmediate :
+	function setImmediate() {
+		var args = [].slice.apply(arguments);
+		args.splice(1, 0, 0);
+		setTimeout.apply(null, args);
+	};
+
+},{}]},{},[10])(10)
+});
\ No newline at end of file
diff --git a/docs/java/jquery/jszip/dist/jszip.min.js b/docs/java/jquery/jszip/dist/jszip.min.js
new file mode 100644
index 00000000..6c4645c1
--- /dev/null
+++ b/docs/java/jquery/jszip/dist/jszip.min.js
@@ -0,0 +1,13 @@
+/*!
+
+JSZip v3.7.1 - A JavaScript class for generating and reading zip files
+<http://stuartk.com/jszip>
+
+(c) 2009-2016 Stuart Knightley <stuart [at] stuartk.com>
+Dual licenced under the MIT license or GPLv3. See https://raw.github.com/Stuk/jszip/master/LICENSE.markdown.
+
+JSZip uses the library pako released under the MIT license :
+https://github.com/nodeca/pako/blob/master/LICENSE
+*/
+
+!function(t){if("object"==typeof exports&&"undefined"!=typeof module)module.exports=t();else if("function"==typeof define&&define.amd)define([],t);else{("undefined"!=typeof window?window:"undefined"!=typeof global?global:"undefined"!=typeof self?self:this).JSZip=t()}}(function(){return function s(a,o,h){function u(r,t){if(!o[r]){if(!a[r]){var e="function"==typeof require&&require;if(!t&&e)return e(r,!0);if(l)return l(r,!0);var i=new Error("Cannot find module '"+r+"'");throw i.code="MODULE_NOT_FOUND",i}var n=o[r]={exports:{}};a[r][0].call(n.exports,function(t){var e=a[r][1][t];return u(e||t)},n,n.exports,s,a,o,h)}return o[r].exports}for(var l="function"==typeof require&&require,t=0;t<h.length;t++)u(h[t]);return u}({1:[function(t,e,r){"use strict";var c=t("./utils"),d=t("./support"),p="ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789+/=";r.encode=function(t){for(var e,r,i,n,s,a,o,h=[],u=0,l=t.length,f=l,d="string"!==c.getTypeOf(t);u<t.length;)f=l-u,i=d?(e=t[u++],r=u<l?t[u++]:0,u<l?t[u++]:0):(e=t.charCodeAt(u++),r=u<l?t.charCodeAt(u++):0,u<l?t.charCodeAt(u++):0),n=e>>2,s=(3&e)<<4|r>>4,a=1<f?(15&r)<<2|i>>6:64,o=2<f?63&i:64,h.push(p.charAt(n)+p.charAt(s)+p.charAt(a)+p.charAt(o));return h.join("")},r.decode=function(t){var e,r,i,n,s,a,o=0,h=0,u="data:";if(t.substr(0,u.length)===u)throw new Error("Invalid base64 input, it looks like a data url.");var l,f=3*(t=t.replace(/[^A-Za-z0-9\+\/\=]/g,"")).length/4;if(t.charAt(t.length-1)===p.charAt(64)&&f--,t.charAt(t.length-2)===p.charAt(64)&&f--,f%1!=0)throw new Error("Invalid base64 input, bad content length.");for(l=d.uint8array?new Uint8Array(0|f):new Array(0|f);o<t.length;)e=p.indexOf(t.charAt(o++))<<2|(n=p.indexOf(t.charAt(o++)))>>4,r=(15&n)<<4|(s=p.indexOf(t.charAt(o++)))>>2,i=(3&s)<<6|(a=p.indexOf(t.charAt(o++))),l[h++]=e,64!==s&&(l[h++]=r),64!==a&&(l[h++]=i);return l}},{"./support":30,"./utils":32}],2:[function(t,e,r){"use strict";var i=t("./external"),n=t("./stream/DataWorker"),s=t("./stream/Crc32Probe"),a=t("./stream/DataLengthProbe");function o(t,e,r,i,n){this.compressedSize=t,this.uncompressedSize=e,this.crc32=r,this.compression=i,this.compressedContent=n}o.prototype={getContentWorker:function(){var t=new n(i.Promise.resolve(this.compressedContent)).pipe(this.compression.uncompressWorker()).pipe(new a("data_length")),e=this;return t.on("end",function(){if(this.streamInfo.data_length!==e.uncompressedSize)throw new Error("Bug : uncompressed data size mismatch")}),t},getCompressedWorker:function(){return new n(i.Promise.resolve(this.compressedContent)).withStreamInfo("compressedSize",this.compressedSize).withStreamInfo("uncompressedSize",this.uncompressedSize).withStreamInfo("crc32",this.crc32).withStreamInfo("compression",this.compression)}},o.createWorkerFrom=function(t,e,r){return t.pipe(new s).pipe(new a("uncompressedSize")).pipe(e.compressWorker(r)).pipe(new a("compressedSize")).withStreamInfo("compression",e)},e.exports=o},{"./external":6,"./stream/Crc32Probe":25,"./stream/DataLengthProbe":26,"./stream/DataWorker":27}],3:[function(t,e,r){"use strict";var i=t("./stream/GenericWorker");r.STORE={magic:"\0\0",compressWorker:function(t){return new i("STORE compression")},uncompressWorker:function(){return new i("STORE decompression")}},r.DEFLATE=t("./flate")},{"./flate":7,"./stream/GenericWorker":28}],4:[function(t,e,r){"use strict";var i=t("./utils");var o=function(){for(var t,e=[],r=0;r<256;r++){t=r;for(var i=0;i<8;i++)t=1&t?3988292384^t>>>1:t>>>1;e[r]=t}return e}();e.exports=function(t,e){return void 0!==t&&t.length?"string"!==i.getTypeOf(t)?function(t,e,r,i){var n=o,s=i+r;t^=-1;for(var a=i;a<s;a++)t=t>>>8^n[255&(t^e[a])];return-1^t}(0|e,t,t.length,0):function(t,e,r,i){var n=o,s=i+r;t^=-1;for(var a=i;a<s;a++)t=t>>>8^n[255&(t^e.charCodeAt(a))];return-1^t}(0|e,t,t.length,0):0}},{"./utils":32}],5:[function(t,e,r){"use strict";r.base64=!1,r.binary=!1,r.dir=!1,r.createFolders=!0,r.date=null,r.compression=null,r.compressionOptions=null,r.comment=null,r.unixPermissions=null,r.dosPermissions=null},{}],6:[function(t,e,r){"use strict";var i=null;i="undefined"!=typeof Promise?Promise:t("lie"),e.exports={Promise:i}},{lie:37}],7:[function(t,e,r){"use strict";var i="undefined"!=typeof Uint8Array&&"undefined"!=typeof Uint16Array&&"undefined"!=typeof Uint32Array,n=t("pako"),s=t("./utils"),a=t("./stream/GenericWorker"),o=i?"uint8array":"array";function h(t,e){a.call(this,"FlateWorker/"+t),this._pako=null,this._pakoAction=t,this._pakoOptions=e,this.meta={}}r.magic="\b\0",s.inherits(h,a),h.prototype.processChunk=function(t){this.meta=t.meta,null===this._pako&&this._createPako(),this._pako.push(s.transformTo(o,t.data),!1)},h.prototype.flush=function(){a.prototype.flush.call(this),null===this._pako&&this._createPako(),this._pako.push([],!0)},h.prototype.cleanUp=function(){a.prototype.cleanUp.call(this),this._pako=null},h.prototype._createPako=function(){this._pako=new n[this._pakoAction]({raw:!0,level:this._pakoOptions.level||-1});var e=this;this._pako.onData=function(t){e.push({data:t,meta:e.meta})}},r.compressWorker=function(t){return new h("Deflate",t)},r.uncompressWorker=function(){return new h("Inflate",{})}},{"./stream/GenericWorker":28,"./utils":32,pako:38}],8:[function(t,e,r){"use strict";function A(t,e){var r,i="";for(r=0;r<e;r++)i+=String.fromCharCode(255&t),t>>>=8;return i}function i(t,e,r,i,n,s){var a,o,h=t.file,u=t.compression,l=s!==O.utf8encode,f=I.transformTo("string",s(h.name)),d=I.transformTo("string",O.utf8encode(h.name)),c=h.comment,p=I.transformTo("string",s(c)),m=I.transformTo("string",O.utf8encode(c)),_=d.length!==h.name.length,g=m.length!==c.length,b="",v="",y="",w=h.dir,k=h.date,x={crc32:0,compressedSize:0,uncompressedSize:0};e&&!r||(x.crc32=t.crc32,x.compressedSize=t.compressedSize,x.uncompressedSize=t.uncompressedSize);var S=0;e&&(S|=8),l||!_&&!g||(S|=2048);var z=0,C=0;w&&(z|=16),"UNIX"===n?(C=798,z|=function(t,e){var r=t;return t||(r=e?16893:33204),(65535&r)<<16}(h.unixPermissions,w)):(C=20,z|=function(t){return 63&(t||0)}(h.dosPermissions)),a=k.getUTCHours(),a<<=6,a|=k.getUTCMinutes(),a<<=5,a|=k.getUTCSeconds()/2,o=k.getUTCFullYear()-1980,o<<=4,o|=k.getUTCMonth()+1,o<<=5,o|=k.getUTCDate(),_&&(v=A(1,1)+A(B(f),4)+d,b+="up"+A(v.length,2)+v),g&&(y=A(1,1)+A(B(p),4)+m,b+="uc"+A(y.length,2)+y);var E="";return E+="\n\0",E+=A(S,2),E+=u.magic,E+=A(a,2),E+=A(o,2),E+=A(x.crc32,4),E+=A(x.compressedSize,4),E+=A(x.uncompressedSize,4),E+=A(f.length,2),E+=A(b.length,2),{fileRecord:R.LOCAL_FILE_HEADER+E+f+b,dirRecord:R.CENTRAL_FILE_HEADER+A(C,2)+E+A(p.length,2)+"\0\0\0\0"+A(z,4)+A(i,4)+f+b+p}}var I=t("../utils"),n=t("../stream/GenericWorker"),O=t("../utf8"),B=t("../crc32"),R=t("../signature");function s(t,e,r,i){n.call(this,"ZipFileWorker"),this.bytesWritten=0,this.zipComment=e,this.zipPlatform=r,this.encodeFileName=i,this.streamFiles=t,this.accumulate=!1,this.contentBuffer=[],this.dirRecords=[],this.currentSourceOffset=0,this.entriesCount=0,this.currentFile=null,this._sources=[]}I.inherits(s,n),s.prototype.push=function(t){var e=t.meta.percent||0,r=this.entriesCount,i=this._sources.length;this.accumulate?this.contentBuffer.push(t):(this.bytesWritten+=t.data.length,n.prototype.push.call(this,{data:t.data,meta:{currentFile:this.currentFile,percent:r?(e+100*(r-i-1))/r:100}}))},s.prototype.openedSource=function(t){this.currentSourceOffset=this.bytesWritten,this.currentFile=t.file.name;var e=this.streamFiles&&!t.file.dir;if(e){var r=i(t,e,!1,this.currentSourceOffset,this.zipPlatform,this.encodeFileName);this.push({data:r.fileRecord,meta:{percent:0}})}else this.accumulate=!0},s.prototype.closedSource=function(t){this.accumulate=!1;var e=this.streamFiles&&!t.file.dir,r=i(t,e,!0,this.currentSourceOffset,this.zipPlatform,this.encodeFileName);if(this.dirRecords.push(r.dirRecord),e)this.push({data:function(t){return R.DATA_DESCRIPTOR+A(t.crc32,4)+A(t.compressedSize,4)+A(t.uncompressedSize,4)}(t),meta:{percent:100}});else for(this.push({data:r.fileRecord,meta:{percent:0}});this.contentBuffer.length;)this.push(this.contentBuffer.shift());this.currentFile=null},s.prototype.flush=function(){for(var t=this.bytesWritten,e=0;e<this.dirRecords.length;e++)this.push({data:this.dirRecords[e],meta:{percent:100}});var r=this.bytesWritten-t,i=function(t,e,r,i,n){var s=I.transformTo("string",n(i));return R.CENTRAL_DIRECTORY_END+"\0\0\0\0"+A(t,2)+A(t,2)+A(e,4)+A(r,4)+A(s.length,2)+s}(this.dirRecords.length,r,t,this.zipComment,this.encodeFileName);this.push({data:i,meta:{percent:100}})},s.prototype.prepareNextSource=function(){this.previous=this._sources.shift(),this.openedSource(this.previous.streamInfo),this.isPaused?this.previous.pause():this.previous.resume()},s.prototype.registerPrevious=function(t){this._sources.push(t);var e=this;return t.on("data",function(t){e.processChunk(t)}),t.on("end",function(){e.closedSource(e.previous.streamInfo),e._sources.length?e.prepareNextSource():e.end()}),t.on("error",function(t){e.error(t)}),this},s.prototype.resume=function(){return!!n.prototype.resume.call(this)&&(!this.previous&&this._sources.length?(this.prepareNextSource(),!0):this.previous||this._sources.length||this.generatedError?void 0:(this.end(),!0))},s.prototype.error=function(t){var e=this._sources;if(!n.prototype.error.call(this,t))return!1;for(var r=0;r<e.length;r++)try{e[r].error(t)}catch(t){}return!0},s.prototype.lock=function(){n.prototype.lock.call(this);for(var t=this._sources,e=0;e<t.length;e++)t[e].lock()},e.exports=s},{"../crc32":4,"../signature":23,"../stream/GenericWorker":28,"../utf8":31,"../utils":32}],9:[function(t,e,r){"use strict";var u=t("../compressions"),i=t("./ZipFileWorker");r.generateWorker=function(t,a,e){var o=new i(a.streamFiles,e,a.platform,a.encodeFileName),h=0;try{t.forEach(function(t,e){h++;var r=function(t,e){var r=t||e,i=u[r];if(!i)throw new Error(r+" is not a valid compression method !");return i}(e.options.compression,a.compression),i=e.options.compressionOptions||a.compressionOptions||{},n=e.dir,s=e.date;e._compressWorker(r,i).withStreamInfo("file",{name:t,dir:n,date:s,comment:e.comment||"",unixPermissions:e.unixPermissions,dosPermissions:e.dosPermissions}).pipe(o)}),o.entriesCount=h}catch(t){o.error(t)}return o}},{"../compressions":3,"./ZipFileWorker":8}],10:[function(t,e,r){"use strict";function i(){if(!(this instanceof i))return new i;if(arguments.length)throw new Error("The constructor with parameters has been removed in JSZip 3.0, please check the upgrade guide.");this.files=Object.create(null),this.comment=null,this.root="",this.clone=function(){var t=new i;for(var e in this)"function"!=typeof this[e]&&(t[e]=this[e]);return t}}(i.prototype=t("./object")).loadAsync=t("./load"),i.support=t("./support"),i.defaults=t("./defaults"),i.version="3.7.1",i.loadAsync=function(t,e){return(new i).loadAsync(t,e)},i.external=t("./external"),e.exports=i},{"./defaults":5,"./external":6,"./load":11,"./object":15,"./support":30}],11:[function(t,e,r){"use strict";var i=t("./utils"),n=t("./external"),o=t("./utf8"),h=t("./zipEntries"),s=t("./stream/Crc32Probe"),u=t("./nodejsUtils");function l(i){return new n.Promise(function(t,e){var r=i.decompressed.getContentWorker().pipe(new s);r.on("error",function(t){e(t)}).on("end",function(){r.streamInfo.crc32!==i.decompressed.crc32?e(new Error("Corrupted zip : CRC32 mismatch")):t()}).resume()})}e.exports=function(t,s){var a=this;return s=i.extend(s||{},{base64:!1,checkCRC32:!1,optimizedBinaryString:!1,createFolders:!1,decodeFileName:o.utf8decode}),u.isNode&&u.isStream(t)?n.Promise.reject(new Error("JSZip can't accept a stream when loading a zip file.")):i.prepareContent("the loaded zip file",t,!0,s.optimizedBinaryString,s.base64).then(function(t){var e=new h(s);return e.load(t),e}).then(function(t){var e=[n.Promise.resolve(t)],r=t.files;if(s.checkCRC32)for(var i=0;i<r.length;i++)e.push(l(r[i]));return n.Promise.all(e)}).then(function(t){for(var e=t.shift(),r=e.files,i=0;i<r.length;i++){var n=r[i];a.file(n.fileNameStr,n.decompressed,{binary:!0,optimizedBinaryString:!0,date:n.date,dir:n.dir,comment:n.fileCommentStr.length?n.fileCommentStr:null,unixPermissions:n.unixPermissions,dosPermissions:n.dosPermissions,createFolders:s.createFolders})}return e.zipComment.length&&(a.comment=e.zipComment),a})}},{"./external":6,"./nodejsUtils":14,"./stream/Crc32Probe":25,"./utf8":31,"./utils":32,"./zipEntries":33}],12:[function(t,e,r){"use strict";var i=t("../utils"),n=t("../stream/GenericWorker");function s(t,e){n.call(this,"Nodejs stream input adapter for "+t),this._upstreamEnded=!1,this._bindStream(e)}i.inherits(s,n),s.prototype._bindStream=function(t){var e=this;(this._stream=t).pause(),t.on("data",function(t){e.push({data:t,meta:{percent:0}})}).on("error",function(t){e.isPaused?this.generatedError=t:e.error(t)}).on("end",function(){e.isPaused?e._upstreamEnded=!0:e.end()})},s.prototype.pause=function(){return!!n.prototype.pause.call(this)&&(this._stream.pause(),!0)},s.prototype.resume=function(){return!!n.prototype.resume.call(this)&&(this._upstreamEnded?this.end():this._stream.resume(),!0)},e.exports=s},{"../stream/GenericWorker":28,"../utils":32}],13:[function(t,e,r){"use strict";var n=t("readable-stream").Readable;function i(t,e,r){n.call(this,e),this._helper=t;var i=this;t.on("data",function(t,e){i.push(t)||i._helper.pause(),r&&r(e)}).on("error",function(t){i.emit("error",t)}).on("end",function(){i.push(null)})}t("../utils").inherits(i,n),i.prototype._read=function(){this._helper.resume()},e.exports=i},{"../utils":32,"readable-stream":16}],14:[function(t,e,r){"use strict";e.exports={isNode:"undefined"!=typeof Buffer,newBufferFrom:function(t,e){if(Buffer.from&&Buffer.from!==Uint8Array.from)return Buffer.from(t,e);if("number"==typeof t)throw new Error('The "data" argument must not be a number');return new Buffer(t,e)},allocBuffer:function(t){if(Buffer.alloc)return Buffer.alloc(t);var e=new Buffer(t);return e.fill(0),e},isBuffer:function(t){return Buffer.isBuffer(t)},isStream:function(t){return t&&"function"==typeof t.on&&"function"==typeof t.pause&&"function"==typeof t.resume}}},{}],15:[function(t,e,r){"use strict";function s(t,e,r){var i,n=u.getTypeOf(e),s=u.extend(r||{},f);s.date=s.date||new Date,null!==s.compression&&(s.compression=s.compression.toUpperCase()),"string"==typeof s.unixPermissions&&(s.unixPermissions=parseInt(s.unixPermissions,8)),s.unixPermissions&&16384&s.unixPermissions&&(s.dir=!0),s.dosPermissions&&16&s.dosPermissions&&(s.dir=!0),s.dir&&(t=g(t)),s.createFolders&&(i=_(t))&&b.call(this,i,!0);var a="string"===n&&!1===s.binary&&!1===s.base64;r&&void 0!==r.binary||(s.binary=!a),(e instanceof d&&0===e.uncompressedSize||s.dir||!e||0===e.length)&&(s.base64=!1,s.binary=!0,e="",s.compression="STORE",n="string");var o=null;o=e instanceof d||e instanceof l?e:p.isNode&&p.isStream(e)?new m(t,e):u.prepareContent(t,e,s.binary,s.optimizedBinaryString,s.base64);var h=new c(t,o,s);this.files[t]=h}var n=t("./utf8"),u=t("./utils"),l=t("./stream/GenericWorker"),a=t("./stream/StreamHelper"),f=t("./defaults"),d=t("./compressedObject"),c=t("./zipObject"),o=t("./generate"),p=t("./nodejsUtils"),m=t("./nodejs/NodejsStreamInputAdapter"),_=function(t){"/"===t.slice(-1)&&(t=t.substring(0,t.length-1));var e=t.lastIndexOf("/");return 0<e?t.substring(0,e):""},g=function(t){return"/"!==t.slice(-1)&&(t+="/"),t},b=function(t,e){return e=void 0!==e?e:f.createFolders,t=g(t),this.files[t]||s.call(this,t,null,{dir:!0,createFolders:e}),this.files[t]};function h(t){return"[object RegExp]"===Object.prototype.toString.call(t)}var i={load:function(){throw new Error("This method has been removed in JSZip 3.0, please check the upgrade guide.")},forEach:function(t){var e,r,i;for(e in this.files)i=this.files[e],(r=e.slice(this.root.length,e.length))&&e.slice(0,this.root.length)===this.root&&t(r,i)},filter:function(r){var i=[];return this.forEach(function(t,e){r(t,e)&&i.push(e)}),i},file:function(t,e,r){if(1!==arguments.length)return t=this.root+t,s.call(this,t,e,r),this;if(h(t)){var i=t;return this.filter(function(t,e){return!e.dir&&i.test(t)})}var n=this.files[this.root+t];return n&&!n.dir?n:null},folder:function(r){if(!r)return this;if(h(r))return this.filter(function(t,e){return e.dir&&r.test(t)});var t=this.root+r,e=b.call(this,t),i=this.clone();return i.root=e.name,i},remove:function(r){r=this.root+r;var t=this.files[r];if(t||("/"!==r.slice(-1)&&(r+="/"),t=this.files[r]),t&&!t.dir)delete this.files[r];else for(var e=this.filter(function(t,e){return e.name.slice(0,r.length)===r}),i=0;i<e.length;i++)delete this.files[e[i].name];return this},generate:function(t){throw new Error("This method has been removed in JSZip 3.0, please check the upgrade guide.")},generateInternalStream:function(t){var e,r={};try{if((r=u.extend(t||{},{streamFiles:!1,compression:"STORE",compressionOptions:null,type:"",platform:"DOS",comment:null,mimeType:"application/zip",encodeFileName:n.utf8encode})).type=r.type.toLowerCase(),r.compression=r.compression.toUpperCase(),"binarystring"===r.type&&(r.type="string"),!r.type)throw new Error("No output type specified.");u.checkSupport(r.type),"darwin"!==r.platform&&"freebsd"!==r.platform&&"linux"!==r.platform&&"sunos"!==r.platform||(r.platform="UNIX"),"win32"===r.platform&&(r.platform="DOS");var i=r.comment||this.comment||"";e=o.generateWorker(this,r,i)}catch(t){(e=new l("error")).error(t)}return new a(e,r.type||"string",r.mimeType)},generateAsync:function(t,e){return this.generateInternalStream(t).accumulate(e)},generateNodeStream:function(t,e){return(t=t||{}).type||(t.type="nodebuffer"),this.generateInternalStream(t).toNodejsStream(e)}};e.exports=i},{"./compressedObject":2,"./defaults":5,"./generate":9,"./nodejs/NodejsStreamInputAdapter":12,"./nodejsUtils":14,"./stream/GenericWorker":28,"./stream/StreamHelper":29,"./utf8":31,"./utils":32,"./zipObject":35}],16:[function(t,e,r){e.exports=t("stream")},{stream:void 0}],17:[function(t,e,r){"use strict";var i=t("./DataReader");function n(t){i.call(this,t);for(var e=0;e<this.data.length;e++)t[e]=255&t[e]}t("../utils").inherits(n,i),n.prototype.byteAt=function(t){return this.data[this.zero+t]},n.prototype.lastIndexOfSignature=function(t){for(var e=t.charCodeAt(0),r=t.charCodeAt(1),i=t.charCodeAt(2),n=t.charCodeAt(3),s=this.length-4;0<=s;--s)if(this.data[s]===e&&this.data[s+1]===r&&this.data[s+2]===i&&this.data[s+3]===n)return s-this.zero;return-1},n.prototype.readAndCheckSignature=function(t){var e=t.charCodeAt(0),r=t.charCodeAt(1),i=t.charCodeAt(2),n=t.charCodeAt(3),s=this.readData(4);return e===s[0]&&r===s[1]&&i===s[2]&&n===s[3]},n.prototype.readData=function(t){if(this.checkOffset(t),0===t)return[];var e=this.data.slice(this.zero+this.index,this.zero+this.index+t);return this.index+=t,e},e.exports=n},{"../utils":32,"./DataReader":18}],18:[function(t,e,r){"use strict";var i=t("../utils");function n(t){this.data=t,this.length=t.length,this.index=0,this.zero=0}n.prototype={checkOffset:function(t){this.checkIndex(this.index+t)},checkIndex:function(t){if(this.length<this.zero+t||t<0)throw new Error("End of data reached (data length = "+this.length+", asked index = "+t+"). Corrupted zip ?")},setIndex:function(t){this.checkIndex(t),this.index=t},skip:function(t){this.setIndex(this.index+t)},byteAt:function(t){},readInt:function(t){var e,r=0;for(this.checkOffset(t),e=this.index+t-1;e>=this.index;e--)r=(r<<8)+this.byteAt(e);return this.index+=t,r},readString:function(t){return i.transformTo("string",this.readData(t))},readData:function(t){},lastIndexOfSignature:function(t){},readAndCheckSignature:function(t){},readDate:function(){var t=this.readInt(4);return new Date(Date.UTC(1980+(t>>25&127),(t>>21&15)-1,t>>16&31,t>>11&31,t>>5&63,(31&t)<<1))}},e.exports=n},{"../utils":32}],19:[function(t,e,r){"use strict";var i=t("./Uint8ArrayReader");function n(t){i.call(this,t)}t("../utils").inherits(n,i),n.prototype.readData=function(t){this.checkOffset(t);var e=this.data.slice(this.zero+this.index,this.zero+this.index+t);return this.index+=t,e},e.exports=n},{"../utils":32,"./Uint8ArrayReader":21}],20:[function(t,e,r){"use strict";var i=t("./DataReader");function n(t){i.call(this,t)}t("../utils").inherits(n,i),n.prototype.byteAt=function(t){return this.data.charCodeAt(this.zero+t)},n.prototype.lastIndexOfSignature=function(t){return this.data.lastIndexOf(t)-this.zero},n.prototype.readAndCheckSignature=function(t){return t===this.readData(4)},n.prototype.readData=function(t){this.checkOffset(t);var e=this.data.slice(this.zero+this.index,this.zero+this.index+t);return this.index+=t,e},e.exports=n},{"../utils":32,"./DataReader":18}],21:[function(t,e,r){"use strict";var i=t("./ArrayReader");function n(t){i.call(this,t)}t("../utils").inherits(n,i),n.prototype.readData=function(t){if(this.checkOffset(t),0===t)return new Uint8Array(0);var e=this.data.subarray(this.zero+this.index,this.zero+this.index+t);return this.index+=t,e},e.exports=n},{"../utils":32,"./ArrayReader":17}],22:[function(t,e,r){"use strict";var i=t("../utils"),n=t("../support"),s=t("./ArrayReader"),a=t("./StringReader"),o=t("./NodeBufferReader"),h=t("./Uint8ArrayReader");e.exports=function(t){var e=i.getTypeOf(t);return i.checkSupport(e),"string"!==e||n.uint8array?"nodebuffer"===e?new o(t):n.uint8array?new h(i.transformTo("uint8array",t)):new s(i.transformTo("array",t)):new a(t)}},{"../support":30,"../utils":32,"./ArrayReader":17,"./NodeBufferReader":19,"./StringReader":20,"./Uint8ArrayReader":21}],23:[function(t,e,r){"use strict";r.LOCAL_FILE_HEADER="PK",r.CENTRAL_FILE_HEADER="PK
",r.CENTRAL_DIRECTORY_END="PK",r.ZIP64_CENTRAL_DIRECTORY_LOCATOR="PK",r.ZIP64_CENTRAL_DIRECTORY_END="PK",r.DATA_DESCRIPTOR="PK\b"},{}],24:[function(t,e,r){"use strict";var i=t("./GenericWorker"),n=t("../utils");function s(t){i.call(this,"ConvertWorker to "+t),this.destType=t}n.inherits(s,i),s.prototype.processChunk=function(t){this.push({data:n.transformTo(this.destType,t.data),meta:t.meta})},e.exports=s},{"../utils":32,"./GenericWorker":28}],25:[function(t,e,r){"use strict";var i=t("./GenericWorker"),n=t("../crc32");function s(){i.call(this,"Crc32Probe"),this.withStreamInfo("crc32",0)}t("../utils").inherits(s,i),s.prototype.processChunk=function(t){this.streamInfo.crc32=n(t.data,this.streamInfo.crc32||0),this.push(t)},e.exports=s},{"../crc32":4,"../utils":32,"./GenericWorker":28}],26:[function(t,e,r){"use strict";var i=t("../utils"),n=t("./GenericWorker");function s(t){n.call(this,"DataLengthProbe for "+t),this.propName=t,this.withStreamInfo(t,0)}i.inherits(s,n),s.prototype.processChunk=function(t){if(t){var e=this.streamInfo[this.propName]||0;this.streamInfo[this.propName]=e+t.data.length}n.prototype.processChunk.call(this,t)},e.exports=s},{"../utils":32,"./GenericWorker":28}],27:[function(t,e,r){"use strict";var i=t("../utils"),n=t("./GenericWorker");function s(t){n.call(this,"DataWorker");var e=this;this.dataIsReady=!1,this.index=0,this.max=0,this.data=null,this.type="",this._tickScheduled=!1,t.then(function(t){e.dataIsReady=!0,e.data=t,e.max=t&&t.length||0,e.type=i.getTypeOf(t),e.isPaused||e._tickAndRepeat()},function(t){e.error(t)})}i.inherits(s,n),s.prototype.cleanUp=function(){n.prototype.cleanUp.call(this),this.data=null},s.prototype.resume=function(){return!!n.prototype.resume.call(this)&&(!this._tickScheduled&&this.dataIsReady&&(this._tickScheduled=!0,i.delay(this._tickAndRepeat,[],this)),!0)},s.prototype._tickAndRepeat=function(){this._tickScheduled=!1,this.isPaused||this.isFinished||(this._tick(),this.isFinished||(i.delay(this._tickAndRepeat,[],this),this._tickScheduled=!0))},s.prototype._tick=function(){if(this.isPaused||this.isFinished)return!1;var t=null,e=Math.min(this.max,this.index+16384);if(this.index>=this.max)return this.end();switch(this.type){case"string":t=this.data.substring(this.index,e);break;case"uint8array":t=this.data.subarray(this.index,e);break;case"array":case"nodebuffer":t=this.data.slice(this.index,e)}return this.index=e,this.push({data:t,meta:{percent:this.max?this.index/this.max*100:0}})},e.exports=s},{"../utils":32,"./GenericWorker":28}],28:[function(t,e,r){"use strict";function i(t){this.name=t||"default",this.streamInfo={},this.generatedError=null,this.extraStreamInfo={},this.isPaused=!0,this.isFinished=!1,this.isLocked=!1,this._listeners={data:[],end:[],error:[]},this.previous=null}i.prototype={push:function(t){this.emit("data",t)},end:function(){if(this.isFinished)return!1;this.flush();try{this.emit("end"),this.cleanUp(),this.isFinished=!0}catch(t){this.emit("error",t)}return!0},error:function(t){return!this.isFinished&&(this.isPaused?this.generatedError=t:(this.isFinished=!0,this.emit("error",t),this.previous&&this.previous.error(t),this.cleanUp()),!0)},on:function(t,e){return this._listeners[t].push(e),this},cleanUp:function(){this.streamInfo=this.generatedError=this.extraStreamInfo=null,this._listeners=[]},emit:function(t,e){if(this._listeners[t])for(var r=0;r<this._listeners[t].length;r++)this._listeners[t][r].call(this,e)},pipe:function(t){return t.registerPrevious(this)},registerPrevious:function(t){if(this.isLocked)throw new Error("The stream '"+this+"' has already been used.");this.streamInfo=t.streamInfo,this.mergeStreamInfo(),this.previous=t;var e=this;return t.on("data",function(t){e.processChunk(t)}),t.on("end",function(){e.end()}),t.on("error",function(t){e.error(t)}),this},pause:function(){return!this.isPaused&&!this.isFinished&&(this.isPaused=!0,this.previous&&this.previous.pause(),!0)},resume:function(){if(!this.isPaused||this.isFinished)return!1;var t=this.isPaused=!1;return this.generatedError&&(this.error(this.generatedError),t=!0),this.previous&&this.previous.resume(),!t},flush:function(){},processChunk:function(t){this.push(t)},withStreamInfo:function(t,e){return this.extraStreamInfo[t]=e,this.mergeStreamInfo(),this},mergeStreamInfo:function(){for(var t in this.extraStreamInfo)this.extraStreamInfo.hasOwnProperty(t)&&(this.streamInfo[t]=this.extraStreamInfo[t])},lock:function(){if(this.isLocked)throw new Error("The stream '"+this+"' has already been used.");this.isLocked=!0,this.previous&&this.previous.lock()},toString:function(){var t="Worker "+this.name;return this.previous?this.previous+" -> "+t:t}},e.exports=i},{}],29:[function(t,e,r){"use strict";var h=t("../utils"),n=t("./ConvertWorker"),s=t("./GenericWorker"),u=t("../base64"),i=t("../support"),a=t("../external"),o=null;if(i.nodestream)try{o=t("../nodejs/NodejsStreamOutputAdapter")}catch(t){}function l(t,o){return new a.Promise(function(e,r){var i=[],n=t._internalType,s=t._outputType,a=t._mimeType;t.on("data",function(t,e){i.push(t),o&&o(e)}).on("error",function(t){i=[],r(t)}).on("end",function(){try{var t=function(t,e,r){switch(t){case"blob":return h.newBlob(h.transformTo("arraybuffer",e),r);case"base64":return u.encode(e);default:return h.transformTo(t,e)}}(s,function(t,e){var r,i=0,n=null,s=0;for(r=0;r<e.length;r++)s+=e[r].length;switch(t){case"string":return e.join("");case"array":return Array.prototype.concat.apply([],e);case"uint8array":for(n=new Uint8Array(s),r=0;r<e.length;r++)n.set(e[r],i),i+=e[r].length;return n;case"nodebuffer":return Buffer.concat(e);default:throw new Error("concat : unsupported type '"+t+"'")}}(n,i),a);e(t)}catch(t){r(t)}i=[]}).resume()})}function f(t,e,r){var i=e;switch(e){case"blob":case"arraybuffer":i="uint8array";break;case"base64":i="string"}try{this._internalType=i,this._outputType=e,this._mimeType=r,h.checkSupport(i),this._worker=t.pipe(new n(i)),t.lock()}catch(t){this._worker=new s("error"),this._worker.error(t)}}f.prototype={accumulate:function(t){return l(this,t)},on:function(t,e){var r=this;return"data"===t?this._worker.on(t,function(t){e.call(r,t.data,t.meta)}):this._worker.on(t,function(){h.delay(e,arguments,r)}),this},resume:function(){return h.delay(this._worker.resume,[],this._worker),this},pause:function(){return this._worker.pause(),this},toNodejsStream:function(t){if(h.checkSupport("nodestream"),"nodebuffer"!==this._outputType)throw new Error(this._outputType+" is not supported by this method");return new o(this,{objectMode:"nodebuffer"!==this._outputType},t)}},e.exports=f},{"../base64":1,"../external":6,"../nodejs/NodejsStreamOutputAdapter":13,"../support":30,"../utils":32,"./ConvertWorker":24,"./GenericWorker":28}],30:[function(t,e,r){"use strict";if(r.base64=!0,r.array=!0,r.string=!0,r.arraybuffer="undefined"!=typeof ArrayBuffer&&"undefined"!=typeof Uint8Array,r.nodebuffer="undefined"!=typeof Buffer,r.uint8array="undefined"!=typeof Uint8Array,"undefined"==typeof ArrayBuffer)r.blob=!1;else{var i=new ArrayBuffer(0);try{r.blob=0===new Blob([i],{type:"application/zip"}).size}catch(t){try{var n=new(self.BlobBuilder||self.WebKitBlobBuilder||self.MozBlobBuilder||self.MSBlobBuilder);n.append(i),r.blob=0===n.getBlob("application/zip").size}catch(t){r.blob=!1}}}try{r.nodestream=!!t("readable-stream").Readable}catch(t){r.nodestream=!1}},{"readable-stream":16}],31:[function(t,e,s){"use strict";for(var o=t("./utils"),h=t("./support"),r=t("./nodejsUtils"),i=t("./stream/GenericWorker"),u=new Array(256),n=0;n<256;n++)u[n]=252<=n?6:248<=n?5:240<=n?4:224<=n?3:192<=n?2:1;u[254]=u[254]=1;function a(){i.call(this,"utf-8 decode"),this.leftOver=null}function l(){i.call(this,"utf-8 encode")}s.utf8encode=function(t){return h.nodebuffer?r.newBufferFrom(t,"utf-8"):function(t){var e,r,i,n,s,a=t.length,o=0;for(n=0;n<a;n++)55296==(64512&(r=t.charCodeAt(n)))&&n+1<a&&56320==(64512&(i=t.charCodeAt(n+1)))&&(r=65536+(r-55296<<10)+(i-56320),n++),o+=r<128?1:r<2048?2:r<65536?3:4;for(e=h.uint8array?new Uint8Array(o):new Array(o),n=s=0;s<o;n++)55296==(64512&(r=t.charCodeAt(n)))&&n+1<a&&56320==(64512&(i=t.charCodeAt(n+1)))&&(r=65536+(r-55296<<10)+(i-56320),n++),r<128?e[s++]=r:(r<2048?e[s++]=192|r>>>6:(r<65536?e[s++]=224|r>>>12:(e[s++]=240|r>>>18,e[s++]=128|r>>>12&63),e[s++]=128|r>>>6&63),e[s++]=128|63&r);return e}(t)},s.utf8decode=function(t){return h.nodebuffer?o.transformTo("nodebuffer",t).toString("utf-8"):function(t){var e,r,i,n,s=t.length,a=new Array(2*s);for(e=r=0;e<s;)if((i=t[e++])<128)a[r++]=i;else if(4<(n=u[i]))a[r++]=65533,e+=n-1;else{for(i&=2===n?31:3===n?15:7;1<n&&e<s;)i=i<<6|63&t[e++],n--;1<n?a[r++]=65533:i<65536?a[r++]=i:(i-=65536,a[r++]=55296|i>>10&1023,a[r++]=56320|1023&i)}return a.length!==r&&(a.subarray?a=a.subarray(0,r):a.length=r),o.applyFromCharCode(a)}(t=o.transformTo(h.uint8array?"uint8array":"array",t))},o.inherits(a,i),a.prototype.processChunk=function(t){var e=o.transformTo(h.uint8array?"uint8array":"array",t.data);if(this.leftOver&&this.leftOver.length){if(h.uint8array){var r=e;(e=new Uint8Array(r.length+this.leftOver.length)).set(this.leftOver,0),e.set(r,this.leftOver.length)}else e=this.leftOver.concat(e);this.leftOver=null}var i=function(t,e){var r;for((e=e||t.length)>t.length&&(e=t.length),r=e-1;0<=r&&128==(192&t[r]);)r--;return r<0?e:0===r?e:r+u[t[r]]>e?r:e}(e),n=e;i!==e.length&&(h.uint8array?(n=e.subarray(0,i),this.leftOver=e.subarray(i,e.length)):(n=e.slice(0,i),this.leftOver=e.slice(i,e.length))),this.push({data:s.utf8decode(n),meta:t.meta})},a.prototype.flush=function(){this.leftOver&&this.leftOver.length&&(this.push({data:s.utf8decode(this.leftOver),meta:{}}),this.leftOver=null)},s.Utf8DecodeWorker=a,o.inherits(l,i),l.prototype.processChunk=function(t){this.push({data:s.utf8encode(t.data),meta:t.meta})},s.Utf8EncodeWorker=l},{"./nodejsUtils":14,"./stream/GenericWorker":28,"./support":30,"./utils":32}],32:[function(t,e,a){"use strict";var o=t("./support"),h=t("./base64"),r=t("./nodejsUtils"),i=t("set-immediate-shim"),u=t("./external");function n(t){return t}function l(t,e){for(var r=0;r<t.length;++r)e[r]=255&t.charCodeAt(r);return e}a.newBlob=function(e,r){a.checkSupport("blob");try{return new Blob([e],{type:r})}catch(t){try{var i=new(self.BlobBuilder||self.WebKitBlobBuilder||self.MozBlobBuilder||self.MSBlobBuilder);return i.append(e),i.getBlob(r)}catch(t){throw new Error("Bug : can't construct the Blob.")}}};var s={stringifyByChunk:function(t,e,r){var i=[],n=0,s=t.length;if(s<=r)return String.fromCharCode.apply(null,t);for(;n<s;)"array"===e||"nodebuffer"===e?i.push(String.fromCharCode.apply(null,t.slice(n,Math.min(n+r,s)))):i.push(String.fromCharCode.apply(null,t.subarray(n,Math.min(n+r,s)))),n+=r;return i.join("")},stringifyByChar:function(t){for(var e="",r=0;r<t.length;r++)e+=String.fromCharCode(t[r]);return e},applyCanBeUsed:{uint8array:function(){try{return o.uint8array&&1===String.fromCharCode.apply(null,new Uint8Array(1)).length}catch(t){return!1}}(),nodebuffer:function(){try{return o.nodebuffer&&1===String.fromCharCode.apply(null,r.allocBuffer(1)).length}catch(t){return!1}}()}};function f(t){var e=65536,r=a.getTypeOf(t),i=!0;if("uint8array"===r?i=s.applyCanBeUsed.uint8array:"nodebuffer"===r&&(i=s.applyCanBeUsed.nodebuffer),i)for(;1<e;)try{return s.stringifyByChunk(t,r,e)}catch(t){e=Math.floor(e/2)}return s.stringifyByChar(t)}function d(t,e){for(var r=0;r<t.length;r++)e[r]=t[r];return e}a.applyFromCharCode=f;var c={};c.string={string:n,array:function(t){return l(t,new Array(t.length))},arraybuffer:function(t){return c.string.uint8array(t).buffer},uint8array:function(t){return l(t,new Uint8Array(t.length))},nodebuffer:function(t){return l(t,r.allocBuffer(t.length))}},c.array={string:f,array:n,arraybuffer:function(t){return new Uint8Array(t).buffer},uint8array:function(t){return new Uint8Array(t)},nodebuffer:function(t){return r.newBufferFrom(t)}},c.arraybuffer={string:function(t){return f(new Uint8Array(t))},array:function(t){return d(new Uint8Array(t),new Array(t.byteLength))},arraybuffer:n,uint8array:function(t){return new Uint8Array(t)},nodebuffer:function(t){return r.newBufferFrom(new Uint8Array(t))}},c.uint8array={string:f,array:function(t){return d(t,new Array(t.length))},arraybuffer:function(t){return t.buffer},uint8array:n,nodebuffer:function(t){return r.newBufferFrom(t)}},c.nodebuffer={string:f,array:function(t){return d(t,new Array(t.length))},arraybuffer:function(t){return c.nodebuffer.uint8array(t).buffer},uint8array:function(t){return d(t,new Uint8Array(t.length))},nodebuffer:n},a.transformTo=function(t,e){if(e=e||"",!t)return e;a.checkSupport(t);var r=a.getTypeOf(e);return c[r][t](e)},a.getTypeOf=function(t){return"string"==typeof t?"string":"[object Array]"===Object.prototype.toString.call(t)?"array":o.nodebuffer&&r.isBuffer(t)?"nodebuffer":o.uint8array&&t instanceof Uint8Array?"uint8array":o.arraybuffer&&t instanceof ArrayBuffer?"arraybuffer":void 0},a.checkSupport=function(t){if(!o[t.toLowerCase()])throw new Error(t+" is not supported by this platform")},a.MAX_VALUE_16BITS=65535,a.MAX_VALUE_32BITS=-1,a.pretty=function(t){var e,r,i="";for(r=0;r<(t||"").length;r++)i+="\\x"+((e=t.charCodeAt(r))<16?"0":"")+e.toString(16).toUpperCase();return i},a.delay=function(t,e,r){i(function(){t.apply(r||null,e||[])})},a.inherits=function(t,e){function r(){}r.prototype=e.prototype,t.prototype=new r},a.extend=function(){var t,e,r={};for(t=0;t<arguments.length;t++)for(e in arguments[t])arguments[t].hasOwnProperty(e)&&void 0===r[e]&&(r[e]=arguments[t][e]);return r},a.prepareContent=function(r,t,i,n,s){return u.Promise.resolve(t).then(function(i){return o.blob&&(i instanceof Blob||-1!==["[object File]","[object Blob]"].indexOf(Object.prototype.toString.call(i)))&&"undefined"!=typeof FileReader?new u.Promise(function(e,r){var t=new FileReader;t.onload=function(t){e(t.target.result)},t.onerror=function(t){r(t.target.error)},t.readAsArrayBuffer(i)}):i}).then(function(t){var e=a.getTypeOf(t);return e?("arraybuffer"===e?t=a.transformTo("uint8array",t):"string"===e&&(s?t=h.decode(t):i&&!0!==n&&(t=function(t){return l(t,o.uint8array?new Uint8Array(t.length):new Array(t.length))}(t))),t):u.Promise.reject(new Error("Can't read the data of '"+r+"'. Is it in a supported JavaScript type (String, Blob, ArrayBuffer, etc) ?"))})}},{"./base64":1,"./external":6,"./nodejsUtils":14,"./support":30,"set-immediate-shim":54}],33:[function(t,e,r){"use strict";var i=t("./reader/readerFor"),n=t("./utils"),s=t("./signature"),a=t("./zipEntry"),o=(t("./utf8"),t("./support"));function h(t){this.files=[],this.loadOptions=t}h.prototype={checkSignature:function(t){if(!this.reader.readAndCheckSignature(t)){this.reader.index-=4;var e=this.reader.readString(4);throw new Error("Corrupted zip or bug: unexpected signature ("+n.pretty(e)+", expected "+n.pretty(t)+")")}},isSignature:function(t,e){var r=this.reader.index;this.reader.setIndex(t);var i=this.reader.readString(4)===e;return this.reader.setIndex(r),i},readBlockEndOfCentral:function(){this.diskNumber=this.reader.readInt(2),this.diskWithCentralDirStart=this.reader.readInt(2),this.centralDirRecordsOnThisDisk=this.reader.readInt(2),this.centralDirRecords=this.reader.readInt(2),this.centralDirSize=this.reader.readInt(4),this.centralDirOffset=this.reader.readInt(4),this.zipCommentLength=this.reader.readInt(2);var t=this.reader.readData(this.zipCommentLength),e=o.uint8array?"uint8array":"array",r=n.transformTo(e,t);this.zipComment=this.loadOptions.decodeFileName(r)},readBlockZip64EndOfCentral:function(){this.zip64EndOfCentralSize=this.reader.readInt(8),this.reader.skip(4),this.diskNumber=this.reader.readInt(4),this.diskWithCentralDirStart=this.reader.readInt(4),this.centralDirRecordsOnThisDisk=this.reader.readInt(8),this.centralDirRecords=this.reader.readInt(8),this.centralDirSize=this.reader.readInt(8),this.centralDirOffset=this.reader.readInt(8),this.zip64ExtensibleData={};for(var t,e,r,i=this.zip64EndOfCentralSize-44;0<i;)t=this.reader.readInt(2),e=this.reader.readInt(4),r=this.reader.readData(e),this.zip64ExtensibleData[t]={id:t,length:e,value:r}},readBlockZip64EndOfCentralLocator:function(){if(this.diskWithZip64CentralDirStart=this.reader.readInt(4),this.relativeOffsetEndOfZip64CentralDir=this.reader.readInt(8),this.disksCount=this.reader.readInt(4),1<this.disksCount)throw new Error("Multi-volumes zip are not supported")},readLocalFiles:function(){var t,e;for(t=0;t<this.files.length;t++)e=this.files[t],this.reader.setIndex(e.localHeaderOffset),this.checkSignature(s.LOCAL_FILE_HEADER),e.readLocalPart(this.reader),e.handleUTF8(),e.processAttributes()},readCentralDir:function(){var t;for(this.reader.setIndex(this.centralDirOffset);this.reader.readAndCheckSignature(s.CENTRAL_FILE_HEADER);)(t=new a({zip64:this.zip64},this.loadOptions)).readCentralPart(this.reader),this.files.push(t);if(this.centralDirRecords!==this.files.length&&0!==this.centralDirRecords&&0===this.files.length)throw new Error("Corrupted zip or bug: expected "+this.centralDirRecords+" records in central dir, got "+this.files.length)},readEndOfCentral:function(){var t=this.reader.lastIndexOfSignature(s.CENTRAL_DIRECTORY_END);if(t<0)throw!this.isSignature(0,s.LOCAL_FILE_HEADER)?new Error("Can't find end of central directory : is this a zip file ? If it is, see https://stuk.github.io/jszip/documentation/howto/read_zip.html"):new Error("Corrupted zip: can't find end of central directory");this.reader.setIndex(t);var e=t;if(this.checkSignature(s.CENTRAL_DIRECTORY_END),this.readBlockEndOfCentral(),this.diskNumber===n.MAX_VALUE_16BITS||this.diskWithCentralDirStart===n.MAX_VALUE_16BITS||this.centralDirRecordsOnThisDisk===n.MAX_VALUE_16BITS||this.centralDirRecords===n.MAX_VALUE_16BITS||this.centralDirSize===n.MAX_VALUE_32BITS||this.centralDirOffset===n.MAX_VALUE_32BITS){if(this.zip64=!0,(t=this.reader.lastIndexOfSignature(s.ZIP64_CENTRAL_DIRECTORY_LOCATOR))<0)throw new Error("Corrupted zip: can't find the ZIP64 end of central directory locator");if(this.reader.setIndex(t),this.checkSignature(s.ZIP64_CENTRAL_DIRECTORY_LOCATOR),this.readBlockZip64EndOfCentralLocator(),!this.isSignature(this.relativeOffsetEndOfZip64CentralDir,s.ZIP64_CENTRAL_DIRECTORY_END)&&(this.relativeOffsetEndOfZip64CentralDir=this.reader.lastIndexOfSignature(s.ZIP64_CENTRAL_DIRECTORY_END),this.relativeOffsetEndOfZip64CentralDir<0))throw new Error("Corrupted zip: can't find the ZIP64 end of central directory");this.reader.setIndex(this.relativeOffsetEndOfZip64CentralDir),this.checkSignature(s.ZIP64_CENTRAL_DIRECTORY_END),this.readBlockZip64EndOfCentral()}var r=this.centralDirOffset+this.centralDirSize;this.zip64&&(r+=20,r+=12+this.zip64EndOfCentralSize);var i=e-r;if(0<i)this.isSignature(e,s.CENTRAL_FILE_HEADER)||(this.reader.zero=i);else if(i<0)throw new Error("Corrupted zip: missing "+Math.abs(i)+" bytes.")},prepareReader:function(t){this.reader=i(t)},load:function(t){this.prepareReader(t),this.readEndOfCentral(),this.readCentralDir(),this.readLocalFiles()}},e.exports=h},{"./reader/readerFor":22,"./signature":23,"./support":30,"./utf8":31,"./utils":32,"./zipEntry":34}],34:[function(t,e,r){"use strict";var i=t("./reader/readerFor"),s=t("./utils"),n=t("./compressedObject"),a=t("./crc32"),o=t("./utf8"),h=t("./compressions"),u=t("./support");function l(t,e){this.options=t,this.loadOptions=e}l.prototype={isEncrypted:function(){return 1==(1&this.bitFlag)},useUTF8:function(){return 2048==(2048&this.bitFlag)},readLocalPart:function(t){var e,r;if(t.skip(22),this.fileNameLength=t.readInt(2),r=t.readInt(2),this.fileName=t.readData(this.fileNameLength),t.skip(r),-1===this.compressedSize||-1===this.uncompressedSize)throw new Error("Bug or corrupted zip : didn't get enough information from the central directory (compressedSize === -1 || uncompressedSize === -1)");if(null===(e=function(t){for(var e in h)if(h.hasOwnProperty(e)&&h[e].magic===t)return h[e];return null}(this.compressionMethod)))throw new Error("Corrupted zip : compression "+s.pretty(this.compressionMethod)+" unknown (inner file : "+s.transformTo("string",this.fileName)+")");this.decompressed=new n(this.compressedSize,this.uncompressedSize,this.crc32,e,t.readData(this.compressedSize))},readCentralPart:function(t){this.versionMadeBy=t.readInt(2),t.skip(2),this.bitFlag=t.readInt(2),this.compressionMethod=t.readString(2),this.date=t.readDate(),this.crc32=t.readInt(4),this.compressedSize=t.readInt(4),this.uncompressedSize=t.readInt(4);var e=t.readInt(2);if(this.extraFieldsLength=t.readInt(2),this.fileCommentLength=t.readInt(2),this.diskNumberStart=t.readInt(2),this.internalFileAttributes=t.readInt(2),this.externalFileAttributes=t.readInt(4),this.localHeaderOffset=t.readInt(4),this.isEncrypted())throw new Error("Encrypted zip are not supported");t.skip(e),this.readExtraFields(t),this.parseZIP64ExtraField(t),this.fileComment=t.readData(this.fileCommentLength)},processAttributes:function(){this.unixPermissions=null,this.dosPermissions=null;var t=this.versionMadeBy>>8;this.dir=!!(16&this.externalFileAttributes),0==t&&(this.dosPermissions=63&this.externalFileAttributes),3==t&&(this.unixPermissions=this.externalFileAttributes>>16&65535),this.dir||"/"!==this.fileNameStr.slice(-1)||(this.dir=!0)},parseZIP64ExtraField:function(t){if(this.extraFields[1]){var e=i(this.extraFields[1].value);this.uncompressedSize===s.MAX_VALUE_32BITS&&(this.uncompressedSize=e.readInt(8)),this.compressedSize===s.MAX_VALUE_32BITS&&(this.compressedSize=e.readInt(8)),this.localHeaderOffset===s.MAX_VALUE_32BITS&&(this.localHeaderOffset=e.readInt(8)),this.diskNumberStart===s.MAX_VALUE_32BITS&&(this.diskNumberStart=e.readInt(4))}},readExtraFields:function(t){var e,r,i,n=t.index+this.extraFieldsLength;for(this.extraFields||(this.extraFields={});t.index+4<n;)e=t.readInt(2),r=t.readInt(2),i=t.readData(r),this.extraFields[e]={id:e,length:r,value:i};t.setIndex(n)},handleUTF8:function(){var t=u.uint8array?"uint8array":"array";if(this.useUTF8())this.fileNameStr=o.utf8decode(this.fileName),this.fileCommentStr=o.utf8decode(this.fileComment);else{var e=this.findExtraFieldUnicodePath();if(null!==e)this.fileNameStr=e;else{var r=s.transformTo(t,this.fileName);this.fileNameStr=this.loadOptions.decodeFileName(r)}var i=this.findExtraFieldUnicodeComment();if(null!==i)this.fileCommentStr=i;else{var n=s.transformTo(t,this.fileComment);this.fileCommentStr=this.loadOptions.decodeFileName(n)}}},findExtraFieldUnicodePath:function(){var t=this.extraFields[28789];if(t){var e=i(t.value);return 1!==e.readInt(1)?null:a(this.fileName)!==e.readInt(4)?null:o.utf8decode(e.readData(t.length-5))}return null},findExtraFieldUnicodeComment:function(){var 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d.Buf16(2*s+1),D(this.depth),this.l_buf=0,this.lit_bufsize=0,this.last_lit=0,this.d_buf=0,this.opt_len=0,this.static_len=0,this.matches=0,this.insert=0,this.bi_buf=0,this.bi_valid=0}function G(t){var e;return t&&t.state?(t.total_in=t.total_out=0,t.data_type=n,(e=t.state).pending=0,e.pending_out=0,e.wrap<0&&(e.wrap=-e.wrap),e.status=e.wrap?C:E,t.adler=2===e.wrap?0:1,e.last_flush=l,u._tr_init(e),m):R(t,_)}function K(t){var e=G(t);return e===m&&function(t){t.window_size=2*t.w_size,D(t.head),t.max_lazy_match=h[t.level].max_lazy,t.good_match=h[t.level].good_length,t.nice_match=h[t.level].nice_length,t.max_chain_length=h[t.level].max_chain,t.strstart=0,t.block_start=0,t.lookahead=0,t.insert=0,t.match_length=t.prev_length=x-1,t.match_available=0,t.ins_h=0}(t.state),e}function Y(t,e,r,i,n,s){if(!t)return _;var a=1;if(e===g&&(e=6),i<0?(a=0,i=-i):15<i&&(a=2,i-=16),n<1||y<n||r!==v||i<8||15<i||e<0||9<e||s<0||b<s)return R(t,_);8===i&&(i=9);var o=new H;return(t.state=o).strm=t,o.wrap=a,o.gzhead=null,o.w_bits=i,o.w_size=1<<o.w_bits,o.w_mask=o.w_size-1,o.hash_bits=n+7,o.hash_size=1<<o.hash_bits,o.hash_mask=o.hash_size-1,o.hash_shift=~~((o.hash_bits+x-1)/x),o.window=new d.Buf8(2*o.w_size),o.head=new d.Buf16(o.hash_size),o.prev=new d.Buf16(o.w_size),o.lit_bufsize=1<<n+6,o.pending_buf_size=4*o.lit_bufsize,o.pending_buf=new d.Buf8(o.pending_buf_size),o.d_buf=1*o.lit_bufsize,o.l_buf=3*o.lit_bufsize,o.level=e,o.strategy=s,o.method=r,K(t)}h=[new M(0,0,0,0,function(t,e){var r=65535;for(r>t.pending_buf_size-5&&(r=t.pending_buf_size-5);;){if(t.lookahead<=1){if(j(t),0===t.lookahead&&e===l)return A;if(0===t.lookahead)break}t.strstart+=t.lookahead,t.lookahead=0;var i=t.block_start+r;if((0===t.strstart||t.strstart>=i)&&(t.lookahead=t.strstart-i,t.strstart=i,N(t,!1),0===t.strm.avail_out))return A;if(t.strstart-t.block_start>=t.w_size-z&&(N(t,!1),0===t.strm.avail_out))return A}return t.insert=0,e===f?(N(t,!0),0===t.strm.avail_out?O:B):(t.strstart>t.block_start&&(N(t,!1),t.strm.avail_out),A)}),new M(4,4,8,4,Z),new M(4,5,16,8,Z),new M(4,6,32,32,Z),new M(4,4,16,16,W),new M(8,16,32,32,W),new M(8,16,128,128,W),new M(8,32,128,256,W),new M(32,128,258,1024,W),new M(32,258,258,4096,W)],r.deflateInit=function(t,e){return Y(t,e,v,15,8,0)},r.deflateInit2=Y,r.deflateReset=K,r.deflateResetKeep=G,r.deflateSetHeader=function(t,e){return t&&t.state?2!==t.state.wrap?_:(t.state.gzhead=e,m):_},r.deflate=function(t,e){var r,i,n,s;if(!t||!t.state||5<e||e<0)return t?R(t,_):_;if(i=t.state,!t.output||!t.input&&0!==t.avail_in||666===i.status&&e!==f)return R(t,0===t.avail_out?-5:_);if(i.strm=t,r=i.last_flush,i.last_flush=e,i.status===C)if(2===i.wrap)t.adler=0,U(i,31),U(i,139),U(i,8),i.gzhead?(U(i,(i.gzhead.text?1:0)+(i.gzhead.hcrc?2:0)+(i.gzhead.extra?4:0)+(i.gzhead.name?8:0)+(i.gzhead.comment?16:0)),U(i,255&i.gzhead.time),U(i,i.gzhead.time>>8&255),U(i,i.gzhead.time>>16&255),U(i,i.gzhead.time>>24&255),U(i,9===i.level?2:2<=i.strategy||i.level<2?4:0),U(i,255&i.gzhead.os),i.gzhead.extra&&i.gzhead.extra.length&&(U(i,255&i.gzhead.extra.length),U(i,i.gzhead.extra.length>>8&255)),i.gzhead.hcrc&&(t.adler=p(t.adler,i.pending_buf,i.pending,0)),i.gzindex=0,i.status=69):(U(i,0),U(i,0),U(i,0),U(i,0),U(i,0),U(i,9===i.level?2:2<=i.strategy||i.level<2?4:0),U(i,3),i.status=E);else{var 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i.status=103;if(103===i.status&&(i.gzhead.hcrc?(i.pending+2>i.pending_buf_size&&F(t),i.pending+2<=i.pending_buf_size&&(U(i,255&t.adler),U(i,t.adler>>8&255),t.adler=0,i.status=E)):i.status=E),0!==i.pending){if(F(t),0===t.avail_out)return i.last_flush=-1,m}else if(0===t.avail_in&&T(e)<=T(r)&&e!==f)return R(t,-5);if(666===i.status&&0!==t.avail_in)return R(t,-5);if(0!==t.avail_in||0!==i.lookahead||e!==l&&666!==i.status){var o=2===i.strategy?function(t,e){for(var r;;){if(0===t.lookahead&&(j(t),0===t.lookahead)){if(e===l)return A;break}if(t.match_length=0,r=u._tr_tally(t,0,t.window[t.strstart]),t.lookahead--,t.strstart++,r&&(N(t,!1),0===t.strm.avail_out))return A}return t.insert=0,e===f?(N(t,!0),0===t.strm.avail_out?O:B):t.last_lit&&(N(t,!1),0===t.strm.avail_out)?A:I}(i,e):3===i.strategy?function(t,e){for(var r,i,n,s,a=t.window;;){if(t.lookahead<=S){if(j(t),t.lookahead<=S&&e===l)return A;if(0===t.lookahead)break}if(t.match_length=0,t.lookahead>=x&&0<t.strstart&&(i=a[n=t.strstart-1])===a[++n]&&i===a[++n]&&i===a[++n]){s=t.strstart+S;do{}while(i===a[++n]&&i===a[++n]&&i===a[++n]&&i===a[++n]&&i===a[++n]&&i===a[++n]&&i===a[++n]&&i===a[++n]&&n<s);t.match_length=S-(s-n),t.match_length>t.lookahead&&(t.match_length=t.lookahead)}if(t.match_length>=x?(r=u._tr_tally(t,1,t.match_length-x),t.lookahead-=t.match_length,t.strstart+=t.match_length,t.match_length=0):(r=u._tr_tally(t,0,t.window[t.strstart]),t.lookahead--,t.strstart++),r&&(N(t,!1),0===t.strm.avail_out))return A}return t.insert=0,e===f?(N(t,!0),0===t.strm.avail_out?O:B):t.last_lit&&(N(t,!1),0===t.strm.avail_out)?A:I}(i,e):h[i.level].func(i,e);if(o!==O&&o!==B||(i.status=666),o===A||o===O)return 0===t.avail_out&&(i.last_flush=-1),m;if(o===I&&(1===e?u._tr_align(i):5!==e&&(u._tr_stored_block(i,0,0,!1),3===e&&(D(i.head),0===i.lookahead&&(i.strstart=0,i.block_start=0,i.insert=0))),F(t),0===t.avail_out))return i.last_flush=-1,m}return e!==f?m:i.wrap<=0?1:(2===i.wrap?(U(i,255&t.adler),U(i,t.adler>>8&255),U(i,t.adler>>16&255),U(i,t.adler>>24&255),U(i,255&t.total_in),U(i,t.total_in>>8&255),U(i,t.total_in>>16&255),U(i,t.total_in>>24&255)):(P(i,t.adler>>>16),P(i,65535&t.adler)),F(t),0<i.wrap&&(i.wrap=-i.wrap),0!==i.pending?m:1)},r.deflateEnd=function(t){var e;return t&&t.state?(e=t.state.status)!==C&&69!==e&&73!==e&&91!==e&&103!==e&&e!==E&&666!==e?R(t,_):(t.state=null,e===E?R(t,-3):m):_},r.deflateSetDictionary=function(t,e){var r,i,n,s,a,o,h,u,l=e.length;if(!t||!t.state)return _;if(2===(s=(r=t.state).wrap)||1===s&&r.status!==C||r.lookahead)return _;for(1===s&&(t.adler=c(t.adler,e,l,0)),r.wrap=0,l>=r.w_size&&(0===s&&(D(r.head),r.strstart=0,r.block_start=0,r.insert=0),u=new d.Buf8(r.w_size),d.arraySet(u,e,l-r.w_size,r.w_size,0),e=u,l=r.w_size),a=t.avail_in,o=t.next_in,h=t.input,t.avail_in=l,t.next_in=0,t.input=e,j(r);r.lookahead>=x;){for(i=r.strstart,n=r.lookahead-(x-1);r.ins_h=(r.ins_h<<r.hash_shift^r.window[i+x-1])&r.hash_mask,r.prev[i&r.w_mask]=r.head[r.ins_h],r.head[r.ins_h]=i,i++,--n;);r.strstart=i,r.lookahead=x-1,j(r)}return r.strstart+=r.lookahead,r.block_start=r.strstart,r.insert=r.lookahead,r.lookahead=0,r.match_length=r.prev_length=x-1,r.match_available=0,t.next_in=o,t.input=h,t.avail_in=a,r.wrap=s,m},r.deflateInfo="pako deflate (from Nodeca project)"},{"../utils/common":41,"./adler32":43,"./crc32":45,"./messages":51,"./trees":52}],47:[function(t,e,r){"use strict";e.exports=function(){this.text=0,this.time=0,this.xflags=0,this.os=0,this.extra=null,this.extra_len=0,this.name="",this.comment="",this.hcrc=0,this.done=!1}},{}],48:[function(t,e,r){"use strict";e.exports=function(t,e){var r,i,n,s,a,o,h,u,l,f,d,c,p,m,_,g,b,v,y,w,k,x,S,z,C;r=t.state,i=t.next_in,z=t.input,n=i+(t.avail_in-5),s=t.next_out,C=t.output,a=s-(e-t.avail_out),o=s+(t.avail_out-257),h=r.dmax,u=r.wsize,l=r.whave,f=r.wnext,d=r.window,c=r.hold,p=r.bits,m=r.lencode,_=r.distcode,g=(1<<r.lenbits)-1,b=(1<<r.distbits)-1;t:do{p<15&&(c+=z[i++]<<p,p+=8,c+=z[i++]<<p,p+=8),v=m[c&g];e:for(;;){if(c>>>=y=v>>>24,p-=y,0===(y=v>>>16&255))C[s++]=65535&v;else{if(!(16&y)){if(0==(64&y)){v=m[(65535&v)+(c&(1<<y)-1)];continue e}if(32&y){r.mode=12;break t}t.msg="invalid literal/length code",r.mode=30;break t}w=65535&v,(y&=15)&&(p<y&&(c+=z[i++]<<p,p+=8),w+=c&(1<<y)-1,c>>>=y,p-=y),p<15&&(c+=z[i++]<<p,p+=8,c+=z[i++]<<p,p+=8),v=_[c&b];r:for(;;){if(c>>>=y=v>>>24,p-=y,!(16&(y=v>>>16&255))){if(0==(64&y)){v=_[(65535&v)+(c&(1<<y)-1)];continue r}t.msg="invalid distance code",r.mode=30;break t}if(k=65535&v,p<(y&=15)&&(c+=z[i++]<<p,(p+=8)<y&&(c+=z[i++]<<p,p+=8)),h<(k+=c&(1<<y)-1)){t.msg="invalid distance too far back",r.mode=30;break t}if(c>>>=y,p-=y,(y=s-a)<k){if(l<(y=k-y)&&r.sane){t.msg="invalid distance too far back",r.mode=30;break t}if(S=d,(x=0)===f){if(x+=u-y,y<w){for(w-=y;C[s++]=d[x++],--y;);x=s-k,S=C}}else if(f<y){if(x+=u+f-y,(y-=f)<w){for(w-=y;C[s++]=d[x++],--y;);if(x=0,f<w){for(w-=y=f;C[s++]=d[x++],--y;);x=s-k,S=C}}}else if(x+=f-y,y<w){for(w-=y;C[s++]=d[x++],--y;);x=s-k,S=C}for(;2<w;)C[s++]=S[x++],C[s++]=S[x++],C[s++]=S[x++],w-=3;w&&(C[s++]=S[x++],1<w&&(C[s++]=S[x++]))}else{for(x=s-k;C[s++]=C[x++],C[s++]=C[x++],C[s++]=C[x++],2<(w-=3););w&&(C[s++]=C[x++],1<w&&(C[s++]=C[x++]))}break}}break}}while(i<n&&s<o);i-=w=p>>3,c&=(1<<(p-=w<<3))-1,t.next_in=i,t.next_out=s,t.avail_in=i<n?n-i+5:5-(i-n),t.avail_out=s<o?o-s+257:257-(s-o),r.hold=c,r.bits=p}},{}],49:[function(t,e,r){"use strict";var I=t("../utils/common"),O=t("./adler32"),B=t("./crc32"),R=t("./inffast"),T=t("./inftrees"),D=1,F=2,N=0,U=-2,P=1,i=852,n=592;function L(t){return(t>>>24&255)+(t>>>8&65280)+((65280&t)<<8)+((255&t)<<24)}function s(){this.mode=0,this.last=!1,this.wrap=0,this.havedict=!1,this.flags=0,this.dmax=0,this.check=0,this.total=0,this.head=null,this.wbits=0,this.wsize=0,this.whave=0,this.wnext=0,this.window=null,this.hold=0,this.bits=0,this.length=0,this.offset=0,this.extra=0,this.lencode=null,this.distcode=null,this.lenbits=0,this.distbits=0,this.ncode=0,this.nlen=0,this.ndist=0,this.have=0,this.next=null,this.lens=new I.Buf16(320),this.work=new I.Buf16(288),this.lendyn=null,this.distdyn=null,this.sane=0,this.back=0,this.was=0}function a(t){var e;return t&&t.state?(e=t.state,t.total_in=t.total_out=e.total=0,t.msg="",e.wrap&&(t.adler=1&e.wrap),e.mode=P,e.last=0,e.havedict=0,e.dmax=32768,e.head=null,e.hold=0,e.bits=0,e.lencode=e.lendyn=new I.Buf32(i),e.distcode=e.distdyn=new I.Buf32(n),e.sane=1,e.back=-1,N):U}function o(t){var e;return t&&t.state?((e=t.state).wsize=0,e.whave=0,e.wnext=0,a(t)):U}function h(t,e){var r,i;return t&&t.state?(i=t.state,e<0?(r=0,e=-e):(r=1+(e>>4),e<48&&(e&=15)),e&&(e<8||15<e)?U:(null!==i.window&&i.wbits!==e&&(i.window=null),i.wrap=r,i.wbits=e,o(t))):U}function u(t,e){var r,i;return t?(i=new s,(t.state=i).window=null,(r=h(t,e))!==N&&(t.state=null),r):U}var l,f,d=!0;function j(t){if(d){var e;for(l=new I.Buf32(512),f=new I.Buf32(32),e=0;e<144;)t.lens[e++]=8;for(;e<256;)t.lens[e++]=9;for(;e<280;)t.lens[e++]=7;for(;e<288;)t.lens[e++]=8;for(T(D,t.lens,0,288,l,0,t.work,{bits:9}),e=0;e<32;)t.lens[e++]=5;T(F,t.lens,0,32,f,0,t.work,{bits:5}),d=!1}t.lencode=l,t.lenbits=9,t.distcode=f,t.distbits=5}function Z(t,e,r,i){var n,s=t.state;return null===s.window&&(s.wsize=1<<s.wbits,s.wnext=0,s.whave=0,s.window=new I.Buf8(s.wsize)),i>=s.wsize?(I.arraySet(s.window,e,r-s.wsize,s.wsize,0),s.wnext=0,s.whave=s.wsize):(i<(n=s.wsize-s.wnext)&&(n=i),I.arraySet(s.window,e,r-i,n,s.wnext),(i-=n)?(I.arraySet(s.window,e,r-i,i,0),s.wnext=i,s.whave=s.wsize):(s.wnext+=n,s.wnext===s.wsize&&(s.wnext=0),s.whave<s.wsize&&(s.whave+=n))),0}r.inflateReset=o,r.inflateReset2=h,r.inflateResetKeep=a,r.inflateInit=function(t){return u(t,15)},r.inflateInit2=u,r.inflate=function(t,e){var r,i,n,s,a,o,h,u,l,f,d,c,p,m,_,g,b,v,y,w,k,x,S,z,C=0,E=new I.Buf8(4),A=[16,17,18,0,8,7,9,6,10,5,11,4,12,3,13,2,14,1,15];if(!t||!t.state||!t.output||!t.input&&0!==t.avail_in)return U;12===(r=t.state).mode&&(r.mode=13),a=t.next_out,n=t.output,h=t.avail_out,s=t.next_in,i=t.input,o=t.avail_in,u=r.hold,l=r.bits,f=o,d=h,x=N;t:for(;;)switch(r.mode){case P:if(0===r.wrap){r.mode=13;break}for(;l<16;){if(0===o)break t;o--,u+=i[s++]<<l,l+=8}if(2&r.wrap&&35615===u){E[r.check=0]=255&u,E[1]=u>>>8&255,r.check=B(r.check,E,2,0),l=u=0,r.mode=2;break}if(r.flags=0,r.head&&(r.head.done=!1),!(1&r.wrap)||(((255&u)<<8)+(u>>8))%31){t.msg="incorrect header check",r.mode=30;break}if(8!=(15&u)){t.msg="unknown compression method",r.mode=30;break}if(l-=4,k=8+(15&(u>>>=4)),0===r.wbits)r.wbits=k;else if(k>r.wbits){t.msg="invalid window size",r.mode=30;break}r.dmax=1<<k,t.adler=r.check=1,r.mode=512&u?10:12,l=u=0;break;case 2:for(;l<16;){if(0===o)break t;o--,u+=i[s++]<<l,l+=8}if(r.flags=u,8!=(255&r.flags)){t.msg="unknown compression method",r.mode=30;break}if(57344&r.flags){t.msg="unknown header flags set",r.mode=30;break}r.head&&(r.head.text=u>>8&1),512&r.flags&&(E[0]=255&u,E[1]=u>>>8&255,r.check=B(r.check,E,2,0)),l=u=0,r.mode=3;case 3:for(;l<32;){if(0===o)break t;o--,u+=i[s++]<<l,l+=8}r.head&&(r.head.time=u),512&r.flags&&(E[0]=255&u,E[1]=u>>>8&255,E[2]=u>>>16&255,E[3]=u>>>24&255,r.check=B(r.check,E,4,0)),l=u=0,r.mode=4;case 4:for(;l<16;){if(0===o)break t;o--,u+=i[s++]<<l,l+=8}r.head&&(r.head.xflags=255&u,r.head.os=u>>8),512&r.flags&&(E[0]=255&u,E[1]=u>>>8&255,r.check=B(r.check,E,2,0)),l=u=0,r.mode=5;case 5:if(1024&r.flags){for(;l<16;){if(0===o)break t;o--,u+=i[s++]<<l,l+=8}r.length=u,r.head&&(r.head.extra_len=u),512&r.flags&&(E[0]=255&u,E[1]=u>>>8&255,r.check=B(r.check,E,2,0)),l=u=0}else r.head&&(r.head.extra=null);r.mode=6;case 6:if(1024&r.flags&&(o<(c=r.length)&&(c=o),c&&(r.head&&(k=r.head.extra_len-r.length,r.head.extra||(r.head.extra=new Array(r.head.extra_len)),I.arraySet(r.head.extra,i,s,c,k)),512&r.flags&&(r.check=B(r.check,i,c,s)),o-=c,s+=c,r.length-=c),r.length))break t;r.length=0,r.mode=7;case 7:if(2048&r.flags){if(0===o)break t;for(c=0;k=i[s+c++],r.head&&k&&r.length<65536&&(r.head.name+=String.fromCharCode(k)),k&&c<o;);if(512&r.flags&&(r.check=B(r.check,i,c,s)),o-=c,s+=c,k)break t}else r.head&&(r.head.name=null);r.length=0,r.mode=8;case 8:if(4096&r.flags){if(0===o)break t;for(c=0;k=i[s+c++],r.head&&k&&r.length<65536&&(r.head.comment+=String.fromCharCode(k)),k&&c<o;);if(512&r.flags&&(r.check=B(r.check,i,c,s)),o-=c,s+=c,k)break t}else r.head&&(r.head.comment=null);r.mode=9;case 9:if(512&r.flags){for(;l<16;){if(0===o)break t;o--,u+=i[s++]<<l,l+=8}if(u!==(65535&r.check)){t.msg="header crc mismatch",r.mode=30;break}l=u=0}r.head&&(r.head.hcrc=r.flags>>9&1,r.head.done=!0),t.adler=r.check=0,r.mode=12;break;case 10:for(;l<32;){if(0===o)break t;o--,u+=i[s++]<<l,l+=8}t.adler=r.check=L(u),l=u=0,r.mode=11;case 11:if(0===r.havedict)return t.next_out=a,t.avail_out=h,t.next_in=s,t.avail_in=o,r.hold=u,r.bits=l,2;t.adler=r.check=1,r.mode=12;case 12:if(5===e||6===e)break t;case 13:if(r.last){u>>>=7&l,l-=7&l,r.mode=27;break}for(;l<3;){if(0===o)break t;o--,u+=i[s++]<<l,l+=8}switch(r.last=1&u,l-=1,3&(u>>>=1)){case 0:r.mode=14;break;case 1:if(j(r),r.mode=20,6!==e)break;u>>>=2,l-=2;break t;case 2:r.mode=17;break;case 3:t.msg="invalid block type",r.mode=30}u>>>=2,l-=2;break;case 14:for(u>>>=7&l,l-=7&l;l<32;){if(0===o)break t;o--,u+=i[s++]<<l,l+=8}if((65535&u)!=(u>>>16^65535)){t.msg="invalid stored block lengths",r.mode=30;break}if(r.length=65535&u,l=u=0,r.mode=15,6===e)break t;case 15:r.mode=16;case 16:if(c=r.length){if(o<c&&(c=o),h<c&&(c=h),0===c)break t;I.arraySet(n,i,s,c,a),o-=c,s+=c,h-=c,a+=c,r.length-=c;break}r.mode=12;break;case 17:for(;l<14;){if(0===o)break t;o--,u+=i[s++]<<l,l+=8}if(r.nlen=257+(31&u),u>>>=5,l-=5,r.ndist=1+(31&u),u>>>=5,l-=5,r.ncode=4+(15&u),u>>>=4,l-=4,286<r.nlen||30<r.ndist){t.msg="too many length or distance symbols",r.mode=30;break}r.have=0,r.mode=18;case 18:for(;r.have<r.ncode;){for(;l<3;){if(0===o)break t;o--,u+=i[s++]<<l,l+=8}r.lens[A[r.have++]]=7&u,u>>>=3,l-=3}for(;r.have<19;)r.lens[A[r.have++]]=0;if(r.lencode=r.lendyn,r.lenbits=7,S={bits:r.lenbits},x=T(0,r.lens,0,19,r.lencode,0,r.work,S),r.lenbits=S.bits,x){t.msg="invalid code lengths set",r.mode=30;break}r.have=0,r.mode=19;case 19:for(;r.have<r.nlen+r.ndist;){for(;g=(C=r.lencode[u&(1<<r.lenbits)-1])>>>16&255,b=65535&C,!((_=C>>>24)<=l);){if(0===o)break t;o--,u+=i[s++]<<l,l+=8}if(b<16)u>>>=_,l-=_,r.lens[r.have++]=b;else{if(16===b){for(z=_+2;l<z;){if(0===o)break t;o--,u+=i[s++]<<l,l+=8}if(u>>>=_,l-=_,0===r.have){t.msg="invalid bit length repeat",r.mode=30;break}k=r.lens[r.have-1],c=3+(3&u),u>>>=2,l-=2}else if(17===b){for(z=_+3;l<z;){if(0===o)break t;o--,u+=i[s++]<<l,l+=8}l-=_,k=0,c=3+(7&(u>>>=_)),u>>>=3,l-=3}else{for(z=_+7;l<z;){if(0===o)break t;o--,u+=i[s++]<<l,l+=8}l-=_,k=0,c=11+(127&(u>>>=_)),u>>>=7,l-=7}if(r.have+c>r.nlen+r.ndist){t.msg="invalid bit length 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t;o--,u+=i[s++]<<l,l+=8}if(g&&0==(240&g)){for(v=_,y=g,w=b;g=(C=r.lencode[w+((u&(1<<v+y)-1)>>v)])>>>16&255,b=65535&C,!(v+(_=C>>>24)<=l);){if(0===o)break t;o--,u+=i[s++]<<l,l+=8}u>>>=v,l-=v,r.back+=v}if(u>>>=_,l-=_,r.back+=_,r.length=b,0===g){r.mode=26;break}if(32&g){r.back=-1,r.mode=12;break}if(64&g){t.msg="invalid literal/length code",r.mode=30;break}r.extra=15&g,r.mode=22;case 22:if(r.extra){for(z=r.extra;l<z;){if(0===o)break t;o--,u+=i[s++]<<l,l+=8}r.length+=u&(1<<r.extra)-1,u>>>=r.extra,l-=r.extra,r.back+=r.extra}r.was=r.length,r.mode=23;case 23:for(;g=(C=r.distcode[u&(1<<r.distbits)-1])>>>16&255,b=65535&C,!((_=C>>>24)<=l);){if(0===o)break t;o--,u+=i[s++]<<l,l+=8}if(0==(240&g)){for(v=_,y=g,w=b;g=(C=r.distcode[w+((u&(1<<v+y)-1)>>v)])>>>16&255,b=65535&C,!(v+(_=C>>>24)<=l);){if(0===o)break t;o--,u+=i[s++]<<l,l+=8}u>>>=v,l-=v,r.back+=v}if(u>>>=_,l-=_,r.back+=_,64&g){t.msg="invalid distance code",r.mode=30;break}r.offset=b,r.extra=15&g,r.mode=24;case 24:if(r.extra){for(z=r.extra;l<z;){if(0===o)break t;o--,u+=i[s++]<<l,l+=8}r.offset+=u&(1<<r.extra)-1,u>>>=r.extra,l-=r.extra,r.back+=r.extra}if(r.offset>r.dmax){t.msg="invalid distance too far back",r.mode=30;break}r.mode=25;case 25:if(0===h)break t;if(c=d-h,r.offset>c){if((c=r.offset-c)>r.whave&&r.sane){t.msg="invalid distance too far back",r.mode=30;break}p=c>r.wnext?(c-=r.wnext,r.wsize-c):r.wnext-c,c>r.length&&(c=r.length),m=r.window}else m=n,p=a-r.offset,c=r.length;for(h<c&&(c=h),h-=c,r.length-=c;n[a++]=m[p++],--c;);0===r.length&&(r.mode=21);break;case 26:if(0===h)break t;n[a++]=r.length,h--,r.mode=21;break;case 27:if(r.wrap){for(;l<32;){if(0===o)break t;o--,u|=i[s++]<<l,l+=8}if(d-=h,t.total_out+=d,r.total+=d,d&&(t.adler=r.check=r.flags?B(r.check,n,d,a-d):O(r.check,n,d,a-d)),d=h,(r.flags?u:L(u))!==r.check){t.msg="incorrect data check",r.mode=30;break}l=u=0}r.mode=28;case 28:if(r.wrap&&r.flags){for(;l<32;){if(0===o)break t;o--,u+=i[s++]<<l,l+=8}if(u!==(4294967295&r.total)){t.msg="incorrect length check",r.mode=30;break}l=u=0}r.mode=29;case 29:x=1;break t;case 30:x=-3;break t;case 31:return-4;case 32:default:return U}return t.next_out=a,t.avail_out=h,t.next_in=s,t.avail_in=o,r.hold=u,r.bits=l,(r.wsize||d!==t.avail_out&&r.mode<30&&(r.mode<27||4!==e))&&Z(t,t.output,t.next_out,d-t.avail_out)?(r.mode=31,-4):(f-=t.avail_in,d-=t.avail_out,t.total_in+=f,t.total_out+=d,r.total+=d,r.wrap&&d&&(t.adler=r.check=r.flags?B(r.check,n,d,t.next_out-d):O(r.check,n,d,t.next_out-d)),t.data_type=r.bits+(r.last?64:0)+(12===r.mode?128:0)+(20===r.mode||15===r.mode?256:0),(0==f&&0===d||4===e)&&x===N&&(x=-5),x)},r.inflateEnd=function(t){if(!t||!t.state)return U;var e=t.state;return e.window&&(e.window=null),t.state=null,N},r.inflateGetHeader=function(t,e){var r;return t&&t.state?0==(2&(r=t.state).wrap)?U:((r.head=e).done=!1,N):U},r.inflateSetDictionary=function(t,e){var r,i=e.length;return t&&t.state?0!==(r=t.state).wrap&&11!==r.mode?U:11===r.mode&&O(1,e,i,0)!==r.check?-3:Z(t,e,i,i)?(r.mode=31,-4):(r.havedict=1,N):U},r.inflateInfo="pako inflate (from Nodeca project)"},{"../utils/common":41,"./adler32":43,"./crc32":45,"./inffast":48,"./inftrees":50}],50:[function(t,e,r){"use strict";var D=t("../utils/common"),F=[3,4,5,6,7,8,9,10,11,13,15,17,19,23,27,31,35,43,51,59,67,83,99,115,131,163,195,227,258,0,0],N=[16,16,16,16,16,16,16,16,17,17,17,17,18,18,18,18,19,19,19,19,20,20,20,20,21,21,21,21,16,72,78],U=[1,2,3,4,5,7,9,13,17,25,33,49,65,97,129,193,257,385,513,769,1025,1537,2049,3073,4097,6145,8193,12289,16385,24577,0,0],P=[16,16,16,16,17,17,18,18,19,19,20,20,21,21,22,22,23,23,24,24,25,25,26,26,27,27,28,28,29,29,64,64];e.exports=function(t,e,r,i,n,s,a,o){var h,u,l,f,d,c,p,m,_,g=o.bits,b=0,v=0,y=0,w=0,k=0,x=0,S=0,z=0,C=0,E=0,A=null,I=0,O=new D.Buf16(16),B=new D.Buf16(16),R=null,T=0;for(b=0;b<=15;b++)O[b]=0;for(v=0;v<i;v++)O[e[r+v]]++;for(k=g,w=15;1<=w&&0===O[w];w--);if(w<k&&(k=w),0===w)return n[s++]=20971520,n[s++]=20971520,o.bits=1,0;for(y=1;y<w&&0===O[y];y++);for(k<y&&(k=y),b=z=1;b<=15;b++)if(z<<=1,(z-=O[b])<0)return-1;if(0<z&&(0===t||1!==w))return-1;for(B[1]=0,b=1;b<15;b++)B[b+1]=B[b]+O[b];for(v=0;v<i;v++)0!==e[r+v]&&(a[B[e[r+v]]++]=v);if(c=0===t?(A=R=a,19):1===t?(A=F,I-=257,R=N,T-=257,256):(A=U,R=P,-1),b=y,d=s,S=v=E=0,l=-1,f=(C=1<<(x=k))-1,1===t&&852<C||2===t&&592<C)return 1;for(;;){for(p=b-S,_=a[v]<c?(m=0,a[v]):a[v]>c?(m=R[T+a[v]],A[I+a[v]]):(m=96,0),h=1<<b-S,y=u=1<<x;n[d+(E>>S)+(u-=h)]=p<<24|m<<16|_|0,0!==u;);for(h=1<<b-1;E&h;)h>>=1;if(0!==h?(E&=h-1,E+=h):E=0,v++,0==--O[b]){if(b===w)break;b=e[r+a[v]]}if(k<b&&(E&f)!==l){for(0===S&&(S=k),d+=y,z=1<<(x=b-S);x+S<w&&!((z-=O[x+S])<=0);)x++,z<<=1;if(C+=1<<x,1===t&&852<C||2===t&&592<C)return 1;n[l=E&f]=k<<24|x<<16|d-s|0}}return 0!==E&&(n[d+E]=b-S<<24|64<<16|0),o.bits=k,0}},{"../utils/common":41}],51:[function(t,e,r){"use strict";e.exports={2:"need dictionary",1:"stream end",0:"","-1":"file error","-2":"stream error","-3":"data error","-4":"insufficient memory","-5":"buffer error","-6":"incompatible version"}},{}],52:[function(t,e,r){"use strict";var n=t("../utils/common"),o=0,h=1;function i(t){for(var e=t.length;0<=--e;)t[e]=0}var s=0,a=29,u=256,l=u+1+a,f=30,d=19,_=2*l+1,g=15,c=16,p=7,m=256,b=16,v=17,y=18,w=[0,0,0,0,0,0,0,0,1,1,1,1,2,2,2,2,3,3,3,3,4,4,4,4,5,5,5,5,0],k=[0,0,0,0,1,1,2,2,3,3,4,4,5,5,6,6,7,7,8,8,9,9,10,10,11,11,12,12,13,13],x=[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,3,7],S=[16,17,18,0,8,7,9,6,10,5,11,4,12,3,13,2,14,1,15],z=new Array(2*(l+2));i(z);var C=new Array(2*f);i(C);var E=new Array(512);i(E);var A=new Array(256);i(A);var I=new Array(a);i(I);var O,B,R,T=new Array(f);function D(t,e,r,i,n){this.static_tree=t,this.extra_bits=e,this.extra_base=r,this.elems=i,this.max_length=n,this.has_stree=t&&t.length}function F(t,e){this.dyn_tree=t,this.max_code=0,this.stat_desc=e}function N(t){return t<256?E[t]:E[256+(t>>>7)]}function U(t,e){t.pending_buf[t.pending++]=255&e,t.pending_buf[t.pending++]=e>>>8&255}function P(t,e,r){t.bi_valid>c-r?(t.bi_buf|=e<<t.bi_valid&65535,U(t,t.bi_buf),t.bi_buf=e>>c-t.bi_valid,t.bi_valid+=r-c):(t.bi_buf|=e<<t.bi_valid&65535,t.bi_valid+=r)}function L(t,e,r){P(t,r[2*e],r[2*e+1])}function j(t,e){for(var r=0;r|=1&t,t>>>=1,r<<=1,0<--e;);return r>>>1}function Z(t,e,r){var i,n,s=new Array(g+1),a=0;for(i=1;i<=g;i++)s[i]=a=a+r[i-1]<<1;for(n=0;n<=e;n++){var o=t[2*n+1];0!==o&&(t[2*n]=j(s[o]++,o))}}function W(t){var e;for(e=0;e<l;e++)t.dyn_ltree[2*e]=0;for(e=0;e<f;e++)t.dyn_dtree[2*e]=0;for(e=0;e<d;e++)t.bl_tree[2*e]=0;t.dyn_ltree[2*m]=1,t.opt_len=t.static_len=0,t.last_lit=t.matches=0}function M(t){8<t.bi_valid?U(t,t.bi_buf):0<t.bi_valid&&(t.pending_buf[t.pending++]=t.bi_buf),t.bi_buf=0,t.bi_valid=0}function H(t,e,r,i){var n=2*e,s=2*r;return t[n]<t[s]||t[n]===t[s]&&i[e]<=i[r]}function G(t,e,r){for(var i=t.heap[r],n=r<<1;n<=t.heap_len&&(n<t.heap_len&&H(e,t.heap[n+1],t.heap[n],t.depth)&&n++,!H(e,i,t.heap[n],t.depth));)t.heap[r]=t.heap[n],r=n,n<<=1;t.heap[r]=i}function K(t,e,r){var i,n,s,a,o=0;if(0!==t.last_lit)for(;i=t.pending_buf[t.d_buf+2*o]<<8|t.pending_buf[t.d_buf+2*o+1],n=t.pending_buf[t.l_buf+o],o++,0===i?L(t,n,e):(L(t,(s=A[n])+u+1,e),0!==(a=w[s])&&P(t,n-=I[s],a),L(t,s=N(--i),r),0!==(a=k[s])&&P(t,i-=T[s],a)),o<t.last_lit;);L(t,m,e)}function Y(t,e){var r,i,n,s=e.dyn_tree,a=e.stat_desc.static_tree,o=e.stat_desc.has_stree,h=e.stat_desc.elems,u=-1;for(t.heap_len=0,t.heap_max=_,r=0;r<h;r++)0!==s[2*r]?(t.heap[++t.heap_len]=u=r,t.depth[r]=0):s[2*r+1]=0;for(;t.heap_len<2;)s[2*(n=t.heap[++t.heap_len]=u<2?++u:0)]=1,t.depth[n]=0,t.opt_len--,o&&(t.static_len-=a[2*n+1]);for(e.max_code=u,r=t.heap_len>>1;1<=r;r--)G(t,s,r);for(n=h;r=t.heap[1],t.heap[1]=t.heap[t.heap_len--],G(t,s,1),i=t.heap[1],t.heap[--t.heap_max]=r,t.heap[--t.heap_max]=i,s[2*n]=s[2*r]+s[2*i],t.depth[n]=(t.depth[r]>=t.depth[i]?t.depth[r]:t.depth[i])+1,s[2*r+1]=s[2*i+1]=n,t.heap[1]=n++,G(t,s,1),2<=t.heap_len;);t.heap[--t.heap_max]=t.heap[1],function(t,e){var r,i,n,s,a,o,h=e.dyn_tree,u=e.max_code,l=e.stat_desc.static_tree,f=e.stat_desc.has_stree,d=e.stat_desc.extra_bits,c=e.stat_desc.extra_base,p=e.stat_desc.max_length,m=0;for(s=0;s<=g;s++)t.bl_count[s]=0;for(h[2*t.heap[t.heap_max]+1]=0,r=t.heap_max+1;r<_;r++)p<(s=h[2*h[2*(i=t.heap[r])+1]+1]+1)&&(s=p,m++),h[2*i+1]=s,u<i||(t.bl_count[s]++,a=0,c<=i&&(a=d[i-c]),o=h[2*i],t.opt_len+=o*(s+a),f&&(t.static_len+=o*(l[2*i+1]+a)));if(0!==m){do{for(s=p-1;0===t.bl_count[s];)s--;t.bl_count[s]--,t.bl_count[s+1]+=2,t.bl_count[p]--,m-=2}while(0<m);for(s=p;0!==s;s--)for(i=t.bl_count[s];0!==i;)u<(n=t.heap[--r])||(h[2*n+1]!==s&&(t.opt_len+=(s-h[2*n+1])*h[2*n],h[2*n+1]=s),i--)}}(t,e),Z(s,u,t.bl_count)}function X(t,e,r){var i,n,s=-1,a=e[1],o=0,h=7,u=4;for(0===a&&(h=138,u=3),e[2*(r+1)+1]=65535,i=0;i<=r;i++)n=a,a=e[2*(i+1)+1],++o<h&&n===a||(o<u?t.bl_tree[2*n]+=o:0!==n?(n!==s&&t.bl_tree[2*n]++,t.bl_tree[2*b]++):o<=10?t.bl_tree[2*v]++:t.bl_tree[2*y]++,s=n,u=(o=0)===a?(h=138,3):n===a?(h=6,3):(h=7,4))}function V(t,e,r){var i,n,s=-1,a=e[1],o=0,h=7,u=4;for(0===a&&(h=138,u=3),i=0;i<=r;i++)if(n=a,a=e[2*(i+1)+1],!(++o<h&&n===a)){if(o<u)for(;L(t,n,t.bl_tree),0!=--o;);else 0!==n?(n!==s&&(L(t,n,t.bl_tree),o--),L(t,b,t.bl_tree),P(t,o-3,2)):o<=10?(L(t,v,t.bl_tree),P(t,o-3,3)):(L(t,y,t.bl_tree),P(t,o-11,7));s=n,u=(o=0)===a?(h=138,3):n===a?(h=6,3):(h=7,4)}}i(T);var q=!1;function J(t,e,r,i){P(t,(s<<1)+(i?1:0),3),function(t,e,r,i){M(t),i&&(U(t,r),U(t,~r)),n.arraySet(t.pending_buf,t.window,e,r,t.pending),t.pending+=r}(t,e,r,!0)}r._tr_init=function(t){q||(function(){var t,e,r,i,n,s=new Array(g+1);for(i=r=0;i<a-1;i++)for(I[i]=r,t=0;t<1<<w[i];t++)A[r++]=i;for(A[r-1]=i,i=n=0;i<16;i++)for(T[i]=n,t=0;t<1<<k[i];t++)E[n++]=i;for(n>>=7;i<f;i++)for(T[i]=n<<7,t=0;t<1<<k[i]-7;t++)E[256+n++]=i;for(e=0;e<=g;e++)s[e]=0;for(t=0;t<=143;)z[2*t+1]=8,t++,s[8]++;for(;t<=255;)z[2*t+1]=9,t++,s[9]++;for(;t<=279;)z[2*t+1]=7,t++,s[7]++;for(;t<=287;)z[2*t+1]=8,t++,s[8]++;for(Z(z,l+1,s),t=0;t<f;t++)C[2*t+1]=5,C[2*t]=j(t,5);O=new D(z,w,u+1,l,g),B=new D(C,k,0,f,g),R=new D(new Array(0),x,0,d,p)}(),q=!0),t.l_desc=new F(t.dyn_ltree,O),t.d_desc=new F(t.dyn_dtree,B),t.bl_desc=new F(t.bl_tree,R),t.bi_buf=0,t.bi_valid=0,W(t)},r._tr_stored_block=J,r._tr_flush_block=function(t,e,r,i){var n,s,a=0;0<t.level?(2===t.strm.data_type&&(t.strm.data_type=function(t){var e,r=4093624447;for(e=0;e<=31;e++,r>>>=1)if(1&r&&0!==t.dyn_ltree[2*e])return o;if(0!==t.dyn_ltree[18]||0!==t.dyn_ltree[20]||0!==t.dyn_ltree[26])return h;for(e=32;e<u;e++)if(0!==t.dyn_ltree[2*e])return h;return o}(t)),Y(t,t.l_desc),Y(t,t.d_desc),a=function(t){var e;for(X(t,t.dyn_ltree,t.l_desc.max_code),X(t,t.dyn_dtree,t.d_desc.max_code),Y(t,t.bl_desc),e=d-1;3<=e&&0===t.bl_tree[2*S[e]+1];e--);return t.opt_len+=3*(e+1)+5+5+4,e}(t),n=t.opt_len+3+7>>>3,(s=t.static_len+3+7>>>3)<=n&&(n=s)):n=s=r+5,r+4<=n&&-1!==e?J(t,e,r,i):4===t.strategy||s===n?(P(t,2+(i?1:0),3),K(t,z,C)):(P(t,4+(i?1:0),3),function(t,e,r,i){var n;for(P(t,e-257,5),P(t,r-1,5),P(t,i-4,4),n=0;n<i;n++)P(t,t.bl_tree[2*S[n]+1],3);V(t,t.dyn_ltree,e-1),V(t,t.dyn_dtree,r-1)}(t,t.l_desc.max_code+1,t.d_desc.max_code+1,a+1),K(t,t.dyn_ltree,t.dyn_dtree)),W(t),i&&M(t)},r._tr_tally=function(t,e,r){return t.pending_buf[t.d_buf+2*t.last_lit]=e>>>8&255,t.pending_buf[t.d_buf+2*t.last_lit+1]=255&e,t.pending_buf[t.l_buf+t.last_lit]=255&r,t.last_lit++,0===e?t.dyn_ltree[2*r]++:(t.matches++,e--,t.dyn_ltree[2*(A[r]+u+1)]++,t.dyn_dtree[2*N(e)]++),t.last_lit===t.lit_bufsize-1},r._tr_align=function(t){P(t,2,3),L(t,m,z),function(t){16===t.bi_valid?(U(t,t.bi_buf),t.bi_buf=0,t.bi_valid=0):8<=t.bi_valid&&(t.pending_buf[t.pending++]=255&t.bi_buf,t.bi_buf>>=8,t.bi_valid-=8)}(t)}},{"../utils/common":41}],53:[function(t,e,r){"use strict";e.exports=function(){this.input=null,this.next_in=0,this.avail_in=0,this.total_in=0,this.output=null,this.next_out=0,this.avail_out=0,this.total_out=0,this.msg="",this.state=null,this.data_type=2,this.adler=0}},{}],54:[function(t,e,r){"use strict";e.exports="function"==typeof setImmediate?setImmediate:function(){var t=[].slice.apply(arguments);t.splice(1,0,0),setTimeout.apply(null,t)}},{}]},{},[10])(10)});
\ No newline at end of file
diff --git a/docs/java/legal/ADDITIONAL_LICENSE_INFO b/docs/java/legal/ADDITIONAL_LICENSE_INFO
new file mode 100644
index 00000000..ff700cd0
--- /dev/null
+++ b/docs/java/legal/ADDITIONAL_LICENSE_INFO
@@ -0,0 +1,37 @@
+                      ADDITIONAL INFORMATION ABOUT LICENSING
+
+Certain files distributed by Oracle America, Inc. and/or its affiliates are 
+subject to the following clarification and special exception to the GPLv2, 
+based on the GNU Project exception for its Classpath libraries, known as the 
+GNU Classpath Exception.
+
+Note that Oracle includes multiple, independent programs in this software 
+package.  Some of those programs are provided under licenses deemed 
+incompatible with the GPLv2 by the Free Software Foundation and others. 
+For example, the package includes programs licensed under the Apache 
+License, Version 2.0 and may include FreeType. Such programs are licensed 
+to you under their original licenses. 
+
+Oracle facilitates your further distribution of this package by adding the 
+Classpath Exception to the necessary parts of its GPLv2 code, which permits 
+you to use that code in combination with other independent modules not 
+licensed under the GPLv2. However, note that this would not permit you to 
+commingle code under an incompatible license with Oracle's GPLv2 licensed 
+code by, for example, cutting and pasting such code into a file also 
+containing Oracle's GPLv2 licensed code and then distributing the result. 
+
+Additionally, if you were to remove the Classpath Exception from any of the 
+files to which it applies and distribute the result, you would likely be 
+required to license some or all of the other code in that distribution under 
+the GPLv2 as well, and since the GPLv2 is incompatible with the license terms 
+of some items included in the distribution by Oracle, removing the Classpath 
+Exception could therefore effectively compromise your ability to further 
+distribute the package. 
+
+Failing to distribute notices associated with some files may also create 
+unexpected legal consequences.
+ 
+Proceed with caution and we recommend that you obtain the advice of a lawyer 
+skilled in open source matters before removing the Classpath Exception or 
+making modifications to this package which may subsequently be redistributed 
+and/or involve the use of third party software.
diff --git a/docs/java/legal/ASSEMBLY_EXCEPTION b/docs/java/legal/ASSEMBLY_EXCEPTION
new file mode 100644
index 00000000..065b8d90
--- /dev/null
+++ b/docs/java/legal/ASSEMBLY_EXCEPTION
@@ -0,0 +1,27 @@
+
+OPENJDK ASSEMBLY EXCEPTION
+
+The OpenJDK source code made available by Oracle America, Inc. (Oracle) at
+openjdk.java.net ("OpenJDK Code") is distributed under the terms of the GNU
+General Public License <http://www.gnu.org/copyleft/gpl.html> version 2
+only ("GPL2"), with the following clarification and special exception.
+
+    Linking this OpenJDK Code statically or dynamically with other code
+    is making a combined work based on this library.  Thus, the terms
+    and conditions of GPL2 cover the whole combination.
+
+    As a special exception, Oracle gives you permission to link this
+    OpenJDK Code with certain code licensed by Oracle as indicated at
+    http://openjdk.java.net/legal/exception-modules-2007-05-08.html
+    ("Designated Exception Modules") to produce an executable,
+    regardless of the license terms of the Designated Exception Modules,
+    and to copy and distribute the resulting executable under GPL2,
+    provided that the Designated Exception Modules continue to be
+    governed by the licenses under which they were offered by Oracle.
+
+As such, it allows licensees and sublicensees of Oracle's GPL2 OpenJDK Code
+to build an executable that includes those portions of necessary code that
+Oracle could not provide under GPL2 (or that Oracle has provided under GPL2
+with the Classpath exception).  If you modify or add to the OpenJDK code,
+that new GPL2 code may still be combined with Designated Exception Modules
+if the new code is made subject to this exception by its copyright holder.
diff --git a/docs/java/legal/LICENSE b/docs/java/legal/LICENSE
new file mode 100644
index 00000000..8b400c7a
--- /dev/null
+++ b/docs/java/legal/LICENSE
@@ -0,0 +1,347 @@
+The GNU General Public License (GPL)
+
+Version 2, June 1991
+
+Copyright (C) 1989, 1991 Free Software Foundation, Inc.
+51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+
+Everyone is permitted to copy and distribute verbatim copies of this license
+document, but changing it is not allowed.
+
+Preamble
+
+The licenses for most software are designed to take away your freedom to share
+and change it.  By contrast, the GNU General Public License is intended to
+guarantee your freedom to share and change free software--to make sure the
+software is free for all its users.  This General Public License applies to
+most of the Free Software Foundation's software and to any other program whose
+authors commit to using it.  (Some other Free Software Foundation software is
+covered by the GNU Library General Public License instead.) You can apply it to
+your programs, too.
+
+When we speak of free software, we are referring to freedom, not price.  Our
+General Public Licenses are designed to make sure that you have the freedom to
+distribute copies of free software (and charge for this service if you wish),
+that you receive source code or can get it if you want it, that you can change
+the software or use pieces of it in new free programs; and that you know you
+can do these things.
+
+To protect your rights, we need to make restrictions that forbid anyone to deny
+you these rights or to ask you to surrender the rights.  These restrictions
+translate to certain responsibilities for you if you distribute copies of the
+software, or if you modify it.
+
+For example, if you distribute copies of such a program, whether gratis or for
+a fee, you must give the recipients all the rights that you have.  You must
+make sure that they, too, receive or can get the source code.  And you must
+show them these terms so they know their rights.
+
+We protect your rights with two steps: (1) copyright the software, and (2)
+offer you this license which gives you legal permission to copy, distribute
+and/or modify the software.
+
+Also, for each author's protection and ours, we want to make certain that
+everyone understands that there is no warranty for this free software.  If the
+software is modified by someone else and passed on, we want its recipients to
+know that what they have is not the original, so that any problems introduced
+by others will not reflect on the original authors' reputations.
+
+Finally, any free program is threatened constantly by software patents.  We
+wish to avoid the danger that redistributors of a free program will
+individually obtain patent licenses, in effect making the program proprietary.
+To prevent this, we have made it clear that any patent must be licensed for
+everyone's free use or not licensed at all.
+
+The precise terms and conditions for copying, distribution and modification
+follow.
+
+TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
+
+0. This License applies to any program or other work which contains a notice
+placed by the copyright holder saying it may be distributed under the terms of
+this General Public License.  The "Program", below, refers to any such program
+or work, and a "work based on the Program" means either the Program or any
+derivative work under copyright law: that is to say, a work containing the
+Program or a portion of it, either verbatim or with modifications and/or
+translated into another language.  (Hereinafter, translation is included
+without limitation in the term "modification".) Each licensee is addressed as
+"you".
+
+Activities other than copying, distribution and modification are not covered by
+this License; they are outside its scope.  The act of running the Program is
+not restricted, and the output from the Program is covered only if its contents
+constitute a work based on the Program (independent of having been made by
+running the Program).  Whether that is true depends on what the Program does.
+
+1. You may copy and distribute verbatim copies of the Program's source code as
+you receive it, in any medium, provided that you conspicuously and
+appropriately publish on each copy an appropriate copyright notice and
+disclaimer of warranty; keep intact all the notices that refer to this License
+and to the absence of any warranty; and give any other recipients of the
+Program a copy of this License along with the Program.
+
+You may charge a fee for the physical act of transferring a copy, and you may
+at your option offer warranty protection in exchange for a fee.
+
+2. You may modify your copy or copies of the Program or any portion of it, thus
+forming a work based on the Program, and copy and distribute such modifications
+or work under the terms of Section 1 above, provided that you also meet all of
+these conditions:
+
+    a) You must cause the modified files to carry prominent notices stating
+    that you changed the files and the date of any change.
+
+    b) You must cause any work that you distribute or publish, that in whole or
+    in part contains or is derived from the Program or any part thereof, to be
+    licensed as a whole at no charge to all third parties under the terms of
+    this License.
+
+    c) If the modified program normally reads commands interactively when run,
+    you must cause it, when started running for such interactive use in the
+    most ordinary way, to print or display an announcement including an
+    appropriate copyright notice and a notice that there is no warranty (or
+    else, saying that you provide a warranty) and that users may redistribute
+    the program under these conditions, and telling the user how to view a copy
+    of this License.  (Exception: if the Program itself is interactive but does
+    not normally print such an announcement, your work based on the Program is
+    not required to print an announcement.)
+
+These requirements apply to the modified work as a whole.  If identifiable
+sections of that work are not derived from the Program, and can be reasonably
+considered independent and separate works in themselves, then this License, and
+its terms, do not apply to those sections when you distribute them as separate
+works.  But when you distribute the same sections as part of a whole which is a
+work based on the Program, the distribution of the whole must be on the terms
+of this License, whose permissions for other licensees extend to the entire
+whole, and thus to each and every part regardless of who wrote it.
+
+Thus, it is not the intent of this section to claim rights or contest your
+rights to work written entirely by you; rather, the intent is to exercise the
+right to control the distribution of derivative or collective works based on
+the Program.
+
+In addition, mere aggregation of another work not based on the Program with the
+Program (or with a work based on the Program) on a volume of a storage or
+distribution medium does not bring the other work under the scope of this
+License.
+
+3. You may copy and distribute the Program (or a work based on it, under
+Section 2) in object code or executable form under the terms of Sections 1 and
+2 above provided that you also do one of the following:
+
+    a) Accompany it with the complete corresponding machine-readable source
+    code, which must be distributed under the terms of Sections 1 and 2 above
+    on a medium customarily used for software interchange; or,
+
+    b) Accompany it with a written offer, valid for at least three years, to
+    give any third party, for a charge no more than your cost of physically
+    performing source distribution, a complete machine-readable copy of the
+    corresponding source code, to be distributed under the terms of Sections 1
+    and 2 above on a medium customarily used for software interchange; or,
+
+    c) Accompany it with the information you received as to the offer to
+    distribute corresponding source code.  (This alternative is allowed only
+    for noncommercial distribution and only if you received the program in
+    object code or executable form with such an offer, in accord with
+    Subsection b above.)
+
+The source code for a work means the preferred form of the work for making
+modifications to it.  For an executable work, complete source code means all
+the source code for all modules it contains, plus any associated interface
+definition files, plus the scripts used to control compilation and installation
+of the executable.  However, as a special exception, the source code
+distributed need not include anything that is normally distributed (in either
+source or binary form) with the major components (compiler, kernel, and so on)
+of the operating system on which the executable runs, unless that component
+itself accompanies the executable.
+
+If distribution of executable or object code is made by offering access to copy
+from a designated place, then offering equivalent access to copy the source
+code from the same place counts as distribution of the source code, even though
+third parties are not compelled to copy the source along with the object code.
+
+4. You may not copy, modify, sublicense, or distribute the Program except as
+expressly provided under this License.  Any attempt otherwise to copy, modify,
+sublicense or distribute the Program is void, and will automatically terminate
+your rights under this License.  However, parties who have received copies, or
+rights, from you under this License will not have their licenses terminated so
+long as such parties remain in full compliance.
+
+5. You are not required to accept this License, since you have not signed it.
+However, nothing else grants you permission to modify or distribute the Program
+or its derivative works.  These actions are prohibited by law if you do not
+accept this License.  Therefore, by modifying or distributing the Program (or
+any work based on the Program), you indicate your acceptance of this License to
+do so, and all its terms and conditions for copying, distributing or modifying
+the Program or works based on it.
+
+6. Each time you redistribute the Program (or any work based on the Program),
+the recipient automatically receives a license from the original licensor to
+copy, distribute or modify the Program subject to these terms and conditions.
+You may not impose any further restrictions on the recipients' exercise of the
+rights granted herein.  You are not responsible for enforcing compliance by
+third parties to this License.
+
+7. If, as a consequence of a court judgment or allegation of patent
+infringement or for any other reason (not limited to patent issues), conditions
+are imposed on you (whether by court order, agreement or otherwise) that
+contradict the conditions of this License, they do not excuse you from the
+conditions of this License.  If you cannot distribute so as to satisfy
+simultaneously your obligations under this License and any other pertinent
+obligations, then as a consequence you may not distribute the Program at all.
+For example, if a patent license would not permit royalty-free redistribution
+of the Program by all those who receive copies directly or indirectly through
+you, then the only way you could satisfy both it and this License would be to
+refrain entirely from distribution of the Program.
+
+If any portion of this section is held invalid or unenforceable under any
+particular circumstance, the balance of the section is intended to apply and
+the section as a whole is intended to apply in other circumstances.
+
+It is not the purpose of this section to induce you to infringe any patents or
+other property right claims or to contest validity of any such claims; this
+section has the sole purpose of protecting the integrity of the free software
+distribution system, which is implemented by public license practices.  Many
+people have made generous contributions to the wide range of software
+distributed through that system in reliance on consistent application of that
+system; it is up to the author/donor to decide if he or she is willing to
+distribute software through any other system and a licensee cannot impose that
+choice.
+
+This section is intended to make thoroughly clear what is believed to be a
+consequence of the rest of this License.
+
+8. If the distribution and/or use of the Program is restricted in certain
+countries either by patents or by copyrighted interfaces, the original
+copyright holder who places the Program under this License may add an explicit
+geographical distribution limitation excluding those countries, so that
+distribution is permitted only in or among countries not thus excluded.  In
+such case, this License incorporates the limitation as if written in the body
+of this License.
+
+9. The Free Software Foundation may publish revised and/or new versions of the
+General Public License from time to time.  Such new versions will be similar in
+spirit to the present version, but may differ in detail to address new problems
+or concerns.
+
+Each version is given a distinguishing version number.  If the Program
+specifies a version number of this License which applies to it and "any later
+version", you have the option of following the terms and conditions either of
+that version or of any later version published by the Free Software Foundation.
+If the Program does not specify a version number of this License, you may
+choose any version ever published by the Free Software Foundation.
+
+10. If you wish to incorporate parts of the Program into other free programs
+whose distribution conditions are different, write to the author to ask for
+permission.  For software which is copyrighted by the Free Software Foundation,
+write to the Free Software Foundation; we sometimes make exceptions for this.
+Our decision will be guided by the two goals of preserving the free status of
+all derivatives of our free software and of promoting the sharing and reuse of
+software generally.
+
+NO WARRANTY
+
+11. BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY FOR
+THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW.  EXCEPT WHEN OTHERWISE
+STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES PROVIDE THE
+PROGRAM "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED OR IMPLIED,
+INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
+FITNESS FOR A PARTICULAR PURPOSE.  THE ENTIRE RISK AS TO THE QUALITY AND
+PERFORMANCE OF THE PROGRAM IS WITH YOU.  SHOULD THE PROGRAM PROVE DEFECTIVE,
+YOU ASSUME THE COST OF ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
+
+12. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING WILL
+ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY AND/OR REDISTRIBUTE THE
+PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR
+INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA
+BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A
+FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), EVEN IF SUCH HOLDER
+OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES.
+
+END OF TERMS AND CONDITIONS
+
+How to Apply These Terms to Your New Programs
+
+If you develop a new program, and you want it to be of the greatest possible
+use to the public, the best way to achieve this is to make it free software
+which everyone can redistribute and change under these terms.
+
+To do so, attach the following notices to the program.  It is safest to attach
+them to the start of each source file to most effectively convey the exclusion
+of warranty; and each file should have at least the "copyright" line and a
+pointer to where the full notice is found.
+
+    One line to give the program's name and a brief idea of what it does.
+
+    Copyright (C) <year> <name of author>
+
+    This program is free software; you can redistribute it and/or modify it
+    under the terms of the GNU General Public License as published by the Free
+    Software Foundation; either version 2 of the License, or (at your option)
+    any later version.
+
+    This program is distributed in the hope that it will be useful, but WITHOUT
+    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
+    more details.
+
+    You should have received a copy of the GNU General Public License along
+    with this program; if not, write to the Free Software Foundation, Inc.,
+    51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
+
+Also add information on how to contact you by electronic and paper mail.
+
+If the program is interactive, make it output a short notice like this when it
+starts in an interactive mode:
+
+    Gnomovision version 69, Copyright (C) year name of author Gnomovision comes
+    with ABSOLUTELY NO WARRANTY; for details type 'show w'.  This is free
+    software, and you are welcome to redistribute it under certain conditions;
+    type 'show c' for details.
+
+The hypothetical commands 'show w' and 'show c' should show the appropriate
+parts of the General Public License.  Of course, the commands you use may be
+called something other than 'show w' and 'show c'; they could even be
+mouse-clicks or menu items--whatever suits your program.
+
+You should also get your employer (if you work as a programmer) or your school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.  Here
+is a sample; alter the names:
+
+    Yoyodyne, Inc., hereby disclaims all copyright interest in the program
+    'Gnomovision' (which makes passes at compilers) written by James Hacker.
+
+    signature of Ty Coon, 1 April 1989
+
+    Ty Coon, President of Vice
+
+This General Public License does not permit incorporating your program into
+proprietary programs.  If your program is a subroutine library, you may
+consider it more useful to permit linking proprietary applications with the
+library.  If this is what you want to do, use the GNU Library General Public
+License instead of this License.
+
+
+"CLASSPATH" EXCEPTION TO THE GPL
+
+Certain source files distributed by Oracle America and/or its affiliates are
+subject to the following clarification and special exception to the GPL, but
+only where Oracle has expressly included in the particular source file's header
+the words "Oracle designates this particular file as subject to the "Classpath"
+exception as provided by Oracle in the LICENSE file that accompanied this code."
+
+    Linking this library statically or dynamically with other modules is making
+    a combined work based on this library.  Thus, the terms and conditions of
+    the GNU General Public License cover the whole combination.
+
+    As a special exception, the copyright holders of this library give you
+    permission to link this library with independent modules to produce an
+    executable, regardless of the license terms of these independent modules,
+    and to copy and distribute the resulting executable under terms of your
+    choice, provided that you also meet, for each linked independent module,
+    the terms and conditions of the license of that module.  An independent
+    module is a module which is not derived from or based on this library.  If
+    you modify this library, you may extend this exception to your version of
+    the library, but you are not obligated to do so.  If you do not wish to do
+    so, delete this exception statement from your version.
diff --git a/docs/java/legal/jquery.md b/docs/java/legal/jquery.md
new file mode 100644
index 00000000..d468b318
--- /dev/null
+++ b/docs/java/legal/jquery.md
@@ -0,0 +1,72 @@
+## jQuery v3.6.1
+
+### jQuery License
+```
+jQuery v 3.6.1
+Copyright OpenJS Foundation and other contributors, https://openjsf.org/
+
+Permission is hereby granted, free of charge, to any person obtaining
+a copy of this software and associated documentation files (the
+"Software"), to deal in the Software without restriction, including
+without limitation the rights to use, copy, modify, merge, publish,
+distribute, sublicense, and/or sell copies of the Software, and to
+permit persons to whom the Software is furnished to do so, subject to
+the following conditions:
+
+The above copyright notice and this permission notice shall be
+included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+******************************************
+
+The jQuery JavaScript Library v3.6.1 also includes Sizzle.js
+
+Sizzle.js includes the following license:
+
+Copyright JS Foundation and other contributors, https://js.foundation/
+
+This software consists of voluntary contributions made by many
+individuals. For exact contribution history, see the revision history
+available at https://github.com/jquery/sizzle
+
+The following license applies to all parts of this software except as
+documented below:
+
+====
+
+Permission is hereby granted, free of charge, to any person obtaining
+a copy of this software and associated documentation files (the
+"Software"), to deal in the Software without restriction, including
+without limitation the rights to use, copy, modify, merge, publish,
+distribute, sublicense, and/or sell copies of the Software, and to
+permit persons to whom the Software is furnished to do so, subject to
+the following conditions:
+
+The above copyright notice and this permission notice shall be
+included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+====
+
+All files located in the node_modules and external directories are
+externally maintained libraries used by this software which have their
+own licenses; we recommend you read them, as their terms may differ from
+the terms above.
+
+*********************
+
+```
diff --git a/docs/java/legal/jqueryUI.md b/docs/java/legal/jqueryUI.md
new file mode 100644
index 00000000..8031bdb5
--- /dev/null
+++ b/docs/java/legal/jqueryUI.md
@@ -0,0 +1,49 @@
+## jQuery UI v1.12.1
+
+### jQuery UI License
+```
+Copyright jQuery Foundation and other contributors, https://jquery.org/
+
+This software consists of voluntary contributions made by many
+individuals. For exact contribution history, see the revision history
+available at https://github.com/jquery/jquery-ui
+
+The following license applies to all parts of this software except as
+documented below:
+
+====
+
+Permission is hereby granted, free of charge, to any person obtaining
+a copy of this software and associated documentation files (the
+"Software"), to deal in the Software without restriction, including
+without limitation the rights to use, copy, modify, merge, publish,
+distribute, sublicense, and/or sell copies of the Software, and to
+permit persons to whom the Software is furnished to do so, subject to
+the following conditions:
+
+The above copyright notice and this permission notice shall be
+included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+====
+
+Copyright and related rights for sample code are waived via CC0. Sample
+code is defined as all source code contained within the demos directory.
+
+CC0: http://creativecommons.org/publicdomain/zero/1.0/
+
+====
+
+All files located in the node_modules and external directories are
+externally maintained libraries used by this software which have their
+own licenses; we recommend you read them, as their terms may differ from
+the terms above.
+
+```
diff --git a/docs/java/legal/jszip.md b/docs/java/legal/jszip.md
new file mode 100644
index 00000000..fad2cb15
--- /dev/null
+++ b/docs/java/legal/jszip.md
@@ -0,0 +1,653 @@
+## JSZip v3.7.1
+
+JSZip is dual licensed. You may use it under the MIT license *or* the GPLv3
+license.
+
+### The MIT License
+```
+Copyright (c) 2009-2016 Stuart Knightley, David Duponchel, Franz Buchinger, António Afonso
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+```
+
+### GPL version 3
+```
+
+                    GNU GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+                            Preamble
+
+  The GNU General Public License is a free, copyleft license for
+software and other kinds of works.
+
+  The licenses for most software and other practical works are designed
+to take away your freedom to share and change the works.  By contrast,
+the GNU General Public License is intended to guarantee your freedom to
+share and change all versions of a program--to make sure it remains free
+software for all its users.  We, the Free Software Foundation, use the
+GNU General Public License for most of our software; it applies also to
+any other work released this way by its authors.  You can apply it to
+your programs, too.
+
+  When we speak of free software, we are referring to freedom, not
+price.  Our General Public Licenses are designed to make sure that you
+have the freedom to distribute copies of free software (and charge for
+them if you wish), that you receive source code or can get it if you
+want it, that you can change the software or use pieces of it in new
+free programs, and that you know you can do these things.
+
+  To protect your rights, we need to prevent others from denying you
+these rights or asking you to surrender the rights.  Therefore, you have
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+specifically for use in, a User Product, and the conveying occurs as
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+in accord with this section must be in a format that is publicly
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+source code form), and must require no special password or key for
+unpacking, reading or copying.
+
+  7. Additional Terms.
+
+  "Additional permissions" are terms that supplement the terms of this
+License by making exceptions from one or more of its conditions.
+Additional permissions that are applicable to the entire Program shall
+be treated as though they were included in this License, to the extent
+that they are valid under applicable law.  If additional permissions
+apply only to part of the Program, that part may be used separately
+under those permissions, but the entire Program remains governed by
+this License without regard to the additional permissions.
+
+  When you convey a copy of a covered work, you may at your option
+remove any additional permissions from that copy, or from any part of
+it.  (Additional permissions may be written to require their own
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+add to a covered work, you may (if authorized by the copyright holders of
+that material) supplement the terms of this License with terms:
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+    terms of sections 15 and 16 of this License; or
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+  All other non-permissive additional terms are considered "further
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+received it, or any part of it, contains a notice stating that it is
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+  Additional terms, permissive or non-permissive, may be stated in the
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+
+  You may not propagate or modify a covered work except as expressly
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+this License (including any patent licenses granted under the third
+paragraph of section 11).
+
+  However, if you cease all violation of this License, then your
+license from a particular copyright holder is reinstated (a)
+provisionally, unless and until the copyright holder explicitly and
+finally terminates your license, and (b) permanently, if the copyright
+holder fails to notify you of the violation by some reasonable means
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+reinstated permanently if the copyright holder notifies you of the
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+received notice of violation of this License (for any work) from that
+copyright holder, and you cure the violation prior to 30 days after
+your receipt of the notice.
+
+  Termination of your rights under this section does not terminate the
+licenses of parties who have received copies or rights from you under
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+
+  9. Acceptance Not Required for Having Copies.
+
+  You are not required to accept this License in order to receive or
+run a copy of the Program.  Ancillary propagation of a covered work
+occurring solely as a consequence of using peer-to-peer transmission
+to receive a copy likewise does not require acceptance.  However,
+nothing other than this License grants you permission to propagate or
+modify any covered work.  These actions infringe copyright if you do
+not accept this License.  Therefore, by modifying or propagating a
+covered work, you indicate your acceptance of this License to do so.
+
+  10. Automatic Licensing of Downstream Recipients.
+
+  Each time you convey a covered work, the recipient automatically
+receives a license from the original licensors, to run, modify and
+propagate that work, subject to this License.  You are not responsible
+for enforcing compliance by third parties with this License.
+
+  An "entity transaction" is a transaction transferring control of an
+organization, or substantially all assets of one, or subdividing an
+organization, or merging organizations.  If propagation of a covered
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+Corresponding Source of the work from the predecessor in interest, if
+the predecessor has it or can get it with reasonable efforts.
+
+  You may not impose any further restrictions on the exercise of the
+rights granted or affirmed under this License.  For example, you may
+not impose a license fee, royalty, or other charge for exercise of
+rights granted under this License, and you may not initiate litigation
+(including a cross-claim or counterclaim in a lawsuit) alleging that
+any patent claim is infringed by making, using, selling, offering for
+sale, or importing the Program or any portion of it.
+
+  11. Patents.
+
+  A "contributor" is a copyright holder who authorizes use under this
+License of the Program or a work on which the Program is based.  The
+work thus licensed is called the contributor's "contributor version".
+
+  A contributor's "essential patent claims" are all patent claims
+owned or controlled by the contributor, whether already acquired or
+hereafter acquired, that would be infringed by some manner, permitted
+by this License, of making, using, or selling its contributor version,
+but do not include claims that would be infringed only as a
+consequence of further modification of the contributor version.  For
+purposes of this definition, "control" includes the right to grant
+patent sublicenses in a manner consistent with the requirements of
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+patent license under the contributor's essential patent claims, to
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+  In the following three paragraphs, a "patent license" is any express
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+  If you convey a covered work, knowingly relying on a patent license,
+and the Corresponding Source of the work is not available for anyone
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+publicly available network server or other readily accessible means,
+then you must either (1) cause the Corresponding Source to be so
+available, or (2) arrange to deprive yourself of the benefit of the
+patent license for this particular work, or (3) arrange, in a manner
+consistent with the requirements of this License, to extend the patent
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+actual knowledge that, but for the patent license, your conveying the
+covered work in a country, or your recipient's use of the covered work
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+
+  If, pursuant to or in connection with a single transaction or
+arrangement, you convey, or propagate by procuring conveyance of, a
+covered work, and grant a patent license to some of the parties
+receiving the covered work authorizing them to use, propagate, modify
+or convey a specific copy of the covered work, then the patent license
+you grant is automatically extended to all recipients of the covered
+work and works based on it.
+
+  A patent license is "discriminatory" if it does not include within
+the scope of its coverage, prohibits the exercise of, or is
+conditioned on the non-exercise of one or more of the rights that are
+specifically granted under this License.  You may not convey a covered
+work if you are a party to an arrangement with a third party that is
+in the business of distributing software, under which you make payment
+to the third party based on the extent of your activity of conveying
+the work, and under which the third party grants, to any of the
+parties who would receive the covered work from you, a discriminatory
+patent license (a) in connection with copies of the covered work
+conveyed by you (or copies made from those copies), or (b) primarily
+for and in connection with specific products or compilations that
+contain the covered work, unless you entered into that arrangement,
+or that patent license was granted, prior to 28 March 2007.
+
+  Nothing in this License shall be construed as excluding or limiting
+any implied license or other defenses to infringement that may
+otherwise be available to you under applicable patent law.
+
+  12. No Surrender of Others' Freedom.
+
+  If conditions are imposed on you (whether by court order, agreement or
+otherwise) that contradict the conditions of this License, they do not
+excuse you from the conditions of this License.  If you cannot convey a
+covered work so as to satisfy simultaneously your obligations under this
+License and any other pertinent obligations, then as a consequence you may
+not convey it at all.  For example, if you agree to terms that obligate you
+to collect a royalty for further conveying from those to whom you convey
+the Program, the only way you could satisfy both those terms and this
+License would be to refrain entirely from conveying the Program.
+
+  13. Use with the GNU Affero General Public License.
+
+  Notwithstanding any other provision of this License, you have
+permission to link or combine any covered work with a work licensed
+under version 3 of the GNU Affero General Public License into a single
+combined work, and to convey the resulting work.  The terms of this
+License will continue to apply to the part which is the covered work,
+but the special requirements of the GNU Affero General Public License,
+section 13, concerning interaction through a network will apply to the
+combination as such.
+
+  14. Revised Versions of this License.
+
+  The Free Software Foundation may publish revised and/or new versions of
+the GNU General Public License from time to time.  Such new versions will
+be similar in spirit to the present version, but may differ in detail to
+address new problems or concerns.
+
+  Each version is given a distinguishing version number.  If the
+Program specifies that a certain numbered version of the GNU General
+Public License "or any later version" applies to it, you have the
+option of following the terms and conditions either of that numbered
+version or of any later version published by the Free Software
+Foundation.  If the Program does not specify a version number of the
+GNU General Public License, you may choose any version ever published
+by the Free Software Foundation.
+
+  If the Program specifies that a proxy can decide which future
+versions of the GNU General Public License can be used, that proxy's
+public statement of acceptance of a version permanently authorizes you
+to choose that version for the Program.
+
+  Later license versions may give you additional or different
+permissions.  However, no additional obligations are imposed on any
+author or copyright holder as a result of your choosing to follow a
+later version.
+
+  15. Disclaimer of Warranty.
+
+  THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
+APPLICABLE LAW.  EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
+HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
+OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
+THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE.  THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
+IS WITH YOU.  SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
+ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
+
+  16. Limitation of Liability.
+
+  IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
+THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+  17. Interpretation of Sections 15 and 16.
+
+  If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+                     END OF TERMS AND CONDITIONS
+```
diff --git a/docs/java/legal/pako.md b/docs/java/legal/pako.md
new file mode 100644
index 00000000..de339d89
--- /dev/null
+++ b/docs/java/legal/pako.md
@@ -0,0 +1,45 @@
+## Pako v1.0
+
+### Pako License
+<pre>
+Copyright (C) 2014-2017 by Vitaly Puzrin and Andrei Tuputcyn
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+(C) 1995-2013 Jean-loup Gailly and Mark Adler
+(C) 2014-2017 Vitaly Puzrin and Andrey Tupitsin
+
+This software is provided 'as-is', without any express or implied
+warranty. In no event will the authors be held liable for any damages
+arising from the use of this software.
+
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it
+freely, subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not
+claim that you wrote the original software. If you use this software
+in a product, an acknowledgment in the product documentation would be
+appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be
+ misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+
+</pre>
+
+
diff --git a/docs/java/member-search-index.js b/docs/java/member-search-index.js
new file mode 100644
index 00000000..4647642b
--- /dev/null
+++ b/docs/java/member-search-index.js
@@ -0,0 +1 @@
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+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc -->
+<title>pathplannerlib API</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<script type="text/javascript">window.location.replace('index.html')</script>
+<noscript>
+<meta http-equiv="Refresh" content="0;index.html">
+</noscript>
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+<noscript>
+<p>JavaScript is disabled on your browser.</p>
+</noscript>
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diff --git a/docs/java/overview-tree.html b/docs/java/overview-tree.html
new file mode 100644
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+++ b/docs/java/overview-tree.html
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+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc -->
+<title>Class Hierarchy (pathplannerlib API)</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="jquery/jquery-ui.min.css" title="Style">
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+<body>
+<script type="text/javascript"><!--
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+<nav role="navigation">
+<div class="fixedNav">
+<!-- ========= START OF TOP NAVBAR ======= -->
+<div class="topNav"><a id="navbar.top">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.top.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="index.html">Overview</a></li>
+<li>Package</li>
+<li>Class</li>
+<li class="navBarCell1Rev">Tree</li>
+<li><a href="deprecated-list.html">Deprecated</a></li>
+<li><a href="index-all.html">Index</a></li>
+<li><a href="help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_top">
+<li><a href="allclasses.html">All&nbsp;Classes</a></li>
+</ul>
+<ul class="navListSearch">
+<li><label for="search">SEARCH:</label>
+<input type="text" id="search" value="search" disabled="disabled">
+<input type="reset" id="reset" value="reset" disabled="disabled">
+</li>
+</ul>
+<div>
+<script type="text/javascript"><!--
+  allClassesLink = document.getElementById("allclasses_navbar_top");
+  if(window==top) {
+    allClassesLink.style.display = "block";
+  }
+  else {
+    allClassesLink.style.display = "none";
+  }
+  //-->
+</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.top">
+<!--   -->
+</a></div>
+<!-- ========= END OF TOP NAVBAR ========= -->
+</div>
+<div class="navPadding">&nbsp;</div>
+<script type="text/javascript"><!--
+$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
+//-->
+</script>
+</nav>
+</header>
+<main role="main">
+<div class="header">
+<h1 class="title">Hierarchy For All Packages</h1>
+<span class="packageHierarchyLabel">Package Hierarchies:</span>
+<ul class="horizontal">
+<li><a href="com/pathplanner/lib/auto/package-tree.html">com.pathplanner.lib.auto</a>, </li>
+<li><a href="com/pathplanner/lib/commands/package-tree.html">com.pathplanner.lib.commands</a>, </li>
+<li><a href="com/pathplanner/lib/controllers/package-tree.html">com.pathplanner.lib.controllers</a>, </li>
+<li><a href="com/pathplanner/lib/path/package-tree.html">com.pathplanner.lib.path</a>, </li>
+<li><a href="com/pathplanner/lib/pathfinding/package-tree.html">com.pathplanner.lib.pathfinding</a>, </li>
+<li><a href="com/pathplanner/lib/util/package-tree.html">com.pathplanner.lib.util</a></li>
+</ul>
+</div>
+<div class="contentContainer">
+<section>
+<h2 title="Class Hierarchy">Class Hierarchy</h2>
+<ul>
+<li class="circle">java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Object.html?is-external=true" title="class or interface in java.lang" class="externalLink"><span class="typeNameLink">Object</span></a>
+<ul>
+<li class="circle">com.pathplanner.lib.pathfinding.<a href="com/pathplanner/lib/pathfinding/ADStar.html" title="class in com.pathplanner.lib.pathfinding"><span class="typeNameLink">ADStar</span></a></li>
+<li class="circle">com.pathplanner.lib.pathfinding.<a href="com/pathplanner/lib/pathfinding/ADStar.GridPosition.html" title="class in com.pathplanner.lib.pathfinding"><span class="typeNameLink">ADStar.GridPosition</span></a> (implements java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Comparable.html?is-external=true" title="class or interface in java.lang" class="externalLink">Comparable</a>&lt;T&gt;)</li>
+<li class="circle">com.pathplanner.lib.auto.<a href="com/pathplanner/lib/auto/AutoBuilder.html" title="class in com.pathplanner.lib.auto"><span class="typeNameLink">AutoBuilder</span></a></li>
+<li class="circle">com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/ChassisSpeedsRateLimiter.html" title="class in com.pathplanner.lib.util"><span class="typeNameLink">ChassisSpeedsRateLimiter</span></a></li>
+<li class="circle">edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/Command.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink"><span class="typeNameLink">Command</span></a> (implements edu.wpi.first.util.sendable.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/util/sendable/Sendable.html?is-external=true" title="class or interface in edu.wpi.first.util.sendable" class="externalLink">Sendable</a>)
+<ul>
+<li class="circle">com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/FollowPathCommand.html" title="class in com.pathplanner.lib.commands"><span class="typeNameLink">FollowPathCommand</span></a>
+<ul>
+<li class="circle">com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/FollowPathHolonomic.html" title="class in com.pathplanner.lib.commands"><span class="typeNameLink">FollowPathHolonomic</span></a></li>
+<li class="circle">com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/FollowPathLTV.html" title="class in com.pathplanner.lib.commands"><span class="typeNameLink">FollowPathLTV</span></a></li>
+<li class="circle">com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/FollowPathRamsete.html" title="class in com.pathplanner.lib.commands"><span class="typeNameLink">FollowPathRamsete</span></a></li>
+</ul>
+</li>
+<li class="circle">com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/FollowPathWithEvents.html" title="class in com.pathplanner.lib.commands"><span class="typeNameLink">FollowPathWithEvents</span></a></li>
+<li class="circle">com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathfindingCommand.html" title="class in com.pathplanner.lib.commands"><span class="typeNameLink">PathfindingCommand</span></a>
+<ul>
+<li class="circle">com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathfindHolonomic.html" title="class in com.pathplanner.lib.commands"><span class="typeNameLink">PathfindHolonomic</span></a></li>
+<li class="circle">com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathfindLTV.html" title="class in com.pathplanner.lib.commands"><span class="typeNameLink">PathfindLTV</span></a></li>
+<li class="circle">com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathfindRamsete.html" title="class in com.pathplanner.lib.commands"><span class="typeNameLink">PathfindRamsete</span></a></li>
+</ul>
+</li>
+<li class="circle">com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathPlannerAuto.html" title="class in com.pathplanner.lib.commands"><span class="typeNameLink">PathPlannerAuto</span></a></li>
+<li class="circle">edu.wpi.first.wpilibj2.command.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.html?is-external=true" title="class or interface in edu.wpi.first.wpilibj2.command" class="externalLink"><span class="typeNameLink">SequentialCommandGroup</span></a>
+<ul>
+<li class="circle">com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathfindThenFollowPathHolonomic.html" title="class in com.pathplanner.lib.commands"><span class="typeNameLink">PathfindThenFollowPathHolonomic</span></a></li>
+<li class="circle">com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathfindThenFollowPathLTV.html" title="class in com.pathplanner.lib.commands"><span class="typeNameLink">PathfindThenFollowPathLTV</span></a></li>
+<li class="circle">com.pathplanner.lib.commands.<a href="com/pathplanner/lib/commands/PathfindThenFollowPathRamsete.html" title="class in com.pathplanner.lib.commands"><span class="typeNameLink">PathfindThenFollowPathRamsete</span></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="circle">com.pathplanner.lib.auto.<a href="com/pathplanner/lib/auto/CommandUtil.html" title="class in com.pathplanner.lib.auto"><span class="typeNameLink">CommandUtil</span></a></li>
+<li class="circle">com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/ConstraintsZone.html" title="class in com.pathplanner.lib.path"><span class="typeNameLink">ConstraintsZone</span></a></li>
+<li class="circle">com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/EventMarker.html" title="class in com.pathplanner.lib.path"><span class="typeNameLink">EventMarker</span></a></li>
+<li class="circle">com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/GeometryUtil.html" title="class in com.pathplanner.lib.util"><span class="typeNameLink">GeometryUtil</span></a></li>
+<li class="circle">com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/GoalEndState.html" title="class in com.pathplanner.lib.path"><span class="typeNameLink">GoalEndState</span></a></li>
+<li class="circle">com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/HolonomicPathFollowerConfig.html" title="class in com.pathplanner.lib.util"><span class="typeNameLink">HolonomicPathFollowerConfig</span></a></li>
+<li class="circle">edu.wpi.first.math.controller.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/controller/LTVUnicycleController.html?is-external=true" title="class or interface in edu.wpi.first.math.controller" class="externalLink"><span class="typeNameLink">LTVUnicycleController</span></a>
+<ul>
+<li class="circle">com.pathplanner.lib.controllers.<a href="com/pathplanner/lib/controllers/PPLTVController.html" title="class in com.pathplanner.lib.controllers"><span class="typeNameLink">PPLTVController</span></a> (implements com.pathplanner.lib.controllers.<a href="com/pathplanner/lib/controllers/PathFollowingController.html" title="interface in com.pathplanner.lib.controllers">PathFollowingController</a>)</li>
+</ul>
+</li>
+<li class="circle">com.pathplanner.lib.auto.<a href="com/pathplanner/lib/auto/NamedCommands.html" title="class in com.pathplanner.lib.auto"><span class="typeNameLink">NamedCommands</span></a></li>
+<li class="circle">com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathConstraints.html" title="class in com.pathplanner.lib.path"><span class="typeNameLink">PathConstraints</span></a></li>
+<li class="circle">com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/PathPlannerLogging.html" title="class in com.pathplanner.lib.util"><span class="typeNameLink">PathPlannerLogging</span></a></li>
+<li class="circle">com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerPath.html" title="class in com.pathplanner.lib.path"><span class="typeNameLink">PathPlannerPath</span></a></li>
+<li class="circle">com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerTrajectory.html" title="class in com.pathplanner.lib.path"><span class="typeNameLink">PathPlannerTrajectory</span></a></li>
+<li class="circle">com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPlannerTrajectory.State.html" title="class in com.pathplanner.lib.path"><span class="typeNameLink">PathPlannerTrajectory.State</span></a></li>
+<li class="circle">com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathPoint.html" title="class in com.pathplanner.lib.path"><span class="typeNameLink">PathPoint</span></a></li>
+<li class="circle">com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/PathSegment.html" title="class in com.pathplanner.lib.path"><span class="typeNameLink">PathSegment</span></a></li>
+<li class="circle">com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/PIDConstants.html" title="class in com.pathplanner.lib.util"><span class="typeNameLink">PIDConstants</span></a></li>
+<li class="circle">com.pathplanner.lib.controllers.<a href="com/pathplanner/lib/controllers/PPHolonomicDriveController.html" title="class in com.pathplanner.lib.controllers"><span class="typeNameLink">PPHolonomicDriveController</span></a> (implements com.pathplanner.lib.controllers.<a href="com/pathplanner/lib/controllers/PathFollowingController.html" title="interface in com.pathplanner.lib.controllers">PathFollowingController</a>)</li>
+<li class="circle">com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/PPLibTelemetry.html" title="class in com.pathplanner.lib.util"><span class="typeNameLink">PPLibTelemetry</span></a></li>
+<li class="circle">edu.wpi.first.math.controller.<a href="https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/math/controller/RamseteController.html?is-external=true" title="class or interface in edu.wpi.first.math.controller" class="externalLink"><span class="typeNameLink">RamseteController</span></a>
+<ul>
+<li class="circle">com.pathplanner.lib.controllers.<a href="com/pathplanner/lib/controllers/PPRamseteController.html" title="class in com.pathplanner.lib.controllers"><span class="typeNameLink">PPRamseteController</span></a> (implements com.pathplanner.lib.controllers.<a href="com/pathplanner/lib/controllers/PathFollowingController.html" title="interface in com.pathplanner.lib.controllers">PathFollowingController</a>)</li>
+</ul>
+</li>
+<li class="circle">com.pathplanner.lib.util.<a href="com/pathplanner/lib/util/ReplanningConfig.html" title="class in com.pathplanner.lib.util"><span class="typeNameLink">ReplanningConfig</span></a></li>
+<li class="circle">com.pathplanner.lib.path.<a href="com/pathplanner/lib/path/RotationTarget.html" title="class in com.pathplanner.lib.path"><span class="typeNameLink">RotationTarget</span></a></li>
+<li class="circle">java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Throwable.html?is-external=true" title="class or interface in java.lang" class="externalLink"><span class="typeNameLink">Throwable</span></a> (implements java.io.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/io/Serializable.html?is-external=true" title="class or interface in java.io" class="externalLink">Serializable</a>)
+<ul>
+<li class="circle">java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/Exception.html?is-external=true" title="class or interface in java.lang" class="externalLink"><span class="typeNameLink">Exception</span></a>
+<ul>
+<li class="circle">java.lang.<a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/RuntimeException.html?is-external=true" title="class or interface in java.lang" class="externalLink"><span class="typeNameLink">RuntimeException</span></a>
+<ul>
+<li class="circle">com.pathplanner.lib.auto.<a href="com/pathplanner/lib/auto/AutoBuilderException.html" title="class in com.pathplanner.lib.auto"><span class="typeNameLink">AutoBuilderException</span></a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</section>
+<section>
+<h2 title="Interface Hierarchy">Interface Hierarchy</h2>
+<ul>
+<li class="circle">com.pathplanner.lib.auto.<a href="com/pathplanner/lib/auto/AutoBuilder.QuadFunction.html" title="interface in com.pathplanner.lib.auto"><span class="typeNameLink">AutoBuilder.QuadFunction</span></a>&lt;In1,&#8203;In2,&#8203;In3,&#8203;In4,&#8203;Out&gt;</li>
+<li class="circle">com.pathplanner.lib.auto.<a href="com/pathplanner/lib/auto/AutoBuilder.TriFunction.html" title="interface in com.pathplanner.lib.auto"><span class="typeNameLink">AutoBuilder.TriFunction</span></a>&lt;In1,&#8203;In2,&#8203;In3,&#8203;Out&gt;</li>
+<li class="circle">com.pathplanner.lib.controllers.<a href="com/pathplanner/lib/controllers/PathFollowingController.html" title="interface in com.pathplanner.lib.controllers"><span class="typeNameLink">PathFollowingController</span></a></li>
+</ul>
+</section>
+</div>
+</main>
+<footer role="contentinfo">
+<nav role="navigation">
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a id="navbar.bottom">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.bottom.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="index.html">Overview</a></li>
+<li>Package</li>
+<li>Class</li>
+<li class="navBarCell1Rev">Tree</li>
+<li><a href="deprecated-list.html">Deprecated</a></li>
+<li><a href="index-all.html">Index</a></li>
+<li><a href="help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_bottom">
+<li><a href="allclasses.html">All&nbsp;Classes</a></li>
+</ul>
+<div>
+<script type="text/javascript"><!--
+  allClassesLink = document.getElementById("allclasses_navbar_bottom");
+  if(window==top) {
+    allClassesLink.style.display = "block";
+  }
+  else {
+    allClassesLink.style.display = "none";
+  }
+  //-->
+</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.bottom">
+<!--   -->
+</a></div>
+<!-- ======== END OF BOTTOM NAVBAR ======= -->
+</nav>
+</footer>
+</body>
+</html>
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+/*
+ * Copyright (c) 2013, 2018, Oracle and/or its affiliates. All rights reserved.
+ * DO NOT ALTER OR REMOVE COPYRIGHT NOTICES OR THIS FILE HEADER.
+ *
+ * This code is free software; you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License version 2 only, as
+ * published by the Free Software Foundation.  Oracle designates this
+ * particular file as subject to the "Classpath" exception as provided
+ * by Oracle in the LICENSE file that accompanied this code.
+ *
+ * This code is distributed in the hope that it will be useful, but WITHOUT
+ * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ * FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
+ * version 2 for more details (a copy is included in the LICENSE file that
+ * accompanied this code).
+ *
+ * You should have received a copy of the GNU General Public License version
+ * 2 along with this work; if not, write to the Free Software Foundation,
+ * Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA.
+ *
+ * Please contact Oracle, 500 Oracle Parkway, Redwood Shores, CA 94065 USA
+ * or visit www.oracle.com if you need additional information or have any
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+var memberSearchIndex;
+var tagSearchIndex;
+function loadScripts(doc, tag) {
+    createElem(doc, tag, 'jquery/jszip/dist/jszip.js');
+    createElem(doc, tag, 'jquery/jszip-utils/dist/jszip-utils.js');
+    if (window.navigator.userAgent.indexOf('MSIE ') > 0 || window.navigator.userAgent.indexOf('Trident/') > 0 ||
+            window.navigator.userAgent.indexOf('Edge/') > 0) {
+        createElem(doc, tag, 'jquery/jszip-utils/dist/jszip-utils-ie.js');
+    }
+    createElem(doc, tag, 'search.js');
+
+    $.get(pathtoroot + "module-search-index.zip")
+            .done(function() {
+                JSZipUtils.getBinaryContent(pathtoroot + "module-search-index.zip", function(e, data) {
+                    JSZip.loadAsync(data).then(function(zip){
+                        zip.file("module-search-index.json").async("text").then(function(content){
+                            moduleSearchIndex = JSON.parse(content);
+                        });
+                    });
+                });
+            });
+    $.get(pathtoroot + "package-search-index.zip")
+            .done(function() {
+                JSZipUtils.getBinaryContent(pathtoroot + "package-search-index.zip", function(e, data) {
+                    JSZip.loadAsync(data).then(function(zip){
+                        zip.file("package-search-index.json").async("text").then(function(content){
+                            packageSearchIndex = JSON.parse(content);
+                        });
+                    });
+                });
+            });
+    $.get(pathtoroot + "type-search-index.zip")
+            .done(function() {
+                JSZipUtils.getBinaryContent(pathtoroot + "type-search-index.zip", function(e, data) {
+                    JSZip.loadAsync(data).then(function(zip){
+                        zip.file("type-search-index.json").async("text").then(function(content){
+                            typeSearchIndex = JSON.parse(content);
+                        });
+                    });
+                });
+            });
+    $.get(pathtoroot + "member-search-index.zip")
+            .done(function() {
+                JSZipUtils.getBinaryContent(pathtoroot + "member-search-index.zip", function(e, data) {
+                    JSZip.loadAsync(data).then(function(zip){
+                        zip.file("member-search-index.json").async("text").then(function(content){
+                            memberSearchIndex = JSON.parse(content);
+                        });
+                    });
+                });
+            });
+    $.get(pathtoroot + "tag-search-index.zip")
+            .done(function() {
+                JSZipUtils.getBinaryContent(pathtoroot + "tag-search-index.zip", function(e, data) {
+                    JSZip.loadAsync(data).then(function(zip){
+                        zip.file("tag-search-index.json").async("text").then(function(content){
+                            tagSearchIndex = JSON.parse(content);
+                        });
+                    });
+                });
+            });
+    if (!moduleSearchIndex) {
+        createElem(doc, tag, 'module-search-index.js');
+    }
+    if (!packageSearchIndex) {
+        createElem(doc, tag, 'package-search-index.js');
+    }
+    if (!typeSearchIndex) {
+        createElem(doc, tag, 'type-search-index.js');
+    }
+    if (!memberSearchIndex) {
+        createElem(doc, tag, 'member-search-index.js');
+    }
+    if (!tagSearchIndex) {
+        createElem(doc, tag, 'tag-search-index.js');
+    }
+    $(window).resize(function() {
+        $('.navPadding').css('padding-top', $('.fixedNav').css("height"));
+    });
+}
+
+function createElem(doc, tag, path) {
+    var script = doc.createElement(tag);
+    var scriptElement = doc.getElementsByTagName(tag)[0];
+    script.src = pathtoroot + path;
+    scriptElement.parentNode.insertBefore(script, scriptElement);
+}
+
+function show(type) {
+    count = 0;
+    for (var key in data) {
+        var row = document.getElementById(key);
+        if ((data[key] &  type) !== 0) {
+            row.style.display = '';
+            row.className = (count++ % 2) ? rowColor : altColor;
+        }
+        else
+            row.style.display = 'none';
+    }
+    updateTabs(type);
+}
+
+function updateTabs(type) {
+    for (var value in tabs) {
+        var sNode = document.getElementById(tabs[value][0]);
+        var spanNode = sNode.firstChild;
+        if (value == type) {
+            sNode.className = activeTableTab;
+            spanNode.innerHTML = tabs[value][1];
+        }
+        else {
+            sNode.className = tableTab;
+            spanNode.innerHTML = "<a href=\"javascript:show("+ value + ");\">" + tabs[value][1] + "</a>";
+        }
+    }
+}
+
+function updateModuleFrame(pFrame, cFrame) {
+    top.packageFrame.location = pFrame;
+    top.classFrame.location = cFrame;
+}
diff --git a/docs/java/search.js b/docs/java/search.js
new file mode 100644
index 00000000..8492271e
--- /dev/null
+++ b/docs/java/search.js
@@ -0,0 +1,326 @@
+/*
+ * Copyright (c) 2015, 2018, Oracle and/or its affiliates. All rights reserved.
+ * DO NOT ALTER OR REMOVE COPYRIGHT NOTICES OR THIS FILE HEADER.
+ *
+ * This code is free software; you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License version 2 only, as
+ * published by the Free Software Foundation.  Oracle designates this
+ * particular file as subject to the "Classpath" exception as provided
+ * by Oracle in the LICENSE file that accompanied this code.
+ *
+ * This code is distributed in the hope that it will be useful, but WITHOUT
+ * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ * FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
+ * version 2 for more details (a copy is included in the LICENSE file that
+ * accompanied this code).
+ *
+ * You should have received a copy of the GNU General Public License version
+ * 2 along with this work; if not, write to the Free Software Foundation,
+ * Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA.
+ *
+ * Please contact Oracle, 500 Oracle Parkway, Redwood Shores, CA 94065 USA
+ * or visit www.oracle.com if you need additional information or have any
+ * questions.
+ */
+
+var noResult = {l: "No results found"};
+var catModules = "Modules";
+var catPackages = "Packages";
+var catTypes = "Types";
+var catMembers = "Members";
+var catSearchTags = "SearchTags";
+var highlight = "<span class=\"resultHighlight\">$&</span>";
+var camelCaseRegexp = "";
+var secondaryMatcher = "";
+function getHighlightedText(item) {
+    var ccMatcher = new RegExp(camelCaseRegexp);
+    var label = item.replace(ccMatcher, highlight);
+    if (label === item) {
+        label = item.replace(secondaryMatcher, highlight);
+    }
+    return label;
+}
+function getURLPrefix(ui) {
+    var urlPrefix="";
+    if (useModuleDirectories) {
+        var slash = "/";
+        if (ui.item.category === catModules) {
+            return ui.item.l + slash;
+        } else if (ui.item.category === catPackages && ui.item.m) {
+            return ui.item.m + slash;
+        } else if ((ui.item.category === catTypes && ui.item.p) || ui.item.category === catMembers) {
+            $.each(packageSearchIndex, function(index, item) {
+                if (item.m && ui.item.p == item.l) {
+                    urlPrefix = item.m + slash;
+                }
+            });
+            return urlPrefix;
+        } else {
+            return urlPrefix;
+        }
+    }
+    return urlPrefix;
+}
+var watermark = 'Search';
+$(function() {
+    $("#search").val('');
+    $("#search").prop("disabled", false);
+    $("#reset").prop("disabled", false);
+    $("#search").val(watermark).addClass('watermark');
+    $("#search").blur(function() {
+        if ($(this).val().length == 0) {
+            $(this).val(watermark).addClass('watermark');
+        }
+    });
+    $("#search").on('click keydown', function() {
+        if ($(this).val() == watermark) {
+            $(this).val('').removeClass('watermark');
+        }
+    });
+    $("#reset").click(function() {
+        $("#search").val('');
+        $("#search").focus();
+    });
+    $("#search").focus();
+    $("#search")[0].setSelectionRange(0, 0);
+});
+$.widget("custom.catcomplete", $.ui.autocomplete, {
+    _create: function() {
+        this._super();
+        this.widget().menu("option", "items", "> :not(.ui-autocomplete-category)");
+    },
+    _renderMenu: function(ul, items) {
+        var rMenu = this,
+                currentCategory = "";
+        rMenu.menu.bindings = $();
+        $.each(items, function(index, item) {
+            var li;
+            if (item.l !== noResult.l && item.category !== currentCategory) {
+                ul.append("<li class=\"ui-autocomplete-category\">" + item.category + "</li>");
+                currentCategory = item.category;
+            }
+            li = rMenu._renderItemData(ul, item);
+            if (item.category) {
+                li.attr("aria-label", item.category + " : " + item.l);
+                li.attr("class", "resultItem");
+            } else {
+                li.attr("aria-label", item.l);
+                li.attr("class", "resultItem");
+            }
+        });
+    },
+    _renderItem: function(ul, item) {
+        var label = "";
+        if (item.category === catModules) {
+            label = getHighlightedText(item.l);
+        } else if (item.category === catPackages) {
+            label = (item.m)
+                    ? getHighlightedText(item.m + "/" + item.l)
+                    : getHighlightedText(item.l);
+        } else if (item.category === catTypes) {
+            label = (item.p)
+                    ? getHighlightedText(item.p + "." + item.l)
+                    : getHighlightedText(item.l);
+        } else if (item.category === catMembers) {
+            label = getHighlightedText(item.p + "." + (item.c + "." + item.l));
+        } else if (item.category === catSearchTags) {
+            label = getHighlightedText(item.l);
+        } else {
+            label = item.l;
+        }
+        var li = $("<li/>").appendTo(ul);
+        var div = $("<div/>").appendTo(li);
+        if (item.category === catSearchTags) {
+            if (item.d) {
+                div.html(label + "<span class=\"searchTagHolderResult\"> (" + item.h + ")</span><br><span class=\"searchTagDescResult\">"
+                                + item.d + "</span><br>");
+            } else {
+                div.html(label + "<span class=\"searchTagHolderResult\"> (" + item.h + ")</span>");
+            }
+        } else {
+            div.html(label);
+        }
+        return li;
+    }
+});
+$(function() {
+    $("#search").catcomplete({
+        minLength: 1,
+        delay: 100,
+        source: function(request, response) {
+            var result = new Array();
+            var presult = new Array();
+            var tresult = new Array();
+            var mresult = new Array();
+            var tgresult = new Array();
+            var secondaryresult = new Array();
+            var displayCount = 0;
+            var exactMatcher = new RegExp("^" + $.ui.autocomplete.escapeRegex(request.term) + "$", "i");
+            camelCaseRegexp = ($.ui.autocomplete.escapeRegex(request.term)).split(/(?=[A-Z])/).join("([a-z0-9_$]*?)");
+            var camelCaseMatcher = new RegExp("^" + camelCaseRegexp);
+            secondaryMatcher = new RegExp($.ui.autocomplete.escapeRegex(request.term), "i");
+
+            // Return the nested innermost name from the specified object
+            function nestedName(e) {
+                return e.l.substring(e.l.lastIndexOf(".") + 1);
+            }
+
+            function concatResults(a1, a2) {
+                a1 = a1.concat(a2);
+                a2.length = 0;
+                return a1;
+            }
+
+            if (moduleSearchIndex) {
+                var mdleCount = 0;
+                $.each(moduleSearchIndex, function(index, item) {
+                    item.category = catModules;
+                    if (exactMatcher.test(item.l)) {
+                        result.push(item);
+                        mdleCount++;
+                    } else if (camelCaseMatcher.test(item.l)) {
+                        result.push(item);
+                    } else if (secondaryMatcher.test(item.l)) {
+                        secondaryresult.push(item);
+                    }
+                });
+                displayCount = mdleCount;
+                result = concatResults(result, secondaryresult);
+            }
+            if (packageSearchIndex) {
+                var pCount = 0;
+                var pkg = "";
+                $.each(packageSearchIndex, function(index, item) {
+                    item.category = catPackages;
+                    pkg = (item.m)
+                            ? (item.m + "/" + item.l)
+                            : item.l;
+                    if (exactMatcher.test(item.l)) {
+                        presult.push(item);
+                        pCount++;
+                    } else if (camelCaseMatcher.test(pkg)) {
+                        presult.push(item);
+                    } else if (secondaryMatcher.test(pkg)) {
+                        secondaryresult.push(item);
+                    }
+                });
+                result = result.concat(concatResults(presult, secondaryresult));
+                displayCount = (pCount > displayCount) ? pCount : displayCount;
+            }
+            if (typeSearchIndex) {
+                var tCount = 0;
+                $.each(typeSearchIndex, function(index, item) {
+                    item.category = catTypes;
+                    var s = nestedName(item);
+                    if (exactMatcher.test(s)) {
+                        tresult.push(item);
+                        tCount++;
+                    } else if (camelCaseMatcher.test(s)) {
+                        tresult.push(item);
+                    } else if (secondaryMatcher.test(item.p + "." + item.l)) {
+                        secondaryresult.push(item);
+                    }
+                });
+                result = result.concat(concatResults(tresult, secondaryresult));
+                displayCount = (tCount > displayCount) ? tCount : displayCount;
+            }
+            if (memberSearchIndex) {
+                var mCount = 0;
+                $.each(memberSearchIndex, function(index, item) {
+                    item.category = catMembers;
+                    var s = nestedName(item);
+                    if (exactMatcher.test(s)) {
+                        mresult.push(item);
+                        mCount++;
+                    } else if (camelCaseMatcher.test(s)) {
+                        mresult.push(item);
+                    } else if (secondaryMatcher.test(item.c + "." + item.l)) {
+                        secondaryresult.push(item);
+                    }
+                });
+                result = result.concat(concatResults(mresult, secondaryresult));
+                displayCount = (mCount > displayCount) ? mCount : displayCount;
+            }
+            if (tagSearchIndex) {
+                var tgCount = 0;
+                $.each(tagSearchIndex, function(index, item) {
+                    item.category = catSearchTags;
+                    if (exactMatcher.test(item.l)) {
+                        tgresult.push(item);
+                        tgCount++;
+                    } else if (secondaryMatcher.test(item.l)) {
+                        secondaryresult.push(item);
+                    }
+                });
+                result = result.concat(concatResults(tgresult, secondaryresult));
+                displayCount = (tgCount > displayCount) ? tgCount : displayCount;
+            }
+            displayCount = (displayCount > 500) ? displayCount : 500;
+            var counter = function() {
+                var count = {Modules: 0, Packages: 0, Types: 0, Members: 0, SearchTags: 0};
+                var f = function(item) {
+                    count[item.category] += 1;
+                    return (count[item.category] <= displayCount);
+                };
+                return f;
+            }();
+            response(result.filter(counter));
+        },
+        response: function(event, ui) {
+            if (!ui.content.length) {
+                ui.content.push(noResult);
+            } else {
+                $("#search").empty();
+            }
+        },
+        autoFocus: true,
+        position: {
+            collision: "flip"
+        },
+        select: function(event, ui) {
+            if (ui.item.l !== noResult.l) {
+                var url = getURLPrefix(ui);
+                if (ui.item.category === catModules) {
+                    if (useModuleDirectories) {
+                        url += "module-summary.html";
+                    } else {
+                        url = ui.item.l + "-summary.html";
+                    }
+                } else if (ui.item.category === catPackages) {
+                    if (ui.item.url) {
+                        url = ui.item.url;
+                    } else {
+                    url += ui.item.l.replace(/\./g, '/') + "/package-summary.html";
+                    }
+                } else if (ui.item.category === catTypes) {
+                    if (ui.item.url) {
+                        url = ui.item.url;
+                    } else if (ui.item.p === "<Unnamed>") {
+                        url += ui.item.l + ".html";
+                    } else {
+                        url += ui.item.p.replace(/\./g, '/') + "/" + ui.item.l + ".html";
+                    }
+                } else if (ui.item.category === catMembers) {
+                    if (ui.item.p === "<Unnamed>") {
+                        url += ui.item.c + ".html" + "#";
+                    } else {
+                        url += ui.item.p.replace(/\./g, '/') + "/" + ui.item.c + ".html" + "#";
+                    }
+                    if (ui.item.url) {
+                        url += ui.item.url;
+                    } else {
+                        url += ui.item.l;
+                    }
+                } else if (ui.item.category === catSearchTags) {
+                    url += ui.item.u;
+                }
+                if (top !== window) {
+                    parent.classFrame.location = pathtoroot + url;
+                } else {
+                    window.location.href = pathtoroot + url;
+                }
+                $("#search").focus();
+            }
+        }
+    });
+});
diff --git a/docs/java/serialized-form.html b/docs/java/serialized-form.html
new file mode 100644
index 00000000..56617c21
--- /dev/null
+++ b/docs/java/serialized-form.html
@@ -0,0 +1,161 @@
+<!DOCTYPE HTML>
+<!-- NewPage -->
+<html lang="en">
+<head>
+<!-- Generated by javadoc -->
+<title>Serialized Form (pathplannerlib API)</title>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+<link rel="stylesheet" type="text/css" href="stylesheet.css" title="Style">
+<link rel="stylesheet" type="text/css" href="jquery/jquery-ui.min.css" title="Style">
+<link rel="stylesheet" type="text/css" href="jquery-ui.overrides.css" title="Style">
+<script type="text/javascript" src="script.js"></script>
+<script type="text/javascript" src="jquery/jszip/dist/jszip.min.js"></script>
+<script type="text/javascript" src="jquery/jszip-utils/dist/jszip-utils.min.js"></script>
+<!--[if IE]>
+<script type="text/javascript" src="jquery/jszip-utils/dist/jszip-utils-ie.min.js"></script>
+<![endif]-->
+<script type="text/javascript" src="jquery/jquery-3.6.1.min.js"></script>
+<script type="text/javascript" src="jquery/jquery-ui.min.js"></script>
+</head>
+<body>
+<script type="text/javascript"><!--
+    try {
+        if (location.href.indexOf('is-external=true') == -1) {
+            parent.document.title="Serialized Form (pathplannerlib API)";
+        }
+    }
+    catch(err) {
+    }
+//-->
+var pathtoroot = "./";
+var useModuleDirectories = true;
+loadScripts(document, 'script');</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+<header role="banner">
+<nav role="navigation">
+<div class="fixedNav">
+<!-- ========= START OF TOP NAVBAR ======= -->
+<div class="topNav"><a id="navbar.top">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.top" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.top.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="index.html">Overview</a></li>
+<li>Package</li>
+<li>Class</li>
+<li><a href="overview-tree.html">Tree</a></li>
+<li><a href="deprecated-list.html">Deprecated</a></li>
+<li><a href="index-all.html">Index</a></li>
+<li><a href="help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_top">
+<li><a href="allclasses.html">All&nbsp;Classes</a></li>
+</ul>
+<ul class="navListSearch">
+<li><label for="search">SEARCH:</label>
+<input type="text" id="search" value="search" disabled="disabled">
+<input type="reset" id="reset" value="reset" disabled="disabled">
+</li>
+</ul>
+<div>
+<script type="text/javascript"><!--
+  allClassesLink = document.getElementById("allclasses_navbar_top");
+  if(window==top) {
+    allClassesLink.style.display = "block";
+  }
+  else {
+    allClassesLink.style.display = "none";
+  }
+  //-->
+</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.top">
+<!--   -->
+</a></div>
+<!-- ========= END OF TOP NAVBAR ========= -->
+</div>
+<div class="navPadding">&nbsp;</div>
+<script type="text/javascript"><!--
+$('.navPadding').css('padding-top', $('.fixedNav').css("height"));
+//-->
+</script>
+</nav>
+</header>
+<main role="main">
+<div class="header">
+<h1 title="Serialized Form" class="title">Serialized Form</h1>
+</div>
+<div class="serializedFormContainer">
+<ul class="blockList">
+<li class="blockList">
+<section>
+<h2 title="Package">Package&nbsp;com.pathplanner.lib.auto</h2>
+<ul class="blockList">
+<li class="blockList"><a id="com.pathplanner.lib.auto.AutoBuilderException">
+<!--   -->
+</a>
+<h3>Class <a href="com/pathplanner/lib/auto/AutoBuilderException.html" title="class in com.pathplanner.lib.auto">com.pathplanner.lib.auto.AutoBuilderException</a> extends <a href="https://docs.oracle.com/en/java/javase/11/docs/api/java.base/java/lang/RuntimeException.html?is-external=true" title="class or interface in java.lang" class="externalLink">RuntimeException</a> implements Serializable</h3>
+</li>
+</ul>
+</section>
+</li>
+</ul>
+</div>
+</main>
+<footer role="contentinfo">
+<nav role="navigation">
+<!-- ======= START OF BOTTOM NAVBAR ====== -->
+<div class="bottomNav"><a id="navbar.bottom">
+<!--   -->
+</a>
+<div class="skipNav"><a href="#skip.navbar.bottom" title="Skip navigation links">Skip navigation links</a></div>
+<a id="navbar.bottom.firstrow">
+<!--   -->
+</a>
+<ul class="navList" title="Navigation">
+<li><a href="index.html">Overview</a></li>
+<li>Package</li>
+<li>Class</li>
+<li><a href="overview-tree.html">Tree</a></li>
+<li><a href="deprecated-list.html">Deprecated</a></li>
+<li><a href="index-all.html">Index</a></li>
+<li><a href="help-doc.html">Help</a></li>
+</ul>
+</div>
+<div class="subNav">
+<ul class="navList" id="allclasses_navbar_bottom">
+<li><a href="allclasses.html">All&nbsp;Classes</a></li>
+</ul>
+<div>
+<script type="text/javascript"><!--
+  allClassesLink = document.getElementById("allclasses_navbar_bottom");
+  if(window==top) {
+    allClassesLink.style.display = "block";
+  }
+  else {
+    allClassesLink.style.display = "none";
+  }
+  //-->
+</script>
+<noscript>
+<div>JavaScript is disabled on your browser.</div>
+</noscript>
+</div>
+<a id="skip.navbar.bottom">
+<!--   -->
+</a></div>
+<!-- ======== END OF BOTTOM NAVBAR ======= -->
+</nav>
+</footer>
+</body>
+</html>
diff --git a/docs/java/stylesheet.css b/docs/java/stylesheet.css
new file mode 100644
index 00000000..de945eda
--- /dev/null
+++ b/docs/java/stylesheet.css
@@ -0,0 +1,910 @@
+/* 
+ * Javadoc style sheet
+ */
+
+@import url('resources/fonts/dejavu.css');
+
+/*
+ * Styles for individual HTML elements.
+ *
+ * These are styles that are specific to individual HTML elements. Changing them affects the style of a particular
+ * HTML element throughout the page.
+ */
+
+body {
+    background-color:#ffffff;
+    color:#353833;
+    font-family:'DejaVu Sans', Arial, Helvetica, sans-serif;
+    font-size:14px;
+    margin:0;
+    padding:0;
+    height:100%;
+    width:100%;
+}
+iframe {
+    margin:0;
+    padding:0;
+    height:100%;
+    width:100%;
+    overflow-y:scroll;
+    border:none;
+}
+a:link, a:visited {
+    text-decoration:none;
+    color:#4A6782;
+}
+a[href]:hover, a[href]:focus {
+    text-decoration:none;
+    color:#bb7a2a;
+}
+a[name] {
+    color:#353833;
+}
+a[name]:before, a[name]:target, a[id]:before, a[id]:target {
+    content:"";
+    display:inline-block;
+    position:relative;
+    padding-top:129px;
+    margin-top:-129px;
+}
+pre {
+    font-family:'DejaVu Sans Mono', monospace;
+    font-size:14px;
+}
+h1 {
+    font-size:20px;
+}
+h2 {
+    font-size:18px;
+}
+h3 {
+    font-size:16px;
+    font-style:italic;
+}
+h4 {
+    font-size:13px;
+}
+h5 {
+    font-size:12px;
+}
+h6 {
+    font-size:11px;
+}
+ul {
+    list-style-type:disc;
+}
+code, tt {
+    font-family:'DejaVu Sans Mono', monospace;
+    font-size:14px;
+    padding-top:4px;
+    margin-top:8px;
+    line-height:1.4em;
+}
+dt code {
+    font-family:'DejaVu Sans Mono', monospace;
+    font-size:14px;
+    padding-top:4px;
+}
+table tr td dt code {
+    font-family:'DejaVu Sans Mono', monospace;
+    font-size:14px;
+    vertical-align:top;
+    padding-top:4px;
+}
+sup {
+    font-size:8px;
+}
+
+/*
+ * Styles for HTML generated by javadoc.
+ *
+ * These are style classes that are used by the standard doclet to generate HTML documentation.
+ */
+
+/*
+ * Styles for document title and copyright.
+ */
+.clear {
+    clear:both;
+    height:0px;
+    overflow:hidden;
+}
+.aboutLanguage {
+    float:right;
+    padding:0px 21px;
+    font-size:11px;
+    z-index:200;
+    margin-top:-9px;
+}
+.legalCopy {
+    margin-left:.5em;
+}
+.bar a, .bar a:link, .bar a:visited, .bar a:active {
+    color:#FFFFFF;
+    text-decoration:none;
+}
+.bar a:hover, .bar a:focus {
+    color:#bb7a2a;
+}
+.tab {
+    background-color:#0066FF;
+    color:#ffffff;
+    padding:8px;
+    width:5em;
+    font-weight:bold;
+}
+/*
+ * Styles for navigation bar.
+ */
+.bar {
+    background-color:#4D7A97;
+    color:#FFFFFF;
+    padding:.8em .5em .4em .8em;
+    height:auto;/*height:1.8em;*/
+    font-size:11px;
+    margin:0;
+}
+.navPadding {
+    padding-top: 107px;
+}
+.fixedNav {
+    position:fixed;
+    width:100%;
+    z-index:999;
+    background-color:#ffffff;
+}
+.topNav {
+    background-color:#4D7A97;
+    color:#FFFFFF;
+    float:left;
+    padding:0;
+    width:100%;
+    clear:right;
+    height:2.8em;
+    padding-top:10px;
+    overflow:hidden;
+    font-size:12px; 
+}
+.bottomNav {
+    margin-top:10px;
+    background-color:#4D7A97;
+    color:#FFFFFF;
+    float:left;
+    padding:0;
+    width:100%;
+    clear:right;
+    height:2.8em;
+    padding-top:10px;
+    overflow:hidden;
+    font-size:12px;
+}
+.subNav {
+    background-color:#dee3e9;
+    float:left;
+    width:100%;
+    overflow:hidden;
+    font-size:12px;
+}
+.subNav div {
+    clear:left;
+    float:left;
+    padding:0 0 5px 6px;
+    text-transform:uppercase;
+}
+ul.navList, ul.subNavList {
+    float:left;
+    margin:0 25px 0 0;
+    padding:0;
+}
+ul.navList li{
+    list-style:none;
+    float:left;
+    padding: 5px 6px;
+    text-transform:uppercase;
+}
+ul.navListSearch {
+    float:right;
+    margin:0 0 0 0;
+    padding:0;
+}
+ul.navListSearch li {
+    list-style:none;
+    float:right;
+    padding: 5px 6px;
+    text-transform:uppercase;
+}
+ul.navListSearch li label {
+    position:relative;
+    right:-16px;
+}
+ul.subNavList li {
+    list-style:none;
+    float:left;
+}
+.topNav a:link, .topNav a:active, .topNav a:visited, .bottomNav a:link, .bottomNav a:active, .bottomNav a:visited {
+    color:#FFFFFF;
+    text-decoration:none;
+    text-transform:uppercase;
+}
+.topNav a:hover, .bottomNav a:hover {
+    text-decoration:none;
+    color:#bb7a2a;
+    text-transform:uppercase;
+}
+.navBarCell1Rev {
+    background-color:#F8981D;
+    color:#253441;
+    margin: auto 5px;
+}
+.skipNav {
+    position:absolute;
+    top:auto;
+    left:-9999px;
+    overflow:hidden;
+}
+/*
+ * Styles for page header and footer.
+ */
+.header, .footer {
+    clear:both;
+    margin:0 20px;
+    padding:5px 0 0 0;
+}
+.indexNav {
+    position:relative;
+    font-size:12px;
+    background-color:#dee3e9;
+}
+.indexNav ul {
+    margin-top:0;
+    padding:5px;
+}
+.indexNav ul li {
+    display:inline;
+    list-style-type:none;
+    padding-right:10px;
+    text-transform:uppercase;
+}
+.indexNav h1 {
+    font-size:13px;
+}
+.title {
+    color:#2c4557;
+    margin:10px 0;
+}
+.subTitle {
+    margin:5px 0 0 0;
+}
+.header ul {
+    margin:0 0 15px 0;
+    padding:0;
+}
+.footer ul {
+    margin:20px 0 5px 0;
+}
+.header ul li, .footer ul li {
+    list-style:none;
+    font-size:13px;
+}
+/*
+ * Styles for headings.
+ */
+div.details ul.blockList ul.blockList ul.blockList li.blockList h4, div.details ul.blockList ul.blockList ul.blockListLast li.blockList h4 {
+    background-color:#dee3e9;
+    border:1px solid #d0d9e0;
+    margin:0 0 6px -8px;
+    padding:7px 5px;
+}
+ul.blockList ul.blockList ul.blockList li.blockList h3 {
+    background-color:#dee3e9;
+    border:1px solid #d0d9e0;
+    margin:0 0 6px -8px;
+    padding:7px 5px;
+}
+ul.blockList ul.blockList li.blockList h3 {
+    padding:0;
+    margin:15px 0;
+}
+ul.blockList li.blockList h2 {
+    padding:0px 0 20px 0;
+}
+/*
+ * Styles for page layout containers.
+ */
+.contentContainer, .sourceContainer, .classUseContainer, .serializedFormContainer, .constantValuesContainer,
+.allClassesContainer, .allPackagesContainer {
+    clear:both;
+    padding:10px 20px;
+    position:relative;
+}
+.indexContainer {
+    margin:10px;
+    position:relative;
+    font-size:12px;
+}
+.indexContainer h2 {
+    font-size:13px;
+    padding:0 0 3px 0;
+}
+.indexContainer ul {
+    margin:0;
+    padding:0;
+}
+.indexContainer ul li {
+    list-style:none;
+    padding-top:2px;
+}
+.contentContainer .description dl dt, .contentContainer .details dl dt, .serializedFormContainer dl dt {
+    font-size:12px;
+    font-weight:bold;
+    margin:10px 0 0 0;
+    color:#4E4E4E;
+}
+.contentContainer .description dl dd, .contentContainer .details dl dd, .serializedFormContainer dl dd {
+    margin:5px 0 10px 0px;
+    font-size:14px;
+    font-family:'DejaVu Serif', Georgia, "Times New Roman", Times, serif;
+}
+.serializedFormContainer dl.nameValue dt {
+    margin-left:1px;
+    font-size:1.1em;
+    display:inline;
+    font-weight:bold;
+}
+.serializedFormContainer dl.nameValue dd {
+    margin:0 0 0 1px;
+    font-size:1.1em;
+    display:inline;
+}
+/*
+ * Styles for lists.
+ */
+li.circle {
+    list-style:circle;
+}
+ul.horizontal li {
+    display:inline;
+    font-size:0.9em;
+}
+ul.inheritance {
+    margin:0;
+    padding:0;
+}
+ul.inheritance li {
+    display:inline;
+    list-style:none;
+}
+ul.inheritance li ul.inheritance {
+    margin-left:15px;
+    padding-left:15px;
+    padding-top:1px;
+}
+ul.blockList, ul.blockListLast {
+    margin:10px 0 10px 0;
+    padding:0;
+}
+ul.blockList li.blockList, ul.blockListLast li.blockList {
+    list-style:none;
+    margin-bottom:15px;
+    line-height:1.4;
+}
+ul.blockList ul.blockList li.blockList, ul.blockList ul.blockListLast li.blockList {
+    padding:0px 20px 5px 10px;
+    border:1px solid #ededed; 
+    background-color:#f8f8f8;
+}
+ul.blockList ul.blockList ul.blockList li.blockList, ul.blockList ul.blockList ul.blockListLast li.blockList {
+    padding:0 0 5px 8px;
+    background-color:#ffffff;
+    border:none;
+}
+ul.blockList ul.blockList ul.blockList ul.blockList li.blockList {
+    margin-left:0;
+    padding-left:0;
+    padding-bottom:15px;
+    border:none;
+}
+ul.blockList ul.blockList ul.blockList ul.blockList li.blockListLast {
+    list-style:none;
+    border-bottom:none;
+    padding-bottom:0;
+}
+table tr td dl, table tr td dl dt, table tr td dl dd {
+    margin-top:0;
+    margin-bottom:1px;
+}
+/*
+ * Styles for tables.
+ */
+.overviewSummary, .memberSummary, .typeSummary, .useSummary, .constantsSummary, .deprecatedSummary,
+.requiresSummary, .packagesSummary, .providesSummary, .usesSummary {
+    width:100%;
+    border-spacing:0;
+    border-left:1px solid #EEE; 
+    border-right:1px solid #EEE; 
+    border-bottom:1px solid #EEE; 
+}
+.overviewSummary, .memberSummary, .requiresSummary, .packagesSummary, .providesSummary, .usesSummary  {
+    padding:0px;
+}
+.overviewSummary caption, .memberSummary caption, .typeSummary caption,
+.useSummary caption, .constantsSummary caption, .deprecatedSummary caption,
+.requiresSummary caption, .packagesSummary caption, .providesSummary caption, .usesSummary caption {
+    position:relative;
+    text-align:left;
+    background-repeat:no-repeat;
+    color:#253441;
+    font-weight:bold;
+    clear:none;
+    overflow:hidden;
+    padding:0px;
+    padding-top:10px;
+    padding-left:1px;
+    margin:0px;
+    white-space:pre;
+}
+.constantsSummary caption a:link, .constantsSummary caption a:visited,
+.useSummary caption a:link, .useSummary caption a:visited {
+    color:#1f389c;
+}
+.overviewSummary caption a:link, .memberSummary caption a:link, .typeSummary caption a:link,
+.deprecatedSummary caption a:link,
+.requiresSummary caption a:link, .packagesSummary caption a:link, .providesSummary caption a:link,
+.usesSummary caption a:link,
+.overviewSummary caption a:hover, .memberSummary caption a:hover, .typeSummary caption a:hover,
+.useSummary caption a:hover, .constantsSummary caption a:hover, .deprecatedSummary caption a:hover,
+.requiresSummary caption a:hover, .packagesSummary caption a:hover, .providesSummary caption a:hover,
+.usesSummary caption a:hover,
+.overviewSummary caption a:active, .memberSummary caption a:active, .typeSummary caption a:active,
+.useSummary caption a:active, .constantsSummary caption a:active, .deprecatedSummary caption a:active,
+.requiresSummary caption a:active, .packagesSummary caption a:active, .providesSummary caption a:active,
+.usesSummary caption a:active,
+.overviewSummary caption a:visited, .memberSummary caption a:visited, .typeSummary caption a:visited,
+.deprecatedSummary caption a:visited,
+.requiresSummary caption a:visited, .packagesSummary caption a:visited, .providesSummary caption a:visited,
+.usesSummary caption a:visited {
+    color:#FFFFFF;
+}
+.overviewSummary caption span, .memberSummary caption span, .typeSummary caption span,
+.useSummary caption span, .constantsSummary caption span, .deprecatedSummary caption span,
+.requiresSummary caption span, .packagesSummary caption span, .providesSummary caption span,
+.usesSummary caption span {
+    white-space:nowrap;
+    padding-top:5px;
+    padding-left:12px;
+    padding-right:12px;
+    padding-bottom:7px;
+    display:inline-block;
+    float:left;
+    background-color:#F8981D;
+    border: none;
+    height:16px;
+}
+.memberSummary caption span.activeTableTab span, .packagesSummary caption span.activeTableTab span,
+.overviewSummary caption span.activeTableTab span, .typeSummary caption span.activeTableTab span {
+    white-space:nowrap;
+    padding-top:5px;
+    padding-left:12px;
+    padding-right:12px;
+    margin-right:3px;
+    display:inline-block;
+    float:left;
+    background-color:#F8981D;
+    height:16px;
+}
+.memberSummary caption span.tableTab span, .packagesSummary caption span.tableTab span,
+.overviewSummary caption span.tableTab span, .typeSummary caption span.tableTab span {
+    white-space:nowrap;
+    padding-top:5px;
+    padding-left:12px;
+    padding-right:12px;
+    margin-right:3px;
+    display:inline-block;
+    float:left;
+    background-color:#4D7A97;
+    height:16px;
+}
+.memberSummary caption span.tableTab, .memberSummary caption span.activeTableTab,
+.packagesSummary caption span.tableTab, .packagesSummary caption span.activeTableTab,
+.overviewSummary caption span.tableTab, .overviewSummary caption span.activeTableTab,
+.typeSummary caption span.tableTab, .typeSummary caption span.activeTableTab {
+    padding-top:0px;
+    padding-left:0px;
+    padding-right:0px;
+    background-image:none;
+    float:none;
+    display:inline;
+}
+.overviewSummary .tabEnd, .memberSummary .tabEnd, .typeSummary .tabEnd,
+.useSummary .tabEnd, .constantsSummary .tabEnd, .deprecatedSummary .tabEnd,
+.requiresSummary .tabEnd, .packagesSummary .tabEnd, .providesSummary .tabEnd, .usesSummary .tabEnd {
+    display:none;
+    width:5px;
+    position:relative;
+    float:left;
+    background-color:#F8981D;
+}
+.memberSummary .activeTableTab .tabEnd, .packagesSummary .activeTableTab .tabEnd,
+.overviewSummary .activeTableTab .tabEnd, .typeSummary .activeTableTab .tabEnd {
+    display:none;
+    width:5px;
+    margin-right:3px;
+    position:relative; 
+    float:left;
+    background-color:#F8981D;
+}
+.memberSummary .tableTab .tabEnd, .packagesSummary .tableTab .tabEnd,
+.overviewSummary .tableTab .tabEnd, .typeSummary .tableTab .tabEnd {
+    display:none;
+    width:5px;
+    margin-right:3px;
+    position:relative;
+    background-color:#4D7A97;
+    float:left;
+}
+.rowColor th, .altColor th {
+    font-weight:normal;
+}
+.overviewSummary td, .memberSummary td, .typeSummary td,
+.useSummary td, .constantsSummary td, .deprecatedSummary td,
+.requiresSummary td, .packagesSummary td, .providesSummary td, .usesSummary td {
+    text-align:left;
+    padding:0px 0px 12px 10px;
+}
+th.colFirst, th.colSecond, th.colLast, th.colConstructorName, th.colDeprecatedItemName, .useSummary th,
+.constantsSummary th, .packagesSummary th, td.colFirst, td.colSecond, td.colLast, .useSummary td,
+.constantsSummary td {
+    vertical-align:top;
+    padding-right:0px;
+    padding-top:8px;
+    padding-bottom:3px;
+}
+th.colFirst, th.colSecond, th.colLast, th.colConstructorName, th.colDeprecatedItemName, .constantsSummary th,
+.packagesSummary th {
+    background:#dee3e9;
+    text-align:left;
+    padding:8px 3px 3px 7px;
+}
+td.colFirst, th.colFirst {
+    font-size:13px;
+}
+td.colSecond, th.colSecond, td.colLast, th.colConstructorName, th.colDeprecatedItemName, th.colLast {
+    font-size:13px;
+}
+.constantsSummary th, .packagesSummary th {
+    font-size:13px;
+}
+.providesSummary th.colFirst, .providesSummary th.colLast, .providesSummary td.colFirst,
+.providesSummary td.colLast {
+    white-space:normal;
+    font-size:13px;
+}
+.overviewSummary td.colFirst, .overviewSummary th.colFirst,
+.requiresSummary td.colFirst, .requiresSummary th.colFirst,
+.packagesSummary td.colFirst, .packagesSummary td.colSecond, .packagesSummary th.colFirst, .packagesSummary th,
+.usesSummary td.colFirst, .usesSummary th.colFirst,
+.providesSummary td.colFirst, .providesSummary th.colFirst,
+.memberSummary td.colFirst, .memberSummary th.colFirst,
+.memberSummary td.colSecond, .memberSummary th.colSecond, .memberSummary th.colConstructorName,
+.typeSummary td.colFirst, .typeSummary th.colFirst {
+    vertical-align:top;
+}
+.packagesSummary th.colLast, .packagesSummary td.colLast {
+    white-space:normal;
+}
+td.colFirst a:link, td.colFirst a:visited,
+td.colSecond a:link, td.colSecond a:visited,
+th.colFirst a:link, th.colFirst a:visited,
+th.colSecond a:link, th.colSecond a:visited,
+th.colConstructorName a:link, th.colConstructorName a:visited,
+th.colDeprecatedItemName a:link, th.colDeprecatedItemName a:visited, 
+.constantValuesContainer td a:link, .constantValuesContainer td a:visited, 
+.allClassesContainer td a:link, .allClassesContainer td a:visited, 
+.allPackagesContainer td a:link, .allPackagesContainer td a:visited {
+    font-weight:bold;
+}
+.tableSubHeadingColor {
+    background-color:#EEEEFF;
+}
+.altColor, .altColor th {
+    background-color:#FFFFFF;
+}
+.rowColor, .rowColor th {
+    background-color:#EEEEEF;
+}
+/*
+ * Styles for contents.
+ */
+.description pre {
+    margin-top:0;
+}
+.deprecatedContent {
+    margin:0;
+    padding:10px 0;
+}
+.docSummary {
+    padding:0;
+}
+ul.blockList ul.blockList ul.blockList li.blockList h3 {
+    font-style:normal;
+}
+div.block {
+    font-size:14px;
+    font-family:'DejaVu Serif', Georgia, "Times New Roman", Times, serif;
+}
+td.colLast div {
+    padding-top:0px;
+}
+td.colLast a {
+    padding-bottom:3px;
+}
+/*
+ * Styles for formatting effect.
+ */
+.sourceLineNo {
+    color:green;
+    padding:0 30px 0 0;
+}
+h1.hidden {
+    visibility:hidden;
+    overflow:hidden;
+    font-size:10px;
+}
+.block {
+    display:block;
+    margin:3px 10px 2px 0px;
+    color:#474747;
+}
+.deprecatedLabel, .descfrmTypeLabel, .implementationLabel, .memberNameLabel, .memberNameLink,
+.moduleLabelInPackage, .moduleLabelInType, .overrideSpecifyLabel, .packageLabelInType,
+.packageHierarchyLabel, .paramLabel, .returnLabel, .seeLabel, .simpleTagLabel,
+.throwsLabel, .typeNameLabel, .typeNameLink, .searchTagLink {
+    font-weight:bold;
+}
+.deprecationComment, .emphasizedPhrase, .interfaceName {
+    font-style:italic;
+}
+.deprecationBlock {
+    font-size:14px;
+    font-family:'DejaVu Serif', Georgia, "Times New Roman", Times, serif;
+    border-style:solid;
+    border-width:thin;
+    border-radius:10px;
+    padding:10px;
+    margin-bottom:10px;
+    margin-right:10px;
+    display:inline-block;
+}
+div.block div.deprecationComment, div.block div.block span.emphasizedPhrase,
+div.block div.block span.interfaceName {
+    font-style:normal;
+}
+div.contentContainer ul.blockList li.blockList h2 {
+    padding-bottom:0px;
+}
+/*
+ * Styles for IFRAME.
+ */
+.mainContainer {
+    margin:0 auto; 
+    padding:0; 
+    height:100%; 
+    width:100%; 
+    position:fixed; 
+    top:0; 
+    left:0;
+}
+.leftContainer {
+    height:100%;
+    position:fixed;
+    width:320px;
+}
+.leftTop {
+    position:relative;
+    float:left;
+    width:315px;
+    top:0;
+    left:0;
+    height:30%;
+    border-right:6px solid #ccc;
+    border-bottom:6px solid #ccc;
+}
+.leftBottom {
+    position:relative;
+    float:left;
+    width:315px;
+    bottom:0;
+    left:0;
+    height:70%;
+    border-right:6px solid #ccc;
+    border-top:1px solid #000;
+}
+.rightContainer {
+    position:absolute;
+    left:320px;
+    top:0;
+    bottom:0;
+    height:100%;
+    right:0;
+    border-left:1px solid #000;
+}
+.rightIframe {
+    margin:0;
+    padding:0;
+    height:100%;
+    right:30px;
+    width:100%;
+    overflow:visible;
+    margin-bottom:30px;
+}
+/*
+ * Styles specific to HTML5 elements.
+ */
+main, nav, header, footer, section {
+    display:block;
+}
+/*
+ * Styles for javadoc search.
+ */
+.ui-autocomplete-category {
+    font-weight:bold;
+    font-size:15px;
+    padding:7px 0 7px 3px;
+    background-color:#4D7A97;
+    color:#FFFFFF;
+}
+.resultItem {
+    font-size:13px;
+}
+.ui-autocomplete {
+    max-height:85%;
+    max-width:65%;
+    overflow-y:scroll;
+    overflow-x:scroll;
+    white-space:nowrap;
+    box-shadow: 0 3px 6px rgba(0,0,0,0.16), 0 3px 6px rgba(0,0,0,0.23);
+}
+ul.ui-autocomplete {
+    position:fixed;
+    z-index:999999;
+    background-color: #FFFFFF;
+}
+ul.ui-autocomplete  li {
+    float:left;
+    clear:both;
+    width:100%;
+}
+.resultHighlight {
+    font-weight:bold;
+}
+.ui-autocomplete .result-item {
+    font-size: inherit;
+}
+#search {
+    background-image:url('resources/glass.png');
+    background-size:13px;
+    background-repeat:no-repeat;
+    background-position:2px 3px;
+    padding-left:20px;
+    position:relative;
+    right:-18px;
+}
+#reset {
+    background-color: rgb(255,255,255);
+    background-image:url('resources/x.png');
+    background-position:center;
+    background-repeat:no-repeat;
+    background-size:12px;
+    border:0 none;
+    width:16px;
+    height:17px;
+    position:relative;
+    left:-4px;
+    top:-4px;
+    font-size:0px;
+}
+.watermark {
+    color:#545454;
+}
+.searchTagDescResult {
+    font-style:italic;
+    font-size:11px;
+}
+.searchTagHolderResult {
+    font-style:italic;
+    font-size:12px;
+}
+.searchTagResult:before, .searchTagResult:target {
+    color:red;
+}
+.moduleGraph span {
+    display:none;
+    position:absolute;
+}
+.moduleGraph:hover span {
+    display:block;
+    margin: -100px 0 0 100px;
+    z-index: 1;
+}
+.methodSignature {
+    white-space:normal;
+}
+
+/*
+ * Styles for user-provided tables.
+ *
+ * borderless:
+ *      No borders, vertical margins, styled caption.
+ *      This style is provided for use with existing doc comments.
+ *      In general, borderless tables should not be used for layout purposes.
+ *
+ * plain:
+ *      Plain borders around table and cells, vertical margins, styled caption.
+ *      Best for small tables or for complex tables for tables with cells that span
+ *      rows and columns, when the "striped" style does not work well.
+ *
+ * striped:
+ *      Borders around the table and vertical borders between cells, striped rows,
+ *      vertical margins, styled caption.
+ *      Best for tables that have a header row, and a body containing a series of simple rows.
+ */
+
+table.borderless,
+table.plain,
+table.striped {
+    margin-top: 10px;
+    margin-bottom: 10px;
+}
+table.borderless > caption,
+table.plain > caption,
+table.striped > caption {
+    font-weight: bold;
+    font-size: smaller;
+}
+table.borderless th, table.borderless td,
+table.plain th, table.plain td,
+table.striped th, table.striped td {
+    padding: 2px 5px;
+}
+table.borderless,
+table.borderless > thead > tr > th, table.borderless > tbody > tr > th, table.borderless > tr > th,
+table.borderless > thead > tr > td, table.borderless > tbody > tr > td, table.borderless > tr > td {
+    border: none;
+}
+table.borderless > thead > tr, table.borderless > tbody > tr, table.borderless > tr {
+    background-color: transparent;
+}
+table.plain {
+    border-collapse: collapse;
+    border: 1px solid black;
+}
+table.plain > thead > tr, table.plain > tbody tr, table.plain > tr {
+    background-color: transparent;
+}
+table.plain > thead > tr > th, table.plain > tbody > tr > th, table.plain > tr > th,
+table.plain > thead > tr > td, table.plain > tbody > tr > td, table.plain > tr > td {
+    border: 1px solid black;
+}
+table.striped {
+    border-collapse: collapse;
+    border: 1px solid black;
+}
+table.striped > thead {
+    background-color: #E3E3E3;
+}
+table.striped > thead > tr > th, table.striped > thead > tr > td {
+    border: 1px solid black;
+}
+table.striped > tbody > tr:nth-child(even) {
+    background-color: #EEE
+}
+table.striped > tbody > tr:nth-child(odd) {
+    background-color: #FFF
+}
+table.striped > tbody > tr > th, table.striped > tbody > tr > td {
+    border-left: 1px solid black;
+    border-right: 1px solid black;
+}
+table.striped > tbody > tr > th {
+    font-weight: normal;
+}
diff --git a/docs/java/type-search-index.js b/docs/java/type-search-index.js
new file mode 100644
index 00000000..84bc777f
--- /dev/null
+++ b/docs/java/type-search-index.js
@@ -0,0 +1 @@
+typeSearchIndex = [{"p":"com.pathplanner.lib.pathfinding","l":"ADStar"},{"l":"All Classes","url":"allclasses-index.html"},{"p":"com.pathplanner.lib.auto","l":"AutoBuilder"},{"p":"com.pathplanner.lib.auto","l":"AutoBuilderException"},{"p":"com.pathplanner.lib.util","l":"ChassisSpeedsRateLimiter"},{"p":"com.pathplanner.lib.auto","l":"CommandUtil"},{"p":"com.pathplanner.lib.path","l":"ConstraintsZone"},{"p":"com.pathplanner.lib.path","l":"EventMarker"},{"p":"com.pathplanner.lib.commands","l":"FollowPathCommand"},{"p":"com.pathplanner.lib.commands","l":"FollowPathHolonomic"},{"p":"com.pathplanner.lib.commands","l":"FollowPathLTV"},{"p":"com.pathplanner.lib.commands","l":"FollowPathRamsete"},{"p":"com.pathplanner.lib.commands","l":"FollowPathWithEvents"},{"p":"com.pathplanner.lib.util","l":"GeometryUtil"},{"p":"com.pathplanner.lib.path","l":"GoalEndState"},{"p":"com.pathplanner.lib.pathfinding","l":"ADStar.GridPosition"},{"p":"com.pathplanner.lib.util","l":"HolonomicPathFollowerConfig"},{"p":"com.pathplanner.lib.auto","l":"NamedCommands"},{"p":"com.pathplanner.lib.path","l":"PathConstraints"},{"p":"com.pathplanner.lib.commands","l":"PathfindHolonomic"},{"p":"com.pathplanner.lib.commands","l":"PathfindingCommand"},{"p":"com.pathplanner.lib.commands","l":"PathfindLTV"},{"p":"com.pathplanner.lib.commands","l":"PathfindRamsete"},{"p":"com.pathplanner.lib.commands","l":"PathfindThenFollowPathHolonomic"},{"p":"com.pathplanner.lib.commands","l":"PathfindThenFollowPathLTV"},{"p":"com.pathplanner.lib.commands","l":"PathfindThenFollowPathRamsete"},{"p":"com.pathplanner.lib.controllers","l":"PathFollowingController"},{"p":"com.pathplanner.lib.commands","l":"PathPlannerAuto"},{"p":"com.pathplanner.lib.util","l":"PathPlannerLogging"},{"p":"com.pathplanner.lib.path","l":"PathPlannerPath"},{"p":"com.pathplanner.lib.path","l":"PathPlannerTrajectory"},{"p":"com.pathplanner.lib.path","l":"PathPoint"},{"p":"com.pathplanner.lib.path","l":"PathSegment"},{"p":"com.pathplanner.lib.util","l":"PIDConstants"},{"p":"com.pathplanner.lib.controllers","l":"PPHolonomicDriveController"},{"p":"com.pathplanner.lib.util","l":"PPLibTelemetry"},{"p":"com.pathplanner.lib.controllers","l":"PPLTVController"},{"p":"com.pathplanner.lib.controllers","l":"PPRamseteController"},{"p":"com.pathplanner.lib.auto","l":"AutoBuilder.QuadFunction"},{"p":"com.pathplanner.lib.util","l":"ReplanningConfig"},{"p":"com.pathplanner.lib.path","l":"RotationTarget"},{"p":"com.pathplanner.lib.path","l":"PathPlannerTrajectory.State"},{"p":"com.pathplanner.lib.auto","l":"AutoBuilder.TriFunction"}]
\ No newline at end of file
diff --git a/docs/java/type-search-index.zip b/docs/java/type-search-index.zip
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