content: package com.acmerobotics.roadrunner.ftc;
  
  import com.acmerobotics.roadrunner.Pose2d;
  import com.acmerobotics.roadrunner.Pose2dDual;
  import com.acmerobotics.roadrunner.ProfileAccelConstraint;
  import com.acmerobotics.roadrunner.ProfileParams;
  import com.acmerobotics.roadrunner.TrajectoryBuilder;
  import com.acmerobotics.roadrunner.TrajectoryBuilderParams;
  import com.acmerobotics.roadrunner.TranslationalVelConstraint;
  
  public class PoseMappingSamples {
      public void makePath() {
          final Pose2d beginPose = new Pose2d(0, 0, 0);
          final double eps = 1e-6;
          final double beginEndVel = 0.0;
          final TranslationalVelConstraint baseVelConstraint = new TranslationalVelConstraint(30.0);
          final ProfileAccelConstraint baseAccelConstraint = new ProfileAccelConstraint(-10.0, 25.0);
          final double dispResolution = 0.25;
          final double angResolution = 1e-2;
  
          // using the variables in scope
          // sample: xReflection
          new TrajectoryBuilder(new TrajectoryBuilderParams(eps,
                  new ProfileParams(dispResolution, angResolution, eps)),
                  beginPose, beginEndVel,
                  baseVelConstraint, baseAccelConstraint,
                  pose -> new Pose2dDual<>(
                          pose.position.x, pose.position.y.unaryMinus(), pose.heading.inverse()));
          // end sample
      }
  }
  