ChoreoLib

Copy WPILib's CubicHermiteSpline as a differential initial guess #2764

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Run time

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Job	Run time
Build C++ and Java / Athena	2m 42s
Build Python	16s
Build C++ and Java / Linux-arm32	2m 47s
Build C++ and Java / Windows-x86_64	5m 48s
Upload vendordep JSON	4s
Build C++ and Java / macOS-x86_64	5m 49s
Build C++ and Java / Linux-arm64	2m 59s
Build C++ and Java / Linux-x86_64	2m 18s
Build C++ and Java / macOS-arm64	2m 45s
Upload release to PyPI	0s
Combine	23s
	25m 51s