.. include:: <isonum.txt>

# Trajectory Generation and Following with WPILib

This section describes WPILib support for generating parameterized spline trajectories and following those trajectories with typical FRC\ |reg| robot drives.

.. toctree::
   :maxdepth: 1

   trajectory-generation
   constraints
   manipulating-trajectories
   transforming-trajectories
   ltv
   troubleshooting