package Ġorg . first insp ires . ft c . team code . trajectory sequence impro ved . sequence segment Ċ Ċ import Ġcom . ac mer obot ics . road runner . geometry . Pose 2 d Ċ import Ġorg . first insp ires . ft c . team code . trajectory sequence impro ved . Trajectory Sequence Ċ Ċ class ĠFuture Segment ( ĊĠĠĠ Ġstart Pose 2 d : ĠP ose 2 d , ĊĠĠĠ Ġend Pose 2 d : ĠP ose 2 d , ĊĠĠĠ Ġvar Ġtrajectory : ĠTra jectory Sequence ? Ġ= Ġnull , Ċ ) Ġ: ĠSequence Segment ( ĊĠĠĠ Ġ{ ĊĠĠĠĠĠĠĠ Ġtrajectory ?. duration () Ġ?: Ġ 0 . 0 ĊĠĠĠ Ġ}, ĊĠĠĠ Ġstart Pose 2 d , ĊĠĠĠ Ġend Pose 2 d , ĊĠĠĠ Ġempty List (), Ċ )