[wombat] add pathplanner

wombat/src/main/cpp/utils/Pathplanner.cpp

@@ -0,0 +1,18 @@
+// Copyright (c) 2023-2024 CurtinFRC
+// Open Source Software, you can modify it according to the terms
+// of the MIT License at the root of this project
+
+#include "utils/Pathplanner.h"
+
+using namespace wom;
+
+utils::Pathplanner::Pathplanner() {}
+
+frc::Trajectory utils::Pathplanner::getTrajectory(std::string_view path) {
+  try {
+    fs::path path_location = deploy_directory / path;
+    return frc::TrajectoryUtil::FromPathweaverJson(path_location.string());
+  } catch (std::exception& e) {
+    return getTrajectory(path);
+  }
+}

wombat/src/main/include/utils/Pathplanner.h

@@ -0,0 +1,25 @@
+// Copyright (c) 2023-2024 CurtinFRC
+// Open Source Software, you can modify it according to the terms
+// of the MIT License at the root of this project
+
+#pragma once
+
+#include <frc/Filesystem.h>
+#include <frc/trajectory/TrajectoryUtil.h>
+#include <wpi/fs.h>
+
+#include "utils/Util.h"
+
+namespace wom {
+namespace utils {
+class Pathplanner {
+ public:
+  Pathplanner();
+
+  frc::Trajectory getTrajectory(std::string_view path);
+
+ private:
+  fs::path deploy_directory = frc::filesystem::GetDeployDirectory();
+};
+}  // namespace utils
+}  // namespace wom