re-add the fromPathPoints PathPlannerPath factory method (#399)

* re-add fromPathPoints factory to java pplib

* format

pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPlannerPath.java

@@ -110,6 +110,23 @@ private PathPlannerPath(PathConstraints globalConstraints, GoalEndState goalEndS
     this.allPoints = new ArrayList<>();
   }
 
+  /**
+   * Creat a path with pre-generated points. This should already be a smooth path.
+   *
+   * @param pathPoints Path points along the smooth curve of the path
+   * @param constraints The global constraints of the path
+   * @param goalEndState The goal end state of the path
+   * @return A PathPlannerPath following the given pathpoints
+   */
+  public static PathPlannerPath fromPathPoints(
+      List<PathPoint> pathPoints, PathConstraints constraints, GoalEndState goalEndState) {
+    PathPlannerPath path = new PathPlannerPath(constraints, goalEndState);
+    path.allPoints = pathPoints;
+    path.precalcValues();
+
+    return path;
+  }
+
   /**
    * Create the bezier points necessary to create a path using a list of poses
    *

pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPoint.java

@@ -45,15 +45,6 @@ public PathPoint(Translation2d position, Rotation2d holonomicRotation) {
     this.holonomicRotation = holonomicRotation;
   }
 
-  /**
-   * Create a path point
-   *
-   * @param position Position of the point
-   */
-  public PathPoint(Translation2d position) {
-    this.position = position;
-  }
-
   @Override
   public boolean equals(Object o) {
     if (this == o) return true;