Flipped Choreo auto path doesn't flip angular velocity

[vqxel]

Take any Choreo generated path that has some rotation and use it in a PathPlanner auto. If you run it on blue (not mirrored) it runs fine. If you run it on red (mirrored) none of the rotation actually happens unless you use rotational feedback. Rotational feedforward doesn't work.

Video:
https://github.com/mjansen4857/pathplanner/assets/57022309/ff2c5c82-bd6c-47f3-a5ce-5159a5efad68

I cloned pplib and traced the bug to this line here:
mirrored.holonomicAngularVelocityRps.ifPresent(v -> mirrored.holonomicAngularVelocityRps = Optional.of(-v));

This checks if the mirrored path has the holonomicAngularVelocityRps field which it doesn't because it was just instantiated above. If you change this to state instead of mirrored for the check if it's present it works. I tested this in my own codebase.

This is what it looks like with the change:
https://github.com/mjansen4857/pathplanner/assets/57022309/766541e6-7fc1-41bc-8925-702a62f77ae0

[vqxel]

#566 Sorry im new to making PRs and stuff on other people's repos. Probably shouldn't have created this issue and should have just posted all this to my PR, not this issue.

[mjansen4857]

2024.1.4 is currently being pushed with this fixed. Forgot to do it last night