[JathinBMAVS]

Adds a Max Angular Acceleration constraint (waypoint and segment scope, swerve and differential), the angular counterpart to the existing Max Acceleration constraint. It bounds the chassis angular acceleration to [-max, max], which is useful for limiting how hard the robot whips its heading around (e.g. to keep game pieces seated or to keep a turret/shooter stable).

Changes

• trajoptlib: new AngularAccelerationMaxMagnitudeConstraint (mirrors AngularVelocityMaxMagnitudeConstraint but bounds angular_acceleration), added to the Constraint variant, plus wpt_/sgmt_angular_acceleration_max_magnitude on PathBuilder and through the Rust FFI for both generators.
• src-core: new ConstraintData::MaxAngularAcceleration { max } and generation wiring for swerve and differential.
• UI: constraint definition (AngAcc dimension, default 0 rad/s^2 to match the other Max constraints) and an empty field overlay entry.
• Docs: added to the constraint list in docs/usage/editing-paths.md.

Notes

• Like Max Acceleration, this constraint can noticeably increase solve time on long segments.
• No schema version bump: this only adds a new constraint variant.
• The constraint navbar screenshot (docs/media/constraint_navbar.png) doesn't include the new icon yet.

Testing

• cargo clippy -- -D warnings, cargo fmt, wpiformat, tsc, eslint, prettier pass
• Used on a real robot: FRC team 6773 ran autos built with this constraint on its competition robot throughout the 2026 REBUILT season, and it behaved as expected
• Generated test-jsons/trajectory/3/swerve.traj with choreo-cli, adding Max Angular Acceleration = 2 rad/s² over the whole path: peak |α| went from 21.1 rad/s² (without the constraint) to 1.9997 rad/s², and the duration went from 1.20 s to 2.50 s, which matches the bang-bang minimum time for its 180° heading change (2·√(π/2) ≈ 2.51 s)

[JathinBMAVS]

Closing in favor of #1537, which is the same change opened from my personal account.