Moving backwards with Okapi motion profiling?

Okapi 4.0 patch notes says AsyncMotionProfileController can follow paths backwards without mirroring them. How would you make it follow backwards paths? We tried plugging in negative numbers into the 2nd point in the method, but we got runtime errors.

have you look at the docs here:
and here

notice ibackward

void okapi::OdomChassisController::driveToPoint(const Point& ipoint, bool ibackwards = false, const QLength& ioffset = 0_mm) pure virtual


That’s the odometry, not the 2d motion profiling.

nevermind i found this

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There is a mention of this in the tutorial as well: