cb_undo_last_trajectory.h

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/*****************************************************************************************************************
 * ReelRobotix Inc. - Software License Agreement      Copyright (c) 2018-2020
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
#pragma once
 
#include <move_group_interface_client/client_behaviors/cb_move_end_effector_trajectory.h>
#include <move_group_interface_client/components/cp_trajectory_history.h>
 
namespace cl_move_group_interface
{
    class CbUndoLastTrajectory : public CbMoveEndEffectorTrajectory
    {
    public:
        CbUndoLastTrajectory();
 
        CbUndoLastTrajectory(int backIndex);
 
        virtual ~CbUndoLastTrajectory();
 
        virtual void onEntry() override;
    private:
        int backIndex_ = -1;
 
        moveit_msgs::RobotTrajectory trajectory;
        moveit_msgs::RobotTrajectory reversed;
    };
 
} // namespace cl_move_group_interface