cp_trajectory_history.h

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/*****************************************************************************************************************
 * ReelRobotix Inc. - Software License Agreement      Copyright (c) 2018-2020
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
#pragma once
 
#include <smacc/component.h>
 
#include <moveit_msgs/RobotTrajectory.h>
#include <moveit_msgs/MoveItErrorCodes.h>
 
namespace cl_move_group_interface
{
 
    struct TrajectoryHistoryEntry
    {
        moveit_msgs::RobotTrajectory trajectory;
        moveit_msgs::MoveItErrorCodes result;
        std::string name;
    };
 
    class CpTrajectoryHistory : public smacc::ISmaccComponent
    {
 
    public:
        bool getLastTrajectory(int backIndex, moveit_msgs::RobotTrajectory &trajectory);
 
        bool getLastTrajectory(moveit_msgs::RobotTrajectory &trajectory);
 
        void pushTrajectory(std::string name, const moveit_msgs::RobotTrajectory &trajectory, moveit_msgs::MoveItErrorCodes result);
 
    private:
        std::vector<TrajectoryHistoryEntry> trajectoryHistory_;
    };
} // namespace cl_move_group_interface