.. _program_listing_file__tmp_ws_src_SMACC2_smacc2_client_library_move_group_interface_client_include_move_group_interface_client_components_cp_trajectory_history.hpp:

Program Listing for File cp_trajectory_history.hpp
==================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_SMACC2_smacc2_client_library_move_group_interface_client_include_move_group_interface_client_components_cp_trajectory_history.hpp>` (``/tmp/ws/src/SMACC2/smacc2_client_library/move_group_interface_client/include/move_group_interface_client/components/cp_trajectory_history.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2021 RobosoftAI Inc.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   /*****************************************************************************************************************
    *
    *   Authors: Pablo Inigo Blasco, Brett Aldrich
    *
    *****************************************************************************************************************/
   
   #pragma once
   
   #include <smacc2/component.hpp>
   
   #include <moveit_msgs/msg/move_it_error_codes.hpp>
   #include <moveit_msgs/msg/robot_trajectory.hpp>
   
   namespace cl_move_group_interface
   {
   struct TrajectoryHistoryEntry
   {
     moveit_msgs::msg::RobotTrajectory trajectory;
     moveit_msgs::msg::MoveItErrorCodes result;
     std::string name;
   };
   
   class CpTrajectoryHistory : public smacc2::ISmaccComponent
   {
   public:
     bool getLastTrajectory(int backIndex, moveit_msgs::msg::RobotTrajectory & trajectory);
   
     bool getLastTrajectory(moveit_msgs::msg::RobotTrajectory & trajectory);
   
     void pushTrajectory(
       std::string name, const moveit_msgs::msg::RobotTrajectory & trajectory,
       moveit_msgs::msg::MoveItErrorCodes result);
   
   private:
     std::vector<TrajectoryHistoryEntry> trajectoryHistory_;
   };
   }  // namespace cl_move_group_interface