// 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 <moveit2z_client/client_behaviors/cb_move_end_effector_trajectory.hpp>
#include <moveit2z_client/components/cp_trajectory_history.hpp>

namespace cl_moveit2z
{
class CbUndoLastTrajectory : public CbMoveEndEffectorTrajectory
{
public:
  CbUndoLastTrajectory();

  CbUndoLastTrajectory(int backIndex);

  virtual ~CbUndoLastTrajectory();

  virtual void onEntry() override;

  virtual void generateTrajectory();

private:
  int backIndex_ = -1;

  moveit_msgs::msg::RobotTrajectory trajectory;
  moveit_msgs::msg::RobotTrajectory reversed;
};

}  // namespace cl_moveit2z
