text: #ifndef FRANKA_INTERFACE_TRAJECTORY_GENERATOR_PASS_THROUGH_POSE_TRAJECTORY_GENERATOR_H_
  #define FRANKA_INTERFACE_TRAJECTORY_GENERATOR_PASS_THROUGH_POSE_TRAJECTORY_GENERATOR_H_
  
  #include "franka-interface/trajectory_generator/pose_trajectory_generator.h"
  
  class PassThroughPoseTrajectoryGenerator : public PoseTrajectoryGenerator {
   public:
    using PoseTrajectoryGenerator::PoseTrajectoryGenerator;
  
    void get_next_step(const franka::RobotState &robot_state) override;
  
    void parse_sensor_data(const franka::RobotState &robot_state) override;
  
   private:
    PosePositionSensorMessage pose_sensor_msg_;
  
  };
  
  #endif	// FRANKA_INTERFACE_TRAJECTORY_GENERATOR_PASS_THROUGH_POSE_TRAJECTORY_GENERATOR_H_