diff --git a/CMakeLists.txt b/CMakeLists.txt
index 01ba915..657d933 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -8,6 +8,7 @@ set(CMAKE_CXX_FLAGS "$ENV{CXXFLAGS} -O3")
 set(COMMUNICATION UDP)            # UDP
 # set(COMMUNICATION ROS)          # ROS
 
+
 # ----------------------configurations----------------------
 # COMMUNICATION
 if(${COMMUNICATION} STREQUAL "UDP")
@@ -59,7 +60,6 @@ include_directories(
 
 link_directories(lib)
 
-
 # ----------------------add executable----------------------
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/../build)                # EXECUTABLE:CMAKE_RUNTIME_OUTPUT_DIRECTORY
 add_executable(z1_ctrl main.cpp)
diff --git a/include/control/CtrlComponents.h b/include/control/CtrlComponents.h
index f3a4ab4..6160da8 100755
--- a/include/control/CtrlComponents.h
+++ b/include/control/CtrlComponents.h
@@ -37,6 +37,7 @@ public:
     bool isCollisionOpen;
     double collisionTLimit;
     bool isPlot;
+    int trajChoose = 1;
 
     void geneObj();
     void writeData();
diff --git a/lib/libZ1_ROS_Linux64.so b/lib/libZ1_ROS_Linux64.so
index 0e3c8dd..9043250 100644
Binary files a/lib/libZ1_ROS_Linux64.so and b/lib/libZ1_ROS_Linux64.so differ
diff --git a/lib/libZ1_UDP_Linux64.so b/lib/libZ1_UDP_Linux64.so
index cdbca9d..4390d69 100644
Binary files a/lib/libZ1_UDP_Linux64.so and b/lib/libZ1_UDP_Linux64.so differ