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It would probably be helpful if you posted the error message for the part where you say that the trajectory is not executed, and what "the continue function" does exactly. My guess is that the trajectory you try to "continue" on is not valid anymore.
If you are executing a trajectory, pre-empting it during execution, and then send the same trajectory (or the myplan object that still contains the same trajectory) to execute, then the first points of the trajectory will be too far away from the current state of the robot and it will refuse to move.
To fix this problem, either recalculate the cartesian path from the current state of the robot, or (less safe, probably less reliable and more manual work) remove the points from your trajectory that the robot has already executed.
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