In the new episode 7x20

I think it was supposed to be in the present. There was the scene earlier where Robin was in the storm trooper suit and Barney asked the guys if they had a fantasy of sleeping with a girl while she's dressed as a storm trooper, and they both replied that no, that was weird. And you could see Robin in the background agreeing. I think it's supposed to show that Quinn is Barney's perfect woman.