fix(arm): reconcile protective recovery interface

2026-08-13 14:59:00 +08:00 · 2026-08-13 14:59:00 +08:00 · b30e6a5c73
commit b30e6a5c73
parent 4405c210de
1 changed files with 8 additions and 0 deletions
--- a/cmvr-es/devices/arm/ume_robot_arm/include/ume_robot_arm.h
+++ b/cmvr-es/devices/arm/ume_robot_arm/include/ume_robot_arm.h
@ -63,6 +63,14 @@ public:

    Result emergencyStop() override;
    Result protectiveStop() override;
+    Result recoverProtectiveStop(
+        const JointTrajectory&,
+        const MotionOptions&) override
+    {
+        return Result::failure(
+            ArmErrorCode::UnsupportedCommand,
+            "protective recovery is not implemented for UmeRobotArm");
+    }
    Result setSpeedScaling(double scaling) override;
    double getSpeedScaling() const override { return 1.0; }
    bool isProtectiveStopped() const override