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fix(arm): reconcile protective recovery interface

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This commit is contained in:
linbo 2026-08-13 14:59:00 +08:00
parent 4405c210de
commit b30e6a5c73
1 changed files with 8 additions and 0 deletions
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8
cmvr-es/devices/arm/ume_robot_arm/include/ume_robot_arm.h
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@ -63,6 +63,14 @@ public:
Result emergencyStop() override; Result emergencyStop() override;
Result protectiveStop() 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; Result setSpeedScaling(double scaling) override;
double getSpeedScaling() const override { return 1.0; } double getSpeedScaling() const override { return 1.0; }
bool isProtectiveStopped() const override bool isProtectiveStopped() const override