feat: is_down (#35)

lebai-robotics · Apr 14, 2023 · b70ae1e · b70ae1e
1 parent 1c68b3c
commit b70ae1e
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Showing 2 changed files with 11 additions and 0 deletions.
diff --git a/sdk/include/lebai/robot.hh b/sdk/include/lebai/robot.hh
@@ -407,6 +407,12 @@ namespace lebai
      * @return 是否已断开连接
      */
     bool is_disconnected();
+    /**
+     * @brief 手臂是否已下电
+     *
+     * @return 是否已下电
+     */
+    bool is_down();
     /**
      * @brief 获取机械臂关节当前反馈位置 
      * 

diff --git a/sdk/src/robot.cc b/sdk/src/robot.cc
@@ -454,6 +454,11 @@ bool Robot::is_disconnected()
  return impl_->getRobotState() == 0;
 }
 
+bool Robot::is_down()
+{
+ return impl_->getRobotState() < 4;
+}
+
 std::vector<double> Robot::get_actual_joint_positions()
 {
   std::map<std::string, double> ret;