From: zer0 <zer0@carbon.local>
Date: Mon, 3 May 2010 15:25:15 +0000 (+0200)
Subject: add a get_State() func
X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=commitdiff_plain;h=d3a38d6cce69bc7debce828b4ecd3a9c0c866e96;hp=ba4ad67d2bd3457a12615439a7e2f748cfb7bcde

add a get_State() func
---

diff --git a/modules/devices/robot/trajectory_manager/trajectory_manager.h b/modules/devices/robot/trajectory_manager/trajectory_manager.h
index 3e22502..7cab785 100644
--- a/modules/devices/robot/trajectory_manager/trajectory_manager.h
+++ b/modules/devices/robot/trajectory_manager/trajectory_manager.h
@@ -149,6 +149,11 @@ void trajectory_set_windows(struct trajectory *traj, double d_win,
  */
 void trajectory_set_circle_coef(struct trajectory *traj, double coef);
 
+/**
+ * return trajectory state
+ */
+enum trajectory_state trajectory_get_state(struct trajectory *traj);
+
 /** return true if the position consign is equal to the filtered
  * position consign (after quadramp filter), for angle and
  * distance. */
diff --git a/modules/devices/robot/trajectory_manager/trajectory_manager_utils.c b/modules/devices/robot/trajectory_manager/trajectory_manager_utils.c
index c48b592..5ec5755 100644
--- a/modules/devices/robot/trajectory_manager/trajectory_manager_utils.c
+++ b/modules/devices/robot/trajectory_manager/trajectory_manager_utils.c
@@ -155,6 +155,11 @@ uint8_t is_robot_in_angle_window(struct trajectory *traj, double a_win_rad)
 	return ABS(a) < a_win_rad;
 }
 
+enum trajectory_state trajectory_get_state(struct trajectory *traj)
+{
+	return traj->state;
+}
+
 /* distance unit conversions */
 
 double pos_mm2imp(struct trajectory *traj, double pos)