Added is_finished

include/iri_joints_module/iri_joints_module.h

@@ -170,7 +170,14 @@ class CIriJointsModule : public CModule<iri_joints_module::IriJointsModuleConfig
     void cancel_point_to(void);
 
     /**
-      * \brief Function to change the inverse kinematics solver tolerance
+      * \brief Function to know if point to action is finished.
+      *
+      * \return True if finished.
+      */
+    bool point_to_finished(void);
+
+    /**
+      * \brief Function to change the inverse kinematics solver tolerance.
       *
       * \param tolerance Inverse kinematics tolerance.
       *

src/iri_joints_module.cpp

@@ -201,6 +201,14 @@ void CIriJointsModule::cancel_point_to(void)
     this->cancel_poin_to = true;
 }
 
+bool CIriJointsModule::point_to_finished(void)
+{
+  if(this->state == IRI_JOINTS_MODULE_IDLE && this->new_point_goal == false)
+    return true;
+  else
+    return false;
+}
+
 bool CIriJointsModule::set_tolerance(double tolerance)
 {
   this->lock();