Q: Does the filesystem have an undelete capability?
There is no undelete in XFS.
However, if an inode is unlinked but neither it nor its associated data blocks get immediately re-used and overwritten, there is some small chance to recover the file from the disk.
photorec, xfs_irecover or xfsr are some tools which attempt to do this, with varying success.
There are also commercial data recovery services and closed source software like Raise Data Recovery for XFS which claims to recover data, although this has not been tested by the XFS developers.
As always, the best advice is to keep good backups.