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ALBasicAwareness API

NAOqi PeoplePerception - Overview | API | Getting started

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Namespace : AL

#include <alproxies/albasicawareness>

Method list

As any module, this module inherits methods from ALModule API. It also has the following specific methods:

class ALBasicAwarenessProxy

• ALBasicAwarenessProxy::startAwareness()
• ALBasicAwarenessProxy::stopAwareness()
• ALBasicAwarenessProxy::isAwarenessRunning()
• ALBasicAwarenessProxy::setStimulusDetectionEnabled()
• ALBasicAwarenessProxy::isStimulusDetectionEnabled()
• ALBasicAwarenessProxy::setEngagementMode()
• ALBasicAwarenessProxy::getEngagementMode()
• ALBasicAwarenessProxy::engagePerson()
• ALBasicAwarenessProxy::setTrackingMode()
• ALBasicAwarenessProxy::getTrackingMode()
• ALBasicAwarenessProxy::setParameter()
• ALBasicAwarenessProxy::getParameter()
• ALBasicAwarenessProxy::resetAllParameters()

Events lists

• ALBasicAwareness/StimulusDetected()
• ALBasicAwareness/HumanTracked()
• ALBasicAwareness/HumanLost()

Methods

void ALBasicAwarenessProxy::startAwareness()

Starts basic awareness.

void ALBasicAwarenessProxy::stopAwareness()

Stops basic awareness.

bool ALBasicAwarenessProxy::isAwarenessRunning()

Gets the status (started or not) of the module.

Returns:Boolean value: true if the module is started, false if it’s stopped or paused.

void ALBasicAwarenessProxy::setStimulusDetectionEnabled(const std::string stimType, const bool enable)

Enables/disables detection of the specified type of stimulus.

Parameters:

• stimType – Type of stimulus. For further details, see: Types of stimulus.
• enable – true to enable, false to disable.

bool ALBasicAwarenessProxy::isStimulusDetectionEnabled(const std::string stimType)

Gets status enabled/disabled for the detection of the specified type of stimulus.

Parameters:

• stimType – Type of stimulus. For further details, see: Types of stimulus.

Returns:

true if enabled, false if disabled

Note

Throws AL::ALError if setting fails.

void ALBasicAwarenessProxy::setEngagementMode(const std::string& modeName)

Sets the engagement mode.

Parameters:

• modeName – Name of the engagement mode to be set. For further details, see: Engagement Modes.

std::string ALBasicAwarenessProxy::getEngagementMode()

Gets the current engagement mode. For further details, see: Engagement Modes.

Returns:The engagement mode name.

bool ALBasicAwarenessProxy::engagePerson(const int idPersonToEngage)

Forces the robot to engage a person identified by its PeoplePerception ID.

Parameters:

• idPersonToEngage – ID of the person to engage, as it can be found in PeoplePerception/PeopleList().

Returns:

true if the robot succeeded to engage the person, else false.

void ALBasicAwarenessProxy::setTrackingMode(const std::string& trackingMode)

Sets the current tracking Mode.

Parameters:

• trackingMode – name of the tracking mode. For further details, see: Tracking Modes.

std::string ALBasicAwarenessProxy::getTrackingMode()

Gets the current tracking mode.

Returns:the tracking mode name. For further details, see: Tracking Modes.

void ALBasicAwarenessProxy::setParameter(const std::string& paramName, const AL::ALValue& paramValue)

Sets parameters related to basic awareness features.

Parameters:

• paramName – name of the parameter, among the following:

• “LookStimulusSpeed”: speed of head moves when looking at a stimulus (float in ]0;1]),
• “LookBackSpeed”: speed of head moves when looking back to previous position after false alarm (float in ]0;1]).

Parameters:

• paramValue – value of the parameter to be set (ALValue).

AL::ALValue ALBasicAwarenessProxy::getParameter(const std::string& paramName)

Gets parameters related to basic awareness features.

Parameters:

• paramName – name of the parameter, among: “LookStimulusSpeed”, “LookBackSpeed”.

Returns:

value of the parameter (ALValue).

void ALBasicAwarenessProxy::resetAllParameters()

Resets all parameters to their default values.

Events

Event: "ALBasicAwareness/StimulusDetected"

callback(std::string eventName, std::string stimulusName, std::string subscriberIdentifier)

Raised when a stimulus is detected.

Parameters:

• eventName (std::string) – “ALBasicAwareness/StimulusDetected”
• stimulusName – Name of the stimulus detected. See the names of the available stimuli in section Stimuli Types.
• subscriberIdentifier (std::string) –

Note

To know if a person is detected in the general case, use the event HumanTracked rather than the event StimulusDetected with the value People. For example, if the robot detects a person thanks to a sound stimulus, the robot will raise the event StimulusDetected with the value Sound, then recognize the person and raise the event HumanTracked with a positive ID, but the event StimulusDetected won’t be raised with the value People.

Event: "ALBasicAwareness/HumanTracked"

callback(std::string eventName, int humanID, std::string subscriberIdentifier)

Raised when the robot begins to track a person, when the tracked person is lost, or when the tracked person’s ID is updated.

Parameters:

• eventName (std::string) – “ALBasicAwareness/HumanTracked”
• humanID – The ID of the currently tracked person. If no person is tracked, the value is -1.
• subscriberIdentifier (std::string) –

Event: "ALBasicAwareness/HumanLost"

callback(std::string eventName, std::string subscriberIdentifier)

Raised when the person tracked can no longer be found for some time.

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