ALTouch API
NAOqi Sensors - Overview | API
Namespace : AL
#include <alproxies/altouchproxy.h>
Method list
As any module, this module inherits methods from ALModule API.
It also has the following specific methods:
-
class ALTouchProxy
Methods
-
std::vector<std::string> ALTouchProxy::getSensorList()
Return the list of sensors managed by touch module, i.e. capable of
generating a TouchChanged() event.
Returns: | Return a vector<std::string> of sensor names. |
-
ALValue ALTouchProxy::getStatus()
Return the current Touch status of all managed body parts. The format
is equivalent to that of TouchChanged() event.
Returns: | Return a vector of pairs [name, bool] indicating if
body part named name is currently touched. |
Events
-
Event: "TouchChanged"
callback(std::string eventName, AL::ALValue TouchInfo, std::string subscriberIdentifier)
Raised when the robot touch status changed.
Parameters: |
- eventName (std::string) – “TouchChanged”
- val – a list of ALValue with a name and a boolean for the touch status.
- subscriberIdentifier (std::string) –
|
-
Event: "RightBumperPressed"
callback(std::string eventName, float val, std::string subscriberIdentifier)
Raised when the right bumper is pressed.
Parameters: |
- eventName (std::string) – “RightBumperPressed”
- val – 1.0 if right bumper is pressed.
- subscriberIdentifier (std::string) –
|
-
Event: "LeftBumperPressed"
callback(std::string eventName, float val, std::string subscriberIdentifier)
Raised when the left bumper is pressed.
Parameters: |
- eventName (std::string) – “LeftBumperPressed”
- val – 1.0 if left bumper is pressed.
- subscriberIdentifier (std::string) –
|
-
Event: "FrontTactilTouched"
callback(std::string eventName, float val, std::string subscriberIdentifier)
Raised when the front head tactile sensor is touched (by human).
Parameters: |
- eventName (std::string) – “FrontTactilTouched”
- val – 1.0 if front head tactile sensor is touched.
- subscriberIdentifier (std::string) –
|
-
Event: "MiddleTactilTouched"
callback(std::string eventName, float val, std::string subscriberIdentifier)
Raised when the middle head tactile sensor is touched (by human).
Parameters: |
- eventName (std::string) – “MiddleTactilTouched”
- val – 1.0 if middle head tactile sensor is touched.
- subscriberIdentifier (std::string) –
|
-
Event: "RearTactilTouched"
callback(std::string eventName, float val, std::string subscriberIdentifier)
Raised when the rear head tactile sensor is touched (by human).
Parameters: |
- eventName (std::string) – “RearTactilTouched”
- val – 1.0 if rear head tactile sensor is touched.
- subscriberIdentifier (std::string) –
|
-
Event: "HandRightBackTouched"
callback(std::string eventName, float val, std::string subscriberIdentifier)
Raised when the right hand back tactile sensor is touched (by human).
Parameters: |
- eventName (std::string) – “HandRightBackTouched”
- val – 1.0 if right hand back tactile sensor is touched.
- subscriberIdentifier (std::string) –
|
-
Event: "HandRightLeftTouched"
callback(std::string eventName, float val, std::string subscriberIdentifier)
Raised when the right hand left tactile sensor is touched (by human).
Parameters: |
- eventName (std::string) – “HandRightLeftTouched”
- val – 1.0 if right hand left tactile sensor is touched.
- subscriberIdentifier (std::string) –
|
-
Event: "HandRightRightTouched"
callback(std::string eventName, float val, std::string subscriberIdentifier)
Raised when the right hand right tactile sensor is touched (by human).
Parameters: |
- eventName (std::string) – “HandRightRightTouched”
- val – 1.0 if right hand right tactile sensor is touched.
- subscriberIdentifier (std::string) –
|
-
Event: "HandLeftBackTouched"
callback(std::string eventName, float val, std::string subscriberIdentifier)
Raised when the left hand back tactile sensor is touched (by human).
Parameters: |
- eventName (std::string) – “HandLeftBackTouched”
- val – 1.0 if left hand back tactile sensor is touched.
- subscriberIdentifier (std::string) –
|
-
Event: "HandLeftLeftTouched"
callback(std::string eventName, float val, std::string subscriberIdentifier)
Raised when the left hand left tactile sensor is touched (by human).
Parameters: |
- eventName (std::string) – “HandLeftLeftTouched”
- val – 1.0 if left hand left tactile sensor is touched.
- subscriberIdentifier (std::string) –
|
-
Event: "HandLeftRightTouched"
callback(std::string eventName, float val, std::string subscriberIdentifier)
Raised when the left hand right tactile sensor is touched (by human).
Parameters: |
- eventName (std::string) – “HandLeftRightTouched”
- val – 1.0 if left hand right tactile sensor is touched.
- subscriberIdentifier (std::string) –
|