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ALRedBallTracker API

Overview | ALRedBallTracker API | ALFaceTracker API

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Namespace : AL

#include <alproxies/alredballtrackerproxy.h>

Method list

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

class ALRedBallProxy

• ALRedBallTrackerProxy::getPosition()
• ALRedBallTrackerProxy::isActive()
• ALRedBallTrackerProxy::isNewData()
• ALRedBallTrackerProxy::setWholeBodyOn()
• ALRedBallTrackerProxy::startTracker()
• ALRedBallTrackerProxy::stopTracker()

Methods

std::vector<float> ALRedBallTrackerProxy::getPosition()

Deprecated since version 1.16: use ALTracker module instead.

Returns the [x, y, z] position of the red ball in FRAME_TORSO. This is done assuming an average red ball size (diameter: 0.06 m), so it might not be very accurate.

Returns:An Array of float containing the red ball position [x, y, z].

bool ALRedBallTrackerProxy::isActive()

Deprecated since version 1.16: use ALTracker module instead.

Return true if the red Ball Tracker is running.

Returns:true if the red Ball Tracker is running.

bool ALRedBallTrackerProxy::isNewData()

Deprecated since version 1.16: use ALTracker module instead.

Return true if a new Red Ball was detected since the last getPosition().

Returns:true if a new Red Ball was detected since the last getPosition().

void ALRedBallTrackerProxy::setWholeBodyOn(const bool& wholeBodyOn)

Deprecated since version 1.16: use ALTracker module instead.

If true, the tracking will be through a Whole Body Process.

Parameters:

• wholeBodyOn – The whole Body state

void ALRedBallTrackerProxy::startTracker()

Deprecated since version 1.16: use ALTracker module instead.

Start the tracker by Subscribing to Event redBallDetected from ALRedBallDetection module. Then Wait Event redBallDetected from ALRedBallDetection module. And finally send information to motion for head tracking. Note: Stiffness of Head must be set to 1.0 to move!

void ALRedBallTrackerProxy::stopTracker()

Deprecated since version 1.16: use ALTracker module instead.

Stop the tracker by Unsubscribing to Event redBallDetected from ALRedBallDetection module.

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