NAOqi Trackers - Overview | API | Tutorial or samples
Namespace : AL
#include <alproxies/altrackerproxy.h>
As any module, this module inherits methods from ALModule API. It also has the following specific methods:
Deprecated Methods
Deprecated since version 1.22: use ALTrackerProxy::setEffector() instead.
Add an end-effector to move for tracking. Tracker always use the Head.
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Deprecated since version 1.22: use ALTrackerProxy::registerTarget() instead.
Add the predefined target with parameters (RedBall: diameter of ball). Subscribe to corresponding extractor and stock the last position if tracker is running. If the target is already added, only parameters are updated.
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Return active target name set with ALTrackerProxy::track(). See: Target names. Or event name set with ALTrackerProxy::trackEvent().
Returns: | Tracked target name. |
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Return a list of available modes. See: Tracking modes.
Returns: | Available mode names. |
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Return the current effector name. Could be: “Arms”, “LArm”, “RArm” or “None”. Use ALTrackerProxy::setEffector() to set this value.
Returns: | Active effector name. |
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Get the current period of the extractor corresponding to the given target name. See: Modules to launch. Only works if the corresponding target name is tracked (call ALTrackerProxy::track() before). Use ALTrackerProxy::setExtractorPeriod() to set this value.
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Returns: | Current period in milliseconds of the extractor corresponding to the given target name. |
Deprecated since version 1.22: use ALTrackerProxy::getRegisteredTargets() instead.
Return a list of managed targets names. See: Target names.
Returns: | Managed targets names. See: Target names. |
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Return target maximum distance detection in meter. If the distance to the target is greater than the distance presented here, the target is considered lost. By default, this parameter is set to a very high value, so no target will be considered lost with this setting. Use ALTrackerProxy::setMaximumDistanceDetection() to set this value.
Returns: | The maximum distance in meter for target detection. |
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Return the current mode defined with ALTrackerProxy::setMode().
Returns: | The current tracker predefined mode. See: Tracking modes. |
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Return the move config set with ALTrackerProxy::setMoveConfig(). For further details, see: Move config.
Returns: | The move config used when Move is activated. |
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Return a list of registered targets names. Use ALTrackerProxy::registerTarget() to register a target.
Returns: | Registered targets names. See: Target names. |
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Get the robot position relative to target in Move mode. Use ALTrackerProxy::setRelativePosition() to set this value.
Returns: | Final goal of the tracking: [coordX, coordY, coordWz, thresholdX, thresholdY, thresholdWz]. |
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Only available with LandMarks target name. Returns the [x, y, z, wx, wy, wz] position of the robot in coordinate system set with ALTrackerProxy::setTargetCoordinates(). This is done assuming an average target size, so it might not be very accurate.
Returns: | Vector of 6 floats corresponding to the robot position 6D. |
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Return a list of supported target names.
Returns: | Array of supported target names. See: Target names. |
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Deprecated since version 1.22: use ALTrackerProxy::getSupportedTargets() instead.
Return a list of valid target names. See: Target names.
Returns: | Array of valid target names |
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Only work with LandMarks target name. Get objects coordinates set with ALTrackerProxy::setTargetCoordinates().
Returns: | Objects coordinates.
Could be:
[[first object coordinate], [second object coordinate]]
[[x1, y1, z1], [x2, y2, z2]].
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Returns the [x, y, z] position of active target in desired frame. This is done assuming an average target size, so it might not be very accurate.
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Returns: | Vector of 3 floats corresponding to the target position 3D. |
Deprecated since version 1.22: use ALTrackerProxy::getTargetPosition with frame in parameters instead.
Returns the [x, y, z] position of active target in FRAME_TORSO. This is done assuming an average target size, so it might not be very accurate.
Returns: | Vector of 3 floats corresponding to the target position 3D. |
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Return current target lost timeout value in milliseconds.
Returns: | The current target lost timeout value in milliseconds. |
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Return true if Tracker is running.
Returns: | True if tracker is running. |
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Return true if a new target was detected since the last ALTrackerProxy::getTargetPosition().
Returns: | True if a new target was detected. |
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Return true if the target search process is enabled. Use ALTrackerProxy::toggleSearch() to set this value.
Returns: | True if the target search process is enabled. |
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Return true if the target is lost.
Returns: | True if the target was lost. |
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Look at the target position with head in desired frame. If tracker is active, it’s stopped and restarted at the last location of active target after lookAt. This is a blocking call.
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Deprecated since version 1.22: use ALTrackerProxy::lookAt with frame in parameters instead.
Look at the target position with head. If tracker is active, it’s stopped and restarted at the last location of active target after lookAt. This is a blocking call.
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Point at the target position with arms in desired frame. If tracker is active, it’s stopped and restarted at the last location of active target after pointAt. This is a blocking call.
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Deprecated since version 1.22: use ALTrackerProxy::pointAt with frame in parameters instead.
Point at the target position with arms. If tracker is active, it’s stopped and restarted at the last location of active target after pointAt. This is a blocking call.
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Register the predefined target with parameters (RedBall: diameter of ball). Subscribe to corresponding extractor and stock the last position if tracker is running. If the target is already registered, only parameters are updated.
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Deprecated since version 1.22: use ALTrackerProxy::unregisterAllTargets() instead.
Remove all registered targets and unsubscribe from all extractors.
Deprecated since version 1.22: use ALTrackerProxy::setEffector() instead.
Remove an end-effector from tracking.
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Deprecated since version 1.22: use ALTrackerProxy::unregisterTarget() instead.
Remove a predefined target and unsubscribe from corresponding extractor.
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Deprecated since version 1.22: use ALTrackerProxy::unregisterTargets() instead.
Remove predefined targets and unsubscribe from corresponding extractors.
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Set an end-effector to move for tracking. Tracker always used the Head. Use ALTrackerProxy::getEffector() to get this value.
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Set the period of the extractor corresponding to the given target name. See: Modules to launch. Only works if the corresponding target name is tracked (call ALTrackerProxy::track() before). Use ALTrackerProxy::getExtractorPeriod() to get this value.
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Set the strictly positive maximum distance in meter for target detection. If the distance to the target is greater than the distance presented here, the target is considered lost.
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Set the tracker in the predefined mode. Use ALTrackerProxy::getMode() to get this value.
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Set a move config to be used when the Move mode is activated. Use ALTrackerProxy::getMoveConfig() to get this value.
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Set the robot position relative to target in Move mode. Use ALTrackerProxy::getRelativePosition() to get this value.
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Only work with LandMarks target name. Set objects coordinates. Use ALTrackerProxy::getTargetCoordinates() to get this value.
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Set target lost timeout in milliseconds.
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Set the predefined target to track and start tracking process. Target name need to be registered before with ALTrackerProxy::registerTarget().
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Track an event from ALMemory. The value from EventName should have a predefined structure.
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The output ALValue from EventName should be organized as follows:
EventNameInfo {
TargetPositionInFrameTorso,
TargetPositionInFrameRobot,
TimeStamp,
EffectorId,
HeadThreshold (optional)
}
Position6D of target to track in FRAME_TORSO.
Position6D of target to track in FRAME_ROBOT.
This field is the time stamp of detection.
TimeStamp {
TimeStamp_Seconds,
Timestamp_Microseconds
}
This field corresponds to the ID of the effector used for tracking the target:
- 0 to track with middle of eyes
- 1 to track with camera top
- 2 to track with camera bottom
- 3 no effector, the head does not move
This is an optional field to avoid oscillation, this corresponds to an angle in radians.
Enables/disables the target search process. Target search process occurs only when the target is lost. Use ALTrackerProxy::isSearchEnabled() to get this value.
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Unregister all targets and unsubscribe from all extractors.
Unregister a predefined target and unsubscribe from corresponding extractor.
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Unregister predefined targets and unsubscribe from corresponding extractors.
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