NAOqi Vision - Overview | API | Tutorial | Advanced
Namespace : AL
#include <alproxies/allocalizationproxy.h>
Import/Export
Localization
Advanced
Deletes the data of the nodes saved in a directory. If the directory is the default directory, the nodes are also unloaded.
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Returns: | 0 if no error occurred. Otherwise please refer to Return codes. |
Replaces the data of nodes in the default directory by those in a given directory, unloads the previous nodes and loads the new ones. By default, since the location of the robot is unknown, the current node is supposed to be the node with the lowest id.
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Returns: | 0 if no error occurred. Otherwise please refer to Return codes. |
Saves the data in the default directory into a given directory. If the directory already exists, it is first emptied. If it does not, it is created.
The saving function takes only one parameter, which is the name of the directory in which you wish to save the data (this is a relative path under the base directory). If the directory does not exist, it will be created. If it already exists, the data will be overwritten.
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Returns: | 0 if no error occurred. Otherwise please refer to Return codes. |
Learns the home node of the robot.
Returns: | 0 if no error occurred. Otherwise please refer to Return codes. |
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Returns: | the coordinates x, y, theta of the pose2D of the robot, computed by the localization. |
Localizes if needed and moves the robot back to the place where was performed ALLocalizationProxy::learnHome(). Accuracy depends on the environment.
Returns: | 0 if no error occurred. Otherwise please refer to Return codes. |
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The robot immediately drops all localization tasks and stops moving.
Returns: | true if the robot will need to perform a scan to localize. Else it means that goToHome will be performed using odometry (so the robot is confident in its current location). |
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Returns: | the Return codes message corresponding to the given error code int. |
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Go to the given position trying to perform a visual close loop with the image contained in current panorama at theta.
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Returns: | 0 if the robot finish the movement at the good position. Else refer to Return codes . |
Returns the estimated position in the current panorama.
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Returns: | [EstimatedPosition, SuccessFlag, Confidence, OdometryOnly] where
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Raised at the beginning of a move by ALLocalizationProxy.
Contains the [x, y, theta] value of the relative move the robot will do to reach its destination.
Raised when the robot has successfully reached its destination.
Raised when the robot could not reach its destination, either because it was lost or because it was interrupted by an obstacle.
Raised when the robot gets lost while trying to go to its destination.
Raised whenever the robot begins a localization process.
Raised when the localization is successful.
Raised when the localization fails and the robot is lost.
Raised when the robot starts localizing using the odometry.
Raised when the odometry information is not sufficient for the current localization configuration, and the robot needs to perform more localization steps.
Raised when the robot starts doing a half-turn scan with its head.
Raised when the half-scan information is not sufficient for the current localization configuration (either the localization is in full mode, or the score is not enough), and the robot needs to perform more localization steps.
Raised when the half-scan information is enough to perform the localization.
Raised when the robot starts a complete scan (including a half turn of its base).
Raised when the robot finishes the U turn of its base to achieve a full scan.
Raised when the full scan information is not sufficient. This means that the robot is lost.
Raised when the full scan information is enough to perform the localization.
Raised when getRobotOrientation is called.
Raised when the orientation of the robot has NOT been successfully retrieved.
Raised when the orientation of the robot has been successfully retrieved.
Raised when the localization of the robot starts to be computed based on the data gathered from the sensors.
Raised when the localization of the robot has been computed.