ALSonar API

NAOqi Sensors - Overview | API

See also

Namespace : AL

#include <alproxies/alsonarproxy.h>

Method list

As any module, this module inherits methods from ALModule API.

It also inherits methods from ALExtractor API.

Note that only the ALExtractor::subscribe() and ALExtractor::unsubscribe() methods are useful for ALSonar.

Events

Event: "SonarLeftDetected"
callback(std::string eventName, float distance, std::string subscriberIdentifier)

Raised when there is something in front of the robot (left side) at less the detection threshold.

Parameters:
  • eventName (std::string) – “SonarLeftDetected”
  • dist – the obstacle distance in meters
  • subscriberIdentifier (std::string) –
Event: "SonarRightDetected"
callback(std::string eventName, float distance, std::string subscriberIdentifier)

Raised when there is something in front of the robot (right side) at less the detection threshold.

Parameters:
  • eventName (std::string) – “SonarRightDetected”
  • dist – the obstacle distance in meters
  • subscriberIdentifier (std::string) –
Event: "SonarLeftNothingDetected"
callback(std::string eventName, float distance, std::string subscriberIdentifier)
Parameters:
  • eventName (std::string) – “SonarLeftNothingDetected”
  • distance – the distance in meter, of the first obstacle out of the detection threshold.
  • subscriberIdentifier (std::string) –
Event: "SonarRightNothingDetected"
callback(std::string eventName, float distance, std::string subscriberIdentifier)

Raised when there is nothing, within the detection threshold, in front nor on the right side of the robot.

Parameters:
  • eventName (std::string) – “SonarRightNothingDetected”
  • distance – the distance in meter, of the first obstacle out of the detection threshold.
  • subscriberIdentifier (std::string) –
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