ALTouch API

NAOqi Sensors & LEDs - Overview | API

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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

• ALTouchProxy::getSensorList
• ALTouchProxy::getStatus

Event list

• TouchChanged()
• RightBumperPressed()
• LeftBumperPressed()
• BackBumperPressed()
• FrontTactilTouched()
• MiddleTactilTouched()
• RearTactilTouched()
• HandRightBackTouched()
• HandRightLeftTouched()
• HandRightRightTouched()
• HandLeftBackTouched()
• HandLeftLeftTouched()
• HandLeftRightTouched()

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.

AL::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: "BackBumperPressed"

callback(std::string eventName, float val, std::string subscriberIdentifier)

Raised when the back bumper is pressed.

Parameters:

• eventName (std::string) – “BackBumperPressed”
• val – 1.0 if back bumper is pressed.
• subscriberIdentifier (std::string) –

Pepper only

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) –