Extractors management

Overview | State machine management | Autonomous Abilities | Extractors management

---

Why Autonomous Life manages Extractors

Autonomous Life starts and stops extractors to provide it with Context about the environment. This data is used in Launch trigger conditions that you can use for autonomously starting Activities.

Depending on States, different extractors are started to optimize the robot’s goals, with consideration for CPU consumption.

Extractors managed by Autonomous Life

Extractor	Active states	Parameter details
ALPeoplePerception	Solitary	Default subscription parameters. ALPeoplePerception::setMaximumDetectionRange set to 3.5. All other People Perception parameters are default.
ALMovementDetection	Solitary	Default subscription parameters. All Movement Detection parameters are default.
ALEngagementZones	Solitary	Default subscription parameters. NAO: ALEngagementZonesProxy::setFirstLimitDistance set to 1.5. ALEngagementZonesProxy::setSecondLimitDistance set to 2.5. ALEngagementZonesProxy::setLimitAngle set to 90. Pepper: ALEngagementZonesProxy::setFirstLimitDistance set to 0.8. ALEngagementZonesProxy::setSecondLimitDistance set to 0.9. ALEngagementZonesProxy::setLimitAngle set to 90.
ALGazeAnalysis	Solitary	Default subscription parameters. All Gaze Analysis parameters are default.
ALWavingDetection	Solitary	Default subscription parameters. All Waving Detection paraeters are default.