SoftBank Robotics documentation What's new in NAOqi 2.5?

ALMotionRecorder API

Overview | API

Namespace : AL

#include <alproxies/almotionrecorderproxy.h>

Method list

As any module, this module inherits methods from ALModule API. It also has the following specific methods:

class ALMotionRecorderProxy

Methods

void ALMotionRecorder::startInteractiveRecording(const std::vector<std::string>& jointsToRecord, const int& nbPoses, const bool& extensionAllowed, const int& mode)

Deprecated since version 1.14: use the Animation Mode instead.

Start recording the motion in an interactive mode

Parameters:
  • jointsToRecord – Names of joints that must be recorded
  • nbPoses – Default number of poses to record
  • extensionAllowed – Set to true to ignore nbPoses and keep recording new poses as long as record is not manually stopped
  • mode – Indicates which interactive mode must be used. 1 : Use right bumper to enslave and left bumper to store the pose 2 : Use chest button to store the pose
void ALMotionRecorder::startPeriodicRecording(const std::vector<std::string>& jointsToRecord, const int& nbPoses, const bool& extensionAllowed, const float& timeStep, const std::vector<std::string>& jointsToReplay, const AL::ALValue& replayData)

Deprecated since version 1.14: use the Animation Mode instead.

Start recording the motion in a periodic mode

Parameters:
  • jointsToRecord – Names of joints that must be recorded
  • nbPoses – Default number of poses to record
  • extensionAllowed – set to true to ignore nbPoses and keep recording new poses as long as record is not manually stopped
  • timeStep – Time in seconds to wait between two poses
  • jointsToReplay – Names of joints that must be replayed
  • replayData – An ALValue holding data for replayed joints. It holds two ALValues. The first one is an ALValue where each line corresponds to a joint, and column elements are times of control points The second one is also an ALValue where each line corresponds to a joint, but column elements are arrays containing [float angle, Handle1, Handle2] elements, where Handle is [int InterpolationType, float dAngle, float dTime] describing the handle offsets relative to the angle and time of the point. The first Bezier param describes the handle that controls the curve preceding the point, the second describes the curve following the point.
AL::ALValue ALMotionRecorder::stopAndGetRecording()

Deprecated since version 1.14: use the Animation Mode instead.

Stop recording the motion and return data

Returns:Returns the recorded data as an ALValue