Fall manager API

NAOqi Motion - Overview | API

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Method list

class ALMotionProxy

• ALMotionProxy::setFallManagerEnabled
• ALMotionProxy::getFallManagerEnabled

Event list

• robotHasFallen()
• ALMotion/RobotIsFalling()
• ALMotion/RobotIsStand()

Methods

void ALMotionProxy::setFallManagerEnabled(const bool& enable)

Enable/disable the fall manager reflex, but only if allowed by the owner. If not allowed, an exception is thrown.

For further details, see: Deactivation of non-critical safety reflexes.

Parameters:

• enable – Enable or disable the fall manager reflex.

bool ALMotionProxy::getFallManagerEnabled()

Allow to know if the fall manager reflex is activated.

Returns:Return true is the fall manager reflex is activated.

Events

Event: "ALMotion/RobotIsFalling"

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

Raised when the fall manager process starts.

Parameters:

• eventName (std::string) – “ALMotion/RobotIsFalling”
• val – always True.
• subscriberIdentifier (std::string) –

Event: "robotHasFallen"

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

Raised when the fall manager process finishes.

Parameters:

• eventName (std::string) – “robotHasFallen”
• val – always True.
• subscriberIdentifier (std::string) –

Event: "ALMotion/RobotIsStand"

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

Raised when the robot has detected, or no longer detects that its weight is supported by the feet.

Parameters:

• eventName (std::string) – “ALMotion/RobotIsStand”
• val – True if the weight is supported by the feet, false otherwise.
• subscriberIdentifier (std::string) –