ALSonar API

NAOqi Sensors & LEDs - Overview | API

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See also

• Sonars Hardware

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.

Event list

• SonarLeftDetected()
• SonarRightDetected()
• SonarLeftNothingDetected()
• SonarRightNothingDetected()

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) –