ALVisualSpaceHistory API

NAOqi Vision - Overview | API

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Namespace : AL

#include <alproxies/alvisualspacehistoryproxy.h>

Method list

class ALVisualSpaceHistoryProxy

• As any module, this module inherits methods from ALModule API.
• It also inherits methods from ALExtractor API.
• It also has the following specific methods:
  • ALVisualSpaceHistoryProxy::getGridPrecision
  • ALVisualSpaceHistoryProxy::resetGrid
  • ALVisualSpaceHistoryProxy::setGridPrecision

ALMemory Keys list

• VisualSpaceHistory/VisualGrid/Data

Methods

float ALVisualSpaceHistoryProxy::getGridPrecision()

Returns the current visual grid resolution.

ALVisualSpaceHistoryProxy::resetGrid()

Fills the visual grid with the current timestamp. This may be useful if the robot moves its torso since it makes the grid data irrelevant.

void ALVisualSpaceHistoryProxy::setGridPrecision(const float& resolution)

Parameters:

• resolution – New grid precision chosen between 1.0 and 10.0. Default value is 2.0.

Note

When the grid precision is changed the method ALVisualSpaceHistoryProxy::resetGrid is automatically called to reset the grid data.

ALMemory Keys

AL::ALValue VisualSpaceHistory/VisualGrid/Data

This memory key contains all the visual grid data formated as follows:

data = [zone_t1, zone_t2, ... ]

where zone_t1 = [[headYawAngle, headPitchAngle], timestamp] is the data corresponding to the zone_t1.

All zones are sorted by increasing timestamp, so t1 < t2 < ... . As a result, the first zone is the most outdated one and the last zone is the most recently updated one.