ALEngagementZones API

NAOqi People Perception - Overview | API

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Namespace : AL

#include <alproxies/alengagementzonesproxy.h>

Method list

class ALEngagementZonesProxy

• As any module, this module inherits methods from ALModule API.
• It also inherits methods from ALExtractor API.
• It also has the following specific methods:
  • ALEngagementZonesProxy::computeEngagementZone
  • ALEngagementZonesProxy::getFirstLimitDistance
  • ALEngagementZonesProxy::getLimitAngle
  • ALEngagementZonesProxy::getSecondLimitDistance
  • ALEngagementZonesProxy::setFirstLimitDistance
  • ALEngagementZonesProxy::setLimitAngle
  • ALEngagementZonesProxy::setSecondLimitDistance

Event list

• EngagementZones/LimitAngleUpdated()
• EngagementZones/FirstLimitDistanceUpdated()
• EngagementZones/SecondLimitDistanceUpdated()

EngagementZones and PeoplePerception:

• EngagementZones/PeopleInZonesUpdated()
• EngagementZones/PersonApproached()
• EngagementZones/PersonMovedAway()
• EngagementZones/PersonEnteredZone1()
• EngagementZones/PersonEnteredZone2()
• EngagementZones/PersonEnteredZone3()

EngagementZones and MovementDetection:

• EngagementZones/MovementsInZonesUpdated()

ALMemory Key list

EngagementZones and PeoplePerception:

• PeoplePerception/Person/<ID>/EngagementZone
• EngagementZones/PeopleInZone1
• EngagementZones/PeopleInZone2
• EngagementZones/PeopleInZone3

EngagementZones and MovementDetection:

• EngagementZones/LastMovementsInZone1
• EngagementZones/LastMovementsInZone2
• EngagementZones/LastMovementsInZone3

Methods

int ALEngagementZonesProxy::computeEngagementZone()

There are two overloads of this function:

• ALEngagementZonesProxy::computeEngagementZone(x,y,z), using the 3D coordinates of the object in FRAME_ROBOT.
• ALEngagementZonesProxy::computeEngagementZone(xAngle,yAngle,distance,cameraPositionRobot), using the angular coordinates of the object in the image, its distance from the camera, and the camera position in FRAME_ROBOT.

int ALEngagementZonesProxy::computeEngagementZone(const float& x, const float& y, const float& z)

Parameters:

• x – X coordinate of the object in FRAME_ROBOT.
• y – Y coordinate of the object in FRAME_ROBOT.
• z – Z coordinate of the object in FRAME_ROBOT.

Returns:

The corresponding Engagement Zone.

int ALEngagementZonesProxy::computeEngagementZone(const float& xAngle, const float& yAngle, const float& distance, const AL::ALValue& cameraPositionRobot)

Parameters:

• xAngle – horizontal angular coordinate of the object in the image (in radians).
• yAngle – vertical angular coordinate of the object in the image (in radians).
• distance – distance of the object from the camera.
• cameraPositionRobot – position of the camera in FRAME_ROBOT as a Position6D.

Returns:

The corresponding Engagement Zone.

float ALEngagementZonesProxy::getFirstLimitDistance()

Returns:The current value of FirstDistance (in meters). The default value is 1.5m. Please refer to the diagram in ALEngagementZones for details.

float ALEngagementZonesProxy::getLimitAngle()

Returns:The current value of LimitAngle (in degrees). The default value is 90 degrees. Please refer to the diagram in ALEngagementZones for details.

float ALEngagementZonesProxy::getSecondLimitDistance()

Returns:The current value of SecondDistance (in meters). The default value is 2.5m. Please refer to the diagram in ALEngagementZones for details.

bool ALEngagementZonesProxy::setFirstLimitDistance(const float& distance)

Sets the value of FirstDistance. Please refer to the diagram in ALEngagementZones for details. Calling this method will trigger the event EngagementZones/FirstLimitDistanceUpdated().

Parameters:

• distance – Value of the new FirstDistance (in meters). It must be positive and smaller than the current value of SecondDistance.

Returns:

true if the update succeeded.

bool ALEngagementZonesProxy::setLimitAngle(const float& angle)

Sets the value of LimitAngle. Please refer to the diagram in ALEngagementZones for details. Calling this method will trigger the event EngagementZones/LimitAngleUpdated().

Parameters:

• distance – Value of the new LimitAngle (in degrees). It must be between 0 and 180 degrees.

Returns:

true if the update succeeded.

bool ALEngagementZonesProxy::setSecondLimitDistance(const float& distance)

Sets the value of SecondDistance. Please refer to the diagram in ALEngagementZones for details. Calling this method will trigger the event EngagementZones/SecondLimitDistanceUpdated().

Parameters:

• distance – Value of the new FirstDistance (in meters). It must be positive and bigger than the current value of FirstDistance.

Returns:

true if the update succeeded.

Events

Event: "EngagementZones/LimitAngleUpdated"

callback(std::string eventName, float angle, std::string subscriberIdentifier)

Raised when the limit angle value has changed.

Parameters:

• eventName (std::string) – “EngagementZones/LimitAngleUpdated”
• angle – New value in radians.
• subscriberIdentifier (std::string) –

Event: "EngagementZones/FirstLimitDistanceUpdated"

callback(std::string eventName, float distance, std::string subscriberIdentifier)

Raised when the first limit distance value has changed.

Parameters:

• eventName (std::string) – “EngagementZones/FirstLimitDistanceUpdated”
• distance – New value in meters.
• subscriberIdentifier (std::string) –

Event: "EngagementZones/SecondLimitDistanceUpdated"

callback(std::string eventName, float distance, std::string subscriberIdentifier)

Raised when the second limit distance value has changed.

Parameters:

• eventName (std::string) – “EngagementZones/SecondLimitDistanceUpdated”
• distance – New value in meters.
• subscriberIdentifier (std::string) –

Event: "EngagementZones/PeopleInZonesUpdated"

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

Raised when the memory keys containing the list of people IDs in each zone have been updated.

Event: "EngagementZones/PersonApproached"

callback(std::string eventName, int id, std::string subscriberIdentifier)

Raised when a person just approached the robot (i.e. moved to a closer engagement zone).

Parameters:

• eventName (std::string) – “EngagementZones/PersonApproached”
• id – ID of the person
• subscriberIdentifier (std::string) –

Event: "EngagementZones/PersonMovedAway"

callback(std::string eventName, int id, std::string subscriberIdentifier)

Raised when a person just moved away from the robot (i.e. moved to a further engagement zone).

Parameters:

• eventName (std::string) – “EngagementZones/PersonMovedAway”
• id – ID of the person
• subscriberIdentifier (std::string) –

Event: "EngagementZones/PersonEnteredZone1"

callback(std::string eventName, int id, std::string subscriberIdentifier)

Raised when a person changed of engagement zone and entered Zone 1.

Parameters:

• eventName (std::string) – “EngagementZones/PersonEnteredZone1”
• id – ID of the person
• subscriberIdentifier (std::string) –

Event: "EngagementZones/PersonEnteredZone2"

callback(std::string eventName, int id, std::string subscriberIdentifier)

Parameters:

• eventName (std::string) – “EngagementZones/PersonEnteredZone2”
• id – ID of the person
• subscriberIdentifier (std::string) –

Event: "EngagementZones/PersonEnteredZone3"

callback(std::string eventName, int id, std::string subscriberIdentifier)

Raised when a person changed of engagement zone and entered Zone 3.

Parameters:

• eventName (std::string) – “EngagementZones/PersonEnteredZone3”
• id – ID of the person
• subscriberIdentifier (std::string) –

Event: "EngagementZones/MovementsInZonesUpdated"

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

Raised when the memory keys containing the list of movements in each zone have been updated.

ALMemory Keys

int PeoplePerception/Person/<ID>/EngagementZone

Id of the engagement zone of the person (0 if unknown). <ID> is the ID of the person (see ALPeoplePerception API).

AL::ALValue EngagementZones/PeopleInZone1

List of the IDs of the people detected in Zone 1.

AL::ALValue EngagementZones/PeopleInZone2

List of the IDs of the people detected in Zone 2.

AL::ALValue EngagementZones/PeopleInZone3

List of the IDs of the people detected in Zone 3.

AL::ALValue EngagementZones/LastMovementsInZone1

List of the movements detected in Zone 1. The memory key has the same structure as the key MovementDetection/MovementInfo, described in ALMovementDetection

AL::ALValue EngagementZones/LastMovementsInZone2

List of the movements detected in Zone 2. The memory key has the same structure as the key MovementDetection/MovementInfo, described in ALMovementDetection

AL::ALValue EngagementZones/LastMovementsInZone3

List of the movements detected in Zone 3. The memory key has the same structure as the key MovementDetection/MovementInfo, described in ALMovementDetection