NAOqi API & SDKs 2.4.1

Interaction engines - new services

New service: ALAutonomousBlinking

ALAutonomousBlinking enables the robot to make its eye LEDs blink when it sees someone and when it is interacting.

For further details, see: ALAutonomousBlinking.

New service: ALBackgroundMovement

ALBackgroundMovement triggers some slight movements that the robot does autonomously. If the robot makes some other motion (i.e. there is a call to a method of ALMotion), the background movements are stopped until the motion is done.

For further details, see: ALBackgroundMovement.

New service: ALListeningMovement

ALListeningMovement enables some slight movements showing that the robot is listening.

For further details, see: ALListeningMovement.

New service: ALSpeakingMovement

ALSpeakingMovement enables to start autonomously movements during the speech of the robot.

For further details, see: ALSpeakingMovement.

ALBasicAwareness - improvements

Pausing and resuming ALBasicAwareness

ALBasicAwareness can be paused, which means it will stop making the robot move until it is resumed.

For further details, see: Pausing and Resuming.

ALBasicAwareness: new methods

• ALBasicAwarenessProxy::pauseAwareness
• ALBasicAwarenessProxy::resumeAwareness
• ALBasicAwarenessProxy::isAwarenessPaused
• ALBasicAwarenessProxy::setEnabled
• ALBasicAwarenessProxy::isEnabled
• ALBasicAwarenessProxy::isRunning

ALBasicAwareness: deprecated methods

Deprecated Methods	Instead, use ...
ALBasicAwarenessProxy::startAwareness	ALBasicAwarenessProxy::setEnabled
ALBasicAwarenessProxy::stopAwareness	ALBasicAwarenessProxy::setEnabled
ALBasicAwarenessProxy::isAwarenessRunning	ALBasicAwarenessProxy::isRunning

Interaction engines - deprecated module

Deprecated module: ALAutonomousMoves

Deprecated modules
ALAutonomousMoves	Use the ALBackgroundMovement and ALListeningMovement instead.

ALAutonomousLife - improvements

ALAutonomousLife: new methods

Methods for Autonomous Ability management:

• ALAutonomousLifeProxy::setAutonomousAbilityEnabled
• ALAutonomousLifeProxy::getAutonomousAbilityEnabled
• ALAutonomousLifeProxy::getAutonomousAbilitiesStatus

rand: new Trigger Condition operator

A new random operator returns a random value according to parameters.

For further details, see: Conditions expression language.

Audio

ALAnimatedSpeech: deprecated methods

Deprecated Methods	Instead, use ...
ALAnimatedSpeechProxy::setBodyLanguageMode	ALSpeakingMovementProxy::setMode and ALSpeakingMovementProxy::setEnabled
ALAnimatedSpeechProxy::setBodyLanguageModeFromStr	ALSpeakingMovementProxy::setMode and ALSpeakingMovementProxy::setEnabled
ALAnimatedSpeechProxy::getBodyLanguageMode	ALSpeakingMovementProxy::getMode and ALSpeakingMovementProxy::isEnabled
ALAnimatedSpeechProxy::getBodyLanguageModeToStr	ALSpeakingMovementProxy::getMode and ALSpeakingMovementProxy::isEnabled
ALAnimatedSpeechProxy::addTagsToWords	ALSpeakingMovementProxy::addTagsToWords

Motion

ALMotion move methods improved

Pepper: Leg animations are now supported during move.

The former limitations during a Move command, are now removed. It is now possible to generate animation on the leg joints, using directly: HipPitch, KneePitch and even HipRoll joint.

ALTracker: new methods

• ALTrackerProxy::getMaximumAcceleration
• ALTrackerProxy::getMaximumVelocity
• ALTrackerProxy::setMaximumAcceleration
• ALTrackerProxy::setMaximumVelocity

Obstacle avoidance for ALRecharge

ALRecharge now uses ALNavigationProxy::navigateTo when going to the Charging station from far distance, so he is able to avoid obstacles.

ALRecharge: new events

• ALRecharge/CloseToChargingStation()
• ALRecharge/MoveFailed()
• ALRechargeProxy::adjustDockingPosition
• ALRechargeProxy::getUseTrackerSearcher
• ALRechargeProxy::setUseTrackerSearcher
• ALRechargeProxy::setMaxNumberOfTries
• ALRechargeProxy::getMaxNumberOfTries

Core

ALDiagnosis: new method and event

To summarize active and passive diagnostic results:

• ALDiagnosisProxy::getDiagnosisStatus
• ALDiagnosis/DiagnosisErrorChanged()

ALStore: deprecated module

ALStore has been deprecated. Do not use it.

Sensors & LEDs

ALTouch: new event

• BackBumperPressed()

ALInfrared: deprecated module

ALInfrared has been deprecated and removed, use WiFi instead.

qi Framework

New: qi::Clock, guaranteed system-wide, useful for time-stamping things

libqi exposes several clocks, each of which having a distinctive set of properties.

For further details, see: qi clocks and qi Framework - ChangeLog.