public class ALBasicAwareness extends ALProxy
Constructor and Description |
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ALBasicAwareness(Session session) |
Modifier and Type | Method and Description |
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void |
clearStats() |
java.lang.Boolean |
engagePerson(java.lang.Integer engagePerson)
Force Engage Person.
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void |
exit()
Exits and unregisters the module.
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java.lang.String |
getBrokerName()
Gets the name of the parent broker.
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java.lang.String |
getEngagementMode()
Set engagement mode.
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java.lang.Object |
getMethodHelp(java.lang.String methodName)
Retrieves a method's description.
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java.util.List<java.lang.String> |
getMethodList()
Retrieves the module's method list.
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java.lang.Object |
getModuleHelp()
Retrieves the module's description.
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java.lang.Object |
getParameter(java.lang.String paramName)
Get the specified parameter.
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java.lang.String |
getTrackingMode()
Set tracking mode.
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java.lang.String |
getUsage(java.lang.String name)
Gets the method usage string.
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java.lang.Boolean |
isAwarenessRunning()
Get the status (started or not) of the module.
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java.lang.Boolean |
isRunning(java.lang.Integer id)
Returns true if the method is currently running.
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java.lang.Boolean |
isStatsEnabled() |
java.lang.Boolean |
isStimulusDetectionEnabled(java.lang.String stimulusName)
Get status enabled/disabled for Stimulus Detection.
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java.lang.Boolean |
isTraceEnabled() |
java.lang.Boolean |
ping()
Just a ping.
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void |
resetAllParameters()
Reset all parameters, including enabled/disabled stimulus.
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void |
setEngagementMode(java.lang.String modeName)
Set engagement mode.
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void |
setParameter(java.lang.String paramName,
java.lang.Object newVal)
Set the specified parameter
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void |
setStimulusDetectionEnabled(java.lang.String stimulusName,
java.lang.Boolean isStimulusDetectionEnabled)
Enable/Disable Stimulus Detection.
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void |
setTrackingMode(java.lang.String modeName)
Set tracking mode.
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void |
startAwareness()
Start Basic Awareness.
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void |
stop(java.lang.Integer id)
returns true if the method is currently running
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void |
stopAwareness()
Stop Basic Awareness.
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java.lang.String |
version()
Returns the version of the module.
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java.lang.Boolean |
wait(java.lang.Integer id,
java.lang.Integer timeoutPeriod)
Wait for the end of a long running method that was called using 'post'
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call, connect, connect, disconnect, getNaoqiType, getService, isProxyReady, setService
public ALBasicAwareness(Session session) throws java.lang.Exception
java.lang.Exception
public void setEngagementMode(java.lang.String modeName) throws CallError, java.lang.InterruptedException
modeName
- Name of the modeCallError
java.lang.InterruptedException
public java.lang.Boolean engagePerson(java.lang.Integer engagePerson) throws CallError, java.lang.InterruptedException
engagePerson
- ID of the person as found in PeoplePerception.CallError
java.lang.InterruptedException
public java.lang.Boolean isStimulusDetectionEnabled(java.lang.String stimulusName) throws CallError, java.lang.InterruptedException
stimulusName
- Name of the stimulus to checkCallError
java.lang.InterruptedException
public void resetAllParameters() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public java.lang.Object getParameter(java.lang.String paramName) throws CallError, java.lang.InterruptedException
paramName
- "ServoingSpeed" : Speed of servoing head moves, as fraction of max speed
"LookStimulusSpeed" : Speed of head moves when looking at a stimulus, as fraction of max speed
"LookBackSpeed" : Speed of head moves when looking back to previous position, as fraction of max speed
"LookDownSpeed" : Speed of head moves when looking down to check for children, as fraction of max speed
"NobodyFoundTimeOut" : timeout to send HumanLost event when no blob is found, in seconds
"MinTimeTracking" : Minimum Time for the robot to be focused on someone, without listening to other stimuli, in seconds
"TimeSleepBeforeResumeMS" : Slept time before automatically resuming BasicAwareness when an automatic pause has been made, in milliseconds
"TimeOutResetHead" : Timeout to reset the head, in seconds
"AmplitudeYawTracking" : max absolute value for head yaw in tracking, in degrees
"PeoplePerceptionPeriod" : Period for people perception, in milliseconds
"SlowPeoplePerceptionPeriod" : Period for people perception in FullyEngaged mode, in milliseconds
"HeadThreshold" : Yaw threshold for tracking, in degrees
"BodyRotationThreshold" : Angular threshold for BodyRotation tracking mode, in degrees
"BodyRotationThresholdNao" : Angular threshold for BodyRotation tracking mode on Nao, in degrees
"MoveDistanceX" : X Distance for the Move tracking mode, in meters
"MoveDistanceY" : Y Distance for the Move tracking mode, in meters
"MoveAngleTheta" : Angle for the Move tracking mode, in degrees
"MoveThresholdX" : Threshold for the Move tracking mode, in meters
"MoveThresholdY" : Threshold for the Move tracking mode, in meters
"MoveThresholdTheta" : Theta Threshold for the Move tracking mode, in degrees
"MaxDistanceFullyEngaged" : Maximum distance for someone to be tracked for FullyEngaged mode, in meters
"MaxDistanceNotFullyEngaged" : Maximum distance for someone to be tracked for modes different from FullyEngaged, in meters
"MaxHumanSearchTime" : Maximum time to find a human after observing stimulous, in seconds
"DeltaPitchComfortZone" : Pitch width of the comfort zone, in degree
"CenterPitchComfortZone" : Pitch center of the confort zone, in degree
"SoundHeight" : Default Height for sound detection, in meters
"MoveSpeed" : Speed of the robot moves
"MC_Interactive_MinTime" : Minimum time between 2 contextual moves (when the robot is tracking somebody)
"MC_Interactive_MaxOffsetTime" : Maximum time that we can add to MC_Interactive_MinTime (when the robot is tracking somebody)
"MC_Interactive_DistanceXY" : Maximum offset distance in X and Y that the robot can apply when he tracks somebody
"MC_Interactive_MinTheta" : Minimum theta that the robot can apply when he tracks somebody
"MC_Interactive_MaxTheta" : Maximum theta that the robot can apply when he tracks somebody
"MC_Interactive_DistanceHumanRobot" : Distance between the human and the robot
"MC_Interactive_MaxDistanceHumanRobot" : Maximum distance human robot to allow the robot to move (in MoveContextually mode)CallError
java.lang.InterruptedException
public java.lang.String getEngagementMode() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public void setParameter(java.lang.String paramName, java.lang.Object newVal) throws CallError, java.lang.InterruptedException
paramName
- "ServoingSpeed" : Speed of servoing head moves, as fraction of max speed
"LookStimulusSpeed" : Speed of head moves when looking at a stimulus, as fraction of max speed
"LookBackSpeed" : Speed of head moves when looking back to previous position, as fraction of max speed
"LookDownSpeed" : Speed of head moves when looking down to check for children, as fraction of max speed
"NobodyFoundTimeOut" : timeout to send HumanLost event when no blob is found, in seconds
"MinTimeTracking" : Minimum Time for the robot to be focused on someone, without listening to other stimuli, in seconds
"TimeSleepBeforeResumeMS" : Slept time before automatically resuming BasicAwareness when an automatic pause has been made, in milliseconds
"TimeOutResetHead" : Timeout to reset the head, in seconds
"AmplitudeYawTracking" : max absolute value for head yaw in tracking, in degrees
"PeoplePerceptionPeriod" : Period for people perception, in milliseconds
"SlowPeoplePerceptionPeriod" : Period for people perception in FullyEngaged mode, in milliseconds
"HeadThreshold" : Yaw threshold for tracking, in degrees
"BodyRotationThreshold" : Angular threshold for BodyRotation tracking mode, in degrees
"BodyRotationThresholdNao" : Angular threshold for BodyRotation tracking mode on Nao, in degrees
"MoveDistanceX" : X Distance for the Move tracking mode, in meters
"MoveDistanceY" : Y Distance for the Move tracking mode, in meters
"MoveAngleTheta" : Angle for the Move tracking mode, in degrees
"MoveThresholdX" : Threshold for the Move tracking mode, in meters
"MoveThresholdY" : Threshold for the Move tracking mode, in meters
"MoveThresholdTheta" : Theta Threshold for the Move tracking mode, in degrees
"MaxDistanceFullyEngaged" : Maximum distance for someone to be tracked for FullyEngaged mode, in meters
"MaxDistanceNotFullyEngaged" : Maximum distance for someone to be tracked for modes different from FullyEngaged, in meters
"MaxHumanSearchTime" : Maximum time to find a human after observing stimulous, in seconds
"DeltaPitchComfortZone" : Pitch width of the comfort zone, in degree
"CenterPitchComfortZone" : Pitch center of the confort zone, in degree
"SoundHeight" : Default Height for sound detection, in meters
"MoveSpeed" : Speed of the robot moves
"MC_Interactive_MinTime" : Minimum time between 2 contextual moves (when the robot is tracking somebody)
"MC_Interactive_MaxOffsetTime" : Maximum time that we can add to MC_Interactive_MinTime (when the robot is tracking somebody)
"MC_Interactive_DistanceXY" : Maximum offset distance in X and Y that the robot can apply when he tracks somebody
"MC_Interactive_MinTheta" : Minimum theta that the robot can apply when he tracks somebody
"MC_Interactive_MaxTheta" : Maximum theta that the robot can apply when he tracks somebody
"MC_Interactive_DistanceHumanRobot" : Distance between the human and the robot
"MC_Interactive_MaxDistanceHumanRobot" : Maximum distance human robot to allow the robot to move (in MoveContextually mode)newVal
- "ServoingSpeed" : Float in range [0.01;1]
"LookStimulusSpeed" : Float in range [0.01;1]
"LookBackSpeed" : Float in range [0.01;1]
"LookDownSpeed" : Float in range [0.01;1]
"NobodyFoundTimeOut" : Float > 0
"MinTimeTracking" : Float in range [0;20]
"TimeSleepBeforeResumeMS" : Int > 0
"TimeOutResetHead" : Float in range [0;30]
"AmplitudeYawTracking" : Float in range [10;120]
"PeoplePerceptionPeriod" : Int > 1
"SlowPeoplePerceptionPeriod" : Int > 1
"HeadThreshold" : Float in range [0;180]
"BodyRotationThreshold" : Float in range [-180;180]
"BodyRotationThresholdNao" : Float in range [-180;180]
"MoveDistanceX" : Float in range [-5;5]
"MoveDistanceY" : Float in range [-5;5]
"MoveAngleTheta" : Float in range [-180;180]
"MoveThresholdX" : Float in range [0;5]
"MoveThresholdY" : Float in range [0;5]
"MoveThresholdTheta" : Float in range [-180;180]
"MaxDistanceFullyEngaged" : Float in range [0.5;5]
"MaxDistanceNotFullyEngaged" : Float in range [0.5;5]
"MaxHumanSearchTime" : Float in range [0.1;10]
"DeltaPitchComfortZone" : Float in range [0;90]
"CenterPitchComfortZone" : Float in range [-90;90]
"SoundHeight" : Float in range [0;2]
"MoveSpeed" : Float in range [0.1;0.55]
"MC_Interactive_MinTime" : Int in range [0;100]
"MC_Interactive_MaxOffsetTime" : Int in range [0;100]
"MC_Interactive_DistanceXY" : Float in range [0;1]
"MC_Interactive_MinTheta" : Float in range [-40;0]
"MC_Interactive_MaxTheta" : Float in range [0;40]
"MC_Interactive_DistanceHumanRobot" : Float in range [0.1;2]
"MC_Interactive_MaxDistanceHumanRobot" : Float in range [0.1;3]CallError
java.lang.InterruptedException
public void setTrackingMode(java.lang.String modeName) throws CallError, java.lang.InterruptedException
modeName
- Name of the modeCallError
java.lang.InterruptedException
public java.lang.String getTrackingMode() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public java.lang.Boolean isStatsEnabled() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public void clearStats() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public java.lang.Boolean isTraceEnabled() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public void exit() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public java.lang.String version() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public java.lang.Boolean ping() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public java.util.List<java.lang.String> getMethodList() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public java.lang.Object getMethodHelp(java.lang.String methodName) throws CallError, java.lang.InterruptedException
methodName
- The name of the method.CallError
java.lang.InterruptedException
public java.lang.Object getModuleHelp() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public java.lang.Boolean wait(java.lang.Integer id, java.lang.Integer timeoutPeriod) throws CallError, java.lang.InterruptedException
id
- The ID of the method that was returned when calling the method using 'post'timeoutPeriod
- The timeout period in ms. To wait indefinately, use a timeoutPeriod of zero.CallError
java.lang.InterruptedException
public java.lang.Boolean isRunning(java.lang.Integer id) throws CallError, java.lang.InterruptedException
id
- The ID of the method that was returned when calling the method using 'post'CallError
java.lang.InterruptedException
public void stop(java.lang.Integer id) throws CallError, java.lang.InterruptedException
id
- the ID of the method to wait forCallError
java.lang.InterruptedException
public java.lang.String getBrokerName() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public java.lang.String getUsage(java.lang.String name) throws CallError, java.lang.InterruptedException
name
- The name of the method.CallError
java.lang.InterruptedException
public void startAwareness() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public void stopAwareness() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public java.lang.Boolean isAwarenessRunning() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public void setStimulusDetectionEnabled(java.lang.String stimulusName, java.lang.Boolean isStimulusDetectionEnabled) throws CallError, java.lang.InterruptedException
stimulusName
- Name of the stimulus to enable/disableisStimulusDetectionEnabled
- Boolean value: true to enable, false to disable.CallError
java.lang.InterruptedException
Aldebaran SDK for Java
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