com.aldebaran.qi.helper.proxies

Class ALEngagementZones

java.lang.Object

com.aldebaran.qi.helper.ALProxy

com.aldebaran.qi.helper.proxies.ALEngagementZones

public class ALEngagementZones
extends ALProxy

This module enables to compue the engagement zones of detected people or detected movements

See Also:

NAOqi APIs for ALEngagementZones

Field Summary

Fields inherited from class com.aldebaran.qi.helper.ALProxy

name, service

Constructor Summary

Constructors

Constructor and Description
ALEngagementZones(Session session)

Method Summary

Modifier and Type	Method and Description
void	clearStats()
java.lang.Integer	computeEngagementZone(java.lang.Float x, java.lang.Float y, java.lang.Float z) Computes the engagement zone in which an object is from its position in FRAME_ROBOT
java.lang.Integer	computeEngagementZone(java.lang.Float xAngle, java.lang.Float yAngle, java.lang.Float distance, java.lang.Object cameraPositionRobot) Computes the engagement zone in which an object is from its anglular position in the camera image, its distance from the robot, and the position of the camera in FRAME_ROBOT
void	exit() Exits and unregisters the module.
java.lang.String	getBrokerName() Gets the name of the parent broker.
java.lang.Integer	getCurrentPeriod() Gets the current period.
java.lang.Float	getCurrentPrecision() Gets the current precision.
java.util.List<java.lang.String>	getEventList() Get the list of events updated in ALMemory.
java.lang.Float	getFirstLimitDistance() Get the first distance used for the delimitation of the engagement zones (nearest limit)
java.lang.Float	getLimitAngle() Get the angle used for the delimitation of the engagement zones
java.util.List<java.lang.String>	getMemoryKeyList() Get the list of events updated in ALMemory.
java.lang.Object	getMethodHelp(java.lang.String methodName) Retrieves a method's description.
java.util.List<java.lang.String>	getMethodList() Retrieves the module's method list.
java.lang.Object	getModuleHelp() Retrieves the module's description.
java.lang.Integer	getMyPeriod(java.lang.String name) Gets the period for a specific subscription.
java.lang.Float	getMyPrecision(java.lang.String name) Gets the precision for a specific subscription.
java.util.List<java.lang.String>	getOutputNames() Get the list of values updated in ALMemory.
java.lang.Float	getSecondLimitDistance() Get the second distance used for the delimitation of the engagement zones (furthest limit)
java.lang.Object	getSubscribersInfo() Gets the parameters given by the module.
java.lang.String	getUsage(java.lang.String name) Gets the method usage string.
java.lang.Boolean	isPaused() Gets extractor pause status
java.lang.Boolean	isProcessing() Gets extractor running status
java.lang.Boolean	isRunning(java.lang.Integer id) Returns true if the method is currently running.
java.lang.Boolean	isStatsEnabled()
java.lang.Boolean	isTraceEnabled()
void	pause(java.lang.Boolean status) Changes the pause status of the extractor
java.lang.Boolean	ping() Just a ping.
void	setFirstLimitDistance(java.lang.Float distance) Set the first distance used for the delimitation of the engagement zones (nearest limit)
void	setLimitAngle(java.lang.Float angle) Set the angle used for the delimitation of the engagement zones
void	setSecondLimitDistance(java.lang.Float distance) Set the second distance used for the delimitation of the engagement zones (furthest limit)
void	stop(java.lang.Integer id) returns true if the method is currently running
void	subscribe(java.lang.String name) Subscribes to the extractor.
void	subscribe(java.lang.String name, java.lang.Integer period, java.lang.Float precision) Subscribes to the extractor.
void	unsubscribe(java.lang.String name) Unsubscribes from the extractor.
void	updatePeriod(java.lang.String name, java.lang.Integer period) Updates the period if relevant.
void	updatePrecision(java.lang.String name, java.lang.Float precision) Updates the precision if relevant.
java.lang.String	version() Returns the version of the module.
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'

Methods inherited from class com.aldebaran.qi.helper.ALProxy

call, connect, connect, disconnect, getNaoqiType, getService, isProxyReady, setService

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

ALEngagementZones

public ALEngagementZones(Session session)
                  throws java.lang.Exception

Throws:

java.lang.Exception

Method Detail

getFirstLimitDistance

public java.lang.Float getFirstLimitDistance()
                                      throws CallError,
                                             java.lang.InterruptedException

Get the first distance used for the delimitation of the engagement zones (nearest limit)

Returns:

Current first distance (in meters) used for delimitation (nearest limit)

Throws:

CallError

java.lang.InterruptedException

isProcessing

public java.lang.Boolean isProcessing()
                               throws CallError,
                                      java.lang.InterruptedException

Gets extractor running status

Returns:

True if the extractor is currently processing images, False if not

Throws:

CallError

java.lang.InterruptedException

getLimitAngle

public java.lang.Float getLimitAngle()
                              throws CallError,
                                     java.lang.InterruptedException

Get the angle used for the delimitation of the engagement zones

Returns:

Current angle used for delimitation

Throws:

CallError

java.lang.InterruptedException

setFirstLimitDistance

public void setFirstLimitDistance(java.lang.Float distance)
                           throws CallError,
                                  java.lang.InterruptedException

Set the first distance used for the delimitation of the engagement zones (nearest limit)

Parameters:

distance - New first distance (in meters) for delimitation (nearest limit), it should be positive and smaller than the second distance

Throws:

CallError

java.lang.InterruptedException

setSecondLimitDistance

public void setSecondLimitDistance(java.lang.Float distance)
                            throws CallError,
                                   java.lang.InterruptedException

Set the second distance used for the delimitation of the engagement zones (furthest limit)

Parameters:

distance - New second distance (in meters) for delimitation (furthest limit), it should be positive and bigger than the first distance

Throws:

CallError

java.lang.InterruptedException

getSecondLimitDistance

public java.lang.Float getSecondLimitDistance()
                                       throws CallError,
                                              java.lang.InterruptedException

Get the second distance used for the delimitation of the engagement zones (furthest limit)

Returns:

Current second distance (in meters) used for delimitation (furthest limit)

Throws:

CallError

java.lang.InterruptedException

setLimitAngle

public void setLimitAngle(java.lang.Float angle)
                   throws CallError,
                          java.lang.InterruptedException

Set the angle used for the delimitation of the engagement zones

Parameters:

angle - New angle (in degrees) for delimitation, it should be below 180

Throws:

CallError

java.lang.InterruptedException

computeEngagementZone

public java.lang.Integer computeEngagementZone(java.lang.Float x,
                                               java.lang.Float y,
                                               java.lang.Float z)
                                        throws CallError,
                                               java.lang.InterruptedException

Computes the engagement zone in which an object is from its position in FRAME_ROBOT

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:

Engagement zone of the object

Throws:

CallError

java.lang.InterruptedException

computeEngagementZone

public java.lang.Integer computeEngagementZone(java.lang.Float xAngle,
                                               java.lang.Float yAngle,
                                               java.lang.Float distance,
                                               java.lang.Object cameraPositionRobot)
                                        throws CallError,
                                               java.lang.InterruptedException

Computes the engagement zone in which an object is from its anglular position in the camera image, its distance from the robot, and the position of the camera in FRAME_ROBOT

Parameters:

xAngle - X angular coordinate of the object in the image

yAngle - Y angular coordinate of the object in the image

distance - distance of the object from the robot

cameraPositionRobot - camera position in FRAME_ROBOT

Returns:

Engagement zone of the object

Throws:

CallError

java.lang.InterruptedException

isStatsEnabled

public java.lang.Boolean isStatsEnabled()
                                 throws CallError,
                                        java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

clearStats

public void clearStats()
                throws CallError,
                       java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

isTraceEnabled

public java.lang.Boolean isTraceEnabled()
                                 throws CallError,
                                        java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

exit

public void exit()
          throws CallError,
                 java.lang.InterruptedException

Exits and unregisters the module.

Throws:

CallError

java.lang.InterruptedException

version

public java.lang.String version()
                         throws CallError,
                                java.lang.InterruptedException

Returns the version of the module.

Returns:

A string containing the version of the module.

Throws:

CallError

java.lang.InterruptedException

ping

public java.lang.Boolean ping()
                       throws CallError,
                              java.lang.InterruptedException

Just a ping. Always returns true

Returns:

returns true

Throws:

CallError

java.lang.InterruptedException

getMethodList

public java.util.List<java.lang.String> getMethodList()
                                               throws CallError,
                                                      java.lang.InterruptedException

Retrieves the module's method list.

Returns:

An array of method names.

Throws:

CallError

java.lang.InterruptedException

getMethodHelp

public java.lang.Object getMethodHelp(java.lang.String methodName)
                               throws CallError,
                                      java.lang.InterruptedException

Retrieves a method's description.

Parameters:

methodName - The name of the method.

Returns:

A structure containing the method's description.

Throws:

CallError

java.lang.InterruptedException

getModuleHelp

public java.lang.Object getModuleHelp()
                               throws CallError,
                                      java.lang.InterruptedException

Retrieves the module's description.

Returns:

A structure describing the module.

Throws:

CallError

java.lang.InterruptedException

wait

public java.lang.Boolean wait(java.lang.Integer id,
                              java.lang.Integer timeoutPeriod)
                       throws CallError,
                              java.lang.InterruptedException

Wait for the end of a long running method that was called using 'post'

Parameters:

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.

Returns:

True if the timeout period terminated. False if the method returned.

Throws:

CallError

java.lang.InterruptedException

isRunning

public java.lang.Boolean isRunning(java.lang.Integer id)
                            throws CallError,
                                   java.lang.InterruptedException

Returns true if the method is currently running.

Parameters:

id - The ID of the method that was returned when calling the method using 'post'

Returns:

True if the method is currently running

Throws:

CallError

java.lang.InterruptedException

stop

public void stop(java.lang.Integer id)
          throws CallError,
                 java.lang.InterruptedException

returns true if the method is currently running

Parameters:

id - the ID of the method to wait for

Throws:

CallError

java.lang.InterruptedException

getBrokerName

public java.lang.String getBrokerName()
                               throws CallError,
                                      java.lang.InterruptedException

Gets the name of the parent broker.

Returns:

The name of the parent broker.

Throws:

CallError

java.lang.InterruptedException

getUsage

public java.lang.String getUsage(java.lang.String name)
                          throws CallError,
                                 java.lang.InterruptedException

Gets the method usage string. This summarises how to use the method.

Parameters:

name - The name of the method.

Returns:

A string that summarises the usage of the method.

Throws:

CallError

java.lang.InterruptedException

subscribe

public void subscribe(java.lang.String name,
                      java.lang.Integer period,
                      java.lang.Float precision)
               throws CallError,
                      java.lang.InterruptedException

Subscribes to the extractor. This causes the extractor to start writing information to memory using the keys described by getOutputNames(). These can be accessed in memory using ALMemory.getData("keyName"). In many cases you can avoid calling subscribe on the extractor by just calling ALMemory.subscribeToEvent() supplying a callback method. This will automatically subscribe to the extractor for you.

Parameters:

name - Name of the module which subscribes.

period - Refresh period (in milliseconds) if relevant.

precision - Precision of the extractor if relevant.

Throws:

CallError

java.lang.InterruptedException

subscribe

public void subscribe(java.lang.String name)
               throws CallError,
                      java.lang.InterruptedException

Subscribes to the extractor. This causes the extractor to start writing information to memory using the keys described by getOutputNames(). These can be accessed in memory using ALMemory.getData("keyName"). In many cases you can avoid calling subscribe on the extractor by just calling ALMemory.subscribeToEvent() supplying a callback method. This will automatically subscribe to the extractor for you.

Parameters:

name - Name of the module which subscribes.

Throws:

CallError

java.lang.InterruptedException

unsubscribe

public void unsubscribe(java.lang.String name)
                 throws CallError,
                        java.lang.InterruptedException

Unsubscribes from the extractor.

Parameters:

name - Name of the module which had subscribed.

Throws:

CallError

java.lang.InterruptedException

updatePeriod

public void updatePeriod(java.lang.String name,
                         java.lang.Integer period)
                  throws CallError,
                         java.lang.InterruptedException

Updates the period if relevant.

Parameters:

name - Name of the module which has subscribed.

period - Refresh period (in milliseconds).

Throws:

CallError

java.lang.InterruptedException

updatePrecision

public void updatePrecision(java.lang.String name,
                            java.lang.Float precision)
                     throws CallError,
                            java.lang.InterruptedException

Updates the precision if relevant.

Parameters:

name - Name of the module which has subscribed.

precision - Precision of the extractor.

Throws:

CallError

java.lang.InterruptedException

getCurrentPeriod

public java.lang.Integer getCurrentPeriod()
                                   throws CallError,
                                          java.lang.InterruptedException

Gets the current period.

Returns:

Refresh period (in milliseconds).

Throws:

CallError

java.lang.InterruptedException

getCurrentPrecision

public java.lang.Float getCurrentPrecision()
                                    throws CallError,
                                           java.lang.InterruptedException

Gets the current precision.

Returns:

Precision of the extractor.

Throws:

CallError

java.lang.InterruptedException

getMyPeriod

public java.lang.Integer getMyPeriod(java.lang.String name)
                              throws CallError,
                                     java.lang.InterruptedException

Gets the period for a specific subscription.

Parameters:

name - Name of the module which has subscribed.

Returns:

Refresh period (in milliseconds).

Throws:

CallError

java.lang.InterruptedException

getMyPrecision

public java.lang.Float getMyPrecision(java.lang.String name)
                               throws CallError,
                                      java.lang.InterruptedException

Gets the precision for a specific subscription.

Parameters:

name - name of the module which has subscribed

Returns:

precision of the extractor

Throws:

CallError

java.lang.InterruptedException

getSubscribersInfo

public java.lang.Object getSubscribersInfo()
                                    throws CallError,
                                           java.lang.InterruptedException

Gets the parameters given by the module.

Returns:

Array of names and parameters of all subscribers.

Throws:

CallError

java.lang.InterruptedException

getOutputNames

public java.util.List<java.lang.String> getOutputNames()
                                                throws CallError,
                                                       java.lang.InterruptedException

Get the list of values updated in ALMemory.

Returns:

Array of values updated by this extractor in ALMemory

Throws:

CallError

java.lang.InterruptedException

getEventList

public java.util.List<java.lang.String> getEventList()
                                              throws CallError,
                                                     java.lang.InterruptedException

Get the list of events updated in ALMemory.

Returns:

Array of events updated by this extractor in ALMemory

Throws:

CallError

java.lang.InterruptedException

getMemoryKeyList

public java.util.List<java.lang.String> getMemoryKeyList()
                                                  throws CallError,
                                                         java.lang.InterruptedException

Get the list of events updated in ALMemory.

Returns:

Array of events updated by this extractor in ALMemory

Throws:

CallError

java.lang.InterruptedException

isPaused

public java.lang.Boolean isPaused()
                           throws CallError,
                                  java.lang.InterruptedException

Gets extractor pause status

Returns:

True if the extractor is paused, False if not

Throws:

CallError

java.lang.InterruptedException

pause

public void pause(java.lang.Boolean status)
           throws CallError,
                  java.lang.InterruptedException

Changes the pause status of the extractor

Parameters:

status - New pause satus

Throws:

CallError

java.lang.InterruptedException