com.aldebaran.qi.helper.proxies

Class ALLocalization

java.lang.Object

com.aldebaran.qi.helper.ALProxy

com.aldebaran.qi.helper.proxies.ALLocalization

public class ALLocalization
extends ALProxy

See Also:

NAOqi APIs for ALLocalization

Field Summary

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

name, service

Constructor Summary

Constructors

Constructor and Description
ALLocalization(Session session)

Method Summary

Modifier and Type	Method and Description
java.lang.Integer	clear(java.lang.String pDirectory) Delete all panoramas in a directory.
void	clearStats()
void	exit() Exits and unregisters the module.
java.lang.String	getBrokerName() Gets the name of the parent broker.
java.lang.Object	getCurrentPanoramaDescriptor() Get some information about the current panorama.
java.lang.Object	getFrame(java.lang.Integer param1, java.lang.String param2) Get a frame buffer.
java.lang.String	getMessageFromErrorCode(java.lang.Integer param1)
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.Object	getRobotOrientation() Get the robot orientation.
java.lang.Object	getRobotOrientation(java.lang.Boolean param1) Get the robot orientation.
java.util.List<java.lang.Float>	getRobotPosition() Get the robot position in world navigation.
java.util.List<java.lang.Float>	getRobotPosition(java.lang.Boolean param1) Get the robot position in world navigation.
java.lang.String	getUsage(java.lang.String name) Gets the method usage string.
java.lang.Integer	goToHome() Go to the robot home.
java.lang.Integer	goToPosition(java.util.List<java.lang.Float> param1) Go to a given position.
java.lang.Boolean	isDataAvailable()
java.lang.Boolean	isInCurrentHome() Is the robot in its home?
java.lang.Object	isInGivenZone(java.lang.Float param1, java.lang.Float param2, java.lang.Float param3, java.lang.Float param4)
java.lang.Boolean	isRelocalizationRequired()
java.lang.Boolean	isRunning(java.lang.Integer id) Returns true if the method is currently running.
java.lang.Boolean	isStatsEnabled()
java.lang.Boolean	isTraceEnabled()
java.lang.Integer	learnHome() Learn the robot home.
java.lang.Integer	load(java.lang.String pDirectory) Loads panoramas from a directory in the default one.
java.lang.Boolean	ping() Just a ping.
java.lang.Integer	save(java.lang.String pDirectory) Save the temporary panoramas in a directory from the default one.
void	stop(java.lang.Integer id) returns true if the method is currently running
void	stopAll() Stop all robot movements.
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

ALLocalization

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

Throws:

java.lang.Exception

Method Detail

goToPosition

public java.lang.Integer goToPosition(java.util.List<java.lang.Float> param1)
                               throws CallError,
                                      java.lang.InterruptedException

Go to a given position.

Throws:

CallError

java.lang.InterruptedException

getRobotOrientation

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

Get the robot orientation.

Throws:

CallError

java.lang.InterruptedException

goToHome

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

Go to the robot home.

Throws:

CallError

java.lang.InterruptedException

isInGivenZone

public java.lang.Object isInGivenZone(java.lang.Float param1,
                                      java.lang.Float param2,
                                      java.lang.Float param3,
                                      java.lang.Float param4)
                               throws CallError,
                                      java.lang.InterruptedException

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

getMessageFromErrorCode

public java.lang.String getMessageFromErrorCode(java.lang.Integer param1)
                                         throws CallError,
                                                java.lang.InterruptedException

Throws:

CallError

java.lang.InterruptedException

stopAll

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

Stop all robot movements.

Throws:

CallError

java.lang.InterruptedException

learnHome

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

Learn the robot home.

Throws:

CallError

java.lang.InterruptedException

isInCurrentHome

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

Is the robot in its home?

Throws:

CallError

java.lang.InterruptedException

getCurrentPanoramaDescriptor

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

Get some information about the current panorama.

Throws:

CallError

java.lang.InterruptedException

getFrame

public java.lang.Object getFrame(java.lang.Integer param1,
                                 java.lang.String param2)
                          throws CallError,
                                 java.lang.InterruptedException

Get a frame buffer.

Throws:

CallError

java.lang.InterruptedException

clear

public java.lang.Integer clear(java.lang.String pDirectory)
                        throws CallError,
                               java.lang.InterruptedException

Delete all panoramas in a directory.

Parameters:

pDirectory - Name of the directory

Throws:

CallError

java.lang.InterruptedException

load

public java.lang.Integer load(java.lang.String pDirectory)
                       throws CallError,
                              java.lang.InterruptedException

Loads panoramas from a directory in the default one.

Parameters:

pDirectory - Name of the directory

Throws:

CallError

java.lang.InterruptedException

save

public java.lang.Integer save(java.lang.String pDirectory)
                       throws CallError,
                              java.lang.InterruptedException

Save the temporary panoramas in a directory from the default one.

Parameters:

pDirectory - Name of the directory

Throws:

CallError

java.lang.InterruptedException

isRelocalizationRequired

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

Throws:

CallError

java.lang.InterruptedException

isDataAvailable

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

Throws:

CallError

java.lang.InterruptedException

getRobotPosition

public java.util.List<java.lang.Float> getRobotPosition()
                                                 throws CallError,
                                                        java.lang.InterruptedException

Get the robot position in world navigation.

Throws:

CallError

java.lang.InterruptedException

getRobotPosition

public java.util.List<java.lang.Float> getRobotPosition(java.lang.Boolean param1)
                                                 throws CallError,
                                                        java.lang.InterruptedException

Get the robot position in world navigation.

Throws:

CallError

java.lang.InterruptedException

getRobotOrientation

public java.lang.Object getRobotOrientation(java.lang.Boolean param1)
                                     throws CallError,
                                            java.lang.InterruptedException

Get the robot orientation.

Throws:

CallError

java.lang.InterruptedException