public class ALMotion extends ALProxy
Modifier and Type | Method and Description |
---|---|
void |
angleInterpolation(java.lang.Object names,
java.lang.Object angleLists,
java.lang.Object timeLists,
java.lang.Boolean isAbsolute)
Interpolates one or multiple joints to a target angle or along timed trajectories.
|
void |
angleInterpolationBezier(java.util.List<java.lang.String> jointNames,
java.lang.Object times,
java.lang.Object controlPoints)
Interpolates a sequence of timed angles for several motors using bezier control points.
|
void |
angleInterpolationWithSpeed(java.lang.Object names,
java.lang.Object targetAngles,
java.lang.Float maxSpeedFraction)
Interpolates one or multiple joints to a target angle, using a fraction of max speed.
|
java.lang.Boolean |
areNotificationsEnabled()
Return true if notifications are active.
|
java.lang.Boolean |
areResourcesAvailable(java.util.List<java.lang.String> resourceNames)
Returns true if all the desired resources are available.
|
void |
changeAngles(java.lang.Object names,
java.lang.Object changes,
java.lang.Float fractionMaxSpeed)
Changes Angles.
|
void |
changePosition(java.lang.String effectorName,
java.lang.Integer space,
java.util.List<java.lang.Float> positionChange,
java.lang.Float fractionMaxSpeed,
java.lang.Integer axisMask)
DEPRECATED.
|
void |
changeTransform(java.lang.String chainName,
java.lang.Integer space,
java.util.List<java.lang.Float> transform,
java.lang.Float fractionMaxSpeed,
java.lang.Integer axisMask)
DEPRECATED.
|
void |
clearStats() |
void |
closeHand(java.lang.String handName)
NAO stiffens the motors of desired hand.
|
void |
exit()
Exits and unregisters the module.
|
java.util.List<java.lang.Float> |
getAngles(java.lang.Object names,
java.lang.Boolean useSensors)
Gets the angles of the joints
|
java.util.List<java.lang.String> |
getBodyNames(java.lang.String name)
Gets the names of all the joints and actuators in the collection.
|
java.lang.Object |
getBreathConfig()
This function gets the current breathing configuration.
|
java.lang.Boolean |
getBreathEnabled(java.lang.String pChain)
This function gets the status of breathing animation on a chain.
|
java.lang.String |
getBrokerName()
Gets the name of the parent broker.
|
java.util.List<java.lang.Float> |
getChainClosestObstaclePosition(java.lang.String pName,
java.lang.Integer space)
Gets chain closest obstacle Position .
|
java.lang.Boolean |
getCollisionProtectionEnabled(java.lang.String pChainName)
Allow to know if the collision protection is activated on the given chain.
|
java.util.List<java.lang.Float> |
getCOM(java.lang.String pName,
java.lang.Integer pSpace,
java.lang.Boolean pUseSensorValues)
Gets the COM of a joint, chain, "Body" or "Joints".
|
java.lang.Boolean |
getDiagnosisEffectEnabled()
Give the state of the diagnosis effect.
|
java.lang.Boolean |
getExternalCollisionProtectionEnabled(java.lang.String pName)
Allow to know if the external collision protection is activated on the given name.
|
java.lang.Boolean |
getFallManagerEnabled()
Give the state of the fall manager.
|
java.lang.Object |
getFootGaitConfig(java.lang.String config)
DEPRECATED.
|
java.lang.Object |
getFootSteps()
Get the foot steps.
|
java.lang.Boolean |
getIdlePostureEnabled(java.lang.String pChain)
This function gets the status of idle posture management on a chain.
|
java.util.List<java.lang.String> |
getJointNames(java.lang.String name)
DEPRECATED.
|
java.lang.Object |
getLimits(java.lang.String name)
Get the minAngle (rad), maxAngle (rad), and maxVelocity (rad.s-1) for a given joint or actuator in the body.
|
java.lang.Float |
getMass(java.lang.String pName)
Gets the mass of a joint, chain, "Body" or "Joints".
|
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 |
getMotionCycleTime()
Get the motion cycle time in milliseconds.
|
java.lang.Boolean |
getMoveArmsEnabled(java.lang.String chainName)
Gets if Arms Motions are enabled during the Move Process.
|
java.lang.Object |
getMoveConfig(java.lang.String config)
Gets the move config.
|
java.util.List<java.lang.Float> |
getNextRobotPosition()
Gets the World Absolute next Robot Position.
|
java.lang.Float |
getOrthogonalSecurityDistance()
Gets the current orthogonal security distance.
|
java.util.List<java.lang.Float> |
getPosition(java.lang.String name,
java.lang.Integer space,
java.lang.Boolean useSensorValues)
Gets a Position relative to the FRAME.
|
java.lang.Boolean |
getPushRecoveryEnabled()
Give the state of the push recovery.
|
java.lang.Object |
getRobotConfig()
Get the robot configuration.
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java.util.List<java.lang.Float> |
getRobotPosition(java.lang.Boolean useSensors)
Gets the World Absolute Robot Position.
|
java.util.List<java.lang.Float> |
getRobotVelocity()
Gets the World Absolute Robot Velocity.
|
java.util.List<java.lang.String> |
getSensorNames()
Gets the list of sensors supported on your robot.
|
java.lang.Boolean |
getSmartStiffnessEnabled()
Give the state of the smart Stiffness.
|
java.util.List<java.lang.Float> |
getStiffnesses(java.lang.Object jointName)
Gets stiffness of a joint or group of joints
|
java.lang.String |
getSummary()
Returns a string representation of the Model's state
|
java.lang.Float |
getTangentialSecurityDistance()
Gets the current tangential security distance.
|
java.lang.Object |
getTaskList()
Gets an ALValue structure describing the tasks in the Task List
|
java.util.List<java.lang.Float> |
getTransform(java.lang.String name,
java.lang.Integer space,
java.lang.Boolean useSensorValues)
Gets an Homogenous Transform relative to the FRAME.
|
java.lang.String |
getUsage(java.lang.String name)
Gets the method usage string.
|
java.lang.Object |
getWalkArmsEnabled()
DEPRECATED.
|
java.lang.String |
isCollision(java.lang.String pChainName)
Give the collision state of a chain.
|
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 |
killAll()
Kills all tasks.
|
void |
killMove()
Emergency Stop on Move task: This method will end the move task brutally, without attempting to return to a balanced state.
|
java.lang.Boolean |
killTask(java.lang.Integer motionTaskID)
Kills a motion task.
|
void |
killTasksUsingResources(java.util.List<java.lang.String> resourceNames)
Kills all tasks that use any of the resources given.
|
void |
killWalk()
DEPRECATED.
|
void |
move(java.lang.Float x,
java.lang.Float y,
java.lang.Float theta)
Makes the robot move at the given velocity.
|
void |
move(java.lang.Float x,
java.lang.Float y,
java.lang.Float theta,
java.lang.Object moveConfig)
Makes the robot move at the given velocity.
|
void |
moveInit()
Initialize the move process.
|
java.lang.Boolean |
moveIsActive()
Check if the move process is actif.
|
void |
moveTo(java.lang.Float x,
java.lang.Float y,
java.lang.Float theta)
Makes the robot move at the given position.
|
void |
moveTo(java.lang.Float x,
java.lang.Float y,
java.lang.Float theta,
java.lang.Float time)
Makes the robot move at the given position in fixed time.
|
void |
moveTo(java.lang.Float x,
java.lang.Float y,
java.lang.Float theta,
java.lang.Float time,
java.lang.Object moveConfig)
Makes the robot move at the given position in fixed time.
|
void |
moveTo(java.lang.Float x,
java.lang.Float y,
java.lang.Float theta,
java.lang.Object moveConfig)
Makes the robot move at the given position.
|
void |
moveTo(java.lang.Object controlPoint)
Makes the robot move to the given relative positions.
|
void |
moveTo(java.lang.Object controlPoint,
java.lang.Object moveConfig)
Makes the robot move to the given relative positions.
|
void |
moveToward(java.lang.Float x,
java.lang.Float y,
java.lang.Float theta)
Makes the robot move at the given normalized velocity.
|
void |
moveToward(java.lang.Float x,
java.lang.Float y,
java.lang.Float theta,
java.lang.Object moveConfig)
Makes the robot move at the given normalized velocity.
|
void |
openHand(java.lang.String handName)
NAO stiffens the motors of desired hand.
|
java.lang.Boolean |
ping()
Just a ping.
|
void |
positionInterpolation(java.lang.String chainName,
java.lang.Integer space,
java.lang.Object path,
java.lang.Integer axisMask,
java.lang.Object durations,
java.lang.Boolean isAbsolute)
DEPRECATED.
|
void |
positionInterpolations(java.util.List<java.lang.String> effectorNames,
java.lang.Integer taskSpaceForAllPaths,
java.lang.Object paths,
java.lang.Object axisMasks,
java.lang.Object relativeTimes,
java.lang.Boolean isAbsolute)
DEPRECATED.
|
void |
positionInterpolations(java.lang.Object effectorNames,
java.lang.Object taskSpaceForAllPaths,
java.lang.Object paths,
java.lang.Object axisMasks,
java.lang.Object relativeTimes)
Moves end-effectors to the given positions and orientations over time.
|
void |
rest()
The robot will rest: go to a relax and safe position and set Motor OFF
|
void |
rest(java.lang.String param1)
The robot will rest: go to a relax and safe position on the chain and set Motor OFF
|
java.lang.Boolean |
robotIsWakeUp()
return true if the robot is already wakeUp
|
void |
setAngles(java.lang.Object names,
java.lang.Object angles,
java.lang.Float fractionMaxSpeed)
Sets angles.
|
void |
setBreathConfig(java.lang.Object pConfig)
This function configures the breathing animation.
|
void |
setBreathEnabled(java.lang.String pChain,
java.lang.Boolean pIsEnabled)
This function starts or stops breathing animation on a chain.
|
java.lang.Boolean |
setCollisionProtectionEnabled(java.lang.String pChainName,
java.lang.Boolean pEnable)
Enable Anticollision protection of the arms of the robot.
|
void |
setDiagnosisEffectEnabled(java.lang.Boolean pEnable)
Enable or disable the diagnosis effect into ALMotion
|
void |
setEnableNotifications(java.lang.Boolean enable)
Enable / Disable notifications.
|
void |
setExternalCollisionProtectionEnabled(java.lang.String pName,
java.lang.Boolean pEnable)
Enable Anticollision protection of the arms and base move of the robot with external environment.
|
void |
setFallManagerEnabled(java.lang.Boolean pEnable)
Enable The fall manager protection for the robot.
|
void |
setFootSteps(java.util.List<java.lang.String> legName,
java.lang.Object footSteps,
java.util.List<java.lang.Float> timeList,
java.lang.Boolean clearExisting)
Makes Nao do foot step planner.
|
void |
setFootStepsWithSpeed(java.util.List<java.lang.String> legName,
java.lang.Object footSteps,
java.util.List<java.lang.Float> fractionMaxSpeed,
java.lang.Boolean clearExisting)
Makes Nao do foot step planner with speed.
|
void |
setIdlePostureEnabled(java.lang.String pChain,
java.lang.Boolean pIsEnabled)
Starts or stops idle posture management on a chain.
|
void |
setMotionConfig(java.lang.Object config)
Internal Use.
|
void |
setMoveArmsEnabled(java.lang.Boolean leftArmEnabled,
java.lang.Boolean rightArmEnabled)
Sets if Arms Motions are enabled during the Move Process.
|
void |
setOrthogonalSecurityDistance(java.lang.Float securityDistance)
Defines the orthogonal security distance used with external collision protection "Move".
|
void |
setPosition(java.lang.String chainName,
java.lang.Integer space,
java.util.List<java.lang.Float> position,
java.lang.Float fractionMaxSpeed,
java.lang.Integer axisMask)
Moves an end-effector to DEPRECATED.
|
void |
setPositions(java.lang.Object names,
java.lang.Object spaces,
java.lang.Object positions,
java.lang.Float fractionMaxSpeed,
java.lang.Object axisMask)
Moves multiple end-effectors to the given position and orientation position6d.
|
void |
setPushRecoveryEnabled(java.lang.Boolean pEnable)
Enable The push recovery protection for the robot.
|
void |
setSmartStiffnessEnabled(java.lang.Boolean pEnable)
Enable Smart Stiffness for all the joints (True by default), the update take one motion cycle for updating.
|
void |
setStiffnesses(java.lang.Object names,
java.lang.Object stiffnesses)
Sets the stiffness of one or more joints.
|
void |
setTangentialSecurityDistance(java.lang.Float securityDistance)
Defines the tangential security distance used with external collision protection "Move".
|
void |
setTransform(java.lang.String chainName,
java.lang.Integer space,
java.util.List<java.lang.Float> transform,
java.lang.Float fractionMaxSpeed,
java.lang.Integer axisMask)
Moves an end-effector to DEPRECATED.
|
void |
setTransforms(java.lang.Object names,
java.lang.Object spaces,
java.lang.Object transforms,
java.lang.Float fractionMaxSpeed,
java.lang.Object axisMask)
Moves multiple end-effectors to the given position and orientation transforms.
|
void |
setWalkArmsEnabled(java.lang.Boolean leftArmEnabled,
java.lang.Boolean rightArmEnabled)
DEPRECATED.
|
void |
setWalkTargetVelocity(java.lang.Float x,
java.lang.Float y,
java.lang.Float theta,
java.lang.Float frequency)
DEPRECATED.
|
void |
setWalkTargetVelocity(java.lang.Float x,
java.lang.Float y,
java.lang.Float theta,
java.lang.Float frequency,
java.lang.Object feetGaitConfig)
DEPRECATED.
|
void |
setWalkTargetVelocity(java.lang.Float x,
java.lang.Float y,
java.lang.Float theta,
java.lang.Float frequency,
java.lang.Object leftFootMoveConfig,
java.lang.Object rightFootMoveConfig)
DEPRECATED.
|
void |
stiffnessInterpolation(java.lang.Object names,
java.lang.Object stiffnessLists,
java.lang.Object timeLists)
Interpolates one or multiple joints to a target stiffness or along timed trajectories of stiffness.
|
void |
stop(java.lang.Integer id)
returns true if the method is currently running
|
void |
stopMove()
Stop Move task safely as fast as possible.
|
void |
stopWalk()
DEPRECATED.
|
void |
transformInterpolation(java.lang.String chainName,
java.lang.Integer space,
java.lang.Object path,
java.lang.Integer axisMask,
java.lang.Object duration,
java.lang.Boolean isAbsolute)
DEPRECATED.
|
void |
transformInterpolations(java.util.List<java.lang.String> effectorNames,
java.lang.Integer taskSpaceForAllPaths,
java.lang.Object paths,
java.lang.Object axisMasks,
java.lang.Object relativeTimes,
java.lang.Boolean isAbsolute)
DEPRECATED.
|
void |
transformInterpolations(java.lang.Object effectorNames,
java.lang.Object taskSpaceForAllPaths,
java.lang.Object paths,
java.lang.Object axisMasks,
java.lang.Object relativeTimes)
Moves end-effectors to the given positions and orientations over time.
|
void |
updateTrackerTarget(java.lang.Float pTargetPositionWy,
java.lang.Float pTargetPositionWz,
java.lang.Integer pTimeSinceDetectionMs,
java.lang.Boolean pUseOfWholeBody)
Update the target to follow by the head of NAO.
|
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'
|
void |
waitUntilMoveIsFinished()
Waits until the move process is finished: This method can be used to block your script/code execution until the move task is totally finished.
|
void |
waitUntilWalkIsFinished()
DEPRECATED.
|
void |
wakeUp()
The robot will wake up: set Motor ON and go to initial position if needed
|
void |
walkInit()
DEPRECATED.
|
java.lang.Boolean |
walkIsActive()
DEPRECATED.
|
void |
walkTo(java.lang.Float x,
java.lang.Float y,
java.lang.Float theta)
DEPRECATED.
|
void |
walkTo(java.lang.Float x,
java.lang.Float y,
java.lang.Float theta,
java.lang.Object feetGaitConfig)
DEPRECATED.
|
void |
walkTo(java.lang.Object controlPoint)
DEPRECATED.
|
void |
walkTo(java.lang.Object controlPoint,
java.lang.Object feetGaitConfig)
DEPRECATED.
|
void |
wbEnable(java.lang.Boolean isEnabled)
UserFriendly Whole Body API: enable Whole Body Balancer.
|
void |
wbEnableBalanceConstraint(java.lang.Boolean isEnable,
java.lang.String supportLeg)
UserFriendly Whole Body API: enable to keep balance in support polygon.
|
void |
wbEnableEffectorControl(java.lang.String effectorName,
java.lang.Boolean isEnabled)
UserFriendly Whole Body API: enable whole body cartesian control of an effector.
|
void |
wbEnableEffectorOptimization(java.lang.String effectorName,
java.lang.Boolean isActive)
Advanced Whole Body API: enable to control an effector as an optimization.
|
void |
wbFootState(java.lang.String stateName,
java.lang.String supportLeg)
UserFriendly Whole Body API: set the foot state: fixed foot, constrained in a plane or free.
|
void |
wbGoToBalance(java.lang.String supportLeg,
java.lang.Float duration)
Advanced Whole Body API: "Com" go to a desired support polygon.
|
void |
wbSetEffectorControl(java.lang.String effectorName,
java.lang.Object targetCoordinate)
UserFriendly Whole Body API: set new target for controlled effector.
|
call, connect, connect, disconnect, getNaoqiType, getService, isProxyReady, setService
public ALMotion(Session session) throws java.lang.Exception
java.lang.Exception
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 wakeUp() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public void rest() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public void rest(java.lang.String param1) throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public java.lang.Boolean robotIsWakeUp() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public void stiffnessInterpolation(java.lang.Object names, java.lang.Object stiffnessLists, java.lang.Object timeLists) throws CallError, java.lang.InterruptedException
names
- Name or names of joints, chains, "Body", "JointActuators", "Joints" or "Actuators".stiffnessLists
- An stiffness, list of stiffnesses or list of list of stiffnessestimeLists
- A time, list of times or list of list of times.CallError
java.lang.InterruptedException
public void setStiffnesses(java.lang.Object names, java.lang.Object stiffnesses) throws CallError, java.lang.InterruptedException
names
- Names of joints, chains, "Body", "JointActuators", "Joints" or "Actuators".stiffnesses
- One or more stiffnesses between zero and one.CallError
java.lang.InterruptedException
public java.util.List<java.lang.Float> getStiffnesses(java.lang.Object jointName) throws CallError, java.lang.InterruptedException
jointName
- Name of the joints, chains, "Body", "Joints" or "Actuators".CallError
java.lang.InterruptedException
public void angleInterpolation(java.lang.Object names, java.lang.Object angleLists, java.lang.Object timeLists, java.lang.Boolean isAbsolute) throws CallError, java.lang.InterruptedException
names
- Name or names of joints, chains, "Body", "JointActuators", "Joints" or "Actuators".angleLists
- An angle, list of angles or list of list of angles in radianstimeLists
- A time, list of times or list of list of times in secondsisAbsolute
- If true, the movement is described in absolute angles, else the angles are relative to the current angle.CallError
java.lang.InterruptedException
public void angleInterpolationWithSpeed(java.lang.Object names, java.lang.Object targetAngles, java.lang.Float maxSpeedFraction) throws CallError, java.lang.InterruptedException
names
- Name or names of joints, chains, "Body", "JointActuators", "Joints" or "Actuators".targetAngles
- An angle, or list of angles in radiansmaxSpeedFraction
- A fraction.CallError
java.lang.InterruptedException
public void angleInterpolationBezier(java.util.List<java.lang.String> jointNames, java.lang.Object times, java.lang.Object controlPoints) throws CallError, java.lang.InterruptedException
jointNames
- A vector of joint namestimes
- An ragged ALValue matrix of floats. Each line corresponding to a motor, and column element to a control point.controlPoints
- An ALValue array of arrays each containing [float angle, Handle1, Handle2], where Handle is [int InterpolationType, float dAngle, float dTime] descibing the handle offsets relative to the angle and time of the point. The first bezier param describes the handle that controls the curve preceeding the point, the second describes the curve following the point.CallError
java.lang.InterruptedException
public void setAngles(java.lang.Object names, java.lang.Object angles, java.lang.Float fractionMaxSpeed) throws CallError, java.lang.InterruptedException
names
- The name or names of joints, chains, "Body", "JointActuators", "Joints" or "Actuators".angles
- One or more angles in radiansfractionMaxSpeed
- The fraction of maximum speed to useCallError
java.lang.InterruptedException
public void changeAngles(java.lang.Object names, java.lang.Object changes, java.lang.Float fractionMaxSpeed) throws CallError, java.lang.InterruptedException
names
- The name or names of joints, chains, "Body", "JointActuators", "Joints" or "Actuators".changes
- One or more changes in radiansfractionMaxSpeed
- The fraction of maximum speed to useCallError
java.lang.InterruptedException
public java.util.List<java.lang.Float> getAngles(java.lang.Object names, java.lang.Boolean useSensors) throws CallError, java.lang.InterruptedException
names
- Names the joints, chains, "Body", "JointActuators", "Joints" or "Actuators".useSensors
- If true, sensor angles will be returnedCallError
java.lang.InterruptedException
public void openHand(java.lang.String handName) throws CallError, java.lang.InterruptedException
handName
- The name of the hand. Could be: "RHand or "LHand"CallError
java.lang.InterruptedException
public void closeHand(java.lang.String handName) throws CallError, java.lang.InterruptedException
handName
- The name of the hand. Could be: "RHand" or "LHand"CallError
java.lang.InterruptedException
public void move(java.lang.Float x, java.lang.Float y, java.lang.Float theta) throws CallError, java.lang.InterruptedException
x
- The velocity along x axis [m.s-1].y
- The velocity along y axis [m.s-1].theta
- The velocity around z axis [rd.s-1].CallError
java.lang.InterruptedException
public void move(java.lang.Float x, java.lang.Float y, java.lang.Float theta, java.lang.Object moveConfig) throws CallError, java.lang.InterruptedException
x
- The velocity along x axis [m.s-1].y
- The velocity along y axis [m.s-1].theta
- The velocity around z axis [rd.s-1].moveConfig
- An ALValue with custom move configuration.CallError
java.lang.InterruptedException
public void moveToward(java.lang.Float x, java.lang.Float y, java.lang.Float theta) throws CallError, java.lang.InterruptedException
x
- The normalized velocity along x axis (between -1 and 1).y
- The normalized velocity along y axis (between -1 and 1).theta
- The normalized velocity around z axis (between -1 and 1).CallError
java.lang.InterruptedException
public void moveToward(java.lang.Float x, java.lang.Float y, java.lang.Float theta, java.lang.Object moveConfig) throws CallError, java.lang.InterruptedException
x
- The normalized velocity along x axis (between -1 and 1).y
- The normalized velocity along y axis (between -1 and 1).theta
- The normalized velocity around z axis (between -1 and 1).moveConfig
- An ALValue with custom move configuration.CallError
java.lang.InterruptedException
public void setWalkTargetVelocity(java.lang.Float x, java.lang.Float y, java.lang.Float theta, java.lang.Float frequency) throws CallError, java.lang.InterruptedException
x
- Fraction of MaxStepX. Use negative for backwards. [-1.0 to 1.0]y
- Fraction of MaxStepY. Use negative for right. [-1.0 to 1.0]theta
- Fraction of MaxStepTheta. Use negative for clockwise [-1.0 to 1.0]frequency
- Fraction of MaxStepFrequency [0.0 to 1.0]CallError
java.lang.InterruptedException
public void setWalkTargetVelocity(java.lang.Float x, java.lang.Float y, java.lang.Float theta, java.lang.Float frequency, java.lang.Object feetGaitConfig) throws CallError, java.lang.InterruptedException
x
- Fraction of MaxStepX. Use negative for backwards. [-1.0 to 1.0]y
- Fraction of MaxStepY. Use negative for right. [-1.0 to 1.0]theta
- Fraction of MaxStepTheta. Use negative for clockwise [-1.0 to 1.0]frequency
- Fraction of MaxStepFrequency [0.0 to 1.0]feetGaitConfig
- An ALValue with the custom gait configuration for both feetCallError
java.lang.InterruptedException
public void setWalkTargetVelocity(java.lang.Float x, java.lang.Float y, java.lang.Float theta, java.lang.Float frequency, java.lang.Object leftFootMoveConfig, java.lang.Object rightFootMoveConfig) throws CallError, java.lang.InterruptedException
x
- Fraction of MaxStepX. Use negative for backwards. [-1.0 to 1.0]y
- Fraction of MaxStepY. Use negative for right. [-1.0 to 1.0]theta
- Fraction of MaxStepTheta. Use negative for clockwise [-1.0 to 1.0]frequency
- Fraction of MaxStepFrequency [0.0 to 1.0]leftFootMoveConfig
- An ALValue with custom move configuration for the left footrightFootMoveConfig
- An ALValue with custom move configuration for the right footCallError
java.lang.InterruptedException
public void moveTo(java.lang.Float x, java.lang.Float y, java.lang.Float theta) throws CallError, java.lang.InterruptedException
x
- The position along x axis [m].y
- The position along y axis [m].theta
- The position around z axis [rd].CallError
java.lang.InterruptedException
public void moveTo(java.lang.Float x, java.lang.Float y, java.lang.Float theta, java.lang.Float time) throws CallError, java.lang.InterruptedException
x
- The position along x axis [m].y
- The position along y axis [m].theta
- The position around z axis [rd].time
- The time to reach the target position [s].CallError
java.lang.InterruptedException
public void moveTo(java.lang.Float x, java.lang.Float y, java.lang.Float theta, java.lang.Object moveConfig) throws CallError, java.lang.InterruptedException
x
- The position along x axis [m].y
- The position along y axis [m].theta
- The position around z axis [rd].moveConfig
- An ALValue with custom move configuration.CallError
java.lang.InterruptedException
public void moveTo(java.lang.Float x, java.lang.Float y, java.lang.Float theta, java.lang.Float time, java.lang.Object moveConfig) throws CallError, java.lang.InterruptedException
x
- The position along x axis [m].y
- The position along y axis [m].theta
- The position around z axis [rd].time
- The time to reach the target position [s].moveConfig
- An ALValue with custom move configuration.CallError
java.lang.InterruptedException
public void moveTo(java.lang.Object controlPoint) throws CallError, java.lang.InterruptedException
controlPoint
- An ALValue with the control points in FRAME_ROBOT.
Each control point is relative to the previous one. [[x1, y1, theta1], ..., [xN, yN, thetaN]CallError
java.lang.InterruptedException
public void moveTo(java.lang.Object controlPoint, java.lang.Object moveConfig) throws CallError, java.lang.InterruptedException
controlPoint
- An ALValue with all the control points in FRAME_ROBOT.
Each control point is relative to the previous one. [[x1, y1, theta1], ..., [xN, yN, thetaN]moveConfig
- An ALValue with custom move configuration.CallError
java.lang.InterruptedException
public void walkTo(java.lang.Float x, java.lang.Float y, java.lang.Float theta) throws CallError, java.lang.InterruptedException
x
- Distance along the X axis in meters.y
- Distance along the Y axis in meters.theta
- Rotation around the Z axis in radians [-3.1415 to 3.1415].CallError
java.lang.InterruptedException
public void walkTo(java.lang.Float x, java.lang.Float y, java.lang.Float theta, java.lang.Object feetGaitConfig) throws CallError, java.lang.InterruptedException
x
- Distance along the X axis in meters.y
- Distance along the Y axis in meters.theta
- Rotation around the Z axis in radians [-3.1415 to 3.1415].feetGaitConfig
- An ALValue with the custom gait configuration for both feet.CallError
java.lang.InterruptedException
public void walkTo(java.lang.Object controlPoint) throws CallError, java.lang.InterruptedException
controlPoint
- An ALValue with all the control point in NAO SPACE[[x1,y1,theta1], ..., [xN,yN,thetaN]CallError
java.lang.InterruptedException
public void walkTo(java.lang.Object controlPoint, java.lang.Object feetGaitConfig) throws CallError, java.lang.InterruptedException
controlPoint
- An ALValue with all the control point in NAO SPACE[[x1,y1,theta1], ..., [xN,yN,thetaN]feetGaitConfig
- An ALValue with the custom gait configuration for both feetCallError
java.lang.InterruptedException
public void setFootSteps(java.util.List<java.lang.String> legName, java.lang.Object footSteps, java.util.List<java.lang.Float> timeList, java.lang.Boolean clearExisting) throws CallError, java.lang.InterruptedException
legName
- name of the leg to move('LLeg'or 'RLeg')footSteps
- [x, y, theta], [Position along X/Y, Orientation round Z axis] of the leg relative to the other Leg in [meters, meters, radians]. Must be less than [MaxStepX, MaxStepY, MaxStepTheta]timeList
- time list of each foot stepclearExisting
- Clear existing foot steps.CallError
java.lang.InterruptedException
public void setFootStepsWithSpeed(java.util.List<java.lang.String> legName, java.lang.Object footSteps, java.util.List<java.lang.Float> fractionMaxSpeed, java.lang.Boolean clearExisting) throws CallError, java.lang.InterruptedException
legName
- name of the leg to move('LLeg'or 'RLeg')footSteps
- [x, y, theta], [Position along X/Y, Orientation round Z axis] of the leg relative to the other Leg in [meters, meters, radians]. Must be less than [MaxStepX, MaxStepY, MaxStepTheta]fractionMaxSpeed
- speed of each foot step. Must be between 0 and 1.clearExisting
- Clear existing foot steps.CallError
java.lang.InterruptedException
public java.lang.Object getFootSteps() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public void walkInit() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public void moveInit() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public void waitUntilWalkIsFinished() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public void waitUntilMoveIsFinished() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public java.lang.Boolean walkIsActive() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public java.lang.Boolean moveIsActive() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public void stopWalk() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public void stopMove() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public java.lang.Object getFootGaitConfig(java.lang.String config) throws CallError, java.lang.InterruptedException
config
- a string should be "Max", "Min", "Default"CallError
java.lang.InterruptedException
public java.lang.Object getMoveConfig(java.lang.String config) throws CallError, java.lang.InterruptedException
config
- a string should be "Max", "Min", "Default"CallError
java.lang.InterruptedException
public java.util.List<java.lang.Float> getRobotPosition(java.lang.Boolean useSensors) throws CallError, java.lang.InterruptedException
useSensors
- If true, use the sensor valuesCallError
java.lang.InterruptedException
public java.util.List<java.lang.Float> getNextRobotPosition() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public java.util.List<java.lang.Float> getRobotVelocity() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public java.lang.Object getWalkArmsEnabled() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public void setWalkArmsEnabled(java.lang.Boolean leftArmEnabled, java.lang.Boolean rightArmEnabled) throws CallError, java.lang.InterruptedException
leftArmEnabled
- if true Left Arm motions are controlled by the Walk TaskrightArmEnabled
- if true Right Arm mMotions are controlled by the Walk TaskCallError
java.lang.InterruptedException
public java.lang.Boolean getMoveArmsEnabled(java.lang.String chainName) throws CallError, java.lang.InterruptedException
chainName
- Name of the chain. Could be: "LArm", "RArm" or "Arms"CallError
java.lang.InterruptedException
public void setMoveArmsEnabled(java.lang.Boolean leftArmEnabled, java.lang.Boolean rightArmEnabled) throws CallError, java.lang.InterruptedException
leftArmEnabled
- if true Left Arm motions are controlled by the Move TaskrightArmEnabled
- if true Right Arm mMotions are controlled by the Move TaskCallError
java.lang.InterruptedException
public void positionInterpolation(java.lang.String chainName, java.lang.Integer space, java.lang.Object path, java.lang.Integer axisMask, java.lang.Object durations, java.lang.Boolean isAbsolute) throws CallError, java.lang.InterruptedException
chainName
- Name of the chain. Could be: "Head", "LArm", "RArm", "LLeg", "RLeg", "Torso"space
- Task frame {FRAME_TORSO = 0, FRAME_WORLD = 1, FRAME_ROBOT = 2}.path
- Vector of 6D position arrays (x,y,z,wx,wy,wz) in meters and radiansaxisMask
- Axis mask. True for axes that you wish to control. e.g. 7 for position only, 56 for rotation only and 63 for bothdurations
- Vector of times in seconds corresponding to the path pointsisAbsolute
- If true, the movement is absolute else relativeCallError
java.lang.InterruptedException
public void positionInterpolations(java.util.List<java.lang.String> effectorNames, java.lang.Integer taskSpaceForAllPaths, java.lang.Object paths, java.lang.Object axisMasks, java.lang.Object relativeTimes, java.lang.Boolean isAbsolute) throws CallError, java.lang.InterruptedException
effectorNames
- Vector of chain names. Could be: "Head", "LArm", "RArm", "LLeg", "RLeg", "Torso"taskSpaceForAllPaths
- Task frame {FRAME_TORSO = 0, FRAME_WORLD = 1, FRAME_ROBOT = 2}.paths
- Vector of 6D position arrays (x,y,z,wx,wy,wz) in meters and radiansaxisMasks
- Vector of Axis Masks. True for axes that you wish to control. e.g. 7 for position only, 56 for rotation only and 63 for bothrelativeTimes
- Vector of times in seconds corresponding to the path pointsisAbsolute
- If true, the movement is absolute else relativeCallError
java.lang.InterruptedException
public void positionInterpolations(java.lang.Object effectorNames, java.lang.Object taskSpaceForAllPaths, java.lang.Object paths, java.lang.Object axisMasks, java.lang.Object relativeTimes) throws CallError, java.lang.InterruptedException
effectorNames
- Vector of chain names. Could be: "Head", "LArm", "RArm", "LLeg", "RLeg", "Torso"taskSpaceForAllPaths
- Task frame {FRAME_TORSO = 0, FRAME_WORLD = 1, FRAME_ROBOT = 2}.paths
- Vector of 6D position arrays (x,y,z,wx,wy,wz) in meters and radiansaxisMasks
- Vector of Axis Masks. True for axes that you wish to control. e.g. 7 for position only, 56 for rotation only and 63 for bothrelativeTimes
- Vector of times in seconds corresponding to the path pointsCallError
java.lang.InterruptedException
public void setPosition(java.lang.String chainName, java.lang.Integer space, java.util.List<java.lang.Float> position, java.lang.Float fractionMaxSpeed, java.lang.Integer axisMask) throws CallError, java.lang.InterruptedException
chainName
- Name of the chain. Could be: "Head", "LArm","RArm", "LLeg", "RLeg", "Torso"space
- Task frame {FRAME_TORSO = 0, FRAME_WORLD = 1, FRAME_ROBOT = 2}.position
- 6D position array (x,y,z,wx,wy,wz) in meters and radiansfractionMaxSpeed
- The fraction of maximum speed to useaxisMask
- Axis mask. True for axes that you wish to control. e.g. 7 for position only, 56 for rotation only and 63 for bothCallError
java.lang.InterruptedException
public void setPositions(java.lang.Object names, java.lang.Object spaces, java.lang.Object positions, java.lang.Float fractionMaxSpeed, java.lang.Object axisMask) throws CallError, java.lang.InterruptedException
names
- The name or names of effector.spaces
- The task frame or task frames {FRAME_TORSO = 0, FRAME_WORLD = 1, FRAME_ROBOT = 2}.positions
- Position6D arraysfractionMaxSpeed
- The fraction of maximum speed to useaxisMask
- Axis mask. True for axes that you wish to control. e.g. 7 for position only, 56 for rotation only and 63 for bothCallError
java.lang.InterruptedException
public void changePosition(java.lang.String effectorName, java.lang.Integer space, java.util.List<java.lang.Float> positionChange, java.lang.Float fractionMaxSpeed, java.lang.Integer axisMask) throws CallError, java.lang.InterruptedException
effectorName
- Name of the effector.space
- Task frame {FRAME_TORSO = 0, FRAME_WORLD = 1, FRAME_ROBOT = 2}.positionChange
- 6D position change array (xd, yd, zd, wxd, wyd, wzd) in meters and radiansfractionMaxSpeed
- The fraction of maximum speed to useaxisMask
- Axis mask. True for axes that you wish to control. e.g. 7 for position only, 56 for rotation only and 63 for bothCallError
java.lang.InterruptedException
public java.util.List<java.lang.Float> getPosition(java.lang.String name, java.lang.Integer space, java.lang.Boolean useSensorValues) throws CallError, java.lang.InterruptedException
name
- Name of the item. Could be: Head, LArm, RArm, LLeg, RLeg, Torso, CameraTop, CameraBottom, MicroFront, MicroRear, MicroLeft, MicroRight, Accelerometer, Gyrometer, Laser, LFsrFR, LFsrFL, LFsrRR, LFsrRL, RFsrFR, RFsrFL, RFsrRR, RFsrRL, USSensor1, USSensor2, USSensor3, USSensor4. Use getSensorNames for the list of sensors supported on your robot.space
- Task frame {FRAME_TORSO = 0, FRAME_WORLD = 1, FRAME_ROBOT = 2}.useSensorValues
- If true, the sensor values will be used to determine the position.CallError
java.lang.InterruptedException
public void transformInterpolation(java.lang.String chainName, java.lang.Integer space, java.lang.Object path, java.lang.Integer axisMask, java.lang.Object duration, java.lang.Boolean isAbsolute) throws CallError, java.lang.InterruptedException
chainName
- Name of the chain. Could be: "Head", "LArm","RArm", "LLeg", "RLeg", "Torso"space
- Task frame {FRAME_TORSO = 0, FRAME_WORLD = 1, FRAME_ROBOT = 2}.path
- Vector of Transform arraysaxisMask
- Axis mask. True for axes that you wish to control. e.g. 7 for position only, 56 for rotation only and 63 for bothduration
- Vector of times in seconds corresponding to the path pointsisAbsolute
- If true, the movement is absolute else relativeCallError
java.lang.InterruptedException
public void transformInterpolations(java.util.List<java.lang.String> effectorNames, java.lang.Integer taskSpaceForAllPaths, java.lang.Object paths, java.lang.Object axisMasks, java.lang.Object relativeTimes, java.lang.Boolean isAbsolute) throws CallError, java.lang.InterruptedException
effectorNames
- Vector of chain names. Could be: "Head", "LArm", "RArm", "LLeg", "RLeg", "Torso"taskSpaceForAllPaths
- Task frame {FRAME_TORSO = 0, FRAME_WORLD = 1, FRAME_ROBOT = 2}.paths
- Vector of transforms arrays.axisMasks
- Vector of Axis Masks. True for axes that you wish to control. e.g. 7 for position only, 56 for rotation only and 63 for bothrelativeTimes
- Vector of times in seconds corresponding to the path pointsisAbsolute
- If true, the movement is absolute else relativeCallError
java.lang.InterruptedException
public void transformInterpolations(java.lang.Object effectorNames, java.lang.Object taskSpaceForAllPaths, java.lang.Object paths, java.lang.Object axisMasks, java.lang.Object relativeTimes) throws CallError, java.lang.InterruptedException
effectorNames
- Vector of chain names. Could be: "Head", "LArm", "RArm", "LLeg", "RLeg", "Torso"taskSpaceForAllPaths
- Task frame {FRAME_TORSO = 0, FRAME_WORLD = 1, FRAME_ROBOT = 2}.paths
- Vector of 6D position arrays (x,y,z,wx,wy,wz) in meters and radiansaxisMasks
- Vector of Axis Masks. True for axes that you wish to control. e.g. 7 for position only, 56 for rotation only and 63 for bothrelativeTimes
- Vector of times in seconds corresponding to the path pointsCallError
java.lang.InterruptedException
public void setTransform(java.lang.String chainName, java.lang.Integer space, java.util.List<java.lang.Float> transform, java.lang.Float fractionMaxSpeed, java.lang.Integer axisMask) throws CallError, java.lang.InterruptedException
chainName
- Name of the chain. Could be: "Head", "LArm","RArm", "LLeg", "RLeg", "Torso"space
- Task frame {FRAME_TORSO = 0, FRAME_WORLD = 1, FRAME_ROBOT = 2}.transform
- Transform arraysfractionMaxSpeed
- The fraction of maximum speed to useaxisMask
- Axis mask. True for axes that you wish to control. e.g. 7 for position only, 56 for rotation only and 63 for bothCallError
java.lang.InterruptedException
public void setTransforms(java.lang.Object names, java.lang.Object spaces, java.lang.Object transforms, java.lang.Float fractionMaxSpeed, java.lang.Object axisMask) throws CallError, java.lang.InterruptedException
names
- The name or names of effector.spaces
- The task frame or task frames {FRAME_TORSO = 0, FRAME_WORLD = 1, FRAME_ROBOT = 2}.transforms
- Transform arraysfractionMaxSpeed
- The fraction of maximum speed to useaxisMask
- Axis mask. True for axes that you wish to control. e.g. 7 for position only, 56 for rotation only and 63 for bothCallError
java.lang.InterruptedException
public void changeTransform(java.lang.String chainName, java.lang.Integer space, java.util.List<java.lang.Float> transform, java.lang.Float fractionMaxSpeed, java.lang.Integer axisMask) throws CallError, java.lang.InterruptedException
chainName
- Name of the chain. Could be: "Head", "LArm","RArm", "LLeg", "RLeg", "Torso"space
- Task frame {FRAME_TORSO = 0, FRAME_WORLD = 1, FRAME_ROBOT = 2}.transform
- Transform arraysfractionMaxSpeed
- The fraction of maximum speed to useaxisMask
- Axis mask. True for axes that you wish to control. e.g. 7 for position only, 56 for rotation only and 63 for bothCallError
java.lang.InterruptedException
public java.util.List<java.lang.Float> getTransform(java.lang.String name, java.lang.Integer space, java.lang.Boolean useSensorValues) throws CallError, java.lang.InterruptedException
name
- Name of the item. Could be: any joint or chain or sensor (Head, LArm, RArm, LLeg, RLeg, Torso, HeadYaw, ..., CameraTop, CameraBottom, MicroFront, MicroRear, MicroLeft, MicroRight, Accelerometer, Gyrometer, Laser, LFsrFR, LFsrFL, LFsrRR, LFsrRL, RFsrFR, RFsrFL, RFsrRR, RFsrRL, USSensor1, USSensor2, USSensor3, USSensor4. Use getSensorNames for the list of sensors supported on your robot.space
- Task frame {FRAME_TORSO = 0, FRAME_WORLD = 1, FRAME_ROBOT = 2}.useSensorValues
- If true, the sensor values will be used to determine the position.CallError
java.lang.InterruptedException
public void wbEnable(java.lang.Boolean isEnabled) throws CallError, java.lang.InterruptedException
isEnabled
- Active / Disactive Whole Body Balancer.CallError
java.lang.InterruptedException
public void wbFootState(java.lang.String stateName, java.lang.String supportLeg) throws CallError, java.lang.InterruptedException
stateName
- Name of the foot state. "Fixed" set the foot fixed. "Plane" constrained the Foot in the plane. "Free" set the foot free.supportLeg
- Name of the foot. "LLeg", "RLeg" or "Legs".CallError
java.lang.InterruptedException
public void wbEnableBalanceConstraint(java.lang.Boolean isEnable, java.lang.String supportLeg) throws CallError, java.lang.InterruptedException
isEnable
- Enable Nao to keep balance.supportLeg
- Name of the support leg: "Legs", "LLeg", "RLeg".CallError
java.lang.InterruptedException
public void wbGoToBalance(java.lang.String supportLeg, java.lang.Float duration) throws CallError, java.lang.InterruptedException
supportLeg
- Name of the support leg: "Legs", "LLeg", "RLeg".duration
- Time in seconds. Must be upper 0.5 s.CallError
java.lang.InterruptedException
public void wbEnableEffectorControl(java.lang.String effectorName, java.lang.Boolean isEnabled) throws CallError, java.lang.InterruptedException
effectorName
- Name of the effector : "Head", "LArm" or "RArm". Nao goes to posture init. He manages his balance and keep foot fix. "Head" is controlled in rotation. "LArm" and "RArm" are controlled in position.isEnabled
- Active / Disactive Effector Control.CallError
java.lang.InterruptedException
public void wbSetEffectorControl(java.lang.String effectorName, java.lang.Object targetCoordinate) throws CallError, java.lang.InterruptedException
effectorName
- Name of the effector : "Head", "LArm" or "RArm". Nao goes to posture init. He manages his balance and keep foot fix. "Head" is controlled in rotation. "LArm" and "RArm" are controlled in position.targetCoordinate
- "Head" is controlled in rotation (WX, WY, WZ). "LArm" and "RArm" are controlled in position (X, Y, Z). TargetCoordinate must be absolute and expressed in FRAME_ROBOT. If the desired position/orientation is unfeasible, target is resize to the nearest feasible motion.CallError
java.lang.InterruptedException
public void wbEnableEffectorOptimization(java.lang.String effectorName, java.lang.Boolean isActive) throws CallError, java.lang.InterruptedException
effectorName
- Name of the effector : "All", "Arms", "Legs", "Head", "LArm", "RArm", "LLeg", "RLeg", "Torso", "Com".isActive
- if true, the effector control is taken in acount in the optimization criteria.CallError
java.lang.InterruptedException
public java.lang.Boolean setCollisionProtectionEnabled(java.lang.String pChainName, java.lang.Boolean pEnable) throws CallError, java.lang.InterruptedException
pChainName
- The chain name {"Arms", "LArm" or "RArm"}.pEnable
- Activate or disactivate the anticollision of the desired Chain.CallError
java.lang.InterruptedException
public java.lang.Boolean getCollisionProtectionEnabled(java.lang.String pChainName) throws CallError, java.lang.InterruptedException
pChainName
- The chain name {"LArm" or "RArm"}.CallError
java.lang.InterruptedException
public void setExternalCollisionProtectionEnabled(java.lang.String pName, java.lang.Boolean pEnable) throws CallError, java.lang.InterruptedException
pName
- The name {"All", "Move", "Arms", "LArm" or "RArm"}.pEnable
- Activate or disactivate the anticollision of the desired name.CallError
java.lang.InterruptedException
public java.util.List<java.lang.Float> getChainClosestObstaclePosition(java.lang.String pName, java.lang.Integer space) throws CallError, java.lang.InterruptedException
pName
- The Chain name {"LArm" or "RArm"}.space
- Task frame {FRAME_TORSO = 0, FRAME_WORLD = 1, FRAME_ROBOT = 2}.CallError
java.lang.InterruptedException
public java.lang.Boolean getExternalCollisionProtectionEnabled(java.lang.String pName) throws CallError, java.lang.InterruptedException
pName
- The name {"All", "Move", "Arms", "LArm" or "RArm"}.CallError
java.lang.InterruptedException
public void setOrthogonalSecurityDistance(java.lang.Float securityDistance) throws CallError, java.lang.InterruptedException
securityDistance
- The orthogonal security distance.CallError
java.lang.InterruptedException
public java.lang.Float getOrthogonalSecurityDistance() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public void setTangentialSecurityDistance(java.lang.Float securityDistance) throws CallError, java.lang.InterruptedException
securityDistance
- The tangential security distance.CallError
java.lang.InterruptedException
public java.lang.Float getTangentialSecurityDistance() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public java.lang.String isCollision(java.lang.String pChainName) throws CallError, java.lang.InterruptedException
pChainName
- The chain name {"Arms", "LArm" or "RArm"}.CallError
java.lang.InterruptedException
public void setFallManagerEnabled(java.lang.Boolean pEnable) throws CallError, java.lang.InterruptedException
pEnable
- Activate or disactivate the smart stiffness.CallError
java.lang.InterruptedException
public java.lang.Boolean getFallManagerEnabled() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public void setPushRecoveryEnabled(java.lang.Boolean pEnable) throws CallError, java.lang.InterruptedException
pEnable
- Enable the push recovery.CallError
java.lang.InterruptedException
public java.lang.Boolean getPushRecoveryEnabled() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public void setSmartStiffnessEnabled(java.lang.Boolean pEnable) throws CallError, java.lang.InterruptedException
pEnable
- Activate or disactivate the smart stiffness.CallError
java.lang.InterruptedException
public java.lang.Boolean getSmartStiffnessEnabled() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public void setDiagnosisEffectEnabled(java.lang.Boolean pEnable) throws CallError, java.lang.InterruptedException
pEnable
- Enable or disable the diagnosis effect.CallError
java.lang.InterruptedException
public java.lang.Boolean getDiagnosisEffectEnabled() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public java.util.List<java.lang.String> getJointNames(java.lang.String name) throws CallError, java.lang.InterruptedException
name
- Name of a chain, "Arms", "Legs", "Body", "Chains", "JointActuators", "Joints" or "Actuators".CallError
java.lang.InterruptedException
public java.util.List<java.lang.String> getBodyNames(java.lang.String name) throws CallError, java.lang.InterruptedException
name
- Name of a chain, "Arms", "Legs", "Body", "Chains", "JointActuators", "Joints" or "Actuators".CallError
java.lang.InterruptedException
public java.util.List<java.lang.String> getSensorNames() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public java.lang.Object getLimits(java.lang.String name) throws CallError, java.lang.InterruptedException
name
- Name of a joint, chain, "Body", "JointActuators", "Joints" or "Actuators".CallError
java.lang.InterruptedException
public java.lang.Integer getMotionCycleTime() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public java.lang.Object getRobotConfig() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public java.lang.String getSummary() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public java.lang.Float getMass(java.lang.String pName) throws CallError, java.lang.InterruptedException
pName
- Name of the body which we want the mass. "Body", "Joints" and "Com" give the total mass of nao. For the chain, it gives the total mass of the chain.CallError
java.lang.InterruptedException
public java.util.List<java.lang.Float> getCOM(java.lang.String pName, java.lang.Integer pSpace, java.lang.Boolean pUseSensorValues) throws CallError, java.lang.InterruptedException
pName
- Name of the body which we want the mass. In chain name case, this function give the com of the chain.pSpace
- Task frame {FRAME_TORSO = 0, FRAME_WORLD = 1, FRAME_ROBOT = 2}.pUseSensorValues
- If true, the sensor values will be used to determine the position.CallError
java.lang.InterruptedException
public void setMotionConfig(java.lang.Object config) throws CallError, java.lang.InterruptedException
config
- Internal: An array of ALValues [i][0]: name, [i][1]: valueCallError
java.lang.InterruptedException
public void updateTrackerTarget(java.lang.Float pTargetPositionWy, java.lang.Float pTargetPositionWz, java.lang.Integer pTimeSinceDetectionMs, java.lang.Boolean pUseOfWholeBody) throws CallError, java.lang.InterruptedException
pTargetPositionWy
- The target position wy in FRAME_ROBOTpTargetPositionWz
- The target position wz in FRAME_ROBOTpTimeSinceDetectionMs
- The time in Ms since the target was detectedpUseOfWholeBody
- If true, the target is follow in cartesian space by the Head with whole Body constraints.CallError
java.lang.InterruptedException
public void setBreathEnabled(java.lang.String pChain, java.lang.Boolean pIsEnabled) throws CallError, java.lang.InterruptedException
pChain
- Chain name.pIsEnabled
- Enables / disables the chain.CallError
java.lang.InterruptedException
public java.lang.Boolean getBreathEnabled(java.lang.String pChain) throws CallError, java.lang.InterruptedException
pChain
- Chain name.CallError
java.lang.InterruptedException
public void setBreathConfig(java.lang.Object pConfig) throws CallError, java.lang.InterruptedException
pConfig
- Breath configuration.
An ALValue of the form [["Bpm", pBpm], ["Amplitude", pAmplitude]].
pBpm is a float between 10 and 50 setting the breathing frequency in beats per minute.
pAmplitude is a float between 0 and 1 setting the amplitude of the breathing animation.CallError
java.lang.InterruptedException
public java.lang.Object getBreathConfig() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public void setIdlePostureEnabled(java.lang.String pChain, java.lang.Boolean pIsEnabled) throws CallError, java.lang.InterruptedException
pChain
- Chain name.pIsEnabled
- Enables / disables the chain.CallError
java.lang.InterruptedException
public java.lang.Boolean getIdlePostureEnabled(java.lang.String pChain) throws CallError, java.lang.InterruptedException
pChain
- Chain name.CallError
java.lang.InterruptedException
public java.lang.Object getTaskList() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public java.lang.Boolean areResourcesAvailable(java.util.List<java.lang.String> resourceNames) throws CallError, java.lang.InterruptedException
resourceNames
- A vector of resource names such as joints. Use getBodyNames("Body") to have the list of the available joint for your robot.CallError
java.lang.InterruptedException
public java.lang.Boolean killTask(java.lang.Integer motionTaskID) throws CallError, java.lang.InterruptedException
motionTaskID
- TaskID of the motion task you want to kill.CallError
java.lang.InterruptedException
public void killTasksUsingResources(java.util.List<java.lang.String> resourceNames) throws CallError, java.lang.InterruptedException
resourceNames
- A vector of resource joint namesCallError
java.lang.InterruptedException
public void killWalk() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public void killMove() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public void killAll() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public void setEnableNotifications(java.lang.Boolean enable) throws CallError, java.lang.InterruptedException
enable
- If True enable notifications. If False disable notifications.CallError
java.lang.InterruptedException
Aldebaran SDK for Java
Copyright 2006-2015 Aldebaran Robotics. All Rights Reserved.