com.aldebaran.qi.helper.proxies

Class ALMotion

java.lang.Object

com.aldebaran.qi.helper.ALProxy

com.aldebaran.qi.helper.proxies.ALMotion

public class ALMotion
extends ALProxy

ALMotion provides methods that help make Nao move. It contains commands for manipulating joint angles, joint stiffness, and a higher level API for controling walks.

See Also:

NAOqi APIs for ALMotion

Field Summary

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

name, service

Constructor Summary

Constructors

Constructor and Description
ALMotion(Session session)

Method Summary

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.
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.

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

ALMotion

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

Throws:

java.lang.Exception

Method Detail

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

wakeUp

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

The robot will wake up: set Motor ON and go to initial position if needed

Throws:

CallError

java.lang.InterruptedException

rest

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

The robot will rest: go to a relax and safe position and set Motor OFF

Throws:

CallError

java.lang.InterruptedException

rest

public void rest(java.lang.String param1)
          throws CallError,
                 java.lang.InterruptedException

The robot will rest: go to a relax and safe position on the chain and set Motor OFF

Throws:

CallError

java.lang.InterruptedException

robotIsWakeUp

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

return true if the robot is already wakeUp

Returns:

True if the robot is already wakeUp.

Throws:

CallError

java.lang.InterruptedException

stiffnessInterpolation

public void stiffnessInterpolation(java.lang.Object names,
                                   java.lang.Object stiffnessLists,
                                   java.lang.Object timeLists)
                            throws CallError,
                                   java.lang.InterruptedException

Interpolates one or multiple joints to a target stiffness or along timed trajectories of stiffness. This is a blocking call.

Parameters:

names - Name or names of joints, chains, "Body", "JointActuators", "Joints" or "Actuators".

stiffnessLists - An stiffness, list of stiffnesses or list of list of stiffnesses

timeLists - A time, list of times or list of list of times.

Throws:

CallError

java.lang.InterruptedException

setStiffnesses

public void setStiffnesses(java.lang.Object names,
                           java.lang.Object stiffnesses)
                    throws CallError,
                           java.lang.InterruptedException

Sets the stiffness of one or more joints. This is a non-blocking call.

Parameters:

names - Names of joints, chains, "Body", "JointActuators", "Joints" or "Actuators".

stiffnesses - One or more stiffnesses between zero and one.

Throws:

CallError

java.lang.InterruptedException

getStiffnesses

public java.util.List<java.lang.Float> getStiffnesses(java.lang.Object jointName)
                                               throws CallError,
                                                      java.lang.InterruptedException

Gets stiffness of a joint or group of joints

Parameters:

jointName - Name of the joints, chains, "Body", "Joints" or "Actuators".

Returns:

One or more stiffnesses. 1.0 indicates maximum stiffness. 0.0 indicated minimum stiffness

Throws:

CallError

java.lang.InterruptedException

angleInterpolation

public void angleInterpolation(java.lang.Object names,
                               java.lang.Object angleLists,
                               java.lang.Object timeLists,
                               java.lang.Boolean isAbsolute)
                        throws CallError,
                               java.lang.InterruptedException

Interpolates one or multiple joints to a target angle or along timed trajectories. This is a blocking call.

Parameters:

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 radians

timeLists - A time, list of times or list of list of times in seconds

isAbsolute - If true, the movement is described in absolute angles, else the angles are relative to the current angle.

Throws:

CallError

java.lang.InterruptedException

angleInterpolationWithSpeed

public void angleInterpolationWithSpeed(java.lang.Object names,
                                        java.lang.Object targetAngles,
                                        java.lang.Float maxSpeedFraction)
                                 throws CallError,
                                        java.lang.InterruptedException

Interpolates one or multiple joints to a target angle, using a fraction of max speed. Only one target angle is allowed for each joint. This is a blocking call.

Parameters:

names - Name or names of joints, chains, "Body", "JointActuators", "Joints" or "Actuators".

targetAngles - An angle, or list of angles in radians

maxSpeedFraction - A fraction.

Throws:

CallError

java.lang.InterruptedException

angleInterpolationBezier

public void angleInterpolationBezier(java.util.List<java.lang.String> jointNames,
                                     java.lang.Object times,
                                     java.lang.Object controlPoints)
                              throws CallError,
                                     java.lang.InterruptedException

Interpolates a sequence of timed angles for several motors using bezier control points. This is a blocking call.

Parameters:

jointNames - A vector of joint names

times - 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.

Throws:

CallError

java.lang.InterruptedException

setAngles

public void setAngles(java.lang.Object names,
                      java.lang.Object angles,
                      java.lang.Float fractionMaxSpeed)
               throws CallError,
                      java.lang.InterruptedException

Sets angles. This is a non-blocking call.

Parameters:

names - The name or names of joints, chains, "Body", "JointActuators", "Joints" or "Actuators".

angles - One or more angles in radians

fractionMaxSpeed - The fraction of maximum speed to use

Throws:

CallError

java.lang.InterruptedException

changeAngles

public void changeAngles(java.lang.Object names,
                         java.lang.Object changes,
                         java.lang.Float fractionMaxSpeed)
                  throws CallError,
                         java.lang.InterruptedException

Changes Angles. This is a non-blocking call.

Parameters:

names - The name or names of joints, chains, "Body", "JointActuators", "Joints" or "Actuators".

changes - One or more changes in radians

fractionMaxSpeed - The fraction of maximum speed to use

Throws:

CallError

java.lang.InterruptedException

getAngles

public java.util.List<java.lang.Float> getAngles(java.lang.Object names,
                                                 java.lang.Boolean useSensors)
                                          throws CallError,
                                                 java.lang.InterruptedException

Gets the angles of the joints

Parameters:

names - Names the joints, chains, "Body", "JointActuators", "Joints" or "Actuators".

useSensors - If true, sensor angles will be returned

Returns:

Joint angles in radians.

Throws:

CallError

java.lang.InterruptedException

openHand

public void openHand(java.lang.String handName)
              throws CallError,
                     java.lang.InterruptedException

NAO stiffens the motors of desired hand. Then, he opens the hand, then cuts motor current to conserve energy. This is a blocking call.

Parameters:

handName - The name of the hand. Could be: "RHand or "LHand"

Throws:

CallError

java.lang.InterruptedException

closeHand

public void closeHand(java.lang.String handName)
               throws CallError,
                      java.lang.InterruptedException

NAO stiffens the motors of desired hand. Then, he closes the hand, then cuts motor current to conserve energy. This is a blocking call.

Parameters:

handName - The name of the hand. Could be: "RHand" or "LHand"

Throws:

CallError

java.lang.InterruptedException

move

public void move(java.lang.Float x,
                 java.lang.Float y,
                 java.lang.Float theta)
          throws CallError,
                 java.lang.InterruptedException

Makes the robot move at the given velocity. This is a non-blocking call.

Parameters:

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].

Throws:

CallError

java.lang.InterruptedException

move

public void move(java.lang.Float x,
                 java.lang.Float y,
                 java.lang.Float theta,
                 java.lang.Object moveConfig)
          throws CallError,
                 java.lang.InterruptedException

Makes the robot move at the given velocity. This is a non-blocking call.

Parameters:

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.

Throws:

CallError

java.lang.InterruptedException

moveToward

public void moveToward(java.lang.Float x,
                       java.lang.Float y,
                       java.lang.Float theta)
                throws CallError,
                       java.lang.InterruptedException

Makes the robot move at the given normalized velocity. This is a non-blocking call.

Parameters:

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).

Throws:

CallError

java.lang.InterruptedException

moveToward

public void moveToward(java.lang.Float x,
                       java.lang.Float y,
                       java.lang.Float theta,
                       java.lang.Object moveConfig)
                throws CallError,
                       java.lang.InterruptedException

Makes the robot move at the given normalized velocity. This is a non-blocking call.

Parameters:

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.

Throws:

CallError

java.lang.InterruptedException

setWalkTargetVelocity

public void setWalkTargetVelocity(java.lang.Float x,
                                  java.lang.Float y,
                                  java.lang.Float theta,
                                  java.lang.Float frequency)
                           throws CallError,
                                  java.lang.InterruptedException

DEPRECATED. Use moveToward() function instead.

Parameters:

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]

Throws:

CallError

java.lang.InterruptedException

setWalkTargetVelocity

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

DEPRECATED. Use moveToward() function instead.

Parameters:

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 feet

Throws:

CallError

java.lang.InterruptedException

setWalkTargetVelocity

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

DEPRECATED. Use moveToward() function instead.

Parameters:

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 foot

rightFootMoveConfig - An ALValue with custom move configuration for the right foot

Throws:

CallError

java.lang.InterruptedException

moveTo

public void moveTo(java.lang.Float x,
                   java.lang.Float y,
                   java.lang.Float theta)
            throws CallError,
                   java.lang.InterruptedException

Makes the robot move at the given position. This is a non-blocking call.

Parameters:

x - The position along x axis [m].

y - The position along y axis [m].

theta - The position around z axis [rd].

Throws:

CallError

java.lang.InterruptedException

moveTo

public void moveTo(java.lang.Float x,
                   java.lang.Float y,
                   java.lang.Float theta,
                   java.lang.Float time)
            throws CallError,
                   java.lang.InterruptedException

Makes the robot move at the given position in fixed time. This is a non-blocking call.

Parameters:

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].

Throws:

CallError

java.lang.InterruptedException

moveTo

public void moveTo(java.lang.Float x,
                   java.lang.Float y,
                   java.lang.Float theta,
                   java.lang.Object moveConfig)
            throws CallError,
                   java.lang.InterruptedException

Makes the robot move at the given position. This is a non-blocking call.

Parameters:

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.

Throws:

CallError

java.lang.InterruptedException

moveTo

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

Makes the robot move at the given position in fixed time. This is a non-blocking call.

Parameters:

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.

Throws:

CallError

java.lang.InterruptedException

moveTo

public void moveTo(java.lang.Object controlPoint)
            throws CallError,
                   java.lang.InterruptedException

Makes the robot move to the given relative positions. This is a blocking call.

Parameters:

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]

Throws:

CallError

java.lang.InterruptedException

moveTo

public void moveTo(java.lang.Object controlPoint,
                   java.lang.Object moveConfig)
            throws CallError,
                   java.lang.InterruptedException

Makes the robot move to the given relative positions. This is a blocking call.

Parameters:

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.

Throws:

CallError

java.lang.InterruptedException

walkTo

public void walkTo(java.lang.Float x,
                   java.lang.Float y,
                   java.lang.Float theta)
            throws CallError,
                   java.lang.InterruptedException

DEPRECATED. Use moveTo() function instead.

Parameters:

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].

Throws:

CallError

java.lang.InterruptedException

walkTo

public void walkTo(java.lang.Float x,
                   java.lang.Float y,
                   java.lang.Float theta,
                   java.lang.Object feetGaitConfig)
            throws CallError,
                   java.lang.InterruptedException

DEPRECATED. Use moveTo() function instead.

Parameters:

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.

Throws:

CallError

java.lang.InterruptedException

walkTo

public void walkTo(java.lang.Object controlPoint)
            throws CallError,
                   java.lang.InterruptedException

DEPRECATED. Use moveTo() function instead.

Parameters:

controlPoint - An ALValue with all the control point in NAO SPACE[[x1,y1,theta1], ..., [xN,yN,thetaN]

Throws:

CallError

java.lang.InterruptedException

walkTo

public void walkTo(java.lang.Object controlPoint,
                   java.lang.Object feetGaitConfig)
            throws CallError,
                   java.lang.InterruptedException

DEPRECATED. Use moveTo() function instead.

Parameters:

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 feet

Throws:

CallError

java.lang.InterruptedException

setFootSteps

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

Makes Nao do foot step planner. This is a non-blocking call.

Parameters:

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 step

clearExisting - Clear existing foot steps.

Throws:

CallError

java.lang.InterruptedException

setFootStepsWithSpeed

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

Makes Nao do foot step planner with speed. This is a blocking call.

Parameters:

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.

Throws:

CallError

java.lang.InterruptedException

getFootSteps

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

Get the foot steps. This is a non-blocking call.

Returns:

Give two list of foot steps. The first one give the unchangeable foot step. The second list give the changeable foot steps. Il you use setFootSteps or setFootStepsWithSpeed with clearExisting parmater equal true, walk engine execute unchangeable foot step and remove the other.

Throws:

CallError

java.lang.InterruptedException

walkInit

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

DEPRECATED. Use moveInit function instead.

Throws:

CallError

java.lang.InterruptedException

moveInit

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

Initialize the move process. Check the robot pose and take a right posture. This is blocking called.

Throws:

CallError

java.lang.InterruptedException

waitUntilWalkIsFinished

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

DEPRECATED. Use waitUntilMoveIsFinished function instead.

Throws:

CallError

java.lang.InterruptedException

waitUntilMoveIsFinished

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

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.

Throws:

CallError

java.lang.InterruptedException

walkIsActive

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

DEPRECATED. Use moveIsActive function instead.

Throws:

CallError

java.lang.InterruptedException

moveIsActive

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

Check if the move process is actif.

Returns:

True if move is active

Throws:

CallError

java.lang.InterruptedException

stopWalk

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

DEPRECATED. Use stopMove function instead.

Throws:

CallError

java.lang.InterruptedException

stopMove

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

Stop Move task safely as fast as possible. The move task is ended less brutally than killMove but more quickly than move(0.0, 0.0, 0.0). This is a blocking call.

Throws:

CallError

java.lang.InterruptedException

getFootGaitConfig

public java.lang.Object getFootGaitConfig(java.lang.String config)
                                   throws CallError,
                                          java.lang.InterruptedException

DEPRECATED. Use getMoveConfig function instead. Gets the foot Gait config ("MaxStepX", "MaxStepY", "MaxStepTheta", "MaxStepFrequency", "StepHeight", "TorsoWx", "TorsoWy")

Parameters:

config - a string should be "Max", "Min", "Default"

Returns:

An ALvalue with the following form :[["MaxStepX", value], ["MaxStepY", value], ["MaxStepTheta", value], ["MaxStepFrequency", value], ["StepHeight", value], ["TorsoWx", value], ["TorsoWy", value]]

Throws:

CallError

java.lang.InterruptedException

getMoveConfig

public java.lang.Object getMoveConfig(java.lang.String config)
                               throws CallError,
                                      java.lang.InterruptedException

Gets the move config.

Parameters:

config - a string should be "Max", "Min", "Default"

Returns:

An ALvalue with the move config

Throws:

CallError

java.lang.InterruptedException

getRobotPosition

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

Gets the World Absolute Robot Position.

Parameters:

useSensors - If true, use the sensor values

Returns:

A vector containing the World Absolute Robot Position. (Absolute Position X, Absolute Position Y, Absolute Angle Z)

Throws:

CallError

java.lang.InterruptedException

getNextRobotPosition

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

Gets the World Absolute next Robot Position. In fact in the walk algorithm some foot futur foot step are incompressible due to preview control, so this function give the next robot position which is incompressible. If the robot doesn't walk this function is equivalent to getRobotPosition(false)

Returns:

A vector containing the World Absolute next Robot position.(Absolute Position X, Absolute Position Y, Absolute Angle Z)

Throws:

CallError

java.lang.InterruptedException

getRobotVelocity

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

Gets the World Absolute Robot Velocity.

Returns:

A vector containing the World Absolute Robot Velocity. (Absolute Velocity Translation X [m.s-1], Absolute Velocity Translation Y[m.s-1], Absolute Velocity Rotation WZ [rd.s-1])

Throws:

CallError

java.lang.InterruptedException

getWalkArmsEnabled

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

DEPRECATED. Gets if Arms Motions are enabled during the Walk Process.

Returns:

True Arm Motions are controlled by the Walk Task.

Throws:

CallError

java.lang.InterruptedException

setWalkArmsEnabled

public void setWalkArmsEnabled(java.lang.Boolean leftArmEnabled,
                               java.lang.Boolean rightArmEnabled)
                        throws CallError,
                               java.lang.InterruptedException

DEPRECATED. Sets if Arms Motions are enabled during the Walk Process.

Parameters:

leftArmEnabled - if true Left Arm motions are controlled by the Walk Task

rightArmEnabled - if true Right Arm mMotions are controlled by the Walk Task

Throws:

CallError

java.lang.InterruptedException

getMoveArmsEnabled

public java.lang.Boolean getMoveArmsEnabled(java.lang.String chainName)
                                     throws CallError,
                                            java.lang.InterruptedException

Gets if Arms Motions are enabled during the Move Process.

Parameters:

chainName - Name of the chain. Could be: "LArm", "RArm" or "Arms"

Returns:

For LArm and RArm true if the corresponding arm is enabled. For Arms, true if both are enabled. False otherwise.

Throws:

CallError

java.lang.InterruptedException

setMoveArmsEnabled

public void setMoveArmsEnabled(java.lang.Boolean leftArmEnabled,
                               java.lang.Boolean rightArmEnabled)
                        throws CallError,
                               java.lang.InterruptedException

Sets if Arms Motions are enabled during the Move Process.

Parameters:

leftArmEnabled - if true Left Arm motions are controlled by the Move Task

rightArmEnabled - if true Right Arm mMotions are controlled by the Move Task

Throws:

CallError

java.lang.InterruptedException

positionInterpolation

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

DEPRECATED. Use positionInterpolations function instead.

Parameters:

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 radians

axisMask - Axis mask. True for axes that you wish to control. e.g. 7 for position only, 56 for rotation only and 63 for both

durations - Vector of times in seconds corresponding to the path points

isAbsolute - If true, the movement is absolute else relative

Throws:

CallError

java.lang.InterruptedException

positionInterpolations

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

DEPRECATED. Use the other positionInterpolations function instead.

Parameters:

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 radians

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 both

relativeTimes - Vector of times in seconds corresponding to the path points

isAbsolute - If true, the movement is absolute else relative

Throws:

CallError

java.lang.InterruptedException

positionInterpolations

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

Moves end-effectors to the given positions and orientations over time. This is a blocking call.

Parameters:

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 radians

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 both

relativeTimes - Vector of times in seconds corresponding to the path points

Throws:

CallError

java.lang.InterruptedException

setPosition

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

Moves an end-effector to DEPRECATED. Use setPositions function instead.

Parameters:

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 radians

fractionMaxSpeed - The fraction of maximum speed to use

axisMask - Axis mask. True for axes that you wish to control. e.g. 7 for position only, 56 for rotation only and 63 for both

Throws:

CallError

java.lang.InterruptedException

setPositions

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

Moves multiple end-effectors to the given position and orientation position6d. This is a non-blocking call.

Parameters:

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 arrays

fractionMaxSpeed - The fraction of maximum speed to use

axisMask - Axis mask. True for axes that you wish to control. e.g. 7 for position only, 56 for rotation only and 63 for both

Throws:

CallError

java.lang.InterruptedException

changePosition

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

DEPRECATED. Use setPositions function instead.

Parameters:

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 radians

fractionMaxSpeed - The fraction of maximum speed to use

axisMask - Axis mask. True for axes that you wish to control. e.g. 7 for position only, 56 for rotation only and 63 for both

Throws:

CallError

java.lang.InterruptedException

getPosition

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

Gets a Position relative to the FRAME. Axis definition: the x axis is positive toward Nao's front, the y from right to left and the z is vertical. The angle convention of Position6D is Rot_z(wz).Rot_y(wy).Rot_x(wx).

Parameters:

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.

Returns:

Vector containing the Position6D using meters and radians (x, y, z, wx, wy, wz)

Throws:

CallError

java.lang.InterruptedException

transformInterpolation

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

DEPRECATED. Use the other transformInterpolations function instead.

Parameters:

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 arrays

axisMask - Axis mask. True for axes that you wish to control. e.g. 7 for position only, 56 for rotation only and 63 for both

duration - Vector of times in seconds corresponding to the path points

isAbsolute - If true, the movement is absolute else relative

Throws:

CallError

java.lang.InterruptedException

transformInterpolations

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

DEPRECATED. Use the other transformInterpolations function instead.

Parameters:

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 both

relativeTimes - Vector of times in seconds corresponding to the path points

isAbsolute - If true, the movement is absolute else relative

Throws:

CallError

java.lang.InterruptedException

transformInterpolations

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

Moves end-effectors to the given positions and orientations over time. This is a blocking call.

Parameters:

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 radians

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 both

relativeTimes - Vector of times in seconds corresponding to the path points

Throws:

CallError

java.lang.InterruptedException

setTransform

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

Moves an end-effector to DEPRECATED. Use setTransforms function instead.

Parameters:

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 arrays

fractionMaxSpeed - The fraction of maximum speed to use

axisMask - Axis mask. True for axes that you wish to control. e.g. 7 for position only, 56 for rotation only and 63 for both

Throws:

CallError

java.lang.InterruptedException

setTransforms

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

Moves multiple end-effectors to the given position and orientation transforms. This is a non-blocking call.

Parameters:

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 arrays

fractionMaxSpeed - The fraction of maximum speed to use

axisMask - Axis mask. True for axes that you wish to control. e.g. 7 for position only, 56 for rotation only and 63 for both

Throws:

CallError

java.lang.InterruptedException

changeTransform

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

DEPRECATED. Use setTransforms function instead.

Parameters:

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 arrays

fractionMaxSpeed - The fraction of maximum speed to use

axisMask - Axis mask. True for axes that you wish to control. e.g. 7 for position only, 56 for rotation only and 63 for both

Throws:

CallError

java.lang.InterruptedException

getTransform

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

Gets an Homogenous Transform relative to the FRAME. Axis definition: the x axis is positive toward Nao's front, the y from right to left and the z is vertical.

Parameters:

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.

Returns:

Vector of 16 floats corresponding to the values of the matrix, line by line.

Throws:

CallError

java.lang.InterruptedException

wbEnable

public void wbEnable(java.lang.Boolean isEnabled)
              throws CallError,
                     java.lang.InterruptedException

UserFriendly Whole Body API: enable Whole Body Balancer. It's a Generalized Inverse Kinematics which deals with cartesian control, balance, redundancy and task priority. The main goal is to generate and stabilized consistent motions without precomputed trajectories and adapt nao's behaviour to the situation. The generalized inverse kinematic problem takes in account equality constraints (keep foot fix), inequality constraints (joint limits, balance, ...) and quadratic minimization (cartesian / articular desired trajectories). We solve each step a quadratic programming on the robot.

Parameters:

isEnabled - Active / Disactive Whole Body Balancer.

Throws:

CallError

java.lang.InterruptedException

wbFootState

public void wbFootState(java.lang.String stateName,
                        java.lang.String supportLeg)
                 throws CallError,
                        java.lang.InterruptedException

UserFriendly Whole Body API: set the foot state: fixed foot, constrained in a plane or free.

Parameters:

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".

Throws:

CallError

java.lang.InterruptedException

wbEnableBalanceConstraint

public void wbEnableBalanceConstraint(java.lang.Boolean isEnable,
                                      java.lang.String supportLeg)
                               throws CallError,
                                      java.lang.InterruptedException

UserFriendly Whole Body API: enable to keep balance in support polygon.

Parameters:

isEnable - Enable Nao to keep balance.

supportLeg - Name of the support leg: "Legs", "LLeg", "RLeg".

Throws:

CallError

java.lang.InterruptedException

wbGoToBalance

public void wbGoToBalance(java.lang.String supportLeg,
                          java.lang.Float duration)
                   throws CallError,
                          java.lang.InterruptedException

Advanced Whole Body API: "Com" go to a desired support polygon. This is a blocking call.

Parameters:

supportLeg - Name of the support leg: "Legs", "LLeg", "RLeg".

duration - Time in seconds. Must be upper 0.5 s.

Throws:

CallError

java.lang.InterruptedException

wbEnableEffectorControl

public void wbEnableEffectorControl(java.lang.String effectorName,
                                    java.lang.Boolean isEnabled)
                             throws CallError,
                                    java.lang.InterruptedException

UserFriendly Whole Body API: enable whole body cartesian control of an effector.

Parameters:

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.

Throws:

CallError

java.lang.InterruptedException

wbSetEffectorControl

public void wbSetEffectorControl(java.lang.String effectorName,
                                 java.lang.Object targetCoordinate)
                          throws CallError,
                                 java.lang.InterruptedException

UserFriendly Whole Body API: set new target for controlled effector. This is a non-blocking call.

Parameters:

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.

Throws:

CallError

java.lang.InterruptedException

wbEnableEffectorOptimization

public void wbEnableEffectorOptimization(java.lang.String effectorName,
                                         java.lang.Boolean isActive)
                                  throws CallError,
                                         java.lang.InterruptedException

Advanced Whole Body API: enable to control an effector as an optimization.

Parameters:

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.

Throws:

CallError

java.lang.InterruptedException

setCollisionProtectionEnabled

public java.lang.Boolean setCollisionProtectionEnabled(java.lang.String pChainName,
                                                       java.lang.Boolean pEnable)
                                                throws CallError,
                                                       java.lang.InterruptedException

Enable Anticollision protection of the arms of the robot. Use api isCollision to know if a chain is in collision and can be disactivated.

Parameters:

pChainName - The chain name {"Arms", "LArm" or "RArm"}.

pEnable - Activate or disactivate the anticollision of the desired Chain.

Returns:

A bool which return always true.

Throws:

CallError

java.lang.InterruptedException

getCollisionProtectionEnabled

public java.lang.Boolean getCollisionProtectionEnabled(java.lang.String pChainName)
                                                throws CallError,
                                                       java.lang.InterruptedException

Allow to know if the collision protection is activated on the given chain.

Parameters:

pChainName - The chain name {"LArm" or "RArm"}.

Returns:

Return true is the collision protection of the given Arm is activated.

Throws:

CallError

java.lang.InterruptedException

setExternalCollisionProtectionEnabled

public void setExternalCollisionProtectionEnabled(java.lang.String pName,
                                                  java.lang.Boolean pEnable)
                                           throws CallError,
                                                  java.lang.InterruptedException

Enable Anticollision protection of the arms and base move of the robot with external environment.

Parameters:

pName - The name {"All", "Move", "Arms", "LArm" or "RArm"}.

pEnable - Activate or disactivate the anticollision of the desired name.

Throws:

CallError

java.lang.InterruptedException

getChainClosestObstaclePosition

public java.util.List<java.lang.Float> getChainClosestObstaclePosition(java.lang.String pName,
                                                                       java.lang.Integer space)
                                                                throws CallError,
                                                                       java.lang.InterruptedException

Gets chain closest obstacle Position .

Parameters:

pName - The Chain name {"LArm" or "RArm"}.

space - Task frame {FRAME_TORSO = 0, FRAME_WORLD = 1, FRAME_ROBOT = 2}.

Returns:

Vector containing the Position3D in meters (x, y, z)

Throws:

CallError

java.lang.InterruptedException

getExternalCollisionProtectionEnabled

public java.lang.Boolean getExternalCollisionProtectionEnabled(java.lang.String pName)
                                                        throws CallError,
                                                               java.lang.InterruptedException

Allow to know if the external collision protection is activated on the given name.

Parameters:

pName - The name {"All", "Move", "Arms", "LArm" or "RArm"}.

Returns:

Return true is the external collision protection of the given name is activated.

Throws:

CallError

java.lang.InterruptedException

setOrthogonalSecurityDistance

public void setOrthogonalSecurityDistance(java.lang.Float securityDistance)
                                   throws CallError,
                                          java.lang.InterruptedException

Defines the orthogonal security distance used with external collision protection "Move".

Parameters:

securityDistance - The orthogonal security distance.

Throws:

CallError

java.lang.InterruptedException

getOrthogonalSecurityDistance

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

Gets the current orthogonal security distance.

Returns:

The current orthogonal security distance.

Throws:

CallError

java.lang.InterruptedException

setTangentialSecurityDistance

public void setTangentialSecurityDistance(java.lang.Float securityDistance)
                                   throws CallError,
                                          java.lang.InterruptedException

Defines the tangential security distance used with external collision protection "Move".

Parameters:

securityDistance - The tangential security distance.

Throws:

CallError

java.lang.InterruptedException

getTangentialSecurityDistance

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

Gets the current tangential security distance.

Returns:

The current tangential security distance.

Throws:

CallError

java.lang.InterruptedException

isCollision

public java.lang.String isCollision(java.lang.String pChainName)
                             throws CallError,
                                    java.lang.InterruptedException

Give the collision state of a chain. If a chain has a collision state "none" or "near", it could be desactivated.

Parameters:

pChainName - The chain name {"Arms", "LArm" or "RArm"}.

Returns:

A string which notice the collision state: "none" there are no collision, "near" the collision is taking in account in the anti-collision algorithm, "collision" the chain is in contact with an other body. If the chain asked is "Arms" the most unfavorable result is given.

Throws:

CallError

java.lang.InterruptedException

setFallManagerEnabled

public void setFallManagerEnabled(java.lang.Boolean pEnable)
                           throws CallError,
                                  java.lang.InterruptedException

Enable The fall manager protection for the robot. When a fall is detected the robot adopt a joint configuration to protect himself and cut the stiffness. . An memory event called "robotHasFallen" is generated when the fallManager have been activated.

Parameters:

pEnable - Activate or disactivate the smart stiffness.

Throws:

CallError

java.lang.InterruptedException

getFallManagerEnabled

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

Give the state of the fall manager.

Returns:

Return true is the fall manager is activated.

Throws:

CallError

java.lang.InterruptedException

setPushRecoveryEnabled

public void setPushRecoveryEnabled(java.lang.Boolean pEnable)
                            throws CallError,
                                   java.lang.InterruptedException

Enable The push recovery protection for the robot.

Parameters:

pEnable - Enable the push recovery.

Throws:

CallError

java.lang.InterruptedException

getPushRecoveryEnabled

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

Give the state of the push recovery.

Returns:

Return true is the push recovery is activated.

Throws:

CallError

java.lang.InterruptedException

setSmartStiffnessEnabled

public void setSmartStiffnessEnabled(java.lang.Boolean pEnable)
                              throws CallError,
                                     java.lang.InterruptedException

Enable Smart Stiffness for all the joints (True by default), the update take one motion cycle for updating. The smart Stiffness is a gestion of joint maximum torque. More description is available on the red documentation of ALMotion module.

Parameters:

pEnable - Activate or disactivate the smart stiffness.

Throws:

CallError

java.lang.InterruptedException

getSmartStiffnessEnabled

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

Give the state of the smart Stiffness.

Returns:

Return true is the smart Stiffnes is activated.

Throws:

CallError

java.lang.InterruptedException

setDiagnosisEffectEnabled

public void setDiagnosisEffectEnabled(java.lang.Boolean pEnable)
                               throws CallError,
                                      java.lang.InterruptedException

Enable or disable the diagnosis effect into ALMotion

Parameters:

pEnable - Enable or disable the diagnosis effect.

Throws:

CallError

java.lang.InterruptedException

getDiagnosisEffectEnabled

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

Give the state of the diagnosis effect.

Returns:

Return true is the diagnosis reflex is activated.

Throws:

CallError

java.lang.InterruptedException

getJointNames

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

DEPRECATED. Use getBodyNames function instead.

Parameters:

name - Name of a chain, "Arms", "Legs", "Body", "Chains", "JointActuators", "Joints" or "Actuators".

Returns:

Vector of strings, one for each joint in the collection

Throws:

CallError

java.lang.InterruptedException

getBodyNames

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

Gets the names of all the joints and actuators in the collection.

Parameters:

name - Name of a chain, "Arms", "Legs", "Body", "Chains", "JointActuators", "Joints" or "Actuators".

Returns:

Vector of strings, one for each joint and actuator in the collection

Throws:

CallError

java.lang.InterruptedException

getSensorNames

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

Gets the list of sensors supported on your robot.

Returns:

Vector of sensor names

Throws:

CallError

java.lang.InterruptedException

getLimits

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

Get the minAngle (rad), maxAngle (rad), and maxVelocity (rad.s-1) for a given joint or actuator in the body.

Parameters:

name - Name of a joint, chain, "Body", "JointActuators", "Joints" or "Actuators".

Returns:

Array of ALValue arrays containing the minAngle, maxAngle, maxVelocity and maxTorque for all the bodies specified.

Throws:

CallError

java.lang.InterruptedException

getMotionCycleTime

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

Get the motion cycle time in milliseconds.

Returns:

Expressed in milliseconds

Throws:

CallError

java.lang.InterruptedException

getRobotConfig

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

Get the robot configuration.

Returns:

ALValue arrays containing the robot parameter names and the robot parameter values.

Throws:

CallError

java.lang.InterruptedException

getSummary

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

Returns a string representation of the Model's state

Returns:

A formated string

Throws:

CallError

java.lang.InterruptedException

getMass

public java.lang.Float getMass(java.lang.String pName)
                        throws CallError,
                               java.lang.InterruptedException

Gets the mass of a joint, chain, "Body" or "Joints".

Parameters:

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.

Returns:

The mass in kg.

Throws:

CallError

java.lang.InterruptedException

getCOM

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

Gets the COM of a joint, chain, "Body" or "Joints".

Parameters:

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.

Returns:

The COM position (meter).

Throws:

CallError

java.lang.InterruptedException

setMotionConfig

public void setMotionConfig(java.lang.Object config)
                     throws CallError,
                            java.lang.InterruptedException

Internal Use.

Parameters:

config - Internal: An array of ALValues [i][0]: name, [i][1]: value

Throws:

CallError

java.lang.InterruptedException

updateTrackerTarget

public void updateTrackerTarget(java.lang.Float pTargetPositionWy,
                                java.lang.Float pTargetPositionWz,
                                java.lang.Integer pTimeSinceDetectionMs,
                                java.lang.Boolean pUseOfWholeBody)
                         throws CallError,
                                java.lang.InterruptedException

Update the target to follow by the head of NAO. DEPRECATED Function. Please use ALTracker::lookAt.

Parameters:

pTargetPositionWy - The target position wy in FRAME_ROBOT

pTargetPositionWz - The target position wz in FRAME_ROBOT

pTimeSinceDetectionMs - The time in Ms since the target was detected

pUseOfWholeBody - If true, the target is follow in cartesian space by the Head with whole Body constraints.

Throws:

CallError

java.lang.InterruptedException

setBreathEnabled

public void setBreathEnabled(java.lang.String pChain,
                             java.lang.Boolean pIsEnabled)
                      throws CallError,
                             java.lang.InterruptedException

This function starts or stops breathing animation on a chain. Chain name can be "Body", "Arms", "LArm", "RArm", "Legs" or "Head". Head breathing animation will work only if Leg animation is active.

Parameters:

pChain - Chain name.

pIsEnabled - Enables / disables the chain.

Throws:

CallError

java.lang.InterruptedException

getBreathEnabled

public java.lang.Boolean getBreathEnabled(java.lang.String pChain)
                                   throws CallError,
                                          java.lang.InterruptedException

This function gets the status of breathing animation on a chain. Chain name can be "Body", "Arms", "LArm", "RArm", "Legs" or "Head".

Parameters:

pChain - Chain name.

Returns:

True if breathing animation is enabled on the chain.

Throws:

CallError

java.lang.InterruptedException

setBreathConfig

public void setBreathConfig(java.lang.Object pConfig)
                     throws CallError,
                            java.lang.InterruptedException

This function configures the breathing animation.

Parameters:

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.

Throws:

CallError

java.lang.InterruptedException

getBreathConfig

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

This function gets the current breathing configuration.

Returns:

An ALValue of the form [["Bpm", bpm], ["Amplitude", amplitude]]. bpm is the breathing frequency in beats per minute. amplitude is the normalized amplitude of the breathing animation, between 0 and 1.

Throws:

CallError

java.lang.InterruptedException

setIdlePostureEnabled

public void setIdlePostureEnabled(java.lang.String pChain,
                                  java.lang.Boolean pIsEnabled)
                           throws CallError,
                                  java.lang.InterruptedException

Starts or stops idle posture management on a chain. Chain name can be "Body", "Arms", "LArm", "RArm", "Legs" or "Head".

Parameters:

pChain - Chain name.

pIsEnabled - Enables / disables the chain.

Throws:

CallError

java.lang.InterruptedException

getIdlePostureEnabled

public java.lang.Boolean getIdlePostureEnabled(java.lang.String pChain)
                                        throws CallError,
                                               java.lang.InterruptedException

This function gets the status of idle posture management on a chain. Chain name can be "Body", "Arms", "LArm", "RArm", "Legs" or "Head".

Parameters:

pChain - Chain name.

Returns:

True if breathing animation is enabled on the chain.

Throws:

CallError

java.lang.InterruptedException

getTaskList

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

Gets an ALValue structure describing the tasks in the Task List

Returns:

An ALValue containing an ALValue for each task. The inner ALValue contains: Name, MotionID

Throws:

CallError

java.lang.InterruptedException

areResourcesAvailable

public java.lang.Boolean areResourcesAvailable(java.util.List<java.lang.String> resourceNames)
                                        throws CallError,
                                               java.lang.InterruptedException

Returns true if all the desired resources are available. Only motion API's' blocking call takes resources.

Parameters:

resourceNames - A vector of resource names such as joints. Use getBodyNames("Body") to have the list of the available joint for your robot.

Returns:

True if the resources are available

Throws:

CallError

java.lang.InterruptedException

killTask

public java.lang.Boolean killTask(java.lang.Integer motionTaskID)
                           throws CallError,
                                  java.lang.InterruptedException

Kills a motion task.

Parameters:

motionTaskID - TaskID of the motion task you want to kill.

Returns:

Return true if the specified motionTaskId has been killed.

Throws:

CallError

java.lang.InterruptedException

killTasksUsingResources

public void killTasksUsingResources(java.util.List<java.lang.String> resourceNames)
                             throws CallError,
                                    java.lang.InterruptedException

Kills all tasks that use any of the resources given. Only motion API's' blocking call takes resources and can be killed. Use getBodyNames("Body") to have the list of the available joint for your robot.

Parameters:

resourceNames - A vector of resource joint names

Throws:

CallError

java.lang.InterruptedException

killWalk

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

DEPRECATED. Use killMove function instead.

Throws:

CallError

java.lang.InterruptedException

killMove

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

Emergency Stop on Move task: This method will end the move task brutally, without attempting to return to a balanced state. The robot could easily fall.

Throws:

CallError

java.lang.InterruptedException

killAll

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

Kills all tasks.

Throws:

CallError

java.lang.InterruptedException

setEnableNotifications

public void setEnableNotifications(java.lang.Boolean enable)
                            throws CallError,
                                   java.lang.InterruptedException

Enable / Disable notifications.

Parameters:

enable - If True enable notifications. If False disable notifications.

Throws:

CallError

java.lang.InterruptedException

areNotificationsEnabled

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

Return true if notifications are active.

Returns:

Return True if notifications are active.

Throws:

CallError

java.lang.InterruptedException