public class ALMotionRecorder extends ALProxy
Constructor and Description |
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ALMotionRecorder(Session session) |
Modifier and Type | Method and Description |
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void |
clearStats() |
void |
dataChanged(java.lang.String dataName,
java.lang.Object data,
java.lang.String message)
Called by ALMemory when subcription data is updated.
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void |
exit()
Exits and unregisters the module.
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java.lang.String |
getBrokerName()
Gets the name of the parent broker.
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java.lang.Object |
getMethodHelp(java.lang.String methodName)
Retrieves a method's description.
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java.util.List<java.lang.String> |
getMethodList()
Retrieves the module's method list.
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java.lang.Object |
getModuleHelp()
Retrieves the module's description.
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java.lang.String |
getUsage(java.lang.String name)
Gets the method usage string.
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java.lang.Boolean |
isRunning(java.lang.Integer id)
Returns true if the method is currently running.
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java.lang.Boolean |
isStatsEnabled() |
java.lang.Boolean |
isTraceEnabled() |
java.lang.Boolean |
ping()
Just a ping.
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void |
startInteractiveRecording(java.util.List<java.lang.String> jointsToRecord,
java.lang.Integer nbPoses,
java.lang.Boolean extensionAllowed,
java.lang.Integer mode)
Start recording the motion in an interactive mode
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void |
startPeriodicRecording(java.util.List<java.lang.String> jointsToRecord,
java.lang.Integer nbPoses,
java.lang.Boolean extensionAllowed,
java.lang.Float timeStep,
java.util.List<java.lang.String> jointsToReplay,
java.lang.Object replayData)
Start recording the motion in a periodic mode
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void |
stop(java.lang.Integer id)
returns true if the method is currently running
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java.lang.Object |
stopAndGetRecording()
Stop recording the motion and return data
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java.lang.String |
version()
Returns the version of the module.
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java.lang.Boolean |
wait(java.lang.Integer id,
java.lang.Integer timeoutPeriod)
Wait for the end of a long running method that was called using 'post'
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call, connect, connect, disconnect, getNaoqiType, getService, isProxyReady, setService
public ALMotionRecorder(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 startInteractiveRecording(java.util.List<java.lang.String> jointsToRecord, java.lang.Integer nbPoses, java.lang.Boolean extensionAllowed, java.lang.Integer mode) throws CallError, java.lang.InterruptedException
jointsToRecord
- Names of joints that must be recordednbPoses
- Default number of poses to recordextensionAllowed
- Set to true to ignore nbPoses and keep recording new poses as long as record is not manually stoppedmode
- Indicates which interactive mode must be used. 1 : Use right bumper to enslave and left bumper to store the pose (deprecated); 2 : Use chest button to store the poseCallError
java.lang.InterruptedException
public void startPeriodicRecording(java.util.List<java.lang.String> jointsToRecord, java.lang.Integer nbPoses, java.lang.Boolean extensionAllowed, java.lang.Float timeStep, java.util.List<java.lang.String> jointsToReplay, java.lang.Object replayData) throws CallError, java.lang.InterruptedException
jointsToRecord
- Names of joints that must be recordednbPoses
- Default number of poses to recordextensionAllowed
- set to true to ignore nbPoses and keep recording new poses as long as record is not manually stoppedtimeStep
- Time in seconds to wait between two posesjointsToReplay
- Names of joints that must be replayedreplayData
- An ALValue holding data for replayed joints. It holds two ALValues. The first one is an ALValue where each line corresponds to a joint, and column elements are times of control points The second one is also an ALValue where each line corresponds to a joint, but column elements are arrays containing [float angle, Handle1, Handle2] elements, where Handle is [int InterpolationType, float dAngle, float dTime] describing the handle offsets relative to the angle and time of the point. The first bezier param describes the handle that controls the curve preceding the point, the second describes the curve following the point.CallError
java.lang.InterruptedException
public java.lang.Object stopAndGetRecording() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public void dataChanged(java.lang.String dataName, java.lang.Object data, java.lang.String message) throws CallError, java.lang.InterruptedException
dataName
- Name of the subscribed data.data
- Value of the the subscribed datamessage
- The message give when subscribing.CallError
java.lang.InterruptedException
Aldebaran SDK for Java
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