com.aldebaran.qi.helper.proxies

Class ALMotionRecorder

java.lang.Object

com.aldebaran.qi.helper.ALProxy

com.aldebaran.qi.helper.proxies.ALMotionRecorder

public class ALMotionRecorder
extends ALProxy

ALMotionRecorder is a very specific module for real-time motion recording in Choregraphe. Users can get a simpler interface for motion recording by using the Animation Mode. ALMotionRecorder also supports recording modes using bumpers or torso button, and selective motion replay.

See Also:

NAOqi APIs for ALMotionRecorder

Field Summary

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

name, service

Constructor Summary

Constructors

Constructor and Description
ALMotionRecorder(Session session)

Method Summary

Modifier and Type	Method and Description
void	clearStats()
void	dataChanged(java.lang.String dataName, java.lang.Object data, java.lang.String message) Called by ALMemory when subcription data is updated.
void	exit() Exits and unregisters the module.
java.lang.String	getBrokerName() Gets the name of the parent broker.
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.String	getUsage(java.lang.String name) Gets the method usage string.
java.lang.Boolean	isRunning(java.lang.Integer id) Returns true if the method is currently running.
java.lang.Boolean	isStatsEnabled()
java.lang.Boolean	isTraceEnabled()
java.lang.Boolean	ping() Just a ping.
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
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
void	stop(java.lang.Integer id) returns true if the method is currently running
java.lang.Object	stopAndGetRecording() Stop recording the motion and return data
java.lang.String	version() Returns the version of the module.
java.lang.Boolean	wait(java.lang.Integer id, java.lang.Integer timeoutPeriod) Wait for the end of a long running method that was called using 'post'

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

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

Methods inherited from class java.lang.Object

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

Constructor Detail

ALMotionRecorder

public ALMotionRecorder(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

startInteractiveRecording

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

Start recording the motion in an interactive mode

Parameters:

jointsToRecord - Names of joints that must be recorded

nbPoses - Default number of poses to record

extensionAllowed - Set to true to ignore nbPoses and keep recording new poses as long as record is not manually stopped

mode - 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 pose

Throws:

CallError

java.lang.InterruptedException

startPeriodicRecording

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

Start recording the motion in a periodic mode

Parameters:

jointsToRecord - Names of joints that must be recorded

nbPoses - Default number of poses to record

extensionAllowed - set to true to ignore nbPoses and keep recording new poses as long as record is not manually stopped

timeStep - Time in seconds to wait between two poses

jointsToReplay - Names of joints that must be replayed

replayData - 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.

Throws:

CallError

java.lang.InterruptedException

stopAndGetRecording

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

Stop recording the motion and return data

Returns:

Returns the recorded data as an ALValue: [[JointName1,[pos1, pos2, ...]], [JointName2,[pos1, pos2, ...]], ...]

Throws:

CallError

java.lang.InterruptedException

dataChanged

public void dataChanged(java.lang.String dataName,
                        java.lang.Object data,
                        java.lang.String message)
                 throws CallError,
                        java.lang.InterruptedException

Called by ALMemory when subcription data is updated. INTERNAL

Parameters:

dataName - Name of the subscribed data.

data - Value of the the subscribed data

message - The message give when subscribing.

Throws:

CallError

java.lang.InterruptedException