com.aldebaran.qi.helper.proxies

Class ALNavigation

java.lang.Object

com.aldebaran.qi.helper.ALProxy

com.aldebaran.qi.helper.proxies.ALNavigation

public class ALNavigation
extends ALProxy

Use ALNavigation module to make the robot go safely to the asked pose2D.

See Also:

NAOqi APIs for ALNavigation

Field Summary

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

name, service

Constructor Summary

Constructors

Constructor and Description
ALNavigation(Session session)

Method Summary

Modifier and Type	Method and Description
void	clearStats()
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.Float	getSecurityDistance() Distance in meters fromwhich the robot should stop if there is an obstacle.
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()
void	move(java.lang.Float x, java.lang.Float y, java.lang.Float theta) Makes the robot move at the given speed in S.I. units.
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 speed in S.I. units.
java.lang.Boolean	moveAlong(java.lang.Object trajectory) .
void	moveTo(java.lang.Float x, java.lang.Float y, java.lang.Float theta) Makes the robot move at the given position.This is a blocking call.
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.This is a blocking call.
void	moveToward(java.lang.Float x, java.lang.Float y, java.lang.Float theta) Makes the robot move at the given speed in normalized speed fraction.
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 speed in normalized speed fraction.
java.lang.Boolean	navigateTo(java.lang.Float x, java.lang.Float y) Makes the robot navigate to a relative metrical target pose2D expressed in FRAME_ROBOT.
java.lang.Boolean	navigateTo(java.lang.Float x, java.lang.Float y, java.lang.Float theta) Makes the robot navigate to a relative metrical target pose2D expressed in FRAME_ROBOT.
java.lang.Boolean	navigateTo(java.lang.Float x, java.lang.Float y, java.lang.Float theta, java.lang.Object config) Makes the robot navigate to a relative metrical target pose2D expressed in FRAME_ROBOT.
java.lang.Boolean	navigateTo(java.lang.Float x, java.lang.Float y, java.lang.Object config) Makes the robot navigate to a relative metrical target pose2D expressed in FRAME_ROBOT.
void	onTouchChanged(java.lang.String param1, java.lang.Object param2, java.lang.String param3) .
java.lang.Boolean	ping() Just a ping.
void	setSecurityDistance(java.lang.Float param1) Distance in meters fromwhich the robot should stop if there is an obstacle.
void	stop(java.lang.Integer id) returns true if the method is currently running
void	stopNavigateTo() Stops the navigateTo.
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

ALNavigation

public ALNavigation(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

navigateTo

public java.lang.Boolean navigateTo(java.lang.Float x,
                                    java.lang.Float y)
                             throws CallError,
                                    java.lang.InterruptedException

Makes the robot navigate to a relative metrical target pose2D expressed in FRAME_ROBOT. The robot computes a path to avoid obstacles.

Parameters:

x - The position along x axis [m].

y - The position along y axis [m].

Throws:

CallError

java.lang.InterruptedException

navigateTo

public java.lang.Boolean navigateTo(java.lang.Float x,
                                    java.lang.Float y,
                                    java.lang.Object config)
                             throws CallError,
                                    java.lang.InterruptedException

Makes the robot navigate to a relative metrical target pose2D expressed in FRAME_ROBOT. The robot computes a path to avoid obstacles.

Parameters:

x - The position along x axis [m].

y - The position along y axis [m].

config - Configuration ALValue. For example, [["SpeedFactor", 0.5]] sets speedFactor to 0.5

Throws:

CallError

java.lang.InterruptedException

navigateTo

public java.lang.Boolean navigateTo(java.lang.Float x,
                                    java.lang.Float y,
                                    java.lang.Float theta)
                             throws CallError,
                                    java.lang.InterruptedException

Makes the robot navigate to a relative metrical target pose2D expressed in FRAME_ROBOT. The robot computes a path to avoid obstacles.

Parameters:

x - The position along x axis [m].

y - The position along y axis [m].

theta - Orientation of the robot (rad).

Throws:

CallError

java.lang.InterruptedException

navigateTo

public java.lang.Boolean navigateTo(java.lang.Float x,
                                    java.lang.Float y,
                                    java.lang.Float theta,
                                    java.lang.Object config)
                             throws CallError,
                                    java.lang.InterruptedException

Makes the robot navigate to a relative metrical target pose2D expressed in FRAME_ROBOT. The robot computes a path to avoid obstacles.

Parameters:

x - The position along x axis [m].

y - The position along y axis [m].

theta - Orientation of the robot (rad).

config - Configuration ALValue. For example, [["SpeedFactor", 0.5]] sets speedFactor to 0.5

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 blocking call.

Parameters:

x - The position along x axis [m].

y - The position along y axis [m].

theta - The angle around z axis [rad].

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 blocking call.

Parameters:

x - The position along x axis [m].

y - The position along y axis [m].

theta - The angle around z axis [rad].

moveConfig - An ALValue with custom move configuration.

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 speed in S.I. units. This is a blocking call.

Parameters:

x - The speed along x axis [m.s-1].

y - The speed along y axis [m.s-1].

theta - The anglular speed around z axis [rad.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 speed in S.I. units. This is a blocking call.

Parameters:

x - The speed along x axis [m.s-1].

y - The speed along y axis [m.s-1].

theta - The anglular speed around z axis [rad.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 speed in normalized speed fraction. This is a blocking call.

Parameters:

x - The speed along x axis [0.0-1.0].

y - The speed along y axis [0.0-1.0].

theta - The anglular speed around z axis [0.0-1.0].

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 speed in normalized speed fraction. This is a blocking call.

Parameters:

x - The speed along x axis [0.0-1.0].

y - The speed along y axis [0.0-1.0].

theta - The anglular speed around z axis [0.0-1.0].

moveConfig - An ALValue with custom move configuration.

Throws:

CallError

java.lang.InterruptedException

setSecurityDistance

public void setSecurityDistance(java.lang.Float param1)
                         throws CallError,
                                java.lang.InterruptedException

Distance in meters fromwhich the robot should stop if there is an obstacle.

Throws:

CallError

java.lang.InterruptedException

getSecurityDistance

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

Distance in meters fromwhich the robot should stop if there is an obstacle.

Throws:

CallError

java.lang.InterruptedException

stopNavigateTo

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

Stops the navigateTo.

Throws:

CallError

java.lang.InterruptedException

moveAlong

public java.lang.Boolean moveAlong(java.lang.Object trajectory)
                            throws CallError,
                                   java.lang.InterruptedException

.

Parameters:

trajectory - An ALValue describing a trajectory.

Throws:

CallError

java.lang.InterruptedException

onTouchChanged

public void onTouchChanged(java.lang.String param1,
                           java.lang.Object param2,
                           java.lang.String param3)
                    throws CallError,
                           java.lang.InterruptedException

.

Throws:

CallError

java.lang.InterruptedException