com.aldebaran.qi.helper.proxies

Class ALRobotPosture

java.lang.Object

com.aldebaran.qi.helper.ALProxy

com.aldebaran.qi.helper.proxies.ALRobotPosture

public class ALRobotPosture
extends ALProxy

Use ALRobotPosture module to make the robot go tothe asked posture.

See Also:

NAOqi APIs for ALRobotPosture

Field Summary

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

name, service

Constructor Summary

Constructors

Constructor and Description
ALRobotPosture(Session session)

Method Summary

Modifier and Type	Method and Description
java.lang.Boolean	applyPosture(java.lang.String postureName, java.lang.Float maxSpeedFraction) Set the angle of the joints of the robot to the choosen posture.
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.String	getPosture() Determine posture.
java.lang.String	getPostureFamily() Returns the posture family for example Standing, LyingBelly,...
java.util.List<java.lang.String>	getPostureFamilyList() Get the list of posture family names available.
java.util.List<java.lang.String>	getPostureList() Get the list of posture names available.
java.lang.String	getUsage(java.lang.String name) Gets the method usage string.
java.lang.Boolean	goToPosture(java.lang.String postureName, java.lang.Float maxSpeedFraction) Make the robot go to the choosenposture.
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	setMaxTryNumber(java.lang.Integer pMaxTryNumber) Set maximum of tries ongoToPosture fail.
void	stop(java.lang.Integer id) returns true if the method is currently running
void	stopMove() Stop the posture move.
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

ALRobotPosture

public ALRobotPosture(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

getPostureFamily

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

Returns the posture family for example Standing, LyingBelly,...

Returns:

Returns the posture family, e.g. Standing.

Throws:

CallError

java.lang.InterruptedException

goToPosture

public java.lang.Boolean goToPosture(java.lang.String postureName,
                                     java.lang.Float maxSpeedFraction)
                              throws CallError,
                                     java.lang.InterruptedException

Make the robot go to the choosenposture.

Parameters:

postureName - Name of the desired posture. Use getPostureList to get the list of posture name available.

maxSpeedFraction - A fraction.

Returns:

Returns if the posture was reached or not.

Throws:

CallError

java.lang.InterruptedException

applyPosture

public java.lang.Boolean applyPosture(java.lang.String postureName,
                                      java.lang.Float maxSpeedFraction)
                               throws CallError,
                                      java.lang.InterruptedException

Set the angle of the joints of the robot to the choosen posture.

Parameters:

postureName - Name of the desired posture. Use getPostureList to get the list of posture name available.

maxSpeedFraction - A fraction.

Returns:

Returns if the posture was reached or not.

Throws:

CallError

java.lang.InterruptedException

stopMove

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

Stop the posture move.

Throws:

CallError

java.lang.InterruptedException

getPostureList

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

Get the list of posture names available.

Throws:

CallError

java.lang.InterruptedException

getPostureFamilyList

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

Get the list of posture family names available.

Throws:

CallError

java.lang.InterruptedException

setMaxTryNumber

public void setMaxTryNumber(java.lang.Integer pMaxTryNumber)
                     throws CallError,
                            java.lang.InterruptedException

Set maximum of tries ongoToPosture fail.

Parameters:

pMaxTryNumber - Number of retry if goToPosture fail.

Throws:

CallError

java.lang.InterruptedException

getPosture

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

Determine posture.

Throws:

CallError

java.lang.InterruptedException