com.aldebaran.qi.helper.proxies

Class ALTracker

java.lang.Object

com.aldebaran.qi.helper.ALProxy

com.aldebaran.qi.helper.proxies.ALTracker

public class ALTracker
extends ALProxy

Use ALTracker module to make the robot track an object or a person with head and arms or not.

See Also:

NAOqi APIs for ALTracker

Field Summary

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

name, service

Constructor Summary

Constructors

Constructor and Description
ALTracker(Session session)

Method Summary

Modifier and Type	Method and Description
void	addEffector(java.lang.String pEffector) DEPRECATED.
void	addTarget(java.lang.String pTarget, java.lang.Object pParams) DEPRECATED.
void	clearStats()
void	exit() Exits and unregisters the module.
java.lang.String	getActiveTarget() Return active target name.
java.util.List<java.lang.String>	getAvailableModes() Get the list of predefined mode.
java.lang.String	getBrokerName() Gets the name of the parent broker.
java.lang.String	getEffector() Get active effector.
java.lang.Integer	getExtractorPeriod(java.lang.String pTarget) Get the period of corresponding target name extractor.
java.util.List<java.lang.String>	getManagedTargets() DEPRECATED.
java.lang.Float	getMaximumDistanceDetection() get the maximum distance for target detection in meter.
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.String	getMode() Get the tracker current mode.
java.lang.Object	getModuleHelp() Retrieves the module's description.
java.lang.Object	getMoveConfig() Get the config for move modes.
java.util.List<java.lang.String>	getRegisteredTargets() Return a list of registered targets names.
java.lang.Object	getRelativePosition() Get the robot position relative to target in Move mode.
java.util.List<java.lang.Float>	getRobotPosition() Only work with LandMarks target name.
java.util.List<java.lang.String>	getSupportedTargets() Return a list of supported targets names.
java.lang.Object	getTargetCoordinates() Only work with LandMarks target name.
java.util.List<java.lang.String>	getTargetNames() DEPRECATED.
java.util.List<java.lang.Float>	getTargetPosition() DEPRECATED.
java.util.List<java.lang.Float>	getTargetPosition(java.lang.Integer pFrame) Returns the [x, y, z] position of the target in FRAME_TORSO.
java.lang.Integer	getTimeOut() get the timeout parameter for target lost.
java.lang.String	getUsage(java.lang.String name) Gets the method usage string.
java.lang.Boolean	isActive() Return true if Tracker is running.
java.lang.Boolean	isNewTargetDetected() Return true if a new target was detected.
java.lang.Boolean	isRunning(java.lang.Integer id) Returns true if the method is currently running.
java.lang.Boolean	isSearchEnabled() Return true if the target search process is enabled.
java.lang.Boolean	isStatsEnabled()
java.lang.Boolean	isTargetLost() Return true if the target was lost.
java.lang.Boolean	isTraceEnabled()
void	lookAt(java.util.List<java.lang.Float> pPosition, java.lang.Float pFractionMaxSpeed, java.lang.Boolean pUseWholeBody) DEPRECATED.
void	lookAt(java.util.List<java.lang.Float> pPosition, java.lang.Integer pFrame, java.lang.Float pFractionMaxSpeed, java.lang.Boolean pUseWholeBody) Look at the target position with head.
java.lang.Boolean	ping() Just a ping.
void	pointAt(java.lang.String pEffector, java.util.List<java.lang.Float> pPosition, java.lang.Float pFractionMaxSpeed) DEPRECATED.
void	pointAt(java.lang.String pEffector, java.util.List<java.lang.Float> pPosition, java.lang.Integer pFrame, java.lang.Float pFractionMaxSpeed) Point at the target position with arms.
void	registerTarget(java.lang.String pTarget, java.lang.Object pParams) Register a predefined target.
void	removeAllTargets() DEPRECATED.
void	removeEffector(java.lang.String pEffector) DEPRECATED.
void	removeTarget(java.lang.String pTarget) DEPRECATED.
void	removeTargets(java.util.List<java.lang.String> pTarget) DEPRECATED.
void	setEffector(java.lang.String pEffector) Set an end-effector to move for tracking.
void	setExtractorPeriod(java.lang.String pTarget, java.lang.Integer pPeriod) Set a period for the corresponding target name extractor.
void	setMaximumDistanceDetection(java.lang.Float pMaxDistance) set the maximum target detection distance in meter.
void	setMode(java.lang.String pMode) Set the tracker in the predefined mode.Could be "Head", "WholeBody" or "Move".
void	setMoveConfig(java.lang.Object config) set a config for move modes.
void	setRelativePosition(java.lang.Object target) Set the robot position relative to target in Move mode.
void	setTargetCoordinates(java.lang.Object pCoord) Only work with LandMarks target name.
void	setTimeOut(java.lang.Integer pTimeMs) set the timeout parameter for target lost.
void	stop(java.lang.Integer id) returns true if the method is currently running
void	stopTracker() Stop the tracker.
void	toggleSearch(java.lang.Boolean pSearch) Enables/disables the target search process.
void	track(java.lang.String pTarget) Set the predefided target to track and start the tracking process if not started.
void	trackEvent(java.lang.String pEventName) Track event and start the tracking process if not started.
void	unregisterAllTargets() Unregister all targets except active target and stop corresponding extractor.
void	unregisterTarget(java.lang.String pTarget) Unregister target name and stop corresponding extractor.
void	unregisterTargets(java.util.List<java.lang.String> pTarget) Unregister a list of target names and stop corresponding extractor.
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

ALTracker

public ALTracker(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

getTargetPosition

public java.util.List<java.lang.Float> getTargetPosition(java.lang.Integer pFrame)
                                                  throws CallError,
                                                         java.lang.InterruptedException

Returns the [x, y, z] position of the target in FRAME_TORSO. This is done assuming an average target size, so it might not be very accurate.

Parameters:

pFrame - target frame {FRAME_TORSO = 0, FRAME_WORLD = 1, FRAME_ROBOT = 2}.

Returns:

Vector of 3 floats corresponding to the target position 3D.

Throws:

CallError

java.lang.InterruptedException

getRobotPosition

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

Only work with LandMarks target name. Returns the [x, y, z, wx, wy, wz] position of the robot in coordinate system setted with setMap API. This is done assuming an average target size, so it might not be very accurate.

Returns:

Vector of 6 floats corresponding to the robot position 6D.

Throws:

CallError

java.lang.InterruptedException

isActive

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

Return true if Tracker is running.

Returns:

True if Tracker is running.

Throws:

CallError

java.lang.InterruptedException

isNewTargetDetected

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

Return true if a new target was detected.

Returns:

True if a new target was detected since the last getTargetPosition().

Throws:

CallError

java.lang.InterruptedException

setRelativePosition

public void setRelativePosition(java.lang.Object target)
                         throws CallError,
                                java.lang.InterruptedException

Set the robot position relative to target in Move mode.

Parameters:

target - Set the final goal of the tracking. Could be [distance, thresholdX, thresholdY] or with LandMarks target name [coordX, coordY, coordWz, thresholdX, thresholdY, thresholdWz].

Throws:

CallError

java.lang.InterruptedException

getRelativePosition

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

Get the robot position relative to target in Move mode.

Returns:

The final goal of the tracking. Could be [distance, thresholdX, thresholdY] or with LandMarks target name [coordX, coordY, coordWz, thresholdX, thresholdY, thresholdWz].

Throws:

CallError

java.lang.InterruptedException

setTargetCoordinates

public void setTargetCoordinates(java.lang.Object pCoord)
                          throws CallError,
                                 java.lang.InterruptedException

Only work with LandMarks target name. Set objects coordinates. Could be [[first object coordinate], [second object coordinate]] [[x1, y1, z1], [x2, y2, z2]]

Parameters:

pCoord - objects coordinates.

Throws:

CallError

java.lang.InterruptedException

getTargetCoordinates

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

Only work with LandMarks target name. Get objects coordinates. Could be [[first object coordinate], [second object coordinate]] [[x1, y1, z1], [x2, y2, z2]]

Returns:

objects coordinates.

Throws:

CallError

java.lang.InterruptedException

setMode

public void setMode(java.lang.String pMode)
             throws CallError,
                    java.lang.InterruptedException

Set the tracker in the predefined mode.Could be "Head", "WholeBody" or "Move".

Parameters:

pMode - a predefined mode.

Throws:

CallError

java.lang.InterruptedException

getMode

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

Get the tracker current mode.

Returns:

The current tracker mode.

Throws:

CallError

java.lang.InterruptedException

getAvailableModes

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

Get the list of predefined mode.

Returns:

List of predefined mode.

Throws:

CallError

java.lang.InterruptedException

toggleSearch

public void toggleSearch(java.lang.Boolean pSearch)
                  throws CallError,
                         java.lang.InterruptedException

Enables/disables the target search process. Target search process occurs only when the target is lost.

Parameters:

pSearch - If true and if the target is lost, the robot moves the head in order to find the target. If false and if the target is lost the robot does not move.

Throws:

CallError

java.lang.InterruptedException

isSearchEnabled

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

Return true if the target search process is enabled.

Returns:

If true the target search process is enabled.

Throws:

CallError

java.lang.InterruptedException

stopTracker

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

Stop the tracker.

Throws:

CallError

java.lang.InterruptedException

isTargetLost

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

Return true if the target was lost.

Returns:

True if the target was lost.

Throws:

CallError

java.lang.InterruptedException

track

public void track(java.lang.String pTarget)
           throws CallError,
                  java.lang.InterruptedException

Set the predefided target to track and start the tracking process if not started.

Parameters:

pTarget - a predefined target to track.Could be "RedBall", "Face", "LandMark", "LandMarks", "People" or "Sound".

Throws:

CallError

java.lang.InterruptedException

trackEvent

public void trackEvent(java.lang.String pEventName)
                throws CallError,
                       java.lang.InterruptedException

Track event and start the tracking process if not started.

Parameters:

pEventName - a event name to track.

Throws:

CallError

java.lang.InterruptedException

registerTarget

public void registerTarget(java.lang.String pTarget,
                           java.lang.Object pParams)
                    throws CallError,
                           java.lang.InterruptedException

Register a predefined target. Subscribe to corresponding extractor if Tracker is running..

Parameters:

pTarget - a predefined target to track.Could be "RedBall", "Face", "LandMark", "LandMarks", "People" or "Sound".

pParams - a target parameters. (RedBall : set diameter of ball.

Throws:

CallError

java.lang.InterruptedException

setExtractorPeriod

public void setExtractorPeriod(java.lang.String pTarget,
                               java.lang.Integer pPeriod)
                        throws CallError,
                               java.lang.InterruptedException

Set a period for the corresponding target name extractor.

Parameters:

pTarget - a predefined target name.Could be "RedBall", "Face", "LandMark", "LandMarks", "People" or "Sound".

pPeriod - a period in milliseconds

Throws:

CallError

java.lang.InterruptedException

getExtractorPeriod

public java.lang.Integer getExtractorPeriod(java.lang.String pTarget)
                                     throws CallError,
                                            java.lang.InterruptedException

Get the period of corresponding target name extractor.

Parameters:

pTarget - a predefined target name.Could be "RedBall", "Face", "LandMark", "LandMarks", "People" or "Sound".

Returns:

a period in milliseconds

Throws:

CallError

java.lang.InterruptedException

unregisterTarget

public void unregisterTarget(java.lang.String pTarget)
                      throws CallError,
                             java.lang.InterruptedException

Unregister target name and stop corresponding extractor.

Parameters:

pTarget - a predefined target to remove.Could be "RedBall", "Face", "LandMark", "LandMarks", "People" or "Sound".

Throws:

CallError

java.lang.InterruptedException

unregisterTargets

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

Unregister a list of target names and stop corresponding extractor.

Parameters:

pTarget - a predefined target list to remove.Could be "RedBall", "Face", "LandMark", "LandMarks", "People" or "Sound".

Throws:

CallError

java.lang.InterruptedException

unregisterAllTargets

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

Unregister all targets except active target and stop corresponding extractor.

Throws:

CallError

java.lang.InterruptedException

getActiveTarget

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

Return active target name.

Returns:

Tracked target name.

Throws:

CallError

java.lang.InterruptedException

getSupportedTargets

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

Return a list of supported targets names.

Returns:

Supported targets names.

Throws:

CallError

java.lang.InterruptedException

getRegisteredTargets

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

Return a list of registered targets names.

Returns:

Registered targets names.

Throws:

CallError

java.lang.InterruptedException

lookAt

public void lookAt(java.util.List<java.lang.Float> pPosition,
                   java.lang.Integer pFrame,
                   java.lang.Float pFractionMaxSpeed,
                   java.lang.Boolean pUseWholeBody)
            throws CallError,
                   java.lang.InterruptedException

Look at the target position with head.

Parameters:

pPosition - position 3D [x, y, z] x position must be striclty positif.

pFrame - target frame {FRAME_TORSO = 0, FRAME_WORLD = 1, FRAME_ROBOT = 2}.

pFractionMaxSpeed - The fraction of maximum speed to use. Must be between 0 and 1.

pUseWholeBody - If true, use whole body constraints.

Throws:

CallError

java.lang.InterruptedException

pointAt

public void pointAt(java.lang.String pEffector,
                    java.util.List<java.lang.Float> pPosition,
                    java.lang.Integer pFrame,
                    java.lang.Float pFractionMaxSpeed)
             throws CallError,
                    java.lang.InterruptedException

Point at the target position with arms.

Parameters:

pEffector - effector name. Could be "Arms", "LArm", "RArm".

pPosition - position 3D [x, y, z] to point in FRAME_TORSO. x position must be striclty positif.

pFrame - target frame {FRAME_TORSO = 0, FRAME_WORLD = 1, FRAME_ROBOT = 2}.

pFractionMaxSpeed - The fraction of maximum speed to use. Must be between 0 and 1.

Throws:

CallError

java.lang.InterruptedException

getMoveConfig

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

Get the config for move modes.

Returns:

ALMotion GaitConfig

Throws:

CallError

java.lang.InterruptedException

setMoveConfig

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

set a config for move modes.

Parameters:

config - ALMotion GaitConfig

Throws:

CallError

java.lang.InterruptedException

getTimeOut

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

get the timeout parameter for target lost.

Returns:

time in milliseconds.

Throws:

CallError

java.lang.InterruptedException

setTimeOut

public void setTimeOut(java.lang.Integer pTimeMs)
                throws CallError,
                       java.lang.InterruptedException

set the timeout parameter for target lost.

Parameters:

pTimeMs - time in milliseconds.

Throws:

CallError

java.lang.InterruptedException

getMaximumDistanceDetection

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

get the maximum distance for target detection in meter.

Returns:

The maximum distance for target detection in meter.

Throws:

CallError

java.lang.InterruptedException

setMaximumDistanceDetection

public void setMaximumDistanceDetection(java.lang.Float pMaxDistance)
                                 throws CallError,
                                        java.lang.InterruptedException

set the maximum target detection distance in meter.

Parameters:

pMaxDistance - The maximum distance for target detection in meter.

Throws:

CallError

java.lang.InterruptedException

getEffector

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

Get active effector.

Returns:

Active effector name. Could be: "Arms", "LArm", "RArm" or "None".

Throws:

CallError

java.lang.InterruptedException

setEffector

public void setEffector(java.lang.String pEffector)
                 throws CallError,
                        java.lang.InterruptedException

Set an end-effector to move for tracking.

Parameters:

pEffector - Name of effector. Could be: "Arms", "LArm", "RArm" or "None".

Throws:

CallError

java.lang.InterruptedException

lookAt

public void lookAt(java.util.List<java.lang.Float> pPosition,
                   java.lang.Float pFractionMaxSpeed,
                   java.lang.Boolean pUseWholeBody)
            throws CallError,
                   java.lang.InterruptedException

DEPRECATED. Use lookAt with frame instead. Look at the target position with head.

Parameters:

pPosition - position 3D [x, y, z] to look in FRAME_TORSO. x position must be striclty positif.

pFractionMaxSpeed - The fraction of maximum speed to use. Must be between 0 and 1.

pUseWholeBody - If true, use whole body constraints.

Throws:

CallError

java.lang.InterruptedException

pointAt

public void pointAt(java.lang.String pEffector,
                    java.util.List<java.lang.Float> pPosition,
                    java.lang.Float pFractionMaxSpeed)
             throws CallError,
                    java.lang.InterruptedException

DEPRECATED. Use pointAt with frame instead. Point at the target position with arms.

Parameters:

pEffector - effector name. Could be "Arms", "LArm", "RArm".

pPosition - position 3D [x, y, z] to point in FRAME_TORSO. x position must be striclty positif.

pFractionMaxSpeed - The fraction of maximum speed to use. Must be between 0 and 1.

Throws:

CallError

java.lang.InterruptedException

getTargetPosition

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

DEPRECATED. Use pointAt with frame instead. Returns the [x, y, z] position of the target in FRAME_TORSO. This is done assuming an average target size, so it might not be very accurate.

Returns:

Vector of 3 floats corresponding to the target position 3D.

Throws:

CallError

java.lang.InterruptedException

getTargetNames

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

DEPRECATED. Use getSupportedTargets() instead. Return a list of targets names.

Returns:

Valid targets names.

Throws:

CallError

java.lang.InterruptedException

getManagedTargets

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

DEPRECATED. Use getRegisteredTargets() instead. Return a list of managed targets names.

Returns:

Managed targets names.

Throws:

CallError

java.lang.InterruptedException

addTarget

public void addTarget(java.lang.String pTarget,
                      java.lang.Object pParams)
               throws CallError,
                      java.lang.InterruptedException

DEPRECATED. Use registerTarget() instead. Add a predefined target. Subscribe to corresponding extractor if Tracker is running..

Parameters:

pTarget - a predefined target to track.Could be "RedBall", "Face", "LandMark", "LandMarks", "People" or "Sound".

pParams - a target parameters. (RedBall : set diameter of ball.

Throws:

CallError

java.lang.InterruptedException

removeTarget

public void removeTarget(java.lang.String pTarget)
                  throws CallError,
                         java.lang.InterruptedException

DEPRECATED. Use unregisterTarget() instead. Remove target name and stop corresponding extractor.

Parameters:

pTarget - a predefined target to remove.Could be "RedBall", "Face", "LandMark", "LandMarks", "People" or "Sound".

Throws:

CallError

java.lang.InterruptedException

removeTargets

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

DEPRECATED. Use unregisterTargets() instead. Remove a list of target names and stop corresponding extractor.

Parameters:

pTarget - a predefined target list to remove.Could be "RedBall", "Face", "LandMark", "LandMarks", "People" or "Sound".

Throws:

CallError

java.lang.InterruptedException

removeAllTargets

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

DEPRECATED. Use unregisterAllTargets() instead. Remove all managed targets except active target and stop corresponding extractor.

Throws:

CallError

java.lang.InterruptedException

addEffector

public void addEffector(java.lang.String pEffector)
                 throws CallError,
                        java.lang.InterruptedException

DEPRECATED. Use setEffector instead. Add an end-effector to move for tracking.

Parameters:

pEffector - Name of effector. Could be: "Arms", "LArm" or "RArm".

Throws:

CallError

java.lang.InterruptedException

removeEffector

public void removeEffector(java.lang.String pEffector)
                    throws CallError,
                           java.lang.InterruptedException

DEPRECATED. Use setEffector("None") instead. Remove an end-effector from tracking.

Parameters:

pEffector - Name of effector. Could be: "Arms", "LArm" or "RArm".

Throws:

CallError

java.lang.InterruptedException