public class ALTracker extends ALProxy
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'
|
call, connect, connect, disconnect, getNaoqiType, getService, isProxyReady, setService
public ALTracker(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 java.util.List<java.lang.Float> getTargetPosition(java.lang.Integer pFrame) throws CallError, java.lang.InterruptedException
pFrame
- target frame {FRAME_TORSO = 0, FRAME_WORLD = 1, FRAME_ROBOT = 2}.CallError
java.lang.InterruptedException
public java.util.List<java.lang.Float> getRobotPosition() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public java.lang.Boolean isActive() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public java.lang.Boolean isNewTargetDetected() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public void setRelativePosition(java.lang.Object target) throws CallError, java.lang.InterruptedException
target
- Set the final goal of the tracking. Could be [distance, thresholdX, thresholdY] or with LandMarks target name [coordX, coordY, coordWz, thresholdX, thresholdY, thresholdWz].CallError
java.lang.InterruptedException
public java.lang.Object getRelativePosition() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public void setTargetCoordinates(java.lang.Object pCoord) throws CallError, java.lang.InterruptedException
pCoord
- objects coordinates.CallError
java.lang.InterruptedException
public java.lang.Object getTargetCoordinates() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public void setMode(java.lang.String pMode) throws CallError, java.lang.InterruptedException
pMode
- a predefined mode.CallError
java.lang.InterruptedException
public java.lang.String getMode() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public java.util.List<java.lang.String> getAvailableModes() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public void toggleSearch(java.lang.Boolean pSearch) throws CallError, java.lang.InterruptedException
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.CallError
java.lang.InterruptedException
public java.lang.Boolean isSearchEnabled() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public void stopTracker() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public java.lang.Boolean isTargetLost() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public void track(java.lang.String pTarget) throws CallError, java.lang.InterruptedException
pTarget
- a predefined target to track.Could be "RedBall", "Face", "LandMark", "LandMarks", "People" or "Sound".CallError
java.lang.InterruptedException
public void trackEvent(java.lang.String pEventName) throws CallError, java.lang.InterruptedException
pEventName
- a event name to track.CallError
java.lang.InterruptedException
public void registerTarget(java.lang.String pTarget, java.lang.Object pParams) throws CallError, java.lang.InterruptedException
pTarget
- a predefined target to track.Could be "RedBall", "Face", "LandMark", "LandMarks", "People" or "Sound".pParams
- a target parameters. (RedBall : set diameter of ball.CallError
java.lang.InterruptedException
public void setExtractorPeriod(java.lang.String pTarget, java.lang.Integer pPeriod) throws CallError, java.lang.InterruptedException
pTarget
- a predefined target name.Could be "RedBall", "Face", "LandMark", "LandMarks", "People" or "Sound".pPeriod
- a period in millisecondsCallError
java.lang.InterruptedException
public java.lang.Integer getExtractorPeriod(java.lang.String pTarget) throws CallError, java.lang.InterruptedException
pTarget
- a predefined target name.Could be "RedBall", "Face", "LandMark", "LandMarks", "People" or "Sound".CallError
java.lang.InterruptedException
public void unregisterTarget(java.lang.String pTarget) throws CallError, java.lang.InterruptedException
pTarget
- a predefined target to remove.Could be "RedBall", "Face", "LandMark", "LandMarks", "People" or "Sound".CallError
java.lang.InterruptedException
public void unregisterTargets(java.util.List<java.lang.String> pTarget) throws CallError, java.lang.InterruptedException
pTarget
- a predefined target list to remove.Could be "RedBall", "Face", "LandMark", "LandMarks", "People" or "Sound".CallError
java.lang.InterruptedException
public void unregisterAllTargets() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public java.lang.String getActiveTarget() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public java.util.List<java.lang.String> getSupportedTargets() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public java.util.List<java.lang.String> getRegisteredTargets() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
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
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.CallError
java.lang.InterruptedException
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
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.CallError
java.lang.InterruptedException
public java.lang.Object getMoveConfig() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public void setMoveConfig(java.lang.Object config) throws CallError, java.lang.InterruptedException
config
- ALMotion GaitConfigCallError
java.lang.InterruptedException
public java.lang.Integer getTimeOut() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public void setTimeOut(java.lang.Integer pTimeMs) throws CallError, java.lang.InterruptedException
pTimeMs
- time in milliseconds.CallError
java.lang.InterruptedException
public java.lang.Float getMaximumDistanceDetection() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public void setMaximumDistanceDetection(java.lang.Float pMaxDistance) throws CallError, java.lang.InterruptedException
pMaxDistance
- The maximum distance for target detection in meter.CallError
java.lang.InterruptedException
public java.lang.String getEffector() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public void setEffector(java.lang.String pEffector) throws CallError, java.lang.InterruptedException
pEffector
- Name of effector. Could be: "Arms", "LArm", "RArm" or "None".CallError
java.lang.InterruptedException
public void lookAt(java.util.List<java.lang.Float> pPosition, java.lang.Float pFractionMaxSpeed, java.lang.Boolean pUseWholeBody) throws CallError, java.lang.InterruptedException
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.CallError
java.lang.InterruptedException
public void pointAt(java.lang.String pEffector, java.util.List<java.lang.Float> pPosition, java.lang.Float pFractionMaxSpeed) throws CallError, java.lang.InterruptedException
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.CallError
java.lang.InterruptedException
public java.util.List<java.lang.Float> getTargetPosition() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public java.util.List<java.lang.String> getTargetNames() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public java.util.List<java.lang.String> getManagedTargets() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public void addTarget(java.lang.String pTarget, java.lang.Object pParams) throws CallError, java.lang.InterruptedException
pTarget
- a predefined target to track.Could be "RedBall", "Face", "LandMark", "LandMarks", "People" or "Sound".pParams
- a target parameters. (RedBall : set diameter of ball.CallError
java.lang.InterruptedException
public void removeTarget(java.lang.String pTarget) throws CallError, java.lang.InterruptedException
pTarget
- a predefined target to remove.Could be "RedBall", "Face", "LandMark", "LandMarks", "People" or "Sound".CallError
java.lang.InterruptedException
public void removeTargets(java.util.List<java.lang.String> pTarget) throws CallError, java.lang.InterruptedException
pTarget
- a predefined target list to remove.Could be "RedBall", "Face", "LandMark", "LandMarks", "People" or "Sound".CallError
java.lang.InterruptedException
public void removeAllTargets() throws CallError, java.lang.InterruptedException
CallError
java.lang.InterruptedException
public void addEffector(java.lang.String pEffector) throws CallError, java.lang.InterruptedException
pEffector
- Name of effector. Could be: "Arms", "LArm" or "RArm".CallError
java.lang.InterruptedException
public void removeEffector(java.lang.String pEffector) throws CallError, java.lang.InterruptedException
pEffector
- Name of effector. Could be: "Arms", "LArm" or "RArm".CallError
java.lang.InterruptedException
Aldebaran SDK for Java
Copyright 2006-2015 Aldebaran Robotics. All Rights Reserved.