ALTouch API

NAOqi Sensors - Overview | API


Namespace : AL


#include <alproxies/altouchproxy.h>

Method list

As any module, this module inherits methods from ALModule API. It also has the following specific methods:

class ALTouchProxy

Methods

std::vector<std::string> ALTouchProxy::getSensorList()

Return the list of sensors managed by touch module, i.e. capable of generating a TouchChanged() event.

Returns: Return a vector<std::string> of sensor names.
ALValue ALTouchProxy::getStatus()

Return the current Touch status of all managed body parts. The format is equivalent to that of TouchChanged() event.

Returns: Return a vector of pairs [name, bool] indicating if body part named name is currently touched.

Events

Event: "TouchChanged"
callback(std::string eventName, AL::ALValue TouchInfo, std::string subscriberIdentifier)

Raised when the robot touch status changed.

Parameters:
  • eventName (std::string) – “TouchChanged”
  • val – a list of ALValue with a name and a boolean for the touch status.
  • subscriberIdentifier (std::string) –
Event: "RightBumperPressed"
callback(std::string eventName, float val, std::string subscriberIdentifier)

Raised when the right bumper is pressed.

Parameters:
  • eventName (std::string) – “RightBumperPressed”
  • val – 1.0 if right bumper is pressed.
  • subscriberIdentifier (std::string) –
Event: "LeftBumperPressed"
callback(std::string eventName, float val, std::string subscriberIdentifier)

Raised when the left bumper is pressed.

Parameters:
  • eventName (std::string) – “LeftBumperPressed”
  • val – 1.0 if left bumper is pressed.
  • subscriberIdentifier (std::string) –
Event: "FrontTactilTouched"
callback(std::string eventName, float val, std::string subscriberIdentifier)

Raised when the front head tactile sensor is touched (by human).

Parameters:
  • eventName (std::string) – “FrontTactilTouched”
  • val – 1.0 if front head tactile sensor is touched.
  • subscriberIdentifier (std::string) –
Event: "MiddleTactilTouched"
callback(std::string eventName, float val, std::string subscriberIdentifier)

Raised when the middle head tactile sensor is touched (by human).

Parameters:
  • eventName (std::string) – “MiddleTactilTouched”
  • val – 1.0 if middle head tactile sensor is touched.
  • subscriberIdentifier (std::string) –
Event: "RearTactilTouched"
callback(std::string eventName, float val, std::string subscriberIdentifier)

Raised when the rear head tactile sensor is touched (by human).

Parameters:
  • eventName (std::string) – “RearTactilTouched”
  • val – 1.0 if rear head tactile sensor is touched.
  • subscriberIdentifier (std::string) –
Event: "HandRightBackTouched"
callback(std::string eventName, float val, std::string subscriberIdentifier)

Raised when the right hand back tactile sensor is touched (by human).

Parameters:
  • eventName (std::string) – “HandRightBackTouched”
  • val – 1.0 if right hand back tactile sensor is touched.
  • subscriberIdentifier (std::string) –
Event: "HandRightLeftTouched"
callback(std::string eventName, float val, std::string subscriberIdentifier)

Raised when the right hand left tactile sensor is touched (by human).

Parameters:
  • eventName (std::string) – “HandRightLeftTouched”
  • val – 1.0 if right hand left tactile sensor is touched.
  • subscriberIdentifier (std::string) –
Event: "HandRightRightTouched"
callback(std::string eventName, float val, std::string subscriberIdentifier)

Raised when the right hand right tactile sensor is touched (by human).

Parameters:
  • eventName (std::string) – “HandRightRightTouched”
  • val – 1.0 if right hand right tactile sensor is touched.
  • subscriberIdentifier (std::string) –
Event: "HandLeftBackTouched"
callback(std::string eventName, float val, std::string subscriberIdentifier)

Raised when the left hand back tactile sensor is touched (by human).

Parameters:
  • eventName (std::string) – “HandLeftBackTouched”
  • val – 1.0 if left hand back tactile sensor is touched.
  • subscriberIdentifier (std::string) –
Event: "HandLeftLeftTouched"
callback(std::string eventName, float val, std::string subscriberIdentifier)

Raised when the left hand left tactile sensor is touched (by human).

Parameters:
  • eventName (std::string) – “HandLeftLeftTouched”
  • val – 1.0 if left hand left tactile sensor is touched.
  • subscriberIdentifier (std::string) –
Event: "HandLeftRightTouched"
callback(std::string eventName, float val, std::string subscriberIdentifier)

Raised when the left hand right tactile sensor is touched (by human).

Parameters:
  • eventName (std::string) – “HandLeftRightTouched”
  • val – 1.0 if left hand right tactile sensor is touched.
  • subscriberIdentifier (std::string) –