ALBasicAwareness API

NAOqi Interaction engines - Overview | API | Getting started


Namespace : AL


           
            #include <alproxies/albasicawareness>

           
          

Methods

void ALBasicAwarenessProxy:: setEnabled ( bool enabled )

Enables or disables basic awareness.

Parameters:
  • enabled – True to enable it, false to disable it.
bool ALBasicAwarenessProxy:: isEnabled ( )

Returns whether basic awareness is enabled.

Returns: True if it is enabled, False otherwise.
bool ALBasicAwarenessProxy:: isRunning ( )

Returns whether basic awareness is actually running, i.e. is started and not paused (neither manually nor automatically).

Returns: True if it is running, False otherwise.
void ALBasicAwarenessProxy:: pauseAwareness ( )

Manually pauses ALBasicAwareness . For further details see: Pausing and Resuming .

void ALBasicAwarenessProxy:: resumeAwareness ( )

Manually resumes ALBasicAwareness . For further details see: Pausing and Resuming .

bool ALBasicAwarenessProxy:: isAwarenessPaused ( )

Gets the status (paused or not) of the module.

Returns: Boolean value: true if the module is paused, false otherwise.
void ALBasicAwarenessProxy:: setStimulusDetectionEnabled ( const std::string stimType , const bool enable )

Enables/disables detection of the specified type of stimulus.

Parameters:
  • stimType – Type of stimulus. For further details, see: Types of stimulus .
  • enable – true to enable, false to disable.
bool ALBasicAwarenessProxy:: isStimulusDetectionEnabled ( const std::string stimType )

Gets status enabled/disabled for the detection of the specified type of stimulus.

Parameters:
Returns:

true if enabled, false if disabled

Note

Throws AL::ALError if setting fails.

void ALBasicAwarenessProxy:: setEngagementMode ( const std::string& modeName )

Sets the engagement mode.

Parameters:
  • modeName – Name of the engagement mode to be set. For further details, see: Engagement Modes .
std::string ALBasicAwarenessProxy:: getEngagementMode ( )

Gets the current engagement mode. For further details, see: Engagement Modes .

Returns: The engagement mode name.
bool ALBasicAwarenessProxy:: engagePerson ( const int idPersonToEngage )

Forces the robot to engage a person identified by its PeoplePerception ID.

Parameters:
Returns:

true if the robot succeeded to engage the person, else false.

int ALBasicAwarenessProxy:: triggerStimulus ( const std::vector<float>& positionFrameWorld )

Triggers a custom stimulus that will be processed as other stimuli, but with a higher priority.

Parameters:
  • positionFrameWorld – position of the custom stimulus in Frame World.
Returns:

The ID of the found human if any, as referenced in PeoplePerception/PeopleList() , or -1, if no human has been found.

void ALBasicAwarenessProxy:: setTrackingMode ( const std::string& trackingMode )

Sets the current tracking Mode.

Parameters:
  • trackingMode – name of the tracking mode. For further details, see: Tracking Modes .
std::string ALBasicAwarenessProxy:: getTrackingMode ( )

Gets the current tracking mode.

Returns: the tracking mode name. For further details, see: Tracking Modes .
void ALBasicAwarenessProxy:: setParameter ( const std::string& paramName , const AL::ALValue& paramValue )

Sets parameters related to basic awareness features.

Parameters:
  • paramName – name of the parameter, among the following:
  • “LookStimulusSpeed”: speed of head moves when looking at a stimulus (float in ]0;1]),
  • “LookBackSpeed”: speed of head moves when looking back to previous position after false alarm (float in ]0;1]).
Parameters:
  • paramValue – value of the parameter to be set (ALValue).
AL::ALValue ALBasicAwarenessProxy:: getParameter ( const std::string& paramName )

Gets parameters related to basic awareness features.

Parameters:
  • paramName – name of the parameter, among: “LookStimulusSpeed”, “LookBackSpeed”.
Returns:

value of the parameter (ALValue).

void ALBasicAwarenessProxy:: resetAllParameters ( )

Resets all parameters to their default values.

void ALBasicAwarenessProxy:: startAwareness ( )

Deprecated since version 2.4: use ALBasicAwarenessProxy::setEnabled instead.

Starts basic awareness.

void ALBasicAwarenessProxy:: stopAwareness ( )

Deprecated since version 2.4: use ALBasicAwarenessProxy::setEnabled instead.

Stops basic awareness.

bool ALBasicAwarenessProxy:: isAwarenessRunning ( )

Deprecated since version 2.4: use ALBasicAwarenessProxy::isRunning instead.

Gets the status (started or not) of the module.

Returns: Boolean value: true if the module is started, false if it’s stopped or paused.

Events

Event: "ALBasicAwareness/StimulusDetected"
callback ( std::string eventName , std::string stimulusName , std::string subscriberIdentifier )

Raised when a stimulus is detected.

Parameters:
  • eventName ( std::string ) – “ALBasicAwareness/StimulusDetected”
  • stimulusName – Name of the stimulus detected. See the names of the available stimuli in section Stimuli Types .
  • subscriberIdentifier ( std::string ) –

Note

To know if a person is detected in the general case, use the event HumanTracked rather than the event StimulusDetected with the value People . For example, if the robot detects a person thanks to a sound stimulus, the robot will raise the event StimulusDetected with the value Sound , then recognize the person and raise the event HumanTracked with a positive ID, but the event StimulusDetected won’t be raised with the value People .

Event: "ALBasicAwareness/HumanTracked"
callback ( std::string eventName , int humanID , std::string subscriberIdentifier )

Raised when the robot begins to track a person, when the tracked person is lost, or when the tracked person’s ID is updated.

Parameters:
  • eventName ( std::string ) – “ALBasicAwareness/HumanTracked”
  • humanID – The ID of the currently tracked person. If no person is tracked, the value is -1.
  • subscriberIdentifier ( std::string ) –
Event: "ALBasicAwareness/HumanLost"
callback ( std::string eventName , std::string subscriberIdentifier )

Raised when the person tracked can no longer be found for some time.