Fall manager API

NAOqi Motion - Overview | API


Methods

void ALMotionProxy:: setFallManagerEnabled ( const bool& enable )

Enable/disable the fall manager reflex, but only if allowed by the owner. If not allowed, an exception is thrown.

For further details, see: Deactivation of safety reflexes .

Parameters:
  • enable – Enable or disable the fall manager reflex.
bool ALMotionProxy:: getFallManagerEnabled ( )

Allow to know if the fall manager reflex is activated.

Returns: Return true is the fall manager reflex is activated.

Events

Event: "ALMotion/RobotIsFalling"
callback ( std::string eventName , bool val , std::string subscriberIdentifier )

Raised when the fall manager process starts.

Parameters:
  • eventName ( std::string ) – “ALMotion/RobotIsFalling”
  • val – always True.
  • subscriberIdentifier ( std::string ) –
Event: "robotHasFallen"
callback ( std::string eventName , bool val , std::string subscriberIdentifier )

Raised when the fall manager process finishes.

Parameters:
  • eventName ( std::string ) – “robotHasFallen”
  • val – always True.
  • subscriberIdentifier ( std::string ) –
Event: "ALMotion/RobotIsStand"
callback ( std::string eventName , bool val , std::string subscriberIdentifier )

Raised when the robot has detected, or no longer detects that its weight is supported by the feet.

Parameters:
  • eventName ( std::string ) – “ALMotion/RobotIsStand”
  • val – True if the weight is supported by the feet, false otherwise.
  • subscriberIdentifier ( std::string ) –