ALSonar API

NAOqi Sensors & LEDs - Overview | API


Namespace : AL


           
            #include <alproxies/alsonarproxy.h>

           
          

Method list

As any module, this module inherits methods from ALModule API .

It also inherits methods from ALExtractor API .

Note that only the ALExtractor::subscribe and ALExtractor::unsubscribe methods are useful for ALSonar .

Events

Event: "SonarLeftDetected"
callback ( std::string eventName , float distance , std::string subscriberIdentifier )

Raised when there is something in front of the robot (left side) at less the detection threshold.

Parameters:
  • eventName ( std::string ) – “SonarLeftDetected”
  • dist – the obstacle distance in meters
  • subscriberIdentifier ( std::string ) –
Event: "SonarRightDetected"
callback ( std::string eventName , float distance , std::string subscriberIdentifier )

Raised when there is something in front of the robot (right side) at less the detection threshold.

Parameters:
  • eventName ( std::string ) – “SonarRightDetected”
  • dist – the obstacle distance in meters
  • subscriberIdentifier ( std::string ) –
Event: "SonarLeftNothingDetected"
callback ( std::string eventName , float distance , std::string subscriberIdentifier )
Parameters:
  • eventName ( std::string ) – “SonarLeftNothingDetected”
  • distance – the distance in meter, of the first obstacle out of the detection threshold.
  • subscriberIdentifier ( std::string ) –
Event: "SonarRightNothingDetected"
callback ( std::string eventName , float distance , std::string subscriberIdentifier )

Raised when there is nothing, within the detection threshold, in front nor on the right side of the robot.

Parameters:
  • eventName ( std::string ) – “SonarRightNothingDetected”
  • distance – the distance in meter, of the first obstacle out of the detection threshold.
  • subscriberIdentifier ( std::string ) –