ALTouch API

NAOqi Sensors & LEDs - 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.
AL::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”
  • TouchInfo – 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: "BackBumperPressed"
callback ( std::string eventName , float val , std::string subscriberIdentifier )

Raised when the back bumper is pressed.

Parameters:
  • eventName ( std::string ) – “BackBumperPressed”
  • val – 1.0 if back bumper is pressed.
  • subscriberIdentifier ( std::string ) –

pepp Pepper only

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 ) –