Overview

void startTracker ()

Start the tracker by Subscribing to Event redBallDetected from ALRedBallDetection module.
Then Wait Event redBallDetected from ALRedBallDetection module.
And finally send information to motion for head tracking.
NOTE : Stiffness of Head must be set to 1.0 to move!

void stopTracker ()

Start the tracker by Unsubscribing to Event redBallDetected from ALRedBallDetection module.

vector<float> getPosition ()

Return the position of the red ball in NAO_SPACE.

Returns

An Array containing the red ball position [x, y, z].

bool isNewData ()

Return true if a new Red Ball was detected since the last getPosition().

Returns

true if a new Red Ball was detected since the last getPosition().

bool isActive ()

Return true if the red Ball Tracker is running.

Returns

true if the red Ball Tracker is running.

void setWholeBodyOn (const bool& pWholeBodyOn)

if true, the tracking will be through a Whole Body Process.

pWholeBodyOn

The whole Body state

void exit ()

Exits and unregisters the module.

string version ()

Returns the version of the module.

Returns

A string containing the version of the module.

bool ping ()

Just a ping. Always returns true

Returns

returns true

vector<string> getMethodList ()

Retrieves the module's method list.

Returns

An array of method names.

AL::ALValue getMethodHelp (const string& methodName)

Retrieves a method's description.

methodName

The name of the method.

Returns

A structure containing the method's description.

AL::ALValue getModuleHelp ()

Retrieves the module's description.

Returns

A structure describing the module.

string getBrokerName ()

Gets the name of the parent broker.

Returns

The name of the parent broker.

string getUsage (const string& name)

Gets the method usage string. This summarise how to use the method.

name

The name of the method.

Returns

A string that summarises the usage of the method.