qisdk / com.aldebaran.qi.sdk.object.actuation / Actuation

Actuation

interface Actuation

The Actuation service contains the actions and objects needed to make the robot move:

the robot and gaze frames
the factory for Animation objects
the factories for GoTo, Animate and LookAt actions

Since
1

Types

Async

interface Async

Functions

async	`abstract fun async(): Async!`
gazeFrame	Retrieve the gaze Frame. `abstract fun gazeFrame(): Frame!`
makeAnimate	Create a new Animate action on the robot. `abstract fun makeAnimate(context: RobotContext!, animation: Animation!): Animate!`
makeAnimation	Create a new Animation object on the robot. `abstract fun makeAnimation(anims: MutableList<String!>!): Animation!`
makeCroppedAnimation	Create a new Animation object on the robot, by cropping an existing animation. `abstract fun makeCroppedAnimation(anim: Animation!, beginTime: Long!, endTime: Long!): Animation!`
makeEnforceTabletReachability	Create an EnforceTabletReachability action on the robot. `abstract fun makeEnforceTabletReachability(context: RobotContext!): EnforceTabletReachability!`
makeGoTo	Create a new GoTo action on the robot. For more control over the GoTo behavior, prefer using makeGoTo(context, target, config). `abstract fun makeGoTo(context: RobotContext!, target: Frame!): GoTo!` Create a new GoTo action on the robot. `abstract fun makeGoTo(context: RobotContext!, target: Frame!, config: GoToConfig!): GoTo!`
makeLookAt	Create a LookAt action on the robot. `abstract fun makeLookAt(context: RobotContext!, target: Frame!): LookAt!`
robotFrame	Retrieve the robot Frame. `abstract fun robotFrame(): Frame!`