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

Localize

interface Localize

Action to make the robot localize himself in a map, previously built by a LocalizeAndMap action. Only one LocalizeAndMap or Localize action can run at a time. When run, the robot first executes a rotating base and head scan. During this initial scan, the action needs all the robot resources to run, and the action status is `Scanning`. After this scan, the robot is localized inside his map, and his position and orientation relatively to the map origin can be retrieved, at any time, by calling `Actuation.robotFrame().computeTransform(Mapping.mapFrame())` While the action is running, the robot may autonomously look around to confirm his location.

Since
3

Types

Async

interface Async

OnStartedListener

Listener for started signal

interface OnStartedListener

OnStatusChangedListener

Listener for status property changed event

interface OnStatusChangedListener

Functions

addOnStartedListener

Add a OnStartedListener

abstract fun addOnStartedListener(onStartedListener: OnStartedListener!): Unit

addOnStatusChangedListener

Add a property changed listener for status

abstract fun addOnStatusChangedListener(onStatusChangedListener: OnStatusChangedListener!): Unit

async

abstract fun async(): Async!

getStatus

Exposes the property status value

abstract fun getStatus(): LocalizationStatus!

removeAllOnStartedListeners

Remove all OnStartedListener

abstract fun removeAllOnStartedListeners(): Unit

removeAllOnStatusChangedListeners

Remove all status changed listeners

abstract fun removeAllOnStatusChangedListeners(): Unit

removeOnStartedListener

Remove a OnStartedListener

abstract fun removeOnStartedListener(onStartedListener: OnStartedListener!): Unit

removeOnStatusChangedListener

Remove a property changed listener for status

abstract fun removeOnStatusChangedListener(onStatusChangedListener: OnStatusChangedListener!): Unit

run

Start the localization process. It will run until the future returned by run() is canceled.

abstract fun run(): Unit

runWithLocalizationHint

Start the localization process, and give it a hint about the robot current location relatively to the Map origin. The localization process will run until the future returned by runWithLocalizationHint() is canceled.

abstract fun runWithLocalizationHint(hint: Transform!): Unit

setOnStartedListener

Set a OnStartedListener

abstract fun setOnStartedListener(onStartedListener: OnStartedListener!): Unit

setOnStatusChangedListener

Set a property changed listener for status

abstract fun setOnStatusChangedListener(onStatusChangedListener: OnStatusChangedListener!): Unit