com.aldebaran.qi.sdk.object.actuation

Interface Localize

public 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

Nested Class Summary

Nested Classes

Modifier and Type	Interface and Description
static interface	Localize.Async
static interface	Localize.OnStartedListener Listener for started signal
static interface	Localize.OnStatusChangedListener Listener for status property changed event

Method Summary

Modifier and Type	Method and Description
void	addOnStartedListener(Localize.OnStartedListener onStartedListener) Add a OnStartedListener
void	addOnStatusChangedListener(Localize.OnStatusChangedListener onStatusChangedListener) Add a property changed listener for status
Localize.Async	async()
LocalizationStatus	getStatus() Exposes the property status value
void	removeAllOnStartedListeners() Remove all OnStartedListener
void	removeAllOnStatusChangedListeners() Remove all status changed listeners
void	removeOnStartedListener(Localize.OnStartedListener onStartedListener) Remove a OnStartedListener
void	removeOnStatusChangedListener(Localize.OnStatusChangedListener onStatusChangedListener) Remove a property changed listener for status
void	run() Start the localization process.
void	runWithLocalizationHint(Transform hint) Start the localization process, and give it a hint about the robot current location relatively to the Map origin.
void	setOnStartedListener(Localize.OnStartedListener onStartedListener) Deprecated.
void	setOnStatusChangedListener(Localize.OnStatusChangedListener onStatusChangedListener) Deprecated.

Method Detail

async

Localize.Async async()

run

void run()

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

Since:

3

runWithLocalizationHint

void runWithLocalizationHint(Transform hint)

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.

Parameters:

External - localization hint to give strong advice about robot position in map frame.

Since:

3

setOnStartedListener

@Deprecated
void setOnStartedListener(Localize.OnStartedListener onStartedListener)

Deprecated.

Set a OnStartedListener

Parameters:

onStartedListener - the listener

Since:

3

addOnStartedListener

void addOnStartedListener(Localize.OnStartedListener onStartedListener)

Add a OnStartedListener

Parameters:

onStartedListener - the listener

Since:

3

removeOnStartedListener

void removeOnStartedListener(Localize.OnStartedListener onStartedListener)

Remove a OnStartedListener

Parameters:

onStartedListener - the listener

Since:

3

removeAllOnStartedListeners

void removeAllOnStartedListeners()

Remove all OnStartedListener

Since:

3

getStatus

LocalizationStatus getStatus()

Exposes the property status value

Returns:

the status value

Localization status.

Since:

3

setOnStatusChangedListener

@Deprecated
void setOnStatusChangedListener(Localize.OnStatusChangedListener onStatusChangedListener)

Deprecated.

Set a property changed listener for status

Parameters:

onStatusChangedListener - the listener

Since:

3

addOnStatusChangedListener

void addOnStatusChangedListener(Localize.OnStatusChangedListener onStatusChangedListener)

Add a property changed listener for status

Parameters:

onStatusChangedListener - the listener

Since:

3

removeOnStatusChangedListener

void removeOnStatusChangedListener(Localize.OnStatusChangedListener onStatusChangedListener)

Remove a property changed listener for status

Parameters:

onStatusChangedListener - the listener

Since:

3

removeAllOnStatusChangedListeners

void removeAllOnStatusChangedListeners()

Remove all status changed listeners

Since:

3