Event: "Navigation/AvoidanceNavigator/Status"
callback(std::string eventName, AL::ALValue status, std::string subscriberIdentifier)
Raised when status of the local navigator changes.
引数:
eventName (std::string) – “Navigation/AvoidanceNavigator/Status”
status – New local navigator status. Please refer to ALNavigation for details.
subscriberIdentifier (std::string) –
Event: "Navigation/AvoidanceNavigator/ObstacleDetected"
callback(std::string eventName, AL::ALValue position, std::string subscriberIdentifier)
Raised when an obstacle is detected in the close area.
引数:
eventName (std::string) – “Navigation/AvoidanceNavigator/ObstacleDetected”
position – Array formatted as [x, y], representing the position of the detected obstacle in FRAME_ROBOT.
subscriberIdentifier (std::string) –
Event: "Navigation/AvoidanceNavigator/MovingToFreeZone"
callback(std::string eventName, AL::ALValue status, std::string subscriberIdentifier)
Raised when the robot starts or stops a motion to leave an obstacle neighbourhood.
引数:
eventName (std::string) – “Navigation/AvoidanceNavigator/MovingToFreeZone”
status – 1.0 when the robot starts and 0.0 when it has finished its motion.
subscriberIdentifier (std::string) –
Event: "Navigation/AvoidanceNavigator/TrajectoryProgress"
callback(std::string eventName, AL::ALValue progress, std::string subscriberIdentifier)
Raised when the trajectory progress is updated.
引数:
eventName (std::string) – “Navigation/AvoidanceNavigator/TrajectoryProgress”
progress – percentage of the current trajectory accomplished, between 0.0 and 1.0.
subscriberIdentifier (std::string) –
Event: "Navigation/AvoidanceNavigator/AbsTargetModified"
callback(std::string eventName, AL::ALValue newTarget, std::string subscriberIdentifier)
Raised when the required target is unreachable because it is inside an obstacle.
The robot then computes the closest target to the initial one.
引数:
eventName (std::string) – “Navigation/AvoidanceNavigator/AbsTargetModified”
newTarget – the new target of the robot in FRAME_WORLD.
subscriberIdentifier (std::string) –
Event: "Navigation/MotionDetected"
callback(std::string eventName, AL::ALValue sensorData, std::string subscriberIdentifier)
Raised when a sensor detects that something is moving around the robot.
Current implementation is based solely on Pepper Infra-Red.
引数:
eventName (std::string) – “Navigation/MotionDetected”
sensorData – Array formated as [Sensor, Position, Detected], where: Sensor is the name of the sensor that detected the motion; Position is the 3D position, in FRAME_WORLD, of the detected movement around Pepper; Detected is a boolean equals to true if the movement corresponds to something arriving in Pepper’s vicinity and false if it corresponds to something leaving Pepper’s vicinity.
subscriberIdentifier (std::string) –