nao
Class ExtendedNao

java.lang.Object
  nao.BasicNao
      nao.ExtendedNao

public class ExtendedNao
extends BasicNao

Class that extends the functionality of the Nao with other common behaviours.

Constructor Summary

ExtendedNao(java.lang.String ip, int port)

Method Summary

void	grabWithTwoHands() Attempt to grab an object in front of the Nao (at waist height), and raise it above the head.
boolean	isBallInLeftHand() Check if a red ball is held in the left hand.
boolean	isBallInRightHand() Check if a red ball is held in the right hand.
void	leftKick() Kick with the left foot.
void	leftWave() Wave with the left hand.
void	lookAhead() Turn the head to face forward.
void	lookAtFeet()
void	lookDown() Turn the head to look down.
void	lookLeft() Turn the head to look left.
void	lookRight() Turn the head to look right.
void	lookUp() Turn the head to look up.
void	pickUpFromRight() Attempt to pick up an object on the floor beside the right foot.
void	rightKick() Kick with the right foot.
void	rightWave() Wave with the right hand.
void	standUpFromSitting() Move to a standing position from a sitting position (without sensing).
void	turnBodyLeft() Turn the entire body left.
void	turnBodyRight() Turn the entire body right.

Methods inherited from class nao.BasicNao

closeLeftHand, closeRightHand, getAcceleration, getAvailableRecognitionLanguages, getAvailableSpeakingLanguages, getBatteryLevel, getCameraImage, getCameraImage, getDeadReckonedLocation, getJointPosition, getMotorTemperature, getPose, getPoseName, getRecognitionLanguage, getSpeakingLanguage, getSpeed, getTrackedBallLocation, getTrackedFaceLocation, hasFallen, isBallDetected, isFaceDetected, isHeadTouched, isLandmarkDetected, isLeftHandClosed, isLeftHandTouched, isLeftToeTouched, isObjectDetected, isPowerSupplyConnected, isRightHandClosed, isRightHandTouched, isRightToeTouched, isSoundDetected, isSpeechDetected, moveJoint, moveJoint, moveLeftHandTo, moveRightHandTo, openLeftHand, openRightHand, performMotion, playAudio, playWebAudio, readLeftSonar, readRightSonar, say, send32BitsIR, send8BitsIR, setChestLEDColour, setEarLEDBrightness, setEyeLEDColour, setEyeLEDColour, setFeetLEDColour, setHeadLEDBrightness, setRecognitionLanguage, setSpeakingLanguage, startBallDetection, startBallTracking, startFaceDetection, startFaceTracking, startLandmarkDetection, startObjectDetection, startRecordingAudio, startSoundLocalisation, startSpeechRecognition, startWalking, stopAudioPlayback, stopBallDetection, stopBallTracking, stopFaceDetection, stopFaceTracking, stopLandmarkDetection, stopObjectDetection, stopRecordingAudio, stopSoundLocalisation, stopSpeechRecognition, stopWalking, subscribeToEvents, turnChestLEDOff, turnEarLEDsOff, turnEyeLEDsOff, turnFeetLEDsOff, turnHeadLEDsOff, walkFor, walkSteadilyTo, walkTo, walkTo, walkTo

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

ExtendedNao

public ExtendedNao(java.lang.String ip,
                   int port)
            throws java.net.ConnectException

Throws:

java.net.ConnectException

Method Detail

grabWithTwoHands

public void grabWithTwoHands()
                      throws BadPoseException

Attempt to grab an object in front of the Nao (at waist height), and raise it above the head. No sensing is performed, so if the object is in the wrong place, or is dropped, the motion will continue regardless. This method blocks, for approximately 5 seconds.

Throws:

BadPoseException

lookAhead

public void lookAhead()

Turn the head to face forward. This method does not block.

lookLeft

public void lookLeft()

Turn the head to look left. This method does not block.

lookRight

public void lookRight()

Turn the head to look right. This method does not block.

lookUp

public void lookUp()

Turn the head to look up. This method does not block.

lookDown

public void lookDown()

Turn the head to look down. This method does not block.

turnBodyLeft

public void turnBodyLeft()

Turn the entire body left. This method blocks.

turnBodyRight

public void turnBodyRight()

Turn the entire body right. This method blocks.

standUpFromSitting

public void standUpFromSitting()
                        throws BadPoseException

Move to a standing position from a sitting position (without sensing). This method blocks for roughly 7 seconds.

Throws:

BadPoseException

leftKick

public void leftKick()
              throws BadPoseException

Kick with the left foot. The method blocks for about 6 seconds. Based on code by Vincent Berenz http://www.ai.iit.tsukuba.ac.jp/~vincent/opensource/tdm/.

Throws:

BadPoseException

rightKick

public void rightKick()
               throws BadPoseException

Kick with the right foot. The method blocks for about 6 seconds. Based on code by Vincent Berenz http://www.ai.iit.tsukuba.ac.jp/~vincent/opensource/tdm/.

Throws:

BadPoseException

pickUpFromRight

public void pickUpFromRight()
                     throws BadPoseException

Attempt to pick up an object on the floor beside the right foot. The object must be about 3cm in front of the foot bumpers and 3cm to the right of the right foot. The method blocks for about 9 seconds. Based on code by Vincent Berenz http://www.ai.iit.tsukuba.ac.jp/~vincent/opensource/tdm/.

Throws:

BadPoseException

isBallInRightHand

public boolean isBallInRightHand()

Check if a red ball is held in the right hand. This is done by moving the hand into the camera view and using the ball detector to see if the ball is present. This method blocks for about 2 seconds.

isBallInLeftHand

public boolean isBallInLeftHand()

Check if a red ball is held in the left hand. This is done by moving the hand into the camera view and using the ball detector to see if the ball is present. This method blocks for about 2 seconds.

rightWave

public void rightWave()

Wave with the right hand.

leftWave

public void leftWave()

Wave with the left hand.

lookAtFeet

public void lookAtFeet()