.. _allaser-api:

ALLaser API
===========

:ref:`Overview <allaser>` | API | :ref:`Tutorial <allaser-tuto>`

.. seealso::

  - :ref:`naoqi-sensors`
  - :ref:`hardware-laser`

Namespace : **AL**

.. code-block:: cpp

  #include <alproxies/allaserproxy.h>

Method list
-----------

.. cpp:class:: ALLaserProxy

  * Methods:

    * :cpp:func:`ALLaserProxy::laserOFF`
    * :cpp:func:`ALLaserProxy::laserON`
    * :cpp:func:`ALLaserProxy::setDetectingLength`
    * :cpp:func:`ALLaserProxy::setOpeningAngle`

.. seealso::

* :ref:`Methods inherited from ALModule <almodule-api>`

Methods
-------


.. cpp:function:: void ALLaserProxy::laserOFF()

  Disable laser light, the motor will keep turning.


.. cpp:function:: void ALLaserProxy::laserON()

  Enable laser light and sampling


.. cpp:function:: void ALLaserProxy::setDetectingLength( const AL::ALValue& length_min_l, const AL::ALValue& length_max_l )

  Set detection threshold of the laser

  :param length_min_l: int containing the min length that the laser will detect(mm), this value must be greater than 20 mm
  :param length_max_l: int containing the max length that the laser will detect(mm), this value must be lower than 5600 mm


.. cpp:function:: void ALLaserProxy::setOpeningAngle( const AL::ALValue& angle_min_f, const AL::ALValue& angle_max_f )

  Set openning angle of the laser

  :param angle_min_f: float containing the min value in rad, this value must be upper than -2.35619449
  :param angle_max_f: float containing the max value in rad, this value must be lower than 2.092349795