.. _alfacetracker-api:

ALFaceTracker API
=================

:ref:`Overview<naoqi-trackers>` | :ref:`alredballtracker-api` | ALFaceTracker API | :ref:`trackers-sample`


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

.. cpp:class:: ALFaceTrackerProxy

  * Methods:

    * :cpp:func:`ALFaceTrackerProxy::getPosition`
    * :cpp:func:`ALFaceTrackerProxy::isActive`
    * :cpp:func:`ALFaceTrackerProxy::isNewData`
    * :cpp:func:`ALFaceTrackerProxy::setWholeBodyOn`
    * :cpp:func:`ALFaceTrackerProxy::startTracker`
    * :cpp:func:`ALFaceTrackerProxy::stopTracker`

.. seealso::

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

Methods
-------

.. cpp:function:: std::vector<float> ALFaceTrackerProxy::getPosition()

  Returns the [x, y, z] position of the face in SPACE_TORSO. This is done assuming an average face size, so it might not be very accurate.  This invalidates the isNewData field of the tracker. See :cpp:func:`ALFaceTrackerProxy::isNewData` for more details.

  :return: An Array containing the face position [x, y, z].

.. cpp:function:: bool ALFaceTrackerProxy::isActive()

  Return true if the face Tracker is running.

  :return: true if the face Tracker is running.

.. cpp:function:: bool ALFaceTrackerProxy::isNewData()

  Return true if a new face was detected since the last getPosition().

  :return: true if a new face was detected since the last getPosition().

.. cpp:function:: void ALFaceTrackerProxy::setWholeBodyOn(const bool& pWholeBodyOn)

  if true, the tracking will be through a Whole Body Process.

  :param pWholeBodyOn: The whole Body state

.. cpp:function:: void ALFaceTrackerProxy::startTracker()

  Start the tracker by Subscribing to Event FaceDetected from :ref:`alfacedetection` module. Then Wait Event FaceDetected from ALFaceDetection module. And finally send information to motion for head tracking. NOTE : Stiffness of Head must be set to 1.0 to move!

.. cpp:function:: void ALFaceTrackerProxy::stopTracker()

  Stop the tracker by Unsubscribing to Event FaceDetected from ALFaceDetection module.