.. _alredballtracker-api:

ALRedBallTracker API
====================


:ref:`Overview <naoqi-trackers>` | ALRedBallTracker API | :ref:`alfacetracker-api` | :ref:`trackers-sample`


Namespace : **AL**

.. code-block:: cpp

  #include <alproxies/alredballtrackerproxy.h>


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

.. cpp:class:: ALRedBallProxy

  * Methods:

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

.. seealso::

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

Methods
-------

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

  Returns the [x, y, z] position of the red ball in SPACE_TORSO. This is done assuming an average red ball size (diameter: 0.06 m), so it might not be very accurate.

  :return: An Array of float containing the red ball position [x, y, z].

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

  Return true if the red Ball Tracker is running.

  :return: true if the red Ball Tracker is running.

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

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

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

.. cpp:function:: void ALRedBallTrackerProxy::setWholeBodyOn(const bool& wholeBodyOn)

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

  :param wholeBodyOn: The whole Body state

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

  Start the tracker by Subscribing to Event redBallDetected from ALRedBallDetection module. Then Wait Event redBallDetected from ALRedBallDetection 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 ALRedBallTrackerProxy::stopTracker()

  Stop the tracker by Unsubscribing to Event redBallDetected from ALRedBallDetection module.