Class BehaviorComponent

Behavior related classes and functions.

Behaviors represent a complex task which requires Vector’s internal logic to determine how long it will take.This may include combinations of animation, path planning or other functionality.

For commands such as GoToPose(Pose, Boolean, Int32), DriveOnCharger() and DockWithCube(LightCube, Nullable<Single>, AlignmentType, Single, Int32), Vector uses path planning, which refers to the problem of navigating the robot from point A to B without collisions. Vector loads known obstacles from his map, creates a path to navigate around those objects, then starts following the path. If a new obstacle is found while following the path, a new plan may be created.

Inheritance

Object

RobotObject

Component

BehaviorComponent

Implements

INotifyPropertyChanged

Inherited Members

RobotObject.PropertyChanged

Namespace: Anki.Vector

Assembly: Anki.Vector.dll

Syntax

public class BehaviorComponent : Component, INotifyPropertyChanged

Fields

MaxHeadAngle

The maximum head angle in radians

public const float MaxHeadAngle = 45F

Field Type

Single

MinHeadAngle

The minimum head angle in radians

public const float MinHeadAngle = -22F

Field Type

Single

Properties

IsBusy

Gets a value indicating whether Vector is busy performing a behavior.

public bool IsBusy { get; }

Property Type

Boolean

MotionProfile

Gets the motion profile that tells Vector how to drive when receiving navigation and movement actions such as GoToPose(Pose, Boolean, Int32) and DockWithCube(LightCube, Nullable<Single>, AlignmentType, Single, Int32).

public MotionProfile MotionProfile { get; }

Property Type

MotionProfile

Methods

AppIntent(String, String)

Submit an intent for Vector to carry out.

public Task<StatusCode> AppIntent(string intent, string param = "")

Parameters

Type	Name	Description
String	intent	The intent for Vector carry out.
String	param	Any extra parameters.

Returns

Type	Description
Task<StatusCode>	A task that represents the asynchronous operation.

Remarks

Since AppIntents are run by Vector's AI; this method will automatically release control.

Cancel()

Cancel the currently active behavior

public Task<StatusCode> Cancel()

Returns

Type	Description
Task<StatusCode>	A task that represents the asynchronous operation.

DockWithCube(LightCube, Nullable<Single>, AlignmentType, Single, Int32)

Tells Vector to dock with a light cube, optionally using a given approach angle and distance.

While docking with the cube, Vector will use path planning.

public Task<ActionResult> DockWithCube(LightCube lightCube, float? approachAngle = default(float? ), AlignmentType alignment = AlignmentType.LiftPlate, float distanceFromMarker = 0F, int numRetries = 0)

Parameters

Type	Name	Description
LightCube	lightCube	The light cube.
Nullable<Single>	approachAngle	The approach angle in radians.
AlignmentType	alignment	Which part of the robot to align with the object.
Single	distanceFromMarker	The distance from marker in mm (0 to dock).
Int32	numRetries	Number of times to re-attempt action in case of a failure.

Returns

Type	Description
Task<ActionResult>	A task that represents the asynchronous operation; the task result contains the result from the robot.

Remarks

Requires behavior control; see RequestControl(Int32).

DriveOffCharger()

Drive Vector off the charger

public Task<BehaviorResult> DriveOffCharger()

Returns

Type	Description
Task<BehaviorResult>	A task that represents the asynchronous operation.

Remarks

Requires behavior control; see RequestControl(Int32).

DriveOnCharger()

Drive Vector onto the charger

Vector will attempt to find the charger and, if successful, he will back onto it and start charging. Vector’s charger has a visual marker so that the robot can locate it for self-docking.

public Task<BehaviorResult> DriveOnCharger()

Returns

Type	Description
Task<BehaviorResult>	A task that represents the asynchronous operation; the task result contains the result from the robot.

Remarks

Requires behavior control; see RequestControl(Int32).

DriveStraight(Single, Single, Boolean, Int32)

Tells Vector to drive in a straight line. Vector will drive for the specified distance(forwards or backwards). Vector must be off of the charger for this movement action.

public Task<ActionResult> DriveStraight(float distanceMm, float speedMmps, bool shouldPlayAnimation = true, int numRetries = 0)

Parameters

Type	Name	Description
Single	distanceMm	The distance in mm. (positive for forwards, negative for backwards)
Single	speedMmps	The speed mm/s.
Boolean	shouldPlayAnimation	Whether to play idle animations whilst driving
Int32	numRetries	Number of times to re-attempt action in case of a failure

Returns

Type	Description
Task<ActionResult>	A task that represents the asynchronous operation; the task result contains the result from the robot.

Remarks

Requires behavior control; see RequestControl(Int32).

Exceptions

Type	Condition
NotSupportedException	The action result is not supported

FindCube()

Requests that Vector finds his cube.

public Task<StatusCode> FindCube()

Returns

Type	Description
Task<StatusCode>	A task that represents the asynchronous operation; the task result contains the result from the robot.

Remarks

This method will automatically release control.

FindFaces()

Look around for faces

Turn in place and move head to look for faces.

public Task<BehaviorResult> FindFaces()

Returns

Type	Description
Task<BehaviorResult>	A task that represents the asynchronous operation; the task result contains the result from the robot.

Remarks

Requires behavior control; see RequestControl(Int32).

GoToCube(Single, Int32)

Tells Vector to drive to his Cube.

public Task<ActionResult> GoToCube(float distanceFromCube, int numRetries = 0)

Parameters

Type	Name	Description
Single	distanceFromCube	The distance from the cube to stop in mm. This is the distance between the origins. For instance, the distance from the robot's origin (between Vector's two front wheels) to the cube's origin (at the center of the cube) is ~40mm.
Int32	numRetries	Number of times to reattempt action in case of a failure.

Returns

Type	Description
Task<ActionResult>	A task that represents the asynchronous operation; the task result contains the result from the robot.

Remarks

Requires behavior control; see RequestControl(Int32).

Exceptions

Type	Condition
InvalidOperationException	Light Cube must have been seen by Vector to run this command.

GoToPose(Pose, Boolean, Int32)

Tells Vector to drive to the specified pose and orientation.

In navigating to the requested pose, Vector will use path planning.

public Task<ActionResult> GoToPose(Pose pose, bool relativeToRobot = false, int retries = 0)

Parameters

Type	Name	Description
Pose	pose	The pose.
Boolean	relativeToRobot	Whether the given pose is relative to the robot's pose.
Int32	retries	The retries.

Returns

Type	Description
Task<ActionResult>	A task that represents the asynchronous operation; the task result contains the result from the robot.

Remarks

Requires behavior control; see RequestControl(Int32).

ListenForBeat()

Request that Vector listens for a beat.

public Task<StatusCode> ListenForBeat()

Returns

Type	Description
Task<StatusCode>	A task that represents the asynchronous operation; the task result contains the result from the robot.

Remarks

This method will automatically release control.

ListenForQuestion()

Requests that Vector listen for a knowledge question and provide response.

public Task<StatusCode> ListenForQuestion()

Returns

Type	Description
Task<StatusCode>	A task that represents the asynchronous operation; the task result contains the result from the robot.

Remarks

This method will automatically release control.

LookAroundInPlace()

Look around in place

Turn in place and move head to see what's around Vector.

public Task<BehaviorResult> LookAroundInPlace()

Returns

Type	Description
Task<BehaviorResult>	A task that represents the asynchronous operation; the task result contains the result from the robot.

Remarks

Requires behavior control; see RequestControl(Int32).

PickupObject(LightCube, Boolean, Int32)

Instruct the robot to pick up his LightCube.

While picking up the cube, Vector will use path planning.

Note that actions that use the wheels cannot be performed at the same time, otherwise you may see a TRACKS_LOCKED error.

public Task<ActionResult> PickupObject(LightCube lightCube, bool usePreDockPose = true, int numRetries = 0)

Parameters

Type	Name	Description
LightCube	lightCube	The light cube.
Boolean	usePreDockPose	Whether or not to try to immediately pick up an object or first position the robot next to the object.
Int32	numRetries	Number of times to reattempt action in case of a failure.

Returns

Type	Description
Task<ActionResult>	A task that represents the asynchronous operation; the task result contains the result from the robot.

Remarks

Requires behavior control; see RequestControl(Int32).

Exceptions

Type	Condition
ArgumentException	Light cube object must be provided. - lightCube

PlaceObjectOnGroundHere(Int32)

Ask Vector to place the object he is carrying on the ground at the current location.

public Task<ActionResult> PlaceObjectOnGroundHere(int numRetries = 0)

Parameters

Type	Name	Description
Int32	numRetries	Number of times to reattempt action in case of a failure.

Returns

Type	Description
Task<ActionResult>	A task that represents the asynchronous operation; the task result contains the result from the robot.

Remarks

Requires behavior control; see RequestControl(Int32).

Exceptions

Type	Condition
InvalidOperationException	Light Cube must have been seen by Vector to run this command.

PopAWheelie(Nullable<Single>, Int32)

Tells Vector to "pop a wheelie" using his light cube.

public Task<ActionResult> PopAWheelie(float? approachAngle = default(float? ), int numRetries = 0)

Parameters

Type	Name	Description
Nullable<Single>	approachAngle	The angle to approach the cube from in radians. For example, 180 degrees will cause Vector to drive past the cube and approach it from behind.
Int32	numRetries	Number of times to reattempt action in case of a failure.

Returns

Type	Description
Task<ActionResult>	A task that represents the asynchronous operation; the task result contains the result from the robot.

Remarks

Requires behavior control; see RequestControl(Int32).

Exceptions

Type	Condition
InvalidOperationException	Light Cube must have been seen by Vector to run this command.

RollCube(Nullable<Single>, Int32)

Tells Vector to roll a specified cube object.

public Task<ActionResult> RollCube(float? approachAngle = default(float? ), int numRetries = 0)

Parameters

Type	Name	Description
Nullable<Single>	approachAngle	The angle to approach the cube from in radians. For example, 180 degrees will cause Vector to drive past the cube and approach it from behind.
Int32	numRetries	Number of times to reattempt action in case of a failure.

Returns

Type	Description
Task<ActionResult>	A task that represents the asynchronous operation; the task result contains the result from the robot.

Remarks

Requires behavior control; see RequestControl(Int32).

Exceptions

Type	Condition
InvalidOperationException	Light Cube must have been seen by Vector to run this command.

RollVisibleCube()

Roll a cube that is currently known to the robot.

This behavior will move into position as necessary based on relative distance and orientation. Vector needs to see the block for this to succeed.

public Task<BehaviorResult> RollVisibleCube()

Returns

Type	Description
Task<BehaviorResult>	A task that represents the asynchronous operation; the task result contains the result from the robot.

Remarks

Requires behavior control; see RequestControl(Int32).

SayName()

Request that Vector looks for a face and say the associated name.

public Task<StatusCode> SayName()

Returns

Type	Description
Task<StatusCode>	A task that represents the asynchronous operation; the task result contains the result from the robot.

Remarks

This method will automatically release control.

SayText(String, Boolean, Single, Single)

Make Vector speak text.

public Task<StatusCode> SayText(string text, bool useVectorVoice = true, float duration = 1F, float pitch = 0F)

Parameters

Type	Name	Description
String	text	The words for Vector to say.
Boolean	useVectorVoice	Whether to use Vector’s robot voice (otherwise, he uses a generic human male voice).
Single	duration	Adjust the relative duration of the generated text to speech audio; 0.05 (fast) to 20.0 (slow).
Single	pitch	Adjust the relative pitch of the generated text to speech audio; -1.0 (low) to +1.0 (high)

Returns

Type	Description
Task<StatusCode>	A task that represents the asynchronous operation.

Remarks

Requires behavior control; see RequestControl(Int32).

SetEyeColor(Single, Single)

Set Vector’s eye color.

public Task<StatusCode> SetEyeColor(float hue, float saturation)

Parameters

Type	Name	Description
Single	hue	The hue.
Single	saturation	The saturation.

Returns

Type	Description
Task<StatusCode>	A task that represents the asynchronous operation; the task result contains the result from the robot.

SetHeadAngle(Single, Single, Single, Single, Int32)

Tell Vector's head to move to a given angle.

public Task<ActionResult> SetHeadAngle(float angle, float acceleration = 10F, float maxSpeed = 10F, float duration = 0F, int numRetries = 0)

Parameters

Type	Name	Description
Single	angle	Desired angle for Vector’s head. Clamped to MinHeadAngle and MaxHeadAngle.
Single	acceleration	Acceleration of Vector’s head in radians per second squared.
Single	maxSpeed	Maximum speed of Vector’s head in radians per second.
Single	duration	Time for Vector’s head to move in seconds. A value of zero will make Vector try to do it as quickly as possible.
Int32	numRetries	Number of times to re-attempt the action in case of a failure.

Returns

Type	Description
Task<ActionResult>	A task that represents the asynchronous operation; the task result contains the result from the robot.

Remarks

Requires behavior control; see RequestControl(Int32).

SetLiftHeight(Single, Single, Single, Single, Int32)

Tell Vector’s lift to move to a given height.

public Task<ActionResult> SetLiftHeight(float height, float acceleration = 10F, float maxSpeed = 10F, float duration = 0F, int numRetries = 0)

Parameters

Type	Name	Description
Single	height	Desired height for Vector’s lift clamped to 0.0 (bottom) to 1.0 (top).
Single	acceleration	Acceleration of Vector’s lift in radians per second squared.
Single	maxSpeed	Maximum speed of Vector’s lift in radians per second.
Single	duration	Time for Vector’s lift to move in seconds. A value of zero will make Vector try to do it as quickly as possible.
Int32	numRetries	Number of times to re-attempt the action in case of a failure.

Returns

Type	Description
Task<ActionResult>	A task that represents the asynchronous operation; the task result contains the result from the robot.

Remarks

Requires behavior control; see RequestControl(Int32).

Sleep()

Requests that Vector goes to sleep

public Task<StatusCode> Sleep()

Returns

Type	Description
Task<StatusCode>	A task that represents the asynchronous operation; the task result contains the result from the robot.

Remarks

This method will automatically release control.

StartExploring()

Request that Vector start's exploring. Vector reacts but doesn't seem to actually start exploring with this method.

public Task<StatusCode> StartExploring()

Returns

Type	Description
Task<StatusCode>	A task that represents the asynchronous operation; the task result contains the result from the robot.

Remarks

This method will automatically release control.

TurnInPlace(Single, Single, Single, Single, Boolean, Int32)

Turn the robot around its current position.

Vector must be off of the charger for this movement action.

public Task<ActionResult> TurnInPlace(float angle, float speed = 0F, float acceleration = 0F, float angleTolerance = 0F, bool isAbsolute = false, int numRetries = 0)

Parameters

Type	Name	Description
Single	angle	The angle to turn. Positive values turn to the left, negative values to the right.
Single	speed	Angular turn speed (per second).
Single	acceleration	Acceleration of angular turn (per second squared).
Single	angleTolerance	angular tolerance to consider the action complete (this is clamped to a minimum of 2 degrees internally).
Boolean	isAbsolute	True to turn to a specific angle, False to turn relative to the current pose.
Int32	numRetries	Number of times to re-attempt the turn in case of a failure.

Returns

Type	Description
Task<ActionResult>	A task that represents the asynchronous operation; the task result contains the result from the robot.

Remarks

Requires behavior control; see RequestControl(Int32).

TurnTowardsFace(Face, Int32)

Tells Vector to turn towards this face.

public Task<ActionResult> TurnTowardsFace(Face face, int numRetries = 0)

Parameters

Type	Name	Description
Face	face	The face Vector will turn towards.
Int32	numRetries	Number of times to reattempt the action in case of a failure.

Returns

Type	Description
Task<ActionResult>	A task that represents the asynchronous operation; the task result contains the result from the robot.

Remarks

Requires behavior control; see RequestControl(Int32).

Implements

System.ComponentModel.INotifyPropertyChanged

See Also

Component