Class Robot

The main robot class for managing Vector.

The Robot object is responsible for managing the state and connections to a Vector, and is typically the entry-point to running the SDK.

Inheritance

Object

RobotObject

Robot

Implements

INotifyPropertyChanged

IDisposable

Inherited Members

RobotObject.PropertyChanged

Namespace: Anki.Vector

Assembly: Anki.Vector.dll

Syntax

public class Robot : RobotObject, INotifyPropertyChanged, IDisposable

Constructors

Robot()

Initializes a new instance of the Robot class.

public Robot()

Properties

Acceleration

Gets the current accelerometer reading

public Acceleration Acceleration { get; }

Property Type

Acceleration

Animation

Gets the animation component.

public AnimationComponent Animation { get; }

Property Type

AnimationComponent

Audio

Gets the audio component.

public AudioComponent Audio { get; }

Property Type

AudioComponent

Behavior

Gets the behavior component

public BehaviorComponent Behavior { get; }

Property Type

BehaviorComponent

Camera

Gets the camera component

public CameraComponent Camera { get; }

Property Type

CameraComponent

Capabilities

Gets the capabilities support by Vector's current firmware

public Capabilities Capabilities { get; }

Property Type

Capabilities

CarryingObjectId

Gets the ID of the object currently being carried (-1 if none)

public int CarryingObjectId { get; }

Property Type

Int32

Control

Gets the control component

public ControlComponent Control { get; }

Property Type

ControlComponent

Events

Gets the events component

public EventComponent Events { get; }

Property Type

EventComponent

Faces

Gets the face component

public FaceComponent Faces { get; }

Property Type

FaceComponent

FirmwareVersion

Gets the firmware version. Populated when connected

public Version FirmwareVersion { get; }

Property Type

Version

Gyro

Gets the current gyroscope reading (x, y, z)

public AngularVelocity Gyro { get; }

Property Type

AngularVelocity

HeadAngleRad

Gets Vector's head angle (up/down) in radians

public float HeadAngleRad { get; }

Property Type

Single

HeadTrackingObjectId

Gets the ID of the object the head is tracking to (-1 if none)

public int HeadTrackingObjectId { get; }

Property Type

Int32

IPAddress

Gets the current IP address of the robot. Can be null if remote Vector connection is used.

public IPAddress IPAddress { get; }

Property Type

IPAddress

IsConnected

Gets a value indicating whether the robot is connected.

public bool IsConnected { get; }

Property Type

Boolean

LastImageTimestamp

Gets the robot's timestamp for the last image seen.

public uint LastImageTimestamp { get; }

Property Type

UInt32

LeftWheelSpeedMmps

Gets Vector’s left wheel speed in mm/sec

public float LeftWheelSpeedMmps { get; }

Property Type

Single

LiftHeightMm

Gets the height of Vector’s lift from the ground.

public float LiftHeightMm { get; }

Property Type

Single

LocalizedToObjectId

Gets the ID of the object that the robot is localized to (-1 if none)

public int LocalizedToObjectId { get; }

Property Type

Int32

Motors

Gets the motors component

public MotorComponent Motors { get; }

Property Type

MotorComponent

NavMap

Gets the navmap component.

public NavMapComponent NavMap { get; }

Property Type

NavMapComponent

Photos

Gets the photo component.

public PhotoComponent Photos { get; }

Property Type

PhotoComponent

Pose

Gets the current pose (position and orientation) of Vector.

public Pose Pose { get; }

Property Type

Pose

PoseAngleRad

Gets Vector's pose angle (heading in X-Y plane) in radians

public float PoseAngleRad { get; }

Property Type

Single

PosePitchRad

Gets Vector’s pose pitch (angle up/down) in radians

public float PosePitchRad { get; }

Property Type

Single

Proximity

Gets the proximity sensor data.

public ProximitySensorData Proximity { get; }

Property Type

ProximitySensorData

RightWheelSpeedMmps

Gets Vector's right wheel speed in mm/sec

public float RightWheelSpeedMmps { get; }

Property Type

Single

Screen

Gets the screen component.

public ScreenComponent Screen { get; }

Property Type

ScreenComponent

Status

Gets the various status properties of the robot.

public RobotStatus Status { get; }

Property Type

RobotStatus

Touch

Gets state related to touch detection.

public TouchSensorData Touch { get; }

Property Type

TouchSensorData

Vision

Gets the vision component.

public VisionComponent Vision { get; }

Property Type

VisionComponent

World

Gets the world component.

public WorldComponent World { get; }

Property Type

WorldComponent

Methods

CheckCloudConnection()

Checks the cloud connection to Vector

public Task<CloudConnection> CheckCloudConnection()

Returns

Type	Description
Task<CloudConnection>	A task that represents the asynchronous operation; the task result contains the cloud connection information.

CheckUpdateStatus()

Check if the robot is ready to reboot and update.

public Task<CheckUpdateStatus> CheckUpdateStatus()

Returns

Type	Description
Task<CheckUpdateStatus>	A task that represents the asynchronous operation; the task result contains the update status.

Connect(IRobotConfiguration, Int32, Boolean)

Connect to Vector on the local network. This will attempt to connect using the configured IP address (if provided) otherwise it will trigger an mDNS query to find Vector's IP address. For connections to Vector over the Internet, use the RemoteConnect(IRemoteRobotConfiguration, Int32) method instead.

public Task Connect(IRobotConfiguration robotConfiguration, int timeout = 5000, bool useZeroConfig = true)

Parameters

Type	Name	Description
IRobotConfiguration	robotConfiguration	The robot configuration.
Int32	timeout	Timeout in milliseconds
Boolean	useZeroConfig	if set to true use zero configuration (mDNS).

Returns

Type	Description
Task	A task that represents the asynchronous operation.

Exceptions

Type	Condition
ArgumentNullException	robotConfiguration
VectorNotFoundException	Unable to establish a connection to Vector.
VectorInvalidVersionException	Your SDK version is not compatible with Vector’s version.

Disconnect()

Disconnects from the Robot

public Task Disconnect()

Returns

Type	Description
Task	A task that represents the asynchronous operation.

Dispose()

Performs application-defined tasks associated with freeing, releasing, or resetting unmanaged resources.

public void Dispose()

Dispose(Boolean)

Releases unmanaged and - optionally - managed resources.

protected virtual void Dispose(bool disposing)

Parameters

Type	Name	Description
Boolean	disposing	true to release both managed and unmanaged resources; false to release only unmanaged resources.

GetFeatureFlag(String)

Request the current setting of a feature flag.

public Task<bool> GetFeatureFlag(string name)

Parameters

Type	Name	Description
String	name	The name of the feature to retrieve information about

Returns

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

GetFeatureFlagList()

Request the list of the current feature flags.

public Task<IReadOnlyList<string>> GetFeatureFlagList()

Returns

Type	Description
Task<IReadOnlyList<String>>	A task that represents the asynchronous operation; the task result contains the robot setting.

Remarks

To see which flags are enabled, use the Get Feature Flag command.

GetLatestAttentionTransfer()

Requests information about the most recent attention transfer

public Task<LatestAttentionTransfer> GetLatestAttentionTransfer()

Returns

Type	Description
Task<LatestAttentionTransfer>	A task that represents the asynchronous operation; the task result contains the latest attention transfer.

NewConnection(IRobotConfiguration, Int32)

Connects to Vector and returns a robot instance.

public static Task<Robot> NewConnection(IRobotConfiguration robotConfiguration, int timeout = 5000)

Parameters

Type	Name	Description
IRobotConfiguration	robotConfiguration	The robot configuration.
Int32	timeout	The connection timeout in milliseconds.

Returns

Type	Description
Task<Robot>	A task that represents the asynchronous operation; the task result contains the connected robot instance

NewConnection(Int32)

Connects to Vector using the first robot found in the configuration file and returns a robot instance.

public static Task<Robot> NewConnection(int timeout = 5000)

Parameters

Type	Name	Description
Int32	timeout	The timeout.

Returns

Type	Description
Task<Robot>	A task that represents the asynchronous operation. The task result contains the connected robot instance.

Exceptions

Type	Condition
VectorConfigurationException	No Robot Configuration found; please run the configuration tool to setup the robot connection.

NewConnection(String, Int32)

Connects to Vector using the robot configuration that matches the name or serial number provided and returns a robot instance.

public static Task<Robot> NewConnection(string nameOrSerialNumber, int timeout = 5000)

Parameters

Type	Name	Description
String	nameOrSerialNumber	The name or serial number.
Int32	timeout	The timeout.

Returns

Type	Description
Task<Robot>	A task that represents the asynchronous operation. The task result contains the connected robot instance.

Exceptions

Type	Condition
VectorConfigurationException	No Robot Configuration with the name or serial number matching '{nameOrSerialNumber}' found.

ReadBatteryState()

Reads the state of the battery from the robot.

public Task<BatteryState> ReadBatteryState()

Returns

Type	Description
Task<BatteryState>	A task that represents the asynchronous operation; the task result contains the battery state.

ReadRobotLifetimeStats()

Gets the robot lifetime stats.

public Task<RobotLifetimeStats> ReadRobotLifetimeStats()

Returns

Type	Description
Task<RobotLifetimeStats>	A task that represents the asynchronous operation; the task result contains the robot lifetime stats.

ReadRobotSettings()

Gets the settings from the robot.

public Task<RobotSettings> ReadRobotSettings()

Returns

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

ReadVersionState()

Reads the the versioning information for Vector, including Vector’s OS version and engine build id.

public Task<VersionState> ReadVersionState()

Returns

Type	Description
Task<VersionState>	A task that represents the asynchronous operation; The task result contains robot version information.

RemoteConnect(IRemoteRobotConfiguration, Int32)

Connects to the robot using the remote connection information. This is used for connecting to Vector when he's not on the LAN. This requires port forwarding on your router to setup an external connection to Vector. For connecting to Vector on the same network as this application, use the Connect(IRobotConfiguration, Int32, Boolean) method instead.

public Task RemoteConnect(IRemoteRobotConfiguration robotConfiguration, int timeout = 5000)

Parameters

Type	Name	Description
IRemoteRobotConfiguration	robotConfiguration	The remote robot configuration.
Int32	timeout	The timeout.

Returns

Type	Description
Task	A task that represents the asynchronous operation.

Exceptions

Type	Condition
ArgumentNullException	robotConfiguration
VectorConfigurationException	Remote host not specified for remote connection.

StartUpdateEngine()

Cycles the update-engine service (to start a new check for an update) and sets up a stream of CheckUpdateStatusEventArgs Events.

public Task<CheckUpdateStatus> StartUpdateEngine()

Returns

Type	Description
Task<CheckUpdateStatus>	A task that represents the asynchronous operation; the task result contains the update status.

UpdateAndRestart()

Updates and restart the robot.

public Task<StatusCode> UpdateAndRestart()

Returns

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

UpdateRobotSettings(RobotSettings)

Updates the robot settings.

public Task<RobotSettings> UpdateRobotSettings(RobotSettings settings)

Parameters

Type	Name	Description
RobotSettings	settings	The settings to update.

Returns

Type	Description
Task<RobotSettings>	A task that represents the asynchronous operation; the task result contains the updated settings.

Events

Connected

Occurs when the robot is fully connected.

public event EventHandler<ConnectedEventArgs> Connected

Event Type

EventHandler<ConnectedEventArgs>

Delocalized

Occurs when robot is delocalized (i.e. whenever Vector no longer knows where he is - e.g.when he's picked up).

public event EventHandler<DelocalizedEventArgs> Delocalized

Event Type

EventHandler<DelocalizedEventArgs>

Disconnected

Occurs when robot is disconnected.

public event EventHandler<DisconnectedEventArgs> Disconnected

Event Type

EventHandler<DisconnectedEventArgs>

Error

Occurs when there is a background exception.

public event EventHandler<ErrorEventArgs> Error

Event Type

EventHandler<ErrorEventArgs>

Implements

System.ComponentModel.INotifyPropertyChanged

System.IDisposable

See Also

IDisposable