Class WorldComponent

Vector’s known view of his world.

This view includes objects and faces it knows about and can currently see with its camera.

Inheritance

Object

RobotObject

Component

WorldComponent

Implements

INotifyPropertyChanged

Inherited Members

RobotObject.PropertyChanged

Namespace: Anki.Vector

Assembly: Anki.Vector.dll

Syntax

public class WorldComponent : Component, INotifyPropertyChanged

Fields

ObjectVisibilityTimeout

The object visibility timeout in milliseconds

public const int ObjectVisibilityTimeout = 2500

Field Type

Int32

Properties

Charger

Gets the charger if it has been seen by the robot, otherwise this value is null.

public Charger Charger { get; }

Property Type

Charger

IsCubeConnected

Gets a value indicating whether the is cube connected.

public bool IsCubeConnected { get; }

Property Type

Boolean

LightCube

Gets the light cube if it has been seen by the robot, otherwise this value is null.

public LightCube LightCube { get; }

Property Type

LightCube

Objects

Gets the all objects currently tracked in the world

public ReadOnlyObservableCollection<ObservableObject> Objects { get; }

Property Type

ReadOnlyObservableCollection<ObservableObject>

Methods

ConnectCube()

Attempt to connect to a cube.

If a cube is currently connected, this will do nothing.

public Task<StatusCode> ConnectCube()

Returns

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

CreateFixedCustomObject(Pose, Single, Single, Single, Boolean)

Defines a cuboid of custom size and places it in the world. It cannot be observed.

public Task<StatusCode> CreateFixedCustomObject(Pose pose, float xSizeMm, float ySizeMm, float zSizeMm, bool relativeToRobot = false)

Parameters

Type	Name	Description
Pose	pose	The pose of the object to create.
Single	xSizeMm	The size of the object (in millimeters) in the x axis.
Single	ySizeMm	The size of the object (in millimeters) in the y axis.
Single	zSizeMm	The size of the object (in millimeters) in the z axis.
Boolean	relativeToRobot	Whether or not the pose given assumes the robot's pose as its origin.

Returns

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

CubesAvailable()

Returns the Factory Ids of all available cubes.

public Task<IEnumerable<string>> CubesAvailable()

Returns

Type	Description
Task<IEnumerable<String>>	A task that represents the asynchronous operation; the task result contains the factory id's of available cubes.

DefineCustomObject(CustomObjectType, CustomObjectArchetype, Boolean)

Defines the custom object with the provided object definition.

The robot will now detect the markers associated with this object and raise an ObjectObserved event when they are seen. There are 20 custom object types that can be defined.

public Task<StatusCode> DefineCustomObject(CustomObjectType customObjectType, CustomObjectArchetype archetype, bool isUnique = true)

Parameters

Type	Name	Description
CustomObjectType	customObjectType	The object type you are binding this custom object definition to.
CustomObjectArchetype	archetype	The custom object archetype (definition).
Boolean	isUnique	If True, the robot will assume there is only 1 of this object. (and therefore only 1 of each of any of these markers) in the world.

Returns

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

Exceptions

Type	Condition
ArgumentOutOfRangeException	customObjectType - Custom object type cannot be 'None'
ArgumentException	Specified Custom object definition is not supported - definition

DeleteCustomObjectArchetypes()

Causes the robot to forget all the custom defined object archetypes.

The custom objects need to be deleted from Vector before calling this method to ensure none of the archetypes are in use.

public Task<StatusCode> DeleteCustomObjectArchetypes()

Returns

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

Exceptions

Type	Condition
InvalidOperationException	Cannot delete archetypes because custom objects are in use. Delete all custom objects first.

DeleteCustomObjects()

Causes the robot to forget about all the custom objects it currently knows about.

public Task<StatusCode> DeleteCustomObjects()

Returns

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

DeleteFixedCustomObjects()

Causes the robot to forget about all the fixed custom objects it currently knows about.

public Task<StatusCode> DeleteFixedCustomObjects()

Returns

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

DisconnectCube()

Requests a disconnection from the currently connected cube.

public Task<StatusCode> DisconnectCube()

Returns

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

FlashCubeLights()

Flashes the cube lights.

Plays the default cube connection animation on the currently connected cube's lights.

public Task<StatusCode> FlashCubeLights()

Returns

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

ForgetPreferredCube()

Forgets the preferred cube.

'Forget' the robot's preferred cube. This will cause the robot to connect to the cube with the highest RSSI(signal strength) next time a connection is requested.

public Task<StatusCode> ForgetPreferredCube()

Returns

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

GetFaceById(Int32)

Gets the face by face identifier.

public Face GetFaceById(int faceId)

Parameters

Type	Name	Description
Int32	faceId	The face identifier.

Returns

Type	Description
Face	The face matching the ID

GetObjectById(Int32)

Gets an object by object identifier.

public ObjectWithId GetObjectById(int objectId)

Parameters

Type	Name	Description
Int32	objectId	The object identifier.

Returns

Type	Description
ObjectWithId	The observable object matching the ID or null

Events

KnownFaceAppeared

Triggered when a known face has appeared

public event EventHandler<KnownFaceAppearedEventArgs> KnownFaceAppeared

Event Type

EventHandler<KnownFaceAppearedEventArgs>

ObjectAdded

Occurs when a new object is added to the world. This will occur only once when a new object is first visually identified by the robot. From then on the object will be available in the Objects collection.

public event EventHandler<ObjectAddedEventArgs> ObjectAdded

Event Type

EventHandler<ObjectAddedEventArgs>

ObjectAppeared

Triggered whenever an object is first visually identified by a robot.

This differs from ObjectObserved in that it’s only triggered when an object initially becomes visible. If it disappears for more than ObjectVisibilityTimeout milliseconds and then is seen again, a ObjectDisappeared will be dispatched, followed by another ObjectAppeared event.

For continuous tracking information about a visible object, see ObjectObserved.

public event EventHandler<ObjectAppearedEventArgs> ObjectAppeared

Event Type

EventHandler<ObjectAppearedEventArgs>

ObjectConnected

Triggered when the robot connects to the light cube.

public event EventHandler<ObjectConnectedEventArgs> ObjectConnected

Event Type

EventHandler<ObjectConnectedEventArgs>

ObjectDisappeared

Triggered whenever an object that was previously being observed is no longer visible.

public event EventHandler<ObjectDisappearedEventArgs> ObjectDisappeared

Event Type

EventHandler<ObjectDisappearedEventArgs>

ObjectDisconnected

Triggered when the robot disconnects from the light cube

public event EventHandler<ObjectDisconnectedEventArgs> ObjectDisconnected

Event Type

EventHandler<ObjectDisconnectedEventArgs>

ObjectEvent

Occurs when object event occurs.

public event EventHandler<ObjectEventArgs> ObjectEvent

Event Type

EventHandler<ObjectEventArgs>

ObjectFinishedMoving

Triggered when the object has finished moving (the light cube)

public event EventHandler<ObjectFinishedMovingEventArgs> ObjectFinishedMoving

Event Type

EventHandler<ObjectFinishedMovingEventArgs>

ObjectMoving

Triggered when an object is moved (the light cube)

public event EventHandler<ObjectMovingEventArgs> ObjectMoving

Event Type

EventHandler<ObjectMovingEventArgs>

ObjectObserved

Triggered whenever an object is visually identified by the robot.

A stream of these events are produced while an object is visible to the robot.Each event has an updated image_box field. See ObjectAppeared if you only want to know when an object first becomes visible.

public event EventHandler<ObjectObservedEventArgs> ObjectObserved

Event Type

EventHandler<ObjectObservedEventArgs>

ObjectTapped

Triggered when the light cube is tapped

public event EventHandler<ObjectTappedEventArgs> ObjectTapped

Event Type

EventHandler<ObjectTappedEventArgs>

ObjectUpAxisChanged

Triggered when the light cube's up axis changed.

public event EventHandler<ObjectUpAxisChangedEventArgs> ObjectUpAxisChanged

Event Type

EventHandler<ObjectUpAxisChangedEventArgs>

Implements

System.ComponentModel.INotifyPropertyChanged