Namespace Anki.Vector

Classes

AnimationComponent

Animation related classes, functions, events and values.

Animations represent a sequence of highly coordinated movements, faces, lights, and sounds used to demonstrate an emotion or reaction.

Animations can control the following tracks: head, lift, treads, face, audio and backpack lights.

There are two ways to play an animation on Vector: PlayAnimation(Animation, UInt32, Boolean, Boolean, Boolean) and PlayAnimationTrigger(AnimationTrigger, UInt32, Boolean, Boolean, Boolean, Boolean). For PlayAnimationTrigger, you select a pre-defined group of animations, and the robot will choose which animation from the group to run when you execute the method. When calling PlayAnimation, you select the specific animation you want the robot to run. We advise you to use PlayAnimationTrigger instead of PlayAnimation, since individual animations can be deleted between Vector OS versions.

By default, when an SDK program starts, the SDK will request a list of known animation triggers and animations from the robot, which will be loaded and available from GetAnimationTriggers() and GetAnimations(), respectively.

AudioComponent

Support for Vector’s speakers

Vector's speakers can be used for playing user-provided audio. You can use the PlayStream(Stream, UInt32, UInt32) method to play a stream of 16bit mono audio data.

Authentication

This static class for logging into Vector and creating RobotConfiguration instances for connecting to a Vector robot.

The Login(String, String, String, String, IPAddress) method is the best way to use this class; provide all the necessary parameters and that method will retrieve the certificate, login to Anki's server, login to Vector, and return a RobotConfiguration instance that be stored and used to connect to Vector.

The remaining methods in this class can be used to retrieve each piece of connection information separately

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.

CameraComponent

Support for Vector’s camera.

Vector has a built-in camera which he uses to observe the world around him. You can start receiving camera images from Vector by calling the StartFeed() method. The ImageReceived event will be raised for each frame received. Although there is an ImageEncoding property, the data received from Vector is always in the color JPEG format.

The camera resolution is 1280 x 720 with a field of view of 90 deg (H) x 50 deg (V).

Capabilities

Features supported by the current robot firmware.

Component

Abstract base class for components.

ControlComponent

Management of the control of Vector's behaviors.

When you connect to Vector with this SDK he will behave normally. Taking control of Vector will disable his internal behaviors (driving around autonomously, responding to voice commands, etc). You are required to take control of Vector in order to execute commands that move Vector or provide other output.

Call the RequestControl(Int32) method to request control of Vector and ReleaseControl() to release control. Unless you use priority level OverrideBehaviors Vector will regain control automatically if he senses an edge or runs low on battery. You can subscribe to the ControlGranted and ControlLost events to get feedback on when you have acquired or lost control.

EventComponent

Event handlers to subscribe to robot events.

FaceComponent

Manage the state of the faces on the robot.

MotorComponent

Controls the low-level motor functions.

NavMapComponent

Represents Vector's navigation memory map.

The NavMapComponent object subscribes for nav memory map updates from the robot to store and dispatch.

PhotoComponent

Access the photos on Vector.

ReserveBehaviorControl

A ReserveBehaviorControl object can be used to suppress the ordinary idle behaviors of the Robot and keep Vector still between SDK control instances.

Care must be taken when blocking background behaviors, as this may make Vector appear non-responsive.

As long as this object is not disposed, background behaviors will not activate, keeping Vector still while other SDK scripts may take control. Highest-level behaviors like returning to the charger due to low battery will still activate.

If there is a need to keep background behaviors from activating in a single script, the class may be used to reserve behavior control while in scope.

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.

RobotConfiguration

The robot configuration information

RobotObject

Abstract base class for all robot owned objects.

ScreenComponent

Manage the state of the faces on the robot.

StimulationInfo

Vector stimulation info

VisionComponent

Utility methods for Vector’s vision

Vector’s can detect various types of objects through his camera feed.

WorldComponent

Vector’s known view of his world.

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

Structs

ProximitySensorData

A distance sample from the time-of-flight sensor with metadata describing reliability of the measurement

The proximity sensor is located near the bottom of Vector between the two front wheels, facing forward.The reported distance describes how far in front of this sensor the robot feels an obstacle is. The sensor estimates based on time-of-flight information within a field of view which the engine resolves to a certain quality value.

Four additional flags are supplied by the engine to indicate whether this proximity data is considered valid for the robot’s internal path finding. Respecting these is optional, but will help your code respect the behavior of the robot’s innate object avoidance.

RobotStatus

Robot Status class and exposed properties for Vector’s various states.

TouchSensorData

A touch sample from the capacitive touch sensor, accompanied with the robot’s conclusion on whether this is considered a valid touch.

Interfaces

IRemoteRobotConfiguration

Robot configuration information for remote (over the Internet) connections. This structure does not include IP address, instead it has a RemoteHost property which can contain an IP address or hostname and optionally include the port to connect with.

IRobotConfiguration

Robot configuration information