# SoftBank Robotics documentation What's new in NAOqi 2.8?

# ALVisualSpaceHistory API

NAOqi Vision - Overview | API

Namespace : AL

    #include <alproxies/alvisualspacehistoryproxy.h>

## Method list

class `ALVisualSpaceHistoryProxy`

- As any module, this module inherits methods from ALModule API.
- It also inherits methods from ALExtractor API.
- It also has the following specific methods:
  - `ALVisualSpaceHistoryProxy::getGridPrecision`
  - `ALVisualSpaceHistoryProxy::resetGrid`
  - `ALVisualSpaceHistoryProxy::setGridPrecision`

## ALMemory Keys list

- `VisualSpaceHistory/VisualGrid/Data`

## Methods

float `ALVisualSpaceHistoryProxy::``getGridPrecision`()

  Returns the current visual grid resolution.

`ALVisualSpaceHistoryProxy::``resetGrid`()

  Fills the visual grid with the current timestamp. This may be useful if the robot moves its torso since it makes the grid data irrelevant.

void `ALVisualSpaceHistoryProxy::``setGridPrecision`(const float& resolution)

  Parameters: | resolution – New grid precision chosen between 1.0 and 10.0. Default value is 2.0.

Note

When the grid precision is changed the method `ALVisualSpaceHistoryProxy::resetGrid` is automatically called to reset the grid data.

## ALMemory Keys

AL::ALValue `VisualSpaceHistory/VisualGrid/Data`

  This memory key contains all the visual grid data formated as follows:

  data = [zone_t1, zone_t2, ... ]

  where zone_t1 = [[headYawAngle, headPitchAngle], timestamp] is the data corresponding to the zone_t1.

  All zones are sorted by increasing timestamp, so t1 < t2 < ... . As a result, the first zone is the most outdated one and the last zone is the most recently updated one.

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