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

# ALTouch API

NAOqi Sensors & LEDs - Overview | API

Namespace : AL

    #include <alproxies/altouchproxy.h>

## Method list

As any module, this module inherits methods from ALModule API. It also has the following specific methods:

class `ALTouchProxy`

- `ALTouchProxy::getSensorList`
- `ALTouchProxy::getStatus`

## Event list

- `TouchChanged()`
- `RightBumperPressed()`
- `LeftBumperPressed()`
- `BackBumperPressed()`
- `FrontTactilTouched()`
- `MiddleTactilTouched()`
- `RearTactilTouched()`
- `HandRightBackTouched()`
- `HandRightLeftTouched()`
- `HandRightRightTouched()`
- `HandLeftBackTouched()`
- `HandLeftLeftTouched()`
- `HandLeftRightTouched()`

## Methods

std::vector<std::string> `ALTouchProxy::``getSensorList`()

  Return the list of sensors managed by touch module, i.e. capable of generating a `TouchChanged()` event.

  Returns: | Return a vector<std::string> of sensor names.

AL::ALValue `ALTouchProxy::``getStatus`()

  Return the current Touch status of all managed body parts. The format is equivalent to that of `TouchChanged()` event.

  Returns: | Return a vector of pairs [name, bool] indicating if body part named name is currently touched.

## Events

Event: `"TouchChanged"`
callback(std::string eventName, AL::ALValue TouchInfo, std::string subscriberIdentifier)

  Raised when the robot touch status changed.

  Parameters: | eventName (std::string) – “TouchChanged” TouchInfo – a list of ALValue with a name and a boolean for the touch status. subscriberIdentifier (std::string) –

Event: `"RightBumperPressed"`
callback(std::string eventName, float val, std::string subscriberIdentifier)

  Raised when the right bumper is pressed.

  Parameters: | eventName (std::string) – “RightBumperPressed” val – 1.0 if right bumper is pressed. subscriberIdentifier (std::string) –

Event: `"LeftBumperPressed"`
callback(std::string eventName, float val, std::string subscriberIdentifier)

  Raised when the left bumper is pressed.

  Parameters: | eventName (std::string) – “LeftBumperPressed” val – 1.0 if left bumper is pressed. subscriberIdentifier (std::string) –

Event: `"BackBumperPressed"`
callback(std::string eventName, float val, std::string subscriberIdentifier)

  Raised when the back bumper is pressed.

  Parameters: | eventName (std::string) – “BackBumperPressed” val – 1.0 if back bumper is pressed. subscriberIdentifier (std::string) –

  Pepper only

Event: `"FrontTactilTouched"`
callback(std::string eventName, float val, std::string subscriberIdentifier)

  Raised when the front head tactile sensor is touched (by human).

  Parameters: | eventName (std::string) – “FrontTactilTouched” val – 1.0 if front head tactile sensor is touched. subscriberIdentifier (std::string) –

Event: `"MiddleTactilTouched"`
callback(std::string eventName, float val, std::string subscriberIdentifier)

  Raised when the middle head tactile sensor is touched (by human).

  Parameters: | eventName (std::string) – “MiddleTactilTouched” val – 1.0 if middle head tactile sensor is touched. subscriberIdentifier (std::string) –

Event: `"RearTactilTouched"`
callback(std::string eventName, float val, std::string subscriberIdentifier)

  Raised when the rear head tactile sensor is touched (by human).

  Parameters: | eventName (std::string) – “RearTactilTouched” val – 1.0 if rear head tactile sensor is touched. subscriberIdentifier (std::string) –

Event: `"HandRightBackTouched"`
callback(std::string eventName, float val, std::string subscriberIdentifier)

  Raised when the right hand back tactile sensor is touched (by human).

  Parameters: | eventName (std::string) – “HandRightBackTouched” val – 1.0 if right hand back tactile sensor is touched. subscriberIdentifier (std::string) –

Event: `"HandRightLeftTouched"`
callback(std::string eventName, float val, std::string subscriberIdentifier)

  Raised when the right hand left tactile sensor is touched (by human).

  Parameters: | eventName (std::string) – “HandRightLeftTouched” val – 1.0 if right hand left tactile sensor is touched. subscriberIdentifier (std::string) –

Event: `"HandRightRightTouched"`
callback(std::string eventName, float val, std::string subscriberIdentifier)

  Raised when the right hand right tactile sensor is touched (by human).

  Parameters: | eventName (std::string) – “HandRightRightTouched” val – 1.0 if right hand right tactile sensor is touched. subscriberIdentifier (std::string) –

Event: `"HandLeftBackTouched"`
callback(std::string eventName, float val, std::string subscriberIdentifier)

  Raised when the left hand back tactile sensor is touched (by human).

  Parameters: | eventName (std::string) – “HandLeftBackTouched” val – 1.0 if left hand back tactile sensor is touched. subscriberIdentifier (std::string) –

Event: `"HandLeftLeftTouched"`
callback(std::string eventName, float val, std::string subscriberIdentifier)

  Raised when the left hand left tactile sensor is touched (by human).

  Parameters: | eventName (std::string) – “HandLeftLeftTouched” val – 1.0 if left hand left tactile sensor is touched. subscriberIdentifier (std::string) –

Event: `"HandLeftRightTouched"`
callback(std::string eventName, float val, std::string subscriberIdentifier)

  Raised when the left hand right tactile sensor is touched (by human).

  Parameters: | eventName (std::string) – “HandLeftRightTouched” val – 1.0 if left hand right tactile sensor is touched. subscriberIdentifier (std::string) –

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