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

# ALTactileGesture API

NAOqi Sensors & LEDs - Overview | API

## Method list

class `ALTactileGesture`

- `ALTactileGesture::createGesture`
- `ALTactileGesture::getSequence`
- `ALTactileGesture::getGesture`
- `ALTactileGesture::getGestures`
- `ALTactileGesture::setSettleTime`
- `ALTactileGesture::setHoldTime`
- `ALTactileGesture::setSequenceTime`

## Signals list

- `ALTactileGesture::onGesture`
- `ALTactileGesture::onRelease`

## Event list

- `ALTactileGesture/Gesture()`
- `ALTactileGesture/Release()`

## Methods

std::string `ALTactileGesture::``createGesture`(std::vector<std::string> sequence)

  Create a tactile gesture.

  Parameters: | sequence – Desired sequence of the tactile gesture.
  Returns: | The name of the gesture that’s associated with the sequence supplied. Throws RuntimeError if sequence is malformed.

std::vector<std::string> `ALTactileGesture::``getSequence`(std::string gestureName)

  Get the sequence corresponding to the supplied gesture name.

  Parameters: | gestureName – name of the gesture corresponding to the sequence
  Returns: | The sequence of the supplied gesture. Return None if gesture doesn’t exist.

std::string `ALTactileGesture::``getGesture`(std::vector<std::string> sequence)

  Get the name of the gesture corresponding to the supplied sequence.

  Parameters: | sequence – sequence corresponding to the gesture
  Returns: | The gesture name corresponding to the supplied sequence. None if the sequence doesn’t correspond to any gesture.

std::map<std::string, std::vector<std::string>> `ALTactileGesture::``getGestures`()

  Get all gestures (including dynamically created gestures).

  Returns: | Dictionary (name: sequence) of all gestures

bool `ALTactileGesture::``setSettleTime`(float settleTime)

  Change the settle time. See: ALTactileGesture.

  Parameters: | settleTime – The desired settle time in seconds.
  Returns: | True on success, False otherwise. Throws RuntimeError if settleTime cannot be understood as a float.

bool `ALTactileGesture::``setHoldTime`(float holdTime)

  Change the hold time. See: ALTactileGesture.

  Parameters: | holdTime – The desired hold time in seconds.
  Returns: | True on success, False otherwise. Throws RuntimeError if holdTime cannot be understood as a float.

bool `ALTactileGesture::``setSequenceTime`(float sequenceTime)

  Change the sequence time. See: ALTactileGesture.

  Parameters: | sequenceTime – The desired sequence time in seconds.
  Returns: | True on success, False otherwise. Throws RuntimeError if sequenceTime cannot be understood as a float.

## Signals

Signals are part of the qimessaging framework, see qimessaging-python.

`ALTactileGesture::``onGesture`(std::String gestureName)

  Triggered: | When a valid tactile gesture has been detected.
  Parameters: | gestureName – Name of the detected gesture.

`ALTactileGesture::``onRelease`()

  Triggered: | When a tactile gesture has been released.

## Events

Event: `"ALTactileGesture/Gesture"`
callback(std::string eventName, std::String gestureName, std::string subscriberIdentifier)

  Raised when a valid tactile gesture has been detected

  Parameters: | eventName (std::string) – “ALTactileGesture/Gesture” gestureName – Name of the detected gesture. subscriberIdentifier (std::string) –

Event: `"ALTactileGesture/Release"`
callback(std::string eventName, int gestureReleased, std::string subscriberIdentifier)

  Raised when a valid tactile gesture has been released.

  Parameters: | eventName (std::string) – “ALTactileGesture/Release” gestureReleased – State of release (as a integer boolean flag). subscriberIdentifier (std::string) –

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