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

# ALSoundLocalization API

NAOqi Audio - Overview | API

Namespace : AL

    #include <alproxies/alsoundlocalizationproxy.h>

## Method list

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

class `ALSoundLocalizationProxy`

- `ALSoundLocalizationProxy::setParameter`
- `ALSoundLocalizationProxy::subscribe`
- `ALSoundLocalizationProxy::unsubscribe`

## Event list

- `ALSoundLocalization/SoundLocated()`
- `ALSoundLocalization/SoundsLocated()`

## Methods

void `ALSoundLocalizationProxy::``setParameter`(const std::string& parameter, const AL::ALValue& value)

  Sets parameters.

  Parameters: | parameter – Name of the parameter value – Value of the parameter

  Available parameters:

  - “EnergyComputation” to True or False (default: False). When set to True, the peak energy of the located sound is estimated. The ALMemory key “ALSoundLocalization/SoundLocated” where the result of the computation is updated is modified consequently:

      [ [time(sec), time(usec)],

        [azimuth(rad), elevation(rad), confidence, energy],

        [Head Position[6D]] in FRAME_TORSO
        [Head Position[6D]] in FRAME_ROBOT
      ]

  - “Sensibility”: DEPRECATED, use “Sensitivity” instead.
  - “Sensitivity” between 0 and 1 to adjust the minimal sound level to trigger the localization. This parameter is the same as in the ALSoundDetection module.

void `ALSoundLocalizationProxy::``subscribe`(const std::string& name)

  Subscribes to ALSoundLocalization. This causes the module to start raising the “ALSoundLocalization/SoundLocated” ALMemory event which you can subscribe to by using `ALMemoryProxy::subscribeToMicroEvent`.

  Parameters: | name – Name used to identify the subscriber

void `ALSoundLocalizationProxy::``unsubscribe`(const std::string& name)

  Unsubscribes to ALSoundLocalization. This causes the module to stop raising the “ALSoundLocalization/SoundLocated” ALMemory event.

  Parameters: | name – Name with which `ALSoundLocalizationProxy::subscribe` was called.

## Events

Event: `"ALSoundLocalization/SoundLocated"`
callback(std::string eventName, AL::ALValue value, std::string subscriberIdentifier)

  Raised when a sound source has been localized.

  Parameters: | eventName (std::string) – “ALSoundLocalization/SoundLocated” value – Array containing information about the localized sounds. Please refer to ALSoundLocalization for details. subscriberIdentifier (std::string) –

Event: `"ALSoundLocalization/SoundsLocated"`
callback(std::string eventName, AL::ALValue value, std::string subscriberIdentifier)

  Raised every 170ms if one or several sounds have been localized during that timeframe.

  Parameters: | eventName (std::string) – “ALSoundLocalization/SoundsLocated” value – Array containing information about the localized sounds. Please refer to ALSoundLocalization for details. subscriberIdentifier (std::string) –

Glossary Site map Index Support Contact Legal Notices