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ALMotion API

Overview | API | Motion - advanced

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ALMotion provides methods that help make NAO move. It contains commands allowing you to manipulate joint stiffness, joint angles, and a higher level API allowing you to control the walk.

Method Group list

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

• Stiffness control API
  • ALMotionProxy::wakeUp()
  • ALMotionProxy::rest()
  • ALMotionProxy::stiffnessInterpolation()
  • ALMotionProxy::setStiffnesses()
  • ALMotionProxy::getStiffnesses()
• Joint control API
  • ALMotionProxy::angleInterpolation()
  • ALMotionProxy::angleInterpolationWithSpeed()
  • ALMotionProxy::angleInterpolationBezier()
  • ALMotionProxy::setAngles()
  • ALMotionProxy::changeAngles()
  • ALMotionProxy::getAngles()
  • ALMotionProxy::closeHand()
  • ALMotionProxy::openHand()
• Locomotion control API
  • ALMotionProxy::setWalkTargetVelocity()
  • ALMotionProxy::walkTo()
  • ALMotionProxy::move()
  • ALMotionProxy::moveTo()
  • ALMotionProxy::moveToward()
  • ALMotionProxy::setFootSteps()
  • ALMotionProxy::setFootStepsWithSpeed()
  • ALMotionProxy::getFootSteps()
  • ALMotionProxy::walkInit()
  • ALMotionProxy::moveInit()
  • ALMotionProxy::waitUntilWalkIsFinished()
  • ALMotionProxy::waitUntilMoveIsFinished()
  • ALMotionProxy::walkIsActive()
  • ALMotionProxy::moveIsActive()
  • ALMotionProxy::stopWalk()
  • ALMotionProxy::stopMove()
  • ALMotionProxy::getFootGaitConfig()
  • ALMotionProxy::getMoveConfig()
  • ALMotionProxy::getRobotPosition()
  • ALMotionProxy::getNextRobotPosition()
  • ALMotionProxy::getRobotVelocity()
  • ALMotionProxy::getWalkArmsEnabled()
  • ALMotionProxy::setWalkArmsEnabled()
• Cartesian control API
  • ALMotionProxy::positionInterpolation()
  • ALMotionProxy::positionInterpolations()
  • ALMotionProxy::setPosition()
  • ALMotionProxy::changePosition()
  • ALMotionProxy::getPosition()
  • ALMotionProxy::transformInterpolation()
  • ALMotionProxy::transformInterpolations()
  • ALMotionProxy::setTransform()
  • ALMotionProxy::changeTransform()
  • ALMotionProxy::getTransform()
• Whole Body control API
  • ALMotionProxy::wbEnable()
  • ALMotionProxy::wbFootState()
  • ALMotionProxy::wbEnableBalanceConstraint()
  • ALMotionProxy::wbGoToBalance()
  • ALMotionProxy::wbEnableEffectorControl()
  • ALMotionProxy::wbSetEffectorControl()
  • ALMotionProxy::wbEnableEffectorOptimization()
• Self-collision avoidance API
  • ALMotionProxy::setCollisionProtectionEnabled()
  • ALMotionProxy::getCollisionProtectionEnabled()
  • ALMotionProxy::isCollision()
• Fall manager API
  • ALMotionProxy::setFallManagerEnabled()
  • ALMotionProxy::getFallManagerEnabled()
• Smart Stiffness API
  • ALMotionProxy::setSmartStiffnessEnabled()
  • ALMotionProxy::getSmartStiffnessEnabled()
• General tools API
  • ALMotionProxy::getBodyNames()
  • ALMotionProxy::getJointNames()
  • ALMotionProxy::getSensorNames()
  • ALMotionProxy::getLimits()
  • ALMotionProxy::getMotionCycleTime()
  • ALMotionProxy::getRobotConfig()
  • ALMotionProxy::getSummary()
  • ALMotionProxy::getMass()
  • ALMotionProxy::getCOM()
  • ALMotionProxy::setMotionConfig()
  • ALMotionProxy::updateTrackerTarget()
• Motion task API
  • ALMotionProxy::getTaskList()
  • ALMotionProxy::areResourcesAvailable()
  • ALMotionProxy::killTask()
  • ALMotionProxy::killTasksUsingResources()
  • ALMotionProxy::killWalk()
  • ALMotionProxy::killMove()
  • ALMotionProxy::killAll()

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