These methods correspond to newly developped features.
Method | Aim |
---|---|
ALMotionProxy::getFootGaitConfig() | Get the footsteps configuration (height, frequency etc) |
ALMotionProxy::getFootSteps() | Get the list of footsteps to done |
Set the next foot steps | |
ALMotionProxy::stopWalk() | Stop the walk quickly but securely |
ALMotionProxy::walkInit() | Sets the robot in a convenient position for walk |
Manage the self collision avoidance relfex | |
ALMotionProxy::isCollision() | Get the collision state of a chain |
Manage the fall manager relfex | |
Manage the smart stiffness relfex |
These overloadings allow you to give more parameters to walk methods, such as footsteps Gait configuration.
Method | Overloadings |
---|---|
ALMotionProxy::setWalkTargetVelocity | Adding the feet gait config to the walk target velocity control |
ALMotionProxy::setWalkTargetVelocity | Adding separate foot gait config to walk target velocity control |
ALMotionProxy::walkTo | Adding the feet gait config to the walk |
ALMotionProxy::walkTo | Giving consecutive control points to the walk |
ALMotionProxy::walkTo | Giving consecutive control points to the walk with feet gait config |
These methods are deprecated: their replacement methods should be used instead.
Method | Replacement |
---|---|
ALMotionProxy::getWalkArmsEnable | ALMotionProxy::getWalkArmsEnabled() |
ALMotionProxy::setWalkArmsEnable | ALMotionProxy::setWalkArmsEnabled() |
ALMotionProxy::stepTo | ALMotionProxy::setFootStepsWithSpeed() or ALMotionProxy::setFootSteps() |