#include #include #include int main(int argc, char **argv) { std::string robotIp = "127.0.0.1"; if (argc < 2) { std::cerr << "Usage: almotion_changeangles robotIp " << "(optional default \"127.0.0.1\")."<< std::endl; } else { robotIp = argv[1]; } AL::ALMotionProxy motion(robotIp); // Setting head stiffness on. motion.setStiffnesses("Head", 1.0f); // Example showing a slow, relative move of "HeadYaw". // Calling this multiple times will move the head further. AL::ALValue names = "HeadYaw"; AL::ALValue changes = 0.25f; float fractionMaxSpeed = 0.05f; motion.changeAngles(names, changes, fractionMaxSpeed); qi::os::sleep(1.0f); // Setting head stiffness off. motion.setStiffnesses("Head", 0.0f); return 0; }