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ALMotion API

Overview | API | Motion - advanced

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Namespace : AL

#include <alproxies/alnotificationmanagerproxy.h>

ALMotion provides methods that help make the robot 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:

class ALMotionProxy

Stiffness control API

• ALMotionProxy::wakeUp()
• ALMotionProxy::rest()
• ALMotionProxy::robotIsWakeUp()
• 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::move()
• ALMotionProxy::moveToward()
• ALMotionProxy::moveTo()
• ALMotionProxy::setFootSteps()
• ALMotionProxy::setFootStepsWithSpeed()
• ALMotionProxy::getFootSteps()
• ALMotionProxy::moveInit()
• ALMotionProxy::waitUntilMoveIsFinished()
• ALMotionProxy::moveIsActive()
• ALMotionProxy::stopMove()
• ALMotionProxy::getMoveConfig()
• ALMotionProxy::getRobotPosition()
• ALMotionProxy::getNextRobotPosition()
• ALMotionProxy::getRobotVelocity()
• ALMotionProxy::getMoveArmsEnabled()
• ALMotionProxy::setMoveArmsEnabled()

Deprecated Methods

• ALMotionProxy::setWalkTargetVelocity() (deprecated, use moveToward instead)
• ALMotionProxy::walkTo() (deprecated, use moveTo instead)
• ALMotionProxy::walkInit() (deprecated, use moveInit instead)
• ALMotionProxy::waitUntilWalkIsFinished() (deprecated, use waitUntilMoveIsFinished instead)
• ALMotionProxy::walkIsActive() (deprecated, use moveIsActive instead)
• ALMotionProxy::stopWalk() (deprecated, use stopMove instead)
• ALMotionProxy::getFootGaitConfig() (deprecated, use getMoveConfig instead)
• ALMotionProxy::getWalkArmsEnabled() (deprecated, use getMoveArmsEnabled instead)
• ALMotionProxy::setWalkArmsEnabled() (deprecated, use setMoveArmsEnabled instead)

Cartesian control API

• ALMotionProxy::positionInterpolations()
• ALMotionProxy::setPositions()
• ALMotionProxy::getPosition()
• ALMotionProxy::transformInterpolations()
• ALMotionProxy::setTransforms()
• ALMotionProxy::getTransform()

Depecated Methods

• ALMotionProxy::positionInterpolation() (deprecated, use positionInterpolations instead)
• ALMotionProxy::setPosition() (deprecated, use setPositions instead)
• ALMotionProxy::changePosition() (deprecated, use setPositions instead)
• ALMotionProxy::transformInterpolation() (deprecated, use transformInterpolations instead)
• ALMotionProxy::setTransform() (deprecated, use setTransforms instead)
• ALMotionProxy::changeTransform() (deprecated, use setTransforms instead)

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()

External-collision avoidance API

• ALMotionProxy::getChainClosestObstaclePosition()
• ALMotionProxy::getExternalCollisionProtectionEnabled()
• ALMotionProxy::getOrthogonalSecurityDistance()
• ALMotionProxy::getTangentialSecurityDistance()
• ALMotionProxy::setExternalCollisionProtectionEnabled()
• ALMotionProxy::setOrthogonalSecurityDistance()
• ALMotionProxy::setTangentialSecurityDistance()

Fall manager API

• ALMotionProxy::setFallManagerEnabled()
• ALMotionProxy::getFallManagerEnabled()

Smart Stiffness API

• ALMotionProxy::setSmartStiffnessEnabled()
• ALMotionProxy::getSmartStiffnessEnabled()

Diagnosis effect API

• ALMotionProxy::setDiagnosisEffectEnabled()
• ALMotionProxy::getDiagnosisEffectEnabled()

Push Recovery API

• ALMotionProxy::setPushRecoveryEnabled()
• ALMotionProxy::getPushRecoveryEnabled()

Idle API

• ALMotionProxy::setIdlePostureEnabled()
• ALMotionProxy::getIdlePostureEnabled()
• ALMotionProxy::setBreathEnabled()
• ALMotionProxy::getBreathEnabled()
• ALMotionProxy::setBreathConfig()
• ALMotionProxy::getBreathConfig()

General tools API

• ALMotionProxy::areNotificationsEnabled()
• ALMotionProxy::getBodyNames()
• ALMotionProxy::getSensorNames()
• ALMotionProxy::getLimits()
• ALMotionProxy::getMotionCycleTime()
• ALMotionProxy::getRobotConfig()
• ALMotionProxy::getSummary()
• ALMotionProxy::getMass()
• ALMotionProxy::getCOM()
• ALMotionProxy::setMotionConfig()
• ALMotionProxy::setEnableNotifications()

Deprecated Methods

• ALMotionProxy::getJointNames() (deprecated, use getBodyNames instead)
• ALMotionProxy::updateTrackerTarget() (deprecated, use ALTrackerProxy instead)

Motion task API

• ALMotionProxy::getTaskList()
• ALMotionProxy::areResourcesAvailable()
• ALMotionProxy::killTask()
• ALMotionProxy::killTasksUsingResources()
• ALMotionProxy::killMove()
• ALMotionProxy::killAll()

Deprecated Methods

• ALMotionProxy::killWalk() (deprecated, use killMove instead)

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