ALMotion API

Overview | API

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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::wbGoToBalanceWithSpeed
• ALMotionProxy::wbEnableEffectorControl
• ALMotionProxy::wbSetEffectorControl
• ALMotionProxy::wbEnableEffectorOptimization

Self-collision avoidance API

• ALMotionProxy::setCollisionProtectionEnabled
• ALMotionProxy::getCollisionProtectionEnabled

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 (deprecated)
• ALMotionProxy::getBreathConfig (deprecated)

General tools API

• ALMotionProxy::getBodyNames
• ALMotionProxy::getSensorNames
• ALMotionProxy::getLimits
• ALMotionProxy::getMotionCycleTime
• ALMotionProxy::getSummary
• ALMotionProxy::getMass
• ALMotionProxy::getCOM
• ALMotionProxy::getSupportPolygon
• ALMotionProxy::setMotionConfig

Deprecated Methods

• ALMotionProxy::getJointNames (deprecated, use getBodyNames instead)
• ALMotionProxy::getRobotConfig

Motion task API

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

Deprecated Methods

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