SoftBank Robotics documentation What's new in NAOqi 2.8?

ALFsr API

NAOqi Sensors & LEDs - Overview | API | Tutorial

nao NAO only

Namespace : AL

#include <alproxies/alfsrproxy.h>

Events

Event: "footContactChanged"
callback(std::string eventName, bool val, std::string subscriberIdentifier)

Raised when the foot contact changes, whether the SoftBank Robotics robot lifts his foot from the ground or puts it on the ground. The corresponding key is footContactChanged: it is set to True if at least one of the feet touches the ground.

Parameters:
  • eventName (std::string) – “footContactChanged”
  • val – True if at least one of the feet touches the ground.
  • subscriberIdentifier (std::string) –

ALMemory Keys

float footContact

1.0f if one foot touched the ground.

float leftFootContact

1.0f if the left foot touched the ground.

float rightFootContact

1.0f if the right foot touched the ground.

float leftFootTotalWeight

the total weight on the left foot similar to kilograms.

For further details see: Performances and Limitations.

float rightFootTotalWeight

the total weight on the right foot, similar to kilograms.

For further details see: Performances and Limitations.