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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
- ALMotionProxy::isCollision
External-collision avoidance API?
- ALMotionProxy::getChainClosestObstaclePosition
- ALMotionProxy::getExternalCollisionProtectionEnabled
- ALMotionProxy::getOrthogonalSecurityDistance
- ALMotionProxy::getTangentialSecurityDistance
- ALMotionProxy::setExternalCollisionProtectionEnabled
- ALMotionProxy::setOrthogonalSecurityDistance
- ALMotionProxy::setTangentialSecurityDistance
Fall manager API?
Smart Stiffness API?
Diagnosis effect API?
Push Recovery API?
Idle API?
- ALMotionProxy::setIdlePostureEnabled
- ALMotionProxy::getIdlePostureEnabled
- ALMotionProxy::setBreathEnabled
- ALMotionProxy::getBreathEnabled
- ALMotionProxy::setBreathConfig (deprecated)
- ALMotionProxy::getBreathConfig (deprecated)
General tools API?
- ALMotionProxy::areNotificationsEnabled
- ALMotionProxy::getBodyNames
- ALMotionProxy::getSensorNames
- ALMotionProxy::getLimits
- ALMotionProxy::getMotionCycleTime
- ALMotionProxy::getSummary
- ALMotionProxy::getMass
- ALMotionProxy::getCOM
- ALMotionProxy::getSupportPolygon
- ALMotionProxy::setMotionConfig
- ALMotionProxy::setEnableNotifications
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)