NAO Software 1.12 documentation

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ALMotion API

Overview | API | Advanced

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ALMotion provides methods that help make NAO 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

• Stiffness control API
  • 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
• Walk control API
  • ALMotionProxy::setWalkTargetVelocity
  • ALMotionProxy::walkTo
  • ALMotionProxy::stepTo
  • ALMotionProxy::setFootSteps
  • ALMotionProxy::setFootStepsWithSpeed
  • ALMotionProxy::getFootSteps
  • ALMotionProxy::walkInit
  • ALMotionProxy::waitUntilWalkIsFinished
  • ALMotionProxy::walkIsActive
  • ALMotionProxy::stopWalk
  • ALMotionProxy::getFootGaitConfig
  • ALMotionProxy::getRobotPosition
  • ALMotionProxy::getNextRobotPosition
  • ALMotionProxy::getRobotVelocity
  • ALMotionProxy::getWalkArmsEnable
  • ALMotionProxy::setWalkArmsEnable
  • ALMotionProxy::getWalkArmsEnabled
  • ALMotionProxy::setWalkArmsEnabled
• Cartesian control API
  • ALMotionProxy::positionInterpolation
  • ALMotionProxy::positionInterpolations
  • ALMotionProxy::setPosition
  • ALMotionProxy::changePosition
  • ALMotionProxy::getPosition
  • ALMotionProxy::transformInterpolation
  • ALMotionProxy::transformInterpolations
  • ALMotionProxy::setTransform
  • ALMotionProxy::changeTransform
  • ALMotionProxy::getTransform
• Whole Body control API
  • ALMotionProxy::wbEnable
  • ALMotionProxy::wbFootState
  • ALMotionProxy::wbEnableBalanceConstraint
  • ALMotionProxy::wbGoToBalance
  • ALMotionProxy::wbEnableEffectorControl
  • ALMotionProxy::wbSetEffectorControl
• Self-collision avoidance API
  • ALMotionProxy::setCollisionProtectionEnabled
  • ALMotionProxy::getCollisionProtectionEnabled
  • ALMotionProxy::isCollision
• Fall manager API
  • ALMotionProxy::setFallManagerEnabled
  • ALMotionProxy::getFallManagerEnabled
• Smart Stiffness API
  • ALMotionProxy::setSmartStiffnessEnabled
  • ALMotionProxy::getSmartStiffnessEnabled
• General tools API
  • ALMotionProxy::getJointNames
  • ALMotionProxy::getSensorNames
  • ALMotionProxy::getLimits
  • ALMotionProxy::getRobotConfig
  • ALMotionProxy::getSummary
  • ALMotionProxy::getMass
  • ALMotionProxy::getCOM
  • ALMotionProxy::setMotionConfig
  • ALMotionProxy::updateTrackerTarget
• Motion task API
  • ALMotionProxy::getTaskList
  • ALMotionProxy::areResourcesAvailable
  • ALMotionProxy::killTask
  • ALMotionProxy::killTasksUsingResources
  • ALMotionProxy::killWalk
  • ALMotionProxy::killAll

See also

• Methods inherited from ALModule

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