ALFsr API

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See also

Namespace : AL

#include <alproxies/alfsrproxy.h>

Events

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

Raised when the foot contact changes (if NAO 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 touched the ground.

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

int leftFootTotalWeight

the total weight on the left foot in Kg

int rightFootTotalWeight

the total weight on the right foot in Kg

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