Push Recovery API

ALMotion - Overview | API


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Warning

This is a WIP, API and documentation are not definitive.

Namespace : AL


#include <alproxies/alnotificationmanagerproxy.h>

Methods

void ALMotionProxy::setPushRecoveryEnabled(const bool& enable)

Enable/disable the push-recovery reflex of the robot, but only if allowed by the owner. If not allowed, an exception is thrown.

For further details, see: Deactivation of the safety reflexes.

Parameters:
  • enable – Activate or deactivate the push recovery.
bool ALMotionProxy::getPushRecoveryEnabled(void)

Allow to know if the push recovery protection is activated.

Returns: Return true if the push recovery protection is activated.

Events

Event: "ALMotion/Safety/PushRecovery"
callback(std::string eventName, AL::ALValue val, std::string subscriberIdentifier)

Raised when push recovery is activated and the robot try to compensate the tilt.

Parameters:
  • eventName (std::string) – “ALMotion/Safety/PushRecovery”
  • val – [angle] angle in radian of perturbation direction in FRAME_ROBOT.
  • subscriberIdentifier (std::string) –
Event: "ALMotion/Safety/RobotPushed"
callback(std::string eventName, AL::ALValue val, std::string subscriberIdentifier)

Raised when robot is pushed.

Parameters:
  • eventName (std::string) – “ALMotion/Safety/RobotPushed”
  • val – [angle] angle in radian of perturbation direction in FRAME_ROBOT.
  • subscriberIdentifier (std::string) –