# ALFsr API¶

NAOqi Sensors - Overview | API | Tutorial

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 the 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 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

float leftFootTotalWeight

the total weight on the left foot in kilograms

float rightFootTotalWeight

the total weight on the right foot in kilograms