Idle API

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NAOqi Motion - Overview | API


Method list

class ALMotionProxy
void ALMotionProxy:: setIdlePostureEnabled ( const std::string& pChainName , const bool& pEnable )

Starts or stops idle posture control on a chain.

Parameters:
  • pChainName – The chain name {“Body”, “Legs”, “Arms”, “LArm”, “RArm” or “Head”}.
  • pEnable – Activate or deactivate idle posture control on the desired Chain.
bool ALMotionProxy:: getIdlePostureEnabled ( const std::string& pChainName )

Gets the status of idle posture control on a chain.

Parameters:
  • pChainName – The chain name {“Body”, “Legs”, “Arms”, “LArm”, “RArm” or “Head”}.
Returns:

true if idle posture control is active on the chain, false otherwise.

void ALMotionProxy:: setBreathEnabled ( const std::string& pChainName , const bool& pEnable )

Starts or stops breathing animation on a chain.

Parameters:
  • pChainName – The chain name {“Body”, “Legs”, “Arms”, “LArm”, “RArm” or “Head”}.
  • pEnable – Activate or deactivate breathing animation on the desired Chain.
bool ALMotionProxy:: getBreathEnabled ( const std::string& pChainName )

Gets the status of breathing animation on a chain.

Parameters:
  • pChainName – The chain name {“Body”, “Legs”, “Arms”, “LArm”, “RArm” or “Head”}.
Returns:

true if breathing is started on the chain, false otherwise.

void ALMotionProxy:: setBreathConfig ( const AL::ALValue& pConfig )

Deprecated since version 2.5: ALBackgroundMovement now configures the breathing animation automatically.

Configures the breathing animation.

Parameters:
  • pConfig – An ALValue of the form [["Bpm", pBpm], ["Amplitude", pAmplitude]] . pBpm is a float between 5 and 30 setting the breathing frequency in beats per minute. pAmplitude is a float between 0 and 1 setting the amplitude of the breathing animation. At high frequencies, only low amplitudes are allowed. Input amplitude may be clipped.
AL::ALValue ALMotionProxy:: getBreathConfig ( )

Deprecated since version 2.5: ALBackgroundMovement now configures the breathing animation automatically.

This function gets the current breathing configuration.

Returns: An ALValue of the form [["Bpm", bpm], ["Amplitude", amplitude]] . bpm is the breathing frequency in beats per minute. amplitude is the normalized amplitude of the breathing animation, between 0 and 1.