ALMotion Changes

New methods

These methods correspond to newly developped features.

Method Aim
ALMotionProxy::getFootGaitConfig Get the footsteps configuration (height, frequency etc)
ALMotionProxy::getFootSteps Get the list of footsteps to done
Set the next foot steps
ALMotionProxy::stopWalk Stop the walk quickly but securely
ALMotionProxy::walkInit Sets the robot in a convenient position for walk
Manage the self collision avoidance relfex
ALMotionProxy::isCollision Get the collision state of a chain
Manage the fall manager relfex
Manage the smart stiffness relfex

Overloaded methods

These overloadings allow you to give more parameters to walk methods, such as footsteps Gait configuration.

Method Overloadings
ALMotionProxy::setWalkTargetVelocity Adding the feet gait config to the walk target velocity control
ALMotionProxy::setWalkTargetVelocity Adding separate foot gait config to walk target velocity control
ALMotionProxy::walkTo Adding the feet gait config to the walk
ALMotionProxy::walkTo Giving consecutive control points to the walk
ALMotionProxy::walkTo Giving consecutive control points to the walk with feet gait config

Deprecated methods

These methods are deprecated: their replacement methods should be used instead.

Method Replacement
ALMotionProxy::getWalkArmsEnable ALMotionProxy::getWalkArmsEnabled
ALMotionProxy::setWalkArmsEnable ALMotionProxy::setWalkArmsEnabled
ALMotionProxy::stepTo ALMotionProxy::setFootStepsWithSpeed or ALMotionProxy::setFootSteps