ALBackgroundMovement

NAOqi Interaction engines - Overview | API

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What it does

ALBackgroundMovement triggers some slight movements that the robot does autonomously. If the robot makes some other motion (i.e. there is a call to a method of ALMotion), the background movements are stopped until the motion is done.

How it works

ALBackgroundMovement is an autonomous ability which is enabled by default when ALAutonomousLife is in solitary or in interactive state. For further details, see: Autonomous Abilities.

What the robot does depends on the Posture family.

Posture Family	Effects
Standing	Calls ALMotionProxy::setBreathEnabled.
Sitting or SittingOnChair	Goes back to the nearest Predefined postures then call ALMotionProxy::setIdlePostureEnabled).
Any other posture family	Does nothing.