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
`ALMotionProxy::setFootSteps` `ALMotionProxy::setFootStepsWithSpeed`	Set the next foot steps
`ALMotionProxy::stopWalk`	Stop the walk quickly but securely
`ALMotionProxy::walkInit`	Sets the robot in a convenient position for walk
`ALMotionProxy::getCollisionProtectionEnabled` `ALMotionProxy::setCollisionProtectionEnabled`	Manage the self collision avoidance relfex
`ALMotionProxy::isCollision`	Get the collision state of a chain
`ALMotionProxy::setFallManagerEnabled` `ALMotionProxy::getFallManagerEnabled`	Manage the fall manager relfex
`ALMotionProxy::setSmartStiffnessEnabled` `ALMotionProxy::setFootStepsWithSpeed`	Manage the smart stiffness relfex

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

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`