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()`