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Author: xuyuan

nao_doc/motion.md

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+ALMotion
+========
+
+version  
+stand\_up\_arm\_collision-98-g5070a26-dirty
+
+Interactive proxy to ALModule
+
+isStatsEnabled()
+----------------
+
+enableStats()
+-------------
+
+stats()
+-------
+
+clearStats()
+------------
+
+isTraceEnabled()
+----------------
+
+enableTrace()
+-------------
+
+exit()
+------
+
+Exits and unregisters the module.
+
+pCall()
+-------
+
+NAOqi1 pCall method.
+
+version()
+---------
+
+Returns the version of the module.
+
+### Returns
+
+A string containing the version of the module.
+
+ping()
+------
+
+Just a ping. Always returns true
+
+### Returns
+
+returns true
+
+getMethodList()
+---------------
+
+Retrieves the module’s method list.
+
+### Returns
+
+An array of method names.
+
+getMethodHelp(methodName)
+-------------------------
+
+Retrieves a method’s description.
+
+### Parameters
+
+methodName  
+The name of the method.
+
+### Returns
+
+A structure containing the method’s description.
+
+getModuleHelp()
+---------------
+
+Retrieves the module’s description.
+
+### Returns
+
+A structure describing the module.
+
+wait(id, timeoutPeriod)
+-----------------------
+
+Wait for the end of a long running method that was called using ‘post’
+
+### Parameters
+
+id  
+The ID of the method that was returned when calling the method using ‘post’
+
+timeoutPeriod  
+The timeout period in ms. To wait indefinately, use a timeoutPeriod of zero.
+
+### Returns
+
+True if the timeout period terminated. False if the method returned.
+
+isRunning(id)
+-------------
+
+Returns true if the method is currently running.
+
+### Parameters
+
+id  
+The ID of the method that was returned when calling the method using ‘post’
+
+### Returns
+
+True if the method is currently running
+
+stop(id)
+--------
+
+returns true if the method is currently running
+
+### Parameters
+
+id  
+the ID of the method to wait for
+
+getBrokerName()
+---------------
+
+Gets the name of the parent broker.
+
+### Returns
+
+The name of the parent broker.
+
+getUsage(name)
+--------------
+
+Gets the method usage string. This summarises how to use the method.
+
+### Parameters
+
+name  
+The name of the method.
+
+### Returns
+
+A string that summarises the usage of the method.
+
+getStiffnesses(names)
+---------------------
+
+Gets stiffness of a joint or group of joints.
+
+### Parameters
+
+names  
+Name of a chain, ‘Body’, ‘BodyJoints’ or ‘BodyActuators’
+
+### Returns
+
+One or more stiffnesses. 1.0 indicates maximum stiffness. 0.0 indicated minimum stiffness
+
+setStiffnesses(names, stiffnesses)
+----------------------------------
+
+Sets the stiffness of one or more joints. This is a non-blocking call.
+
+### Parameters
+
+names  
+Name of a chain, ‘Body’, ‘BodyJoints’ or ‘BodyActuators’
+
+stiffnesses  
+One or more stiffnesses between zero and one.
+
+stiffnessInterpolation(names, stiffnesses, timeLists)
+-----------------------------------------------------
+
+Interpolates one or multiple joints to a targeted stiffness or along timed trajectories of stiffness. This is a blocking call.
+
+### Parameters
+
+names  
+Name or names of