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nao_doc/motion.md

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

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