idl/v5/motion.qi.idl
package unknown
interface ALMotion
fn registerEvent(P0: uint32, P1: uint32, P2: uint64) -> uint64 //uid:0
fn unregisterEvent(P0: uint32, P1: uint32, P2: uint64) //uid:1
fn metaObject(P0: uint32) -> MetaObject //uid:2
fn terminate(P0: uint32) //uid:3
fn property(P0: any) -> any //uid:5
fn setProperty(P0: any, P1: any) //uid:6
fn properties() -> Vec<str> //uid:7
fn registerEventWithSignature(P0: uint32, P1: uint32, P2: uint64, P3: str) -> uint64 //uid:8
fn isStatsEnabled() -> bool //uid:80
fn enableStats(P0: bool) //uid:81
fn stats() -> Map<uint32,MethodStatistics> //uid:82
fn clearStats() //uid:83
fn isTraceEnabled() -> bool //uid:84
fn enableTrace(P0: bool) //uid:85
fn exit() //uid:100
fn __pCall(P0: uint32, P1: Vec<any>) -> int32 //uid:101
fn pCall(P0: any) -> any //uid:102
fn version() -> str //uid:103
fn ping() -> bool //uid:104
fn getMethodList() -> Vec<str> //uid:105
fn getMethodHelp(methodName: str) -> any //uid:106
fn getModuleHelp() -> any //uid:107
fn wait(id: int32,timeoutPeriod: int32) -> bool //uid:108
fn isRunning(id: int32) -> bool //uid:109
fn stop(id: int32) //uid:110
fn getBrokerName() -> str //uid:111
fn getUsage(name: str) -> str //uid:112
fn wakeUp() //uid:113
fn rest() //uid:114
fn rest(P0: str) //uid:115
fn _rest(chainName: str) //uid:116
fn _shutdown() //uid:117
fn _isChainGoToOrInRest(chainName: str) -> bool //uid:118
fn _setMotionPosture(postureName: str,bodyAngles: Vec<float32>) -> bool //uid:119
fn _getMotionPosture(postureName: str) -> Vec<float32> //uid:120
fn _getMotionPostureList() -> Vec<str> //uid:121
fn robotIsWakeUp() -> bool //uid:122
fn stiffnessInterpolation(names: any,stiffnessLists: any,timeLists: any) //uid:123
fn setStiffnesses(names: any,stiffnesses: any) //uid:124
fn _setStiffnesses(names: any,stiffnesses: any) //uid:125
fn getStiffnesses(jointName: any) -> Vec<float32> //uid:126
fn angleInterpolation(names: any,angleLists: any,timeLists: any,isAbsolute: bool) //uid:127
fn angleInterpolationWithSpeed(names: any,targetAngles: any,maxSpeedFraction: float32) //uid:128
fn angleInterpolationBezier(jointNames: Vec<str>,times: any,controlPoints: any) //uid:129
fn setAngles(names: any,angles: any,fractionMaxSpeed: float32) //uid:130
fn changeAngles(names: any,changes: any,fractionMaxSpeed: float32) //uid:131
fn getAngles(names: any,useSensors: bool) -> Vec<float32> //uid:132
fn openHand(handName: str) //uid:133
fn closeHand(handName: str) //uid:134
fn move(x: float32,y: float32,theta: float32) //uid:135
fn move(x: float32,y: float32,theta: float32,moveConfig: any) //uid:136
fn moveToward(x: float32,y: float32,theta: float32) //uid:137
fn moveToward(x: float32,y: float32,theta: float32,moveConfig: any) //uid:138
fn setWalkTargetVelocity(x: float32,y: float32,theta: float32,frequency: float32) //uid:139
fn setWalkTargetVelocity(x: float32,y: float32,theta: float32,frequency: float32,feetGaitConfig: any) //uid:140
fn setWalkTargetVelocity(x: float32,y: float32,theta: float32,frequency: float32,leftFootMoveConfig: any,rightFootMoveConfig: any) //uid:141
fn _setMpcWalkTargetVelocity(x: float32,y: float32,theta: float32,frequency: float32) //uid:142
fn moveTo(x: float32,y: float32,theta: float32) //uid:143
fn moveTo(x: float32,y: float32,theta: float32,time: float32) //uid:144
fn moveTo(x: float32,y: float32,theta: float32,moveConfig: any) //uid:145
fn moveTo(x: float32,y: float32,theta: float32,time: float32,moveConfig: any) //uid:146
fn moveTo(controlPoint: any) //uid:147
fn moveTo(controlPoint: any,moveConfig: any) //uid:148
fn _moveToPod(x: float32,y: float32,theta: float32) //uid:149
fn _moveToPod(x: float32,y: float32,theta: float32,moveConfig: any) //uid:150
fn _followPath(path: any,moveConfig: any) //uid:151
fn _followPath(path: any) //uid:152
fn _followPathInWorld(poseStart: any,path: any,moveConfig: any) //uid:153
fn _followPathInWorld(poseStart: any,path: any) //uid:154
fn _setFollowPathSpeedFactor(speedFactor: float32) //uid:155
fn _moveAlong(trajectory: any) -> int32 //uid:156
fn _moveAlong(trajectory: any,scaleFactor: float32) -> int32 //uid:157
fn _getTrajectoryId() -> int32 //uid:158
fn _stopAndStitchMoveAlong() //uid:159
fn _getRemainingPath(sampleStep: float32) -> any //uid:160
fn _getRemainingTrajectory(timeStep: float32,preview: float32) -> any //uid:161
fn _getTrajectoryCompletion() -> float32 //uid:162
fn walkTo(x: float32,y: float32,theta: float32) //uid:163
fn walkTo(x: float32,y: float32,theta: float32,feetGaitConfig: any) //uid:164
fn walkTo(controlPoint: any) //uid:165
fn walkTo(controlPoint: any,feetGaitConfig: any) //uid:166
fn setFootSteps(legName: Vec<str>,footSteps: any,timeList: Vec<float32>,clearExisting: bool) //uid:167
fn setFootStepsWithSpeed(legName: Vec<str>,footSteps: any,fractionMaxSpeed: Vec<float32>,clearExisting: bool) //uid:168
fn getFootSteps() -> any //uid:169
fn walkInit() //uid:170
fn moveInit() //uid:171
fn waitUntilWalkIsFinished() //uid:172
fn waitUntilMoveIsFinished() //uid:173
fn walkIsActive() -> bool //uid:174
fn moveIsActive() -> bool //uid:175
fn stopWalk() //uid:176
fn stopMove() //uid:177
fn getFootGaitConfig(config: str) -> any //uid:178
fn getMoveConfig(config: str) -> any //uid:179
fn getRobotPosition(useSensors: bool) -> Vec<float32> //uid:180
fn getNextRobotPosition() -> Vec<float32> //uid:181
fn _getStopMovePosition() -> Vec<float32> //uid:182
fn getRobotVelocity() -> Vec<float32> //uid:183
fn _getCumulatedDisplacement() -> Vec<float32> //uid:184
fn getWalkArmsEnabled() -> any //uid:185
fn setWalkArmsEnabled(leftArmEnabled: bool,rightArmEnabled: bool) //uid:186
fn getMoveArmsEnabled(chainName: str) -> bool //uid:187
fn setMoveArmsEnabled(leftArmEnabled: bool,rightArmEnabled: bool) //uid:188
fn positionInterpolation(chainName: str,space: int32,path: any,axisMask: int32,durations: any,isAbsolute: bool) //uid:189
fn positionInterpolations(effectorNames: Vec<str>,taskSpaceForAllPaths: int32,paths: any,axisMasks: any,relativeTimes: any,isAbsolute: bool) //uid:190
fn positionInterpolations(effectorNames: any,taskSpaceForAllPaths: any,paths: any,axisMasks: any,relativeTimes: any) //uid:191
fn setPosition(chainName: str,space: int32,position: Vec<float32>,fractionMaxSpeed: float32,axisMask: int32) //uid:192
fn setPositions(names: any,spaces: any,positions: any,fractionMaxSpeed: float32,axisMask: any) //uid:193
fn changePosition(effectorName: str,space: int32,positionChange: Vec<float32>,fractionMaxSpeed: float32,axisMask: int32) //uid:194
fn getPosition(name: str,space: int32,useSensorValues: bool) -> Vec<float32> //uid:195
fn transformInterpolation(chainName: str,space: int32,path: any,axisMask: int32,duration: any,isAbsolute: bool) //uid:196
fn transformInterpolations(effectorNames: Vec<str>,taskSpaceForAllPaths: int32,paths: any,axisMasks: any,relativeTimes: any,isAbsolute: bool) //uid:197
fn transformInterpolations(effectorNames: any,taskSpaceForAllPaths: any,paths: any,axisMasks: any,relativeTimes: any) //uid:198
fn setTransform(chainName: str,space: int32,transform: Vec<float32>,fractionMaxSpeed: float32,axisMask: int32) //uid:199
fn setTransforms(names: any,spaces: any,transforms: any,fractionMaxSpeed: float32,axisMask: any) //uid:200
fn changeTransform(chainName: str,space: int32,transform: Vec<float32>,fractionMaxSpeed: float32,axisMask: int32) //uid:201
fn getTransform(name: str,space: int32,useSensorValues: bool) -> Vec<float32> //uid:202
fn _getSensorTransformAtTime(sensorName: str,timestamp: timeval) -> Vec<float32> //uid:203
fn wbEnable(isEnabled: bool) //uid:204
fn wbFootState(stateName: str,supportLeg: str) //uid:205
fn wbEnableBalanceConstraint(isEnable: bool,supportLeg: str) //uid:206
fn wbGoToBalance(supportLeg: str,duration: float32) //uid:207
fn wbEnableEffectorControl(effectorName: str,isEnabled: bool) //uid:208
fn wbSetEffectorControl(effectorName: str,targetCoordinate: any) //uid:209
fn wbEnableEffectorOptimization(effectorName: str,isActive: bool) //uid:210
fn _wbGetBalanceState() -> str //uid:211
fn _wbIsActive() -> bool //uid:212
fn _wbDefaultConfiguration() //uid:213
fn _wbGetFootState(supportLeg: str) -> str //uid:214
fn _wbSetReferencePosture(postureName: str) //uid:215
fn _wbSetBalanceSecurityMargin(percentForwards: float32,percentSideways: float32) //uid:216
fn _wbSetJointWeighting(P0: str, P1: float32) //uid:217
fn _wbSetJointStiffness(P0: str, P1: float32) //uid:218
fn _wbSetArticularLimitPreview(P0: str, P1: int32) //uid:219
fn _wbEnableEffectorConstraint(effectorName: str,isActive: bool,axisMask: int32) //uid:220
fn _wbGetEffectorConstraint(effectorName: str) -> any //uid:221
fn _wbAxisMaskEffector(effectorName: str,isOptimized: bool,axisMask: int32) //uid:222
fn _wbEnableJointOptimization(jointName: str,isActive: bool) //uid:223
fn _wbGetEffectorOptimization(effectorName: str) -> any //uid:224
fn _wbSetEffectorWeight(effectorName: str,weightingList: any) //uid:225
fn _wbSetEffectorStiffness(effectorName: str,stiffnessList: any) //uid:226
fn setCollisionProtectionEnabled(pChainName: str,pEnable: bool) -> bool //uid:227
fn getCollisionProtectionEnabled(pChainName: str) -> bool //uid:228
fn setExternalCollisionProtectionEnabled(pName: str,pEnable: bool) //uid:229
fn _enablePhysicalInteractionForChain(pChain: str,pEnabled: bool) //uid:230
fn getChainClosestObstaclePosition(pName: str,space: int32) -> Vec<float32> //uid:231
fn getExternalCollisionProtectionEnabled(pName: str) -> bool //uid:232
fn setOrthogonalSecurityDistance(securityDistance: float32) //uid:233
fn getOrthogonalSecurityDistance() -> float32 //uid:234
fn setTangentialSecurityDistance(securityDistance: float32) //uid:235
fn getTangentialSecurityDistance() -> float32 //uid:236
fn isCollision(pChainName: str) -> str //uid:237
fn _getCollisionStateForObstacleSummary(pChainName: str) -> bool //uid:238
fn _getCollisionNames() -> any //uid:239
fn _getCollisionShapes(P0: str) -> any //uid:240
fn _setCollisionShapes(pNameList: Vec<str>,pPairList: Vec<str>,pBodyList: Vec<str>,pTypeList: Vec<str>,pShapeList: any,pPositionList: any) //uid:241
fn _setCollisionShapes(pNameList: Vec<str>,pPairList: Vec<str>,pShapeList: any,pPositionList: any) //uid:242
fn _getDetectedCollisions(pMinimumDistance: float32) -> any //uid:243
fn _getDangerousRegion() -> any //uid:244
fn setFallManagerEnabled(pEnable: bool) //uid:245
fn getFallManagerEnabled() -> bool //uid:246
fn setPushRecoveryEnabled(pEnable: bool) //uid:247
fn _setPushRecoveryEnabled(pEnable: bool) //uid:248
fn getPushRecoveryEnabled() -> bool //uid:249
fn setSmartStiffnessEnabled(pEnable: bool) //uid:250
fn getSmartStiffnessEnabled() -> bool //uid:251
fn setDiagnosisEffectEnabled(pEnable: bool) //uid:252
fn getDiagnosisEffectEnabled() -> bool //uid:253
fn getJointNames(name: str) -> Vec<str> //uid:254
fn getBodyNames(name: str) -> Vec<str> //uid:255
fn getSensorNames() -> Vec<str> //uid:256
fn getLimits(name: str) -> any //uid:257
fn _getFullLimits(name: str) -> any //uid:258
fn getMotionCycleTime() -> int32 //uid:259
fn _getMotionCycleNumber() -> int32 //uid:260
fn getRobotConfig() -> any //uid:261
fn getSummary() -> str //uid:262
fn getMass(pName: str) -> float32 //uid:263
fn getCOM(pName: str,pSpace: int32,pUseSensorValues: bool) -> Vec<float32> //uid:264
fn _getTorque(names: any,useSensor: bool) -> Vec<float32> //uid:265
fn _getInertia(pName: str) -> Vec<float32> //uid:266
fn setMotionConfig(config: any) //uid:267
fn _naoqiIsReadyCallback() //uid:268
fn _preferenceUpdatedCallback(P0: str, P1: any, P2: str) //uid:269
fn updateTrackerTarget(pTargetPositionWy: float32,pTargetPositionWz: float32,pTimeSinceDetectionMs: int32,pUseOfWholeBody: bool) //uid:270
fn _trackerAnticipation(pNames: Vec<str>,pTargetPositions: Vec<float32>,pTimeSinceDetectionMs: int32,pUseOfWholeBody: bool,pIsPointAt: bool) //uid:271
fn _trackerWithSpeed(P0: Vec<str>, P1: Vec<float32>, P2: Vec<float32>, P3: bool, P4: bool) //uid:272
fn _lookAt(pTargetPosition: Vec<float32>,pFrame: int32,pMaxSpeedFraction: float32) //uid:273
fn _stopLookAt(pWithSpeed: bool) //uid:274
fn _stopPointAt(pWithSpeed: bool) //uid:275
fn _updateObstacles(obstacles: Vec<Vec<float32>>) //uid:276
fn setBreathEnabled(pChain: str,pIsEnabled: bool) //uid:277
fn getBreathEnabled(pChain: str) -> bool //uid:278
fn setBreathConfig(pConfig: any) //uid:279
fn getBreathConfig() -> any //uid:280
fn setIdlePostureEnabled(pChain: str,pIsEnabled: bool) //uid:281
fn getIdlePostureEnabled(pChain: str) -> bool //uid:282
fn _setBreathStaticLegs(pStaticLegs: bool) //uid:283
fn getTaskList() -> any //uid:284
fn areResourcesAvailable(resourceNames: Vec<str>) -> bool //uid:285
fn killTask(motionTaskID: int32) -> bool //uid:286
fn killTasksUsingResources(resourceNames: Vec<str>) //uid:287
fn killWalk() //uid:288
fn killMove() //uid:289
fn killAll() //uid:290
fn setEnableNotifications(enable: bool) //uid:291
fn areNotificationsEnabled() -> bool //uid:292
fn _getGroundCollision() -> any //uid:293
fn _getGroundCollisionForForceContact() -> any //uid:294
fn _getGroundCollisionForFallManager() -> any //uid:295
fn _getGroundPlaneTf() -> Vec<float32> //uid:296
fn _getNormalForceContact() -> Vec<float32> //uid:297
fn _getRealTorsoInWorld() -> Vec<float32> //uid:298
fn _getRobotGroundConvexHullDebug() -> any //uid:299
fn _getRobotGroundConvexHull() -> any //uid:300
fn _getJointIsMoving(useSensors: bool) -> Vec<int32> //uid:301
fn _getChainIsMoving(useSensors: bool) -> Vec<int32> //uid:302
fn _setAnimationModeEnabled(pEnable: bool) //uid:303
fn _getMotionConfig(pName: str) -> str //uid:304
fn _getSupportPolygon() -> Vec<float32> //uid:305
fn _getSupportPolygonCenter() -> Vec<float32> //uid:306
fn _getComWorld() -> Vec<float32> //uid:307
fn _getWorldRotation() -> Vec<float32> //uid:308
fn _fall(pFallAngle: float32) //uid:309
fn _balanceRecovery() //uid:310
fn _relaxMotorsWhenSitting() //uid:311
fn _relax(chainName: str) //uid:312
fn _resetCartesianUnfeasible() //uid:313
fn _setCartesianUnfeasible() //uid:314
fn _getCartesianUnfeasible() -> int32 //uid:315
fn _saveWholeBodyDump() //uid:316
fn _resetNumJointCommandDiscontinuities() //uid:317
fn _getNumJointCommandDiscontinuities() -> uint32 //uid:318
fn _resetMotionCommandModelToSensors(pName: any) //uid:319
fn _setSimulationModeEnabled(pEnable: bool) //uid:320
fn _getMotionToDCM() -> unknown //uid:321
fn _getBlindZoneOffset(Name: str) -> float32 //uid:322
fn _setBlindZoneOffset(Name: str,Offset: float32) //uid:323
fn _getBlindZoneDistance() -> float32 //uid:324
fn _setBlindZoneDistance(Distance: float32) //uid:325
fn _getBlindZones() -> any //uid:326
fn _getBlindZonesWithNames() -> any //uid:327
sig traceObject(P0: EventTrace) //uid:86
end
struct MetaMethodParameter
name: str
description: str
end
struct MetaMethod
uid: uint32
returnSignature: str
name: str
parametersSignature: str
description: str
parameters: Vec<MetaMethodParameter>
returnDescription: str
end
struct MetaSignal
uid: uint32
name: str
signature: str
end
struct MetaProperty
uid: uint32
name: str
signature: str
end
struct MetaObject
methods: Map<uint32,MetaMethod>
signals: Map<uint32,MetaSignal>
properties: Map<uint32,MetaProperty>
description: str
end
struct MinMaxSum
minValue: float32
maxValue: float32
cumulatedValue: float32
end
struct MethodStatistics
count: uint32
wall: MinMaxSum
user: MinMaxSum
system: MinMaxSum
end
struct timeval
tv_sec: int64
tv_usec: int64
end
struct EventTrace
id: uint32
kind: int32
slotId: uint32
arguments: any
timestamp: timeval
userUsTime: int64
systemUsTime: int64
callerContext: uint32
calleeContext: uint32
end