# SoftBank Robotics documentation What's new in NAOqi 2.8?

# ALMotionRecorder API

Overview | API

Namespace : AL

    #include <alproxies/almotionrecorderproxy.h>

## Method list

As any module, this module inherits methods from ALModule API. It also has the following specific methods:

class `ALMotionRecorderProxy`

- `ALMotionRecorder::startInteractiveRecording`
- `ALMotionRecorder::startPeriodicRecording`
- `ALMotionRecorder::stopAndGetRecording`

## Methods

void `ALMotionRecorder::``startInteractiveRecording`(const std::vector<std::string>& jointsToRecord, const int& nbPoses, const bool& extensionAllowed, const int& mode)

  Deprecated since version 1.14: use the Animation Mode instead.

  Start recording the motion in an interactive mode

  Parameters: | jointsToRecord – Names of joints that must be recorded nbPoses – Default number of poses to record extensionAllowed – Set to true to ignore nbPoses and keep recording new poses as long as record is not manually stopped mode – Indicates which interactive mode must be used. 1 : Use right bumper to enslave and left bumper to store the pose 2 : Use chest button to store the pose

void `ALMotionRecorder::``startPeriodicRecording`(const std::vector<std::string>& jointsToRecord, const int& nbPoses, const bool& extensionAllowed, const float& timeStep, const std::vector<std::string>& jointsToReplay, const AL::ALValue& replayData)

  Deprecated since version 1.14: use the Animation Mode instead.

  Start recording the motion in a periodic mode

  Parameters: | jointsToRecord – Names of joints that must be recorded nbPoses – Default number of poses to record extensionAllowed – set to true to ignore nbPoses and keep recording new poses as long as record is not manually stopped timeStep – Time in seconds to wait between two poses jointsToReplay – Names of joints that must be replayed replayData – An ALValue holding data for replayed joints. It holds two ALValues. The first one is an ALValue where each line corresponds to a joint, and column elements are times of control points The second one is also an ALValue where each line corresponds to a joint, but column elements are arrays containing [float angle, Handle1, Handle2] elements, where Handle is [int InterpolationType, float dAngle, float dTime] describing the handle offsets relative to the angle and time of the point. The first Bezier param describes the handle that controls the curve preceding the point, the second describes the curve following the point.

AL::ALValue `ALMotionRecorder::``stopAndGetRecording`()

  Deprecated since version 1.14: use the Animation Mode instead.

  Stop recording the motion and return data

  Returns: | Returns the recorded data as an ALValue

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