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

# ALFsr API

NAOqi Sensors & LEDs - Overview | API | Tutorial

NAO only

Namespace : AL

    #include <alproxies/alfsrproxy.h>

## Event list

- `footContactChanged()`

## ALMemory Keys list

- `footContact`
- `leftFootContact`
- `rightFootContact`
- `leftFootTotalWeight`
- `rightFootTotalWeight`

## Events

Event: `"footContactChanged"`
callback(std::string eventName, bool val, std::string subscriberIdentifier)

  Raised when the foot contact changes, whether the SoftBank Robotics robot lifts his foot from the ground or puts it on the ground. The corresponding key is footContactChanged: it is set to True if at least one of the feet touches the ground.

  Parameters: | eventName (std::string) – “footContactChanged” val – True if at least one of the feet touches the ground. subscriberIdentifier (std::string) –

## ALMemory Keys

float `footContact`

  1.0f if one foot touched the ground.

float `leftFootContact`

  1.0f if the left foot touched the ground.

float `rightFootContact`

  1.0f if the right foot touched the ground.

float `leftFootTotalWeight`

  the total weight on the left foot similar to kilograms.

  For further details see: Performances and Limitations.

float `rightFootTotalWeight`

  the total weight on the right foot, similar to kilograms.

  For further details see: Performances and Limitations.

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