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

# ALMotion API

Overview | API

Namespace : AL

    #include <alproxies/alnotificationmanagerproxy.h>

ALMotion provides methods that help make the robot move. It contains commands allowing you to manipulate joint stiffness, joint angles, and a higher level API allowing you to control the walk.

## Method Group list

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

class `ALMotionProxy`

Stiffness control API

- `ALMotionProxy::wakeUp`
- `ALMotionProxy::rest`
- `ALMotionProxy::robotIsWakeUp`
- `ALMotionProxy::stiffnessInterpolation`
- `ALMotionProxy::setStiffnesses`
- `ALMotionProxy::getStiffnesses`

Joint control API

- `ALMotionProxy::angleInterpolation`
- `ALMotionProxy::angleInterpolationWithSpeed`
- `ALMotionProxy::angleInterpolationBezier`
- `ALMotionProxy::setAngles`
- `ALMotionProxy::changeAngles`
- `ALMotionProxy::getAngles`
- `ALMotionProxy::closeHand`
- `ALMotionProxy::openHand`

Locomotion control API

- `ALMotionProxy::move`
- `ALMotionProxy::moveToward`
- `ALMotionProxy::moveTo`
- `ALMotionProxy::setFootSteps`
- `ALMotionProxy::setFootStepsWithSpeed`
- `ALMotionProxy::getFootSteps`
- `ALMotionProxy::moveInit`
- `ALMotionProxy::waitUntilMoveIsFinished`
- `ALMotionProxy::moveIsActive`
- `ALMotionProxy::stopMove`
- `ALMotionProxy::getMoveConfig`
- `ALMotionProxy::getRobotPosition`
- `ALMotionProxy::getNextRobotPosition`
- `ALMotionProxy::getRobotVelocity`
- `ALMotionProxy::getMoveArmsEnabled`
- `ALMotionProxy::setMoveArmsEnabled`

Deprecated Methods

- `ALMotionProxy::setWalkTargetVelocity` (deprecated, use moveToward instead)
- `ALMotionProxy::walkTo` (deprecated, use moveTo instead)
- `ALMotionProxy::walkInit` (deprecated, use moveInit instead)
- `ALMotionProxy::waitUntilWalkIsFinished` (deprecated, use waitUntilMoveIsFinished instead)
- `ALMotionProxy::walkIsActive` (deprecated, use moveIsActive instead)
- `ALMotionProxy::stopWalk` (deprecated, use stopMove instead)
- `ALMotionProxy::getFootGaitConfig` (deprecated, use getMoveConfig instead)
- `ALMotionProxy::getWalkArmsEnabled` (deprecated, use getMoveArmsEnabled instead)
- `ALMotionProxy::setWalkArmsEnabled` (deprecated, use setMoveArmsEnabled instead)

Cartesian control API

- `ALMotionProxy::positionInterpolations`
- `ALMotionProxy::setPositions`
- `ALMotionProxy::getPosition`
- `ALMotionProxy::transformInterpolations`
- `ALMotionProxy::setTransforms`
- `ALMotionProxy::getTransform`

Depecated Methods

- `ALMotionProxy::positionInterpolation` (deprecated, use positionInterpolations instead)
- `ALMotionProxy::setPosition` (deprecated, use setPositions instead)
- `ALMotionProxy::changePosition` (deprecated, use setPositions instead)
- `ALMotionProxy::transformInterpolation` (deprecated, use transformInterpolations instead)
- `ALMotionProxy::setTransform` (deprecated, use setTransforms instead)
- `ALMotionProxy::changeTransform` (deprecated, use setTransforms instead)

Whole Body control API

- `ALMotionProxy::wbEnable`
- `ALMotionProxy::wbFootState`
- `ALMotionProxy::wbEnableBalanceConstraint`
- `ALMotionProxy::wbGoToBalance`
- `ALMotionProxy::wbGoToBalanceWithSpeed`
- `ALMotionProxy::wbEnableEffectorControl`
- `ALMotionProxy::wbSetEffectorControl`
- `ALMotionProxy::wbEnableEffectorOptimization`

Self-collision avoidance API

- `ALMotionProxy::setCollisionProtectionEnabled`
- `ALMotionProxy::getCollisionProtectionEnabled`

External-collision avoidance API

- `ALMotionProxy::getChainClosestObstaclePosition`
- `ALMotionProxy::getExternalCollisionProtectionEnabled`
- `ALMotionProxy::getOrthogonalSecurityDistance`
- `ALMotionProxy::getTangentialSecurityDistance`
- `ALMotionProxy::setExternalCollisionProtectionEnabled`
- `ALMotionProxy::setOrthogonalSecurityDistance`
- `ALMotionProxy::setTangentialSecurityDistance`

Fall manager API

- `ALMotionProxy::setFallManagerEnabled`
- `ALMotionProxy::getFallManagerEnabled`

Smart Stiffness API

- `ALMotionProxy::setSmartStiffnessEnabled`
- `ALMotionProxy::getSmartStiffnessEnabled`

Diagnosis effect API

- `ALMotionProxy::setDiagnosisEffectEnabled`
- `ALMotionProxy::getDiagnosisEffectEnabled`

Push Recovery API

- `ALMotionProxy::setPushRecoveryEnabled`
- `ALMotionProxy::getPushRecoveryEnabled`

Idle API

- `ALMotionProxy::setIdlePostureEnabled`
- `ALMotionProxy::getIdlePostureEnabled`
- `ALMotionProxy::setBreathEnabled`
- `ALMotionProxy::getBreathEnabled`
- `ALMotionProxy::setBreathConfig` (deprecated)
- `ALMotionProxy::getBreathConfig` (deprecated)

General tools API

- `ALMotionProxy::getBodyNames`
- `ALMotionProxy::getSensorNames`
- `ALMotionProxy::getLimits`
- `ALMotionProxy::getMotionCycleTime`
- `ALMotionProxy::getSummary`
- `ALMotionProxy::getMass`
- `ALMotionProxy::getCOM`
- `ALMotionProxy::getSupportPolygon`
- `ALMotionProxy::setMotionConfig`

Deprecated Methods

- `ALMotionProxy::getJointNames` (deprecated, use getBodyNames instead)
- `ALMotionProxy::getRobotConfig`

Motion task API

- `ALMotionProxy::getTaskList`
- `ALMotionProxy::areResourcesAvailable`
- `ALMotionProxy::killTask`
- `ALMotionProxy::killTasksUsingResources`
- `ALMotionProxy::killMove`
- `ALMotionProxy::killAll`

Deprecated Methods

- `ALMotionProxy::killWalk` (deprecated, use killMove instead)

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