.. _control-stiffness-api:

Stiffness control API
+++++++++++++++++++++

:ref:`Overview <control-stiffness>` | API

.. seealso::

    - :ref:`naoqi-motion`

------------

Method list
-----------

.. cpp:class:: ALMotionProxy

    * :cpp:func:`ALMotionProxy::stiffnessInterpolation`
    * :cpp:func:`ALMotionProxy::setStiffnesses`
    * :cpp:func:`ALMotionProxy::getStiffnesses`


.. cpp:function:: void ALMotionProxy::stiffnessInterpolation( const AL::ALValue& names, const AL::ALValue& stiffnessLists, const AL::ALValue& timeLists )

  Interpolates one or multiple joints to a targeted stiffness or along timed trajectories of stiffness. This is a blocking call.

  :param names: Name or names of joints, chains, "Body", "BodyJoints" or "BodyActuators".

  :param stiffnessLists: An stiffness, list of stiffnesses or list of list of stiffnesses

  :param timeLists: A time, list of times or list of list of times.

  :download:`almotion_stiffnessinterpolation.py </samples/python/almotion/almotion_stiffnessinterpolation.py>`

  .. literalinclude:: /samples/python/almotion/almotion_stiffnessinterpolation.py
     :language: py


.. cpp:function:: void ALMotionProxy::setStiffnesses( const AL::ALValue& names, const AL::ALValue& stiffnesses )

  Sets the stiffness of one or more joints. This is a non-blocking call.

  :param names: Names of joints, chains, "Body", "BodyJoints" or "BodyActuators".

  :param stiffnesses: One or more stiffnesses between zero and one.

  :download:`almotion_setstiffnesses.cpp </samples/cpp/almotion/almotion_setstiffnesses.cpp>`

  .. literalinclude:: /samples/cpp/almotion/almotion_setstiffnesses.cpp
     :language: cpp


  :download:`almotion_setstiffnesses.py </samples/python/almotion/almotion_setstiffnesses.py>`

  .. literalinclude:: /samples/python/almotion/almotion_setstiffnesses.py
     :language: py


.. cpp:function:: std::vector<float> ALMotionProxy::getStiffnesses(const AL::ALValue& jointName)

  Gets stiffness of a joint or group of joints

  :param jointName: Name of the joints, chains, "Body", "BodyJoints" or "BodyActuators".

  :return: One or more stiffnesses. 1.0 indicates maximum stiffness. 0.0 indicated minimum stiffness

  :download:`almotion_getstiffnesses.cpp </samples/cpp/almotion/almotion_getstiffnesses.cpp>`

  .. literalinclude:: /samples/cpp/almotion/almotion_getstiffnesses.cpp
     :language: cpp


  :download:`almotion_getstiffnesses.py </samples/python/almotion/almotion_getstiffnesses.py>`

  .. literalinclude:: /samples/python/almotion/almotion_getstiffnesses.py
     :language: py