.. _tools-motion-task-api:

Motion task API
+++++++++++++++

:ref:`Overview <tools-motion-task>` | API

.. seealso::

    - :ref:`naoqi-motion`

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

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

.. cpp:class:: ALMotionProxy

    * :cpp:func:`ALMotionProxy::getTaskList`
    * :cpp:func:`ALMotionProxy::areResourcesAvailable`
    * :cpp:func:`ALMotionProxy::killTask`
    * :cpp:func:`ALMotionProxy::killTasksUsingResources`
    * :cpp:func:`ALMotionProxy::killWalk`
    * :cpp:func:`ALMotionProxy::killAll`



.. cpp:function:: AL::ALValue ALMotionProxy::getTaskList()

  Gets an ALValue structure describing the tasks in the Task List

  :return: An ALValue containing an ALValue for each task. The inner ALValue
           contains: Name, MotionID

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

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


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

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





.. cpp:function:: bool ALMotionProxy::areResourcesAvailable(const std::vector<std::string>& resourceNames)

  Returns true if all the desired resources are available. Only motion API's'
  blocking call takes resources.

  :param resourceNames: A vector of resource names such as joints. Use
                        ``getJointNames("Body")`` to get the list of
                        the available joints for your robot.
  :return: True if the resources are available

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

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


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

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


.. cpp:function:: bool ALMotionProxy::killTask(const int& motionTaskID)

  Kills a motion task.

  :param motionTaskID: TaskID of the motion task you want to kill.
  :return: Return true if the specified motionTaskId has been killed.

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

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


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

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





.. cpp:function:: void ALMotionProxy::killTasksUsingResources(const std::vector<std::string>& resourceNames)

  Kills all tasks that use any of the resources given. Only motion API's'
  blocking call takes resources and can be killed. Use
  ``getJointNames("Body")`` to get the list of the available joints for your
  robot.

  :param resourceNames: A vector of resource joint names

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

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


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

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





.. cpp:function:: void ALMotionProxy::killWalk()

  Emergency Stop on Walk task: This method will end the walk task brutally,
  without attempting to return to a balanced state. If NAO has one foot in
  the air, he could easily fall.

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

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


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

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


.. cpp:function:: void ALMotionProxy::killAll()

  Kills all tasks.

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

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


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

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