.. _alfsr-api:

ALFsr API
=========

:ref:`Overview <alfsr>` | API | :ref:`Tutorial <alfsr-tuto>`

.. seealso::

   - :ref:`naoqi-sensors`
   - :ref:`Hardware Force Sensitive Resistors (FSRs) <hardware-fsr>`

Namespace : **AL**

.. code-block:: cpp

  #include <alproxies/alfsrproxy.h>


Event list
----------

* :naoqi:event:`footContactChanged`

ALMemory Keys list
------------------

* :naoqi:memkey:`footContact`
* :naoqi:memkey:`leftFootContact`
* :naoqi:memkey:`rightFootContact`
* :naoqi:memkey:`leftFootTotalWeight`
* :naoqi:memkey:`rightFootTotalWeight`


Events
------

.. naoqi:event:: footContactChanged(bool val)

  Raised when the foot contact changes (if NAO 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 touched the ground.

  :param val: True if at least one of the feet touched the ground.

ALMemory Keys
-------------

.. naoqi:memkey:: float footContact

  1.0f if one foot touched the ground

.. naoqi:memkey:: float leftFootContact

  1.0f if the left foot touched the ground

.. naoqi:memkey:: float rightFootContact

  1.0f if the right foot touched the ground

.. naoqi:memkey:: int leftFootTotalWeight

  the total weight on the left foot in Kg

.. naoqi:memkey:: int rightFootTotalWeight

  the total weight on the right foot in Kg