Walk safely

[FirstSanny]

How can we walk to a given point?

[Ju1yy]

I think
void ALMotionProxy::moveTo(const float& x, const float& y, const float& theta)
is the best method for walking. (x,y) is the point where you want to move, and theta is rotation which you do about the Z axis (from -PI to PI).
There are a lot of more parameters which you can use for this function but I think we don't need this