:mod:`airsimdroneracinglab`
===========================
.. py:module:: airsimdroneracinglab
Submodules
----------
.. toctree::
:titlesonly:
:maxdepth: 1
baseline/index.rst
client/index.rst
pfm/index.rst
types/index.rst
utils/index.rst
Package Contents
----------------
Classes
~~~~~~~
.. autoapisummary::
airsimdroneracinglab.VehicleClient
airsimdroneracinglab.MultirotorClient
airsimdroneracinglab.MsgpackMixin
airsimdroneracinglab.ImageType
airsimdroneracinglab.DrivetrainType
airsimdroneracinglab.LandedState
airsimdroneracinglab.WeatherParameter
airsimdroneracinglab.Vector3r
airsimdroneracinglab.Quaternionr
airsimdroneracinglab.Pose
airsimdroneracinglab.CollisionInfo
airsimdroneracinglab.GeoPoint
airsimdroneracinglab.YawMode
airsimdroneracinglab.RCData
airsimdroneracinglab.ImageRequest
airsimdroneracinglab.ImageResponse
airsimdroneracinglab.CarControls
airsimdroneracinglab.KinematicsState
airsimdroneracinglab.EnvironmentState
airsimdroneracinglab.CarState
airsimdroneracinglab.MultirotorState
airsimdroneracinglab.ProjectionMatrix
airsimdroneracinglab.CameraInfo
airsimdroneracinglab.LidarData
airsimdroneracinglab.ImuData
airsimdroneracinglab.BarometerData
airsimdroneracinglab.MagnetometerData
airsimdroneracinglab.GnssFixType
airsimdroneracinglab.GnssReport
airsimdroneracinglab.GpsData
airsimdroneracinglab.DistanceSensorData
airsimdroneracinglab.PIDGains
airsimdroneracinglab.AngleRateControllerGains
airsimdroneracinglab.AngleLevelControllerGains
airsimdroneracinglab.VelocityControllerGains
airsimdroneracinglab.PositionControllerGains
airsimdroneracinglab.TrajectoryTrackerGains
airsimdroneracinglab.MeshPositionVertexBuffersResponse
airsimdroneracinglab.MsgpackMixin
airsimdroneracinglab.ImageType
airsimdroneracinglab.DrivetrainType
airsimdroneracinglab.LandedState
airsimdroneracinglab.WeatherParameter
airsimdroneracinglab.Vector3r
airsimdroneracinglab.Quaternionr
airsimdroneracinglab.Pose
airsimdroneracinglab.CollisionInfo
airsimdroneracinglab.GeoPoint
airsimdroneracinglab.YawMode
airsimdroneracinglab.RCData
airsimdroneracinglab.ImageRequest
airsimdroneracinglab.ImageResponse
airsimdroneracinglab.CarControls
airsimdroneracinglab.KinematicsState
airsimdroneracinglab.EnvironmentState
airsimdroneracinglab.CarState
airsimdroneracinglab.MultirotorState
airsimdroneracinglab.ProjectionMatrix
airsimdroneracinglab.CameraInfo
airsimdroneracinglab.LidarData
airsimdroneracinglab.ImuData
airsimdroneracinglab.BarometerData
airsimdroneracinglab.MagnetometerData
airsimdroneracinglab.GnssFixType
airsimdroneracinglab.GnssReport
airsimdroneracinglab.GpsData
airsimdroneracinglab.DistanceSensorData
airsimdroneracinglab.PIDGains
airsimdroneracinglab.AngleRateControllerGains
airsimdroneracinglab.AngleLevelControllerGains
airsimdroneracinglab.VelocityControllerGains
airsimdroneracinglab.PositionControllerGains
airsimdroneracinglab.TrajectoryTrackerGains
airsimdroneracinglab.MeshPositionVertexBuffersResponse
airsimdroneracinglab.MsgpackMixin
airsimdroneracinglab.ImageType
airsimdroneracinglab.DrivetrainType
airsimdroneracinglab.LandedState
airsimdroneracinglab.WeatherParameter
airsimdroneracinglab.Vector3r
airsimdroneracinglab.Quaternionr
airsimdroneracinglab.Pose
airsimdroneracinglab.CollisionInfo
airsimdroneracinglab.GeoPoint
airsimdroneracinglab.YawMode
airsimdroneracinglab.RCData
airsimdroneracinglab.ImageRequest
airsimdroneracinglab.ImageResponse
airsimdroneracinglab.CarControls
airsimdroneracinglab.KinematicsState
airsimdroneracinglab.EnvironmentState
airsimdroneracinglab.CarState
airsimdroneracinglab.MultirotorState
airsimdroneracinglab.ProjectionMatrix
airsimdroneracinglab.CameraInfo
airsimdroneracinglab.LidarData
airsimdroneracinglab.ImuData
airsimdroneracinglab.BarometerData
airsimdroneracinglab.MagnetometerData
airsimdroneracinglab.GnssFixType
airsimdroneracinglab.GnssReport
airsimdroneracinglab.GpsData
airsimdroneracinglab.DistanceSensorData
airsimdroneracinglab.PIDGains
airsimdroneracinglab.AngleRateControllerGains
airsimdroneracinglab.AngleLevelControllerGains
airsimdroneracinglab.VelocityControllerGains
airsimdroneracinglab.PositionControllerGains
airsimdroneracinglab.TrajectoryTrackerGains
airsimdroneracinglab.MeshPositionVertexBuffersResponse
airsimdroneracinglab.BaselineRacer
airsimdroneracinglab.MsgpackMixin
airsimdroneracinglab.ImageType
airsimdroneracinglab.DrivetrainType
airsimdroneracinglab.LandedState
airsimdroneracinglab.WeatherParameter
airsimdroneracinglab.Vector3r
airsimdroneracinglab.Quaternionr
airsimdroneracinglab.Pose
airsimdroneracinglab.CollisionInfo
airsimdroneracinglab.GeoPoint
airsimdroneracinglab.YawMode
airsimdroneracinglab.RCData
airsimdroneracinglab.ImageRequest
airsimdroneracinglab.ImageResponse
airsimdroneracinglab.CarControls
airsimdroneracinglab.KinematicsState
airsimdroneracinglab.EnvironmentState
airsimdroneracinglab.CarState
airsimdroneracinglab.MultirotorState
airsimdroneracinglab.ProjectionMatrix
airsimdroneracinglab.CameraInfo
airsimdroneracinglab.LidarData
airsimdroneracinglab.ImuData
airsimdroneracinglab.BarometerData
airsimdroneracinglab.MagnetometerData
airsimdroneracinglab.GnssFixType
airsimdroneracinglab.GnssReport
airsimdroneracinglab.GpsData
airsimdroneracinglab.DistanceSensorData
airsimdroneracinglab.PIDGains
airsimdroneracinglab.AngleRateControllerGains
airsimdroneracinglab.AngleLevelControllerGains
airsimdroneracinglab.VelocityControllerGains
airsimdroneracinglab.PositionControllerGains
airsimdroneracinglab.TrajectoryTrackerGains
airsimdroneracinglab.MeshPositionVertexBuffersResponse
Functions
~~~~~~~~~
.. autoapisummary::
airsimdroneracinglab.string_to_uint8_array
airsimdroneracinglab.string_to_float_array
airsimdroneracinglab.list_to_2d_float_array
airsimdroneracinglab.get_pfm_array
airsimdroneracinglab.get_public_fields
airsimdroneracinglab.to_dict
airsimdroneracinglab.to_str
airsimdroneracinglab.write_file
airsimdroneracinglab.to_eularian_angles
airsimdroneracinglab.to_quaternion
airsimdroneracinglab.wait_key
airsimdroneracinglab.read_pfm
airsimdroneracinglab.write_pfm
airsimdroneracinglab.write_png
airsimdroneracinglab.string_to_uint8_array
airsimdroneracinglab.string_to_float_array
airsimdroneracinglab.list_to_2d_float_array
airsimdroneracinglab.get_pfm_array
airsimdroneracinglab.get_public_fields
airsimdroneracinglab.to_dict
airsimdroneracinglab.to_str
airsimdroneracinglab.write_file
airsimdroneracinglab.to_eularian_angles
airsimdroneracinglab.to_quaternion
airsimdroneracinglab.wait_key
airsimdroneracinglab.read_pfm
airsimdroneracinglab.write_pfm
airsimdroneracinglab.write_png
airsimdroneracinglab.string_to_uint8_array
airsimdroneracinglab.string_to_float_array
airsimdroneracinglab.list_to_2d_float_array
airsimdroneracinglab.get_pfm_array
airsimdroneracinglab.get_public_fields
airsimdroneracinglab.to_dict
airsimdroneracinglab.to_str
airsimdroneracinglab.write_file
airsimdroneracinglab.to_eularian_angles
airsimdroneracinglab.to_quaternion
airsimdroneracinglab.wait_key
airsimdroneracinglab.read_pfm
airsimdroneracinglab.write_pfm
airsimdroneracinglab.write_png
.. py:class:: VehicleClient(ip='', port=41451, timeout_value=3600)
.. attribute:: __annotations__
.. method:: reset(self)
Reset the vehicle to its original starting state
Note that you must call `enableApiControl` and `armDisarm` again after the call to reset
.. method:: ping(self)
If connection is established then this call will return true otherwise it will be blocked until timeout
:returns:
:rtype: bool
.. method:: getClientVersion(self)
.. method:: getServerVersion(self)
.. method:: getMinRequiredServerVersion(self)
.. method:: getMinRequiredClientVersion(self)
.. method:: enableApiControl(self, vehicle_name='')
Enables API control for vehicle with name vehicle_name
:param vehicle_name: Name of vehicle to enable API control for
:type vehicle_name: str, optional
:returns: Success
:rtype: bool
.. method:: disableApiControl(self, vehicle_name='')
Disables API control for vehicle with name vehicle_name
:param vehicle_name: Name of vehicle to disable API control for
:type vehicle_name: str, optional
:returns: Success
:rtype: bool
.. method:: isApiControlEnabled(self, vehicle_name='')
Returns true if API control is established.
If false (which is default) then API calls would be ignored. After a successful call to `enableApiControl`, `isApiControlEnabled` should return true.
:param vehicle_name: Name of the vehicle
:type vehicle_name: str, optional
:returns: If API control is enabled
:rtype: bool
.. method:: arm(self, vehicle_name='')
Arms vehicle corresponding to vehicle_name
:param vehicle_name: Name of vehicle
:type vehicle_name: str
:returns: Success
:rtype: bool
.. method:: disarm(self, vehicle_name='')
Disarms vehicle corresponding to vehicle_name.
:param vehicle_name: Name of vehicle
:type vehicle_name: str
:returns: Success
:rtype: bool
.. method:: simPause(self, is_paused)
Pauses simulation
:param is_paused: True to pause the simulation, False to release
:type is_paused: bool
.. method:: simIsPause(self)
Returns true if the simulation is paused
:returns: If the simulation is paused
:rtype: bool
.. method:: simContinueForTime(self, seconds)
Continue the simulation for the specified number of seconds
:param seconds: Time to run the simulation for
:type seconds: float
.. method:: getHomeGeoPoint(self, vehicle_name='')
Get the Home location of the vehicle
:param vehicle_name: Name of vehicle to get home location of
:type vehicle_name: str, optional
:returns: Home location of the vehicle
:rtype: GeoPoint
.. method:: confirmConnection(self)
Checks state of connection every 1 sec and reports it in Console so user can see the progress for connection.
.. method:: simSwapTextures(self, tags, tex_id=0, component_id=0, material_id=0)
Runtime Swap Texture API
See https://microsoft.github.io/AirSim/retexturing/ for details
:param tags: string of "," or ", " delimited tags to identify on which actors to perform the swap
:type tags: str
:param tex_id: indexes the array of textures assigned to each actor undergoing a swap
If out-of-bounds for some object's texture set, it will be taken modulo the number of textures that were available
:type tex_id: int, optional
:param component_id:
:type component_id: int, optional
:param material_id:
:type material_id: int, optional
:returns: List of objects which matched the provided tags and had the texture swap perfomed
:rtype: list[str]
.. method:: simSetTimeOfDay(self, is_enabled, start_datetime='', is_start_datetime_dst=False, celestial_clock_speed=1, update_interval_secs=60, move_sun=True)
Control the position of Sun in the environment
Sun's position is computed using the coordinates specified in `OriginGeopoint` in settings for the date-time specified in the argument,
else if the string is empty, current date & time is used
:param is_enabled: True to enable time-of-day effect, False to reset the position to original
:type is_enabled: bool
:param start_datetime: Date & Time in %Y-%m-%d %H:%M:%S format, e.g. `2018-02-12 15:20:00`
:type start_datetime: str, optional
:param is_start_datetime_dst: True to adjust for Daylight Savings Time
:type is_start_datetime_dst: bool, optional
:param celestial_clock_speed: Run celestial clock faster or slower than simulation clock
E.g. Value 100 means for every 1 second of simulation clock, Sun's position is advanced by 100 seconds
so Sun will move in sky much faster
:type celestial_clock_speed: float, optional
:param update_interval_secs: Interval to update the Sun's position
:type update_interval_secs: float, optional
:param move_sun: Whether or not to move the Sun
:type move_sun: bool, optional
.. method:: simEnableWeather(self, enable)
Enable Weather effects. Needs to be called before using `simSetWeatherParameter` API
:param enable: True to enable, False to disable
:type enable: bool
.. method:: simSetWeatherParameter(self, param, val)
Enable various weather effects
:param param: Weather effect to be enabled
:type param: WeatherParameter
:param val: Intensity of the effect, Range 0-1
:type val: float
.. method:: simSetTextureFromUrl(self, object_name, url)
Set texture of an object from a URL resource.
:param object_name: Name of object for which the texture is to be set
:type object_name: string
:param url: URL of texture file
:type url: string
.. method:: simGetImage(self, camera_name, image_type, vehicle_name='')
Get a single image
Returns bytes of png format image which can be dumped into abinary file to create .png image
`string_to_uint8_array()` can be used to convert into Numpy unit8 array
See https://microsoft.github.io/AirSim/image_apis/ for details
:param camera_name: Name of the camera, for backwards compatibility, ID numbers such as 0,1,etc. can also be used
:type camera_name: str
:param image_type: Type of image required
:type image_type: ImageType
:param vehicle_name: Name of the vehicle with the camera
:type vehicle_name: str, optional
:returns: Binary string literal of compressed png image
.. method:: simGetImages(self, requests, vehicle_name='')
Get multiple images
See https://microsoft.github.io/AirSim/image_apis/ for details and examples
:param requests: Images required
:type requests: list[ImageRequest]
:param vehicle_name: Name of vehicle associated with the camera
:type vehicle_name: str, optional
:returns:
:rtype: list[ImageResponse]
.. method:: simGetMeshPositionVertexBuffers(self)
Returns the static meshes that make up the scene
See https://microsoft.github.io/AirSim/meshes/ for details and how to use this
:returns:
:rtype: list[MeshPositionVertexBuffersResponse]
.. method:: simGetCollisionInfo(self, vehicle_name='')
:param vehicle_name: Name of the Vehicle to get the info of
:type vehicle_name: str, optional
:returns:
:rtype: CollisionInfo
.. method:: simSetVehiclePose(self, pose, ignore_collison, vehicle_name='')
Set the pose of the vehicle
If you don't want to change position (or orientation) then just set components of position (or orientation) to floating point nan values
:param pose: Desired Pose pf the vehicle
:type pose: Pose
:param ignore_collision: Whether to ignore any collision or not
:type ignore_collision: bool
:param vehicle_name: Name of the vehicle to move
:type vehicle_name: str, optional
.. method:: simGetVehiclePose(self, vehicle_name='')
:param vehicle_name: Name of the vehicle to get the Pose of
:type vehicle_name: str, optional
:returns:
:rtype: Pose
.. method:: simSetTraceLine(self, color_rgba, thickness=1.0, vehicle_name='')
Modify the color and thickness of the line when Tracing is enabled
Tracing can be enabled by pressing T in the Editor or setting `EnableTrace` to `True` in the Vehicle Settings
:param color_rgba: desired RGBA values from 0.0 to 1.0
:type color_rgba: list
:param thickness: Thickness of the line
:type thickness: float, optional
:param vehicle_name: Name of the vehicle to set Trace line values for
:type vehicle_name: string, optional
.. method:: simGetObjectPose(self, object_name)
Returns true pose if simstartrace is not called
Returns true pose if simstartrace was called with tier=1
Returns noisy pose if simstartrace was called with tier=2 or tier=3
:param object_name: Name of the object to get pose for
:type object_name: str
:returns: pose of desired object, NanPose if object not found
:rtype: Pose
.. method:: __internalGetObjectPose(self, object_name)
.. method:: simSetObjectPose(self, object_name, pose, teleport=True)
Set the pose of the object(actor) in the environment
The specified actor must have Mobility set to movable, otherwise there will be undefined behaviour.
See https://www.unrealengine.com/en-US/blog/moving-physical-objects for details on how to set Mobility and the effect of Teleport parameter
:param object_name: Name of the object(actor) to move
:type object_name: str
:param pose: Desired Pose of the object
:type pose: Pose
:param teleport: Whether to move the object immediately without affecting their velocity
:type teleport: bool, optional
:returns: If the move was successful
:rtype: bool
.. method:: simGetNominalGateInnerDimensions(self)
- Return the dimensions of the drone racing gate cavity, with scale (width=1.0, thickness=1.0, height=1.0)
- Use this API in conjunction with simGetObjectScale(), simSetObjectScale(), simSetObjectPose() to generate arbitrary sized checkered gates with arbitrary poses.
:returns: width, thickness, height of the gate inner cavity in meters.
See https://github.com/microsoft/AirSim-NeurIPS2019-Drone-Racing/issues/28 for gate coordinate system
:rtype: Vector3r
.. method:: simGetNominalGateOuterDimensions(self)
- Return the outer dimensions of the drone racing gate, with scale (width=1.0, thickness=1.0, height=1.0)
- Use this API in conjunction with simGetObjectScale(), simSetObjectScale(), simSetObjectPose() to generate arbitrary sized checkered gates with arbitrary poses.
:returns: width, thickness, height of the gate inner cavity in meters.
See https://github.com/microsoft/AirSim-NeurIPS2019-Drone-Racing/issues/28 for gate coordinate system
:rtype: Vector3r
.. method:: simGetObjectScale(self, object_name)
:param object_name: Name of the object to poll
:type object_name: str
:returns: scale vector of desired object
:rtype: Vector3r
.. method:: simGetObjectScaleInternal(self, object_name)
.. method:: simSetObjectScale(self, object_name, scale_vector)
:param object_name: Name of the object to poll
:type object_name: str
:param scale: desired scale of the object
:type scale: Vector3r
.. method:: simLoadLevel(self, level_name)
Loads desired level
:param level_name: Description
:type level_name: str
:returns: Description
:rtype: TYPE
.. method:: simListSceneObjects(self, name_regex='.*')
Lists the objects present in the environment
Default behaviour is to list all objects, regex can be used to return smaller list of matching objects or actors
:param name_regex: String to match actor names against, e.g. "Cylinder.*"
:type name_regex: str, optional
:returns: List containing all the names
:rtype: list[str]
.. method:: simSetSegmentationObjectID(self, mesh_name, object_id, is_name_regex=False)
Set segmentation ID for specific objects
See https://microsoft.github.io/AirSim/image_apis/#segmentation for details
:param mesh_name: Name of the mesh to set the ID of (supports regex)
:type mesh_name: str
:param object_id: Object ID to be set, range 0-255
RBG values for IDs can be seen at https://microsoft.github.io/AirSim/seg_rgbs.txt
:type object_id: int
:param is_name_regex: Whether the mesh name is a regex
:type is_name_regex: bool, optional
:returns: If the mesh was found
:rtype: bool
.. method:: simGetSegmentationObjectID(self, mesh_name)
Returns Object ID for the given mesh name
Mapping of Object IDs to RGB values can be seen at https://microsoft.github.io/AirSim/seg_rgbs.txt
:param mesh_name: Name of the mesh to get the ID of
:type mesh_name: str
.. method:: simPrintLogMessage(self, message, message_param='', severity=0)
Prints the specified message in the simulator's window.
If message_param is supplied, then it's printed next to the message and in that case if this API is called with same message value
but different message_param again then previous line is overwritten with new line (instead of API creating new line on display).
For example, `simPrintLogMessage("Iteration: ", to_string(i))` keeps updating same line on display when API is called with different values of i.
The valid values of severity parameter is 0 to 3 inclusive that corresponds to different colors.
:param message: Message to be printed
:type message: str
:param message_param: Parameter to be printed next to the message
:type message_param: str, optional
:param severity: Range 0-3, inclusive, corresponding to the severity of the message
:type severity: int, optional
.. method:: simGetCameraInfo(self, camera_name, vehicle_name='')
Get details about the camera
:param camera_name: Name of the camera, for backwards compatibility, ID numbers such as 0,1,etc. can also be used
:type camera_name: str
:param vehicle_name: Vehicle which the camera is associated with
:type vehicle_name: str, optional
:returns:
:rtype: CameraInfo
.. method:: simSetCameraOrientation(self, camera_name, orientation, vehicle_name='')
- Control the orientation of a selected camera
:param camera_name: Name of the camera to be controlled
:type camera_name: str
:param orientation: Quaternion representing the desired orientation of the camera
:type orientation: Quaternionr
:param vehicle_name: Name of vehicle which the camera corresponds to
:type vehicle_name: str, optional
.. method:: simSetCameraFov(self, camera_name, fov_degrees, vehicle_name='')
- Control the field of view of a selected camera
:param camera_name: Name of the camera to be controlled
:type camera_name: str
:param fov_degrees: Value of field of view in degrees
:type fov_degrees: float
:param vehicle_name: Name of vehicle which the camera corresponds to
:type vehicle_name: str, optional
.. method:: simGetGroundTruthKinematics(self, vehicle_name='')
Get Ground truth kinematics of the vehicle
:param vehicle_name: Name of the vehicle
:type vehicle_name: str, optional
:returns: Ground truth of the vehicle
:rtype: KinematicsState
.. method:: simGetGroundTruthEnvironment(self, vehicle_name='')
Get ground truth environment state
:param vehicle_name: Name of the vehicle
:type vehicle_name: str, optional
:returns: Ground truth environment state
:rtype: EnvironmentState
.. method:: getImuData(self, imu_name='', vehicle_name='')
:param imu_name: Name of IMU to get data from, specified in settings.json
:type imu_name: str, optional
:param vehicle_name: Name of vehicle to which the sensor corresponds to
:type vehicle_name: str, optional
:returns:
:rtype: ImuData
.. method:: getBarometerData(self, barometer_name='', vehicle_name='')
:param barometer_name: Name of Barometer to get data from, specified in settings.json
:type barometer_name: str, optional
:param vehicle_name: Name of vehicle to which the sensor corresponds to
:type vehicle_name: str, optional
:returns:
:rtype: BarometerData
.. method:: getMagnetometerData(self, magnetometer_name='', vehicle_name='')
:param magnetometer_name: Name of Magnetometer to get data from, specified in settings.json
:type magnetometer_name: str, optional
:param vehicle_name: Name of vehicle to which the sensor corresponds to
:type vehicle_name: str, optional
:returns:
:rtype: MagnetometerData
.. method:: getGpsData(self, gps_name='', vehicle_name='')
:param gps_name: Name of GPS to get data from, specified in settings.json
:type gps_name: str, optional
:param vehicle_name: Name of vehicle to which the sensor corresponds to
:type vehicle_name: str, optional
:returns:
:rtype: GpsData
.. method:: getDistanceSensorData(self, distance_sensor_name='', vehicle_name='')
:param distance_sensor_name: Name of Distance Sensor to get data from, specified in settings.json
:type distance_sensor_name: str, optional
:param vehicle_name: Name of vehicle to which the sensor corresponds to
:type vehicle_name: str, optional
:returns:
:rtype: DistanceSensorData
.. method:: getLidarData(self, lidar_name='', vehicle_name='')
:param lidar_name: Name of Lidar to get data from, specified in settings.json
:type lidar_name: str, optional
:param vehicle_name: Name of vehicle to which the sensor corresponds to
:type vehicle_name: str, optional
:returns:
:rtype: LidarData
.. method:: simGetLidarSegmentation(self, lidar_name='', vehicle_name='')
Returns Segmentation ID of each point's collided object in the last Lidar update
:param lidar_name: Name of Lidar sensor
:type lidar_name: str, optional
:param vehicle_name: Name of the vehicle wth the sensor
:type vehicle_name: str, optional
:returns: Segmentation IDs of the objects
:rtype: list[int]
.. method:: simFlushPersistentMarkers(self)
Clear any persistent markers - those plotted with setting `is_persistent=True` in the APIs below
.. method:: simPlotPoints(self, points, color_rgba=[1.0, 0.0, 0.0, 1.0], size=10.0, duration=-1.0, is_persistent=False)
Plot a list of 3D points in World NED frame
:param points: List of Vector3r objects
:type points: list[Vector3r]
:param color_rgba: desired RGBA values from 0.0 to 1.0
:type color_rgba: list, optional
:param size: Size of plotted point
:type size: float, optional
:param duration: Duration (seconds) to plot for
:type duration: float, optional
:param is_persistent: If set to True, the desired object will be plotted for infinite time.
:type is_persistent: bool, optional
.. method:: simPlotLineStrip(self, points, color_rgba=[1.0, 0.0, 0.0, 1.0], thickness=5.0, duration=-1.0, is_persistent=False)
Plots a line strip in World NED frame, defined from points[0] to points[1], points[1] to points[2], ... , points[n-2] to points[n-1]
:param points: List of 3D locations of line start and end points, specified as Vector3r objects
:type points: list[Vector3r]
:param color_rgba: desired RGBA values from 0.0 to 1.0
:type color_rgba: list, optional
:param thickness: Thickness of line
:type thickness: float, optional
:param duration: Duration (seconds) to plot for
:type duration: float, optional
:param is_persistent: If set to True, the desired object will be plotted for infinite time.
:type is_persistent: bool, optional
.. method:: simPlotLineList(self, points, color_rgba=[1.0, 0.0, 0.0, 1.0], thickness=5.0, duration=-1.0, is_persistent=False)
Plots a line strip in World NED frame, defined from points[0] to points[1], points[2] to points[3], ... , points[n-2] to points[n-1]
:param points: List of 3D locations of line start and end points, specified as Vector3r objects. Must be even
:type points: list[Vector3r]
:param color_rgba: desired RGBA values from 0.0 to 1.0
:type color_rgba: list, optional
:param thickness: Thickness of line
:type thickness: float, optional
:param duration: Duration (seconds) to plot for
:type duration: float, optional
:param is_persistent: If set to True, the desired object will be plotted for infinite time.
:type is_persistent: bool, optional
.. method:: simPlotArrows(self, points_start, points_end, color_rgba=[1.0, 0.0, 0.0, 1.0], thickness=5.0, arrow_size=2.0, duration=-1.0, is_persistent=False)
Plots a list of arrows in World NED frame, defined from points_start[0] to points_end[0], points_start[1] to points_end[1], ... , points_start[n-1] to points_end[n-1]
:param points_start: List of 3D start positions of arrow start positions, specified as Vector3r objects
:type points_start: list[Vector3r]
:param points_end: List of 3D end positions of arrow start positions, specified as Vector3r objects
:type points_end: list[Vector3r]
:param color_rgba: desired RGBA values from 0.0 to 1.0
:type color_rgba: list, optional
:param thickness: Thickness of line
:type thickness: float, optional
:param arrow_size: Size of arrow head
:type arrow_size: float, optional
:param duration: Duration (seconds) to plot for
:type duration: float, optional
:param is_persistent: If set to True, the desired object will be plotted for infinite time.
:type is_persistent: bool, optional
.. method:: simPlotStrings(self, strings, positions, scale=5, color_rgba=[1.0, 0.0, 0.0, 1.0], duration=-1.0)
Plots a list of strings at desired positions in World NED frame.
:param strings: List of strings to plot
:type strings: list[String], optional
:param positions: List of positions where the strings should be plotted. Should be in one-to-one correspondence with the strings' list
:type positions: list[Vector3r]
:param scale: Font scale of transform name
:type scale: float, optional
:param color_rgba: desired RGBA values from 0.0 to 1.0
:type color_rgba: list, optional
:param duration: Duration (seconds) to plot for
:type duration: float, optional
.. method:: simPlotTransforms(self, poses, scale=5.0, thickness=5.0, duration=-1.0, is_persistent=False)
Plots a list of transforms in World NED frame.
:param poses: List of Pose objects representing the transforms to plot
:type poses: list[Pose]
:param scale: Length of transforms' axes
:type scale: float, optional
:param thickness: Thickness of transforms' axes
:type thickness: float, optional
:param duration: Duration (seconds) to plot for
:type duration: float, optional
:param is_persistent: If set to True, the desired object will be plotted for infinite time.
:type is_persistent: bool, optional
.. method:: simPlotTransformsWithNames(self, poses, names, tf_scale=5.0, tf_thickness=5.0, text_scale=10.0, text_color_rgba=[1.0, 0.0, 0.0, 1.0], duration=-1.0)
Plots a list of transforms with their names in World NED frame.
:param poses: List of Pose objects representing the transforms to plot
:type poses: list[Pose]
:param names: List of strings with one-to-one correspondence to list of poses
:type names: list[string]
:param tf_scale: Length of transforms' axes
:type tf_scale: float, optional
:param tf_thickness: Thickness of transforms' axes
:type tf_thickness: float, optional
:param text_scale: Font scale of transform name
:type text_scale: float, optional
:param text_color_rgba: desired RGBA values from 0.0 to 1.0 for the transform name
:type text_color_rgba: list, optional
:param duration: Duration (seconds) to plot for
:type duration: float, optional
.. method:: cancelLastTask(self, vehicle_name='')
Cancel previous Async task
:param vehicle_name: Name of the vehicle
:type vehicle_name: str, optional
.. method:: waitOnLastTask(self, timeout_sec=float('nan'))
Wait for the last Async task to complete
:param timeout_sec: Time for the task to complete
:type timeout_sec: float, optional
:returns:
Result of the last task
True if the task completed without cancellation or timeout
:rtype: bool
.. py:class:: MultirotorClient(ip='', port=41451, timeout_value=3600)
Bases: :class:`airsimdroneracinglab.client.VehicleClient`, :class:`object`
.. attribute:: __annotations__
.. method:: takeoffAsync(self, timeout_sec=20, vehicle_name='')
Takeoff vehicle to 3m above ground. Vehicle should not be moving when this API is used
:param timeout_sec: Timeout for the vehicle to reach desired altitude
:type timeout_sec: int, optional
:param vehicle_name: Name of the vehicle to send this command to
:type vehicle_name: str, optional
:returns: future. call .join() to wait for method to finish. Example: client.METHOD().join()
:rtype: msgpackrpc.future.Future
.. method:: landAsync(self, timeout_sec=60, vehicle_name='')
Land the vehicle
:param timeout_sec: Timeout for the vehicle to land
:type timeout_sec: int, optional
:param vehicle_name: Name of the vehicle to send this command to
:type vehicle_name: str, optional
:returns: future. call .join() to wait for method to finish. Example: client.METHOD().join()
:rtype: msgpackrpc.future.Future
.. method:: goHomeAsync(self, timeout_sec=3e+38, vehicle_name='')
Return vehicle to Home i.e. Launch location
:param timeout_sec: Timeout for the vehicle to reach desired altitude
:type timeout_sec: int, optional
:param vehicle_name: Name of the vehicle to send this command to
:type vehicle_name: str, optional
:returns: future. call .join() to wait for method to finish. Example: client.METHOD().join()
:rtype: msgpackrpc.future.Future
.. method:: moveByAngleZAsync(self, pitch, roll, z, yaw, duration, vehicle_name='')
.. method:: moveByAngleThrottleAsync(self, pitch, roll, throttle, yaw_rate, duration, vehicle_name='')
.. method:: moveByVelocityAsync(self, vx, vy, vz, duration, drivetrain=DrivetrainType.MaxDegreeOfFreedom, yaw_mode=YawMode(), vehicle_name='')
:param vx: desired velocity in world (NED) X axis
:type vx: float
:param vy: desired velocity in world (NED) Y axis
:type vy: float
:param vz: desired velocity in world (NED) Z axis
:type vz: float
:param duration: Desired amount of time (seconds), to send this command for
:type duration: float
:param drivetrain:
:type drivetrain: DrivetrainType, optional
:param yaw_mode:
:type yaw_mode: YawMode, optional
:param vehicle_name: Name of the multirotor to send this command to
:type vehicle_name: str, optional
:returns: future. call .join() to wait for method to finish. Example: client.METHOD().join()
:rtype: msgpackrpc.future.Future
.. method:: moveByVelocityZAsync(self, vx, vy, z, duration, drivetrain=DrivetrainType.MaxDegreeOfFreedom, yaw_mode=YawMode(), vehicle_name='')
:param vx: desired velocity in world (NED) X axis
:type vx: float
:param vy: desired velocity in world (NED) Y axis
:type vy: float
:param z: desired altitude in world (NED) Z axis
:type z: float
:param duration: Desired amount of time (seconds), to send this command for
:type duration: float
:param drivetrain: Description
:type drivetrain: DrivetrainType, optional
:param yaw_mode: Description
:type yaw_mode: YawMode, optional
:param vehicle_name: Name of the multirotor to send this command to
:type vehicle_name: str, optional
:returns: future. call .join() to wait for method to finish. Example: client.METHOD().join()
:rtype: msgpackrpc.future.Future
.. method:: moveOnPathAsync(self, path, velocity, timeout_sec=3e+38, drivetrain=DrivetrainType.MaxDegreeOfFreedom, yaw_mode=YawMode(), lookahead=-1, adaptive_lookahead=1, vehicle_name='')
:param path: Description
:type path: TYPE
:param velocity: Description
:type velocity: TYPE
:param timeout_sec: Description
:type timeout_sec: float, optional
:param drivetrain: Description
:type drivetrain: TYPE, optional
:param yaw_mode: Description
:type yaw_mode: TYPE, optional
:param lookahead: Description
:type lookahead: TYPE, optional
:param adaptive_lookahead: Description
:type adaptive_lookahead: int, optional
:param vehicle_name: Name of the multirotor to send this command to
:type vehicle_name: str, optional
:returns: Description
:rtype: TYPE
.. method:: moveToPositionAsync(self, x, y, z, velocity, timeout_sec=3e+38, drivetrain=DrivetrainType.MaxDegreeOfFreedom, yaw_mode=YawMode(), lookahead=-1, adaptive_lookahead=1, vehicle_name='')
:param x: Description
:type x: float
:param y: Description
:type y: float
:param z: Description
:type z: float
:param velocity: Description
:type velocity: float
:param timeout_sec: Description
:type timeout_sec: float, optional
:param drivetrain: Description
:type drivetrain: DrivetrainType, optional
:param yaw_mode: Description
:type yaw_mode: YawMode, optional
:param lookahead: Description
:type lookahead: float, optional
:param adaptive_lookahead: Description
:type adaptive_lookahead: int, optional
:param vehicle_name: Name of the multirotor to send this command to
:type vehicle_name: str, optional
:returns: Success
:rtype: bool
.. method:: moveToZAsync(self, z, velocity, timeout_sec=3e+38, yaw_mode=YawMode(), lookahead=-1, adaptive_lookahead=1, vehicle_name='')
:param z: Description
:type z: float
:param velocity: Description
:type velocity: float
:param timeout_sec: Description
:type timeout_sec: float, optional
:param yaw_mode: Description
:type yaw_mode: YawMode, optional
:param lookahead: Description
:type lookahead: float, optional
:param adaptive_lookahead: Description
:type adaptive_lookahead: int, optional
:param vehicle_name: Name of the multirotor to send this command to
:type vehicle_name: str, optional
:returns: Success
:rtype: bool
.. method:: moveToYawAsync(self, yaw, timeout_sec=3e+38, margin=5, vehicle_name='')
:param yaw_rate: Desired yaw angle, in **degrees per second**.
:type yaw_rate: float
:param timeout_sec: Description
:type timeout_sec: float, optional
:param margin: Description
:type margin: int, optional
:param vehicle_name: Name of the multirotor to send this command to
:type vehicle_name: str, optional
:returns: Success
:rtype: bool
.. method:: moveByYawRateAsync(self, yaw_rate, duration, vehicle_name='')
:param yaw_rate: Desired yaw rate, in **degrees per second**.
:type yaw_rate: float
:param duration: Description
:type duration: float
:param vehicle_name: Name of the multirotor to send this command to
:type vehicle_name: str, optional
:returns: Success
:rtype: bool
.. method:: moveOnSplineAsync(self, waypoints, vel_max=15.0, acc_max=7.5, add_position_constraint=True, add_velocity_constraint=True, add_acceleration_constraint=False, viz_traj=True, viz_traj_color_rgba=[1.0, 0.0, 0.0, 1.0], replan_from_lookahead=True, replan_lookahead_sec=1.0, vehicle_name='')
- Fits a minimum jerk trajectory to the list of given 3D waypoints (specified by the waypoints parameter).
- Uses ETHZ-ASL's `mav_trajectory_generation <https://github.com/ethz-asl/mav_trajectory_generation>`_ as the trajectory planning backend.
- Tracks the references positions and velocities using a pure pursuit tracking controller.
- The gains of the pure pursuit tracking controller are set by setTrajectoryTrackerGains.
- Reference yaws are allocated along the tangent of the trajectory. Hence the drone will always look at the direction along which it is flying, behaving like a 3D car.
- Note: setTrajectoryTrackerGains() must be called once before calling moveOnSpline()
:param waypoints:
- List of 3D waypoints, defined in local NED frame of the vehicle to track.
:type waypoints: list[Vector3r]
:param vel_max:
- Maximum magnitude of velocity along trajectory
:type vel_max: float, optional
:param acc_max:
- Maximum magnitude of acceleration along trajectory
:type acc_max: float, optional
:param add_position_constraint:
- Add a start constraint at current position, so that the planned trajectory is smooth if the drone is already moving.
- If replan_from_lookahead is False, and add_position_constraint is False, trajectory starts from the first element of the "waypoints" list param.
- If replan_from_lookahead is False, and add_position_constraint is True, a position constraint is added at current odometry, and so the trajectory starts from current position.
- If replan_from_lookahead is True, a position constraint trajectory is always added at look-ahead point regardless of the value of "add_position_constraint", and so the trajectory starts from the lookahead point.
- See below for the definition of "look-ahead point".
:type add_position_constraint: bool, optional
:param add_velocity_constraint:
- Should only be set to True if add_position_constraint is True.
- If replan_from_lookahead is True, a velocity constraint is added at current odometry.
- If replan_from_lookahead is True, a velocity constraint is added at lookahead point.
:type add_velocity_constraint: bool, optional
:param add_acceleration_constraint:
- Should only be set to True if add_velocity_constraint (and therefore, add_position_constraint) is True.
- If replan_from_lookahead is True, an acceleration constraint is added at current odometry.
- If replan_from_lookahead is True, an acceleration constraint is added at lookahead point.
:type add_acceleration_constraint: bool, optional
:param viz_traj:
- set this to True to visualize trajectory in unreal window.
- Note that visualization would appear in the FPV image, so this should only be used for debugging.
:type viz_traj: bool, optional
:param viz_traj_color_rgba:
- list of 4 floats from 0.0 to 1.0 that determines RGBA value of trajectory visualization.
- Example: viz_traj_color_rgba=[1.0, 0.0, 0.0, 1.0] corresponds to Red
:type viz_traj_color_rgba: list, optional
:param replan_from_lookahead:
- If this is set to true, the trajectory will start from the "look-ahead point" associated with the trajectory the drone is currently following.
- The lookahead point is defined by the value of the replan_lookahead_sec paramater sent in the *previous* call to moveOnSpline.
:type replan_from_lookahead: bool, optional
:param replan_lookahead_sec:
- Defines the lookahead point by sampling the current trajectory replan_lookahead_sec number of seconds ahead.
- If replan_from_lookahead is passed as True in the *next* call to moveOnSpline, the *next* call's trajectory will start from the lookahead point defined by the *current* call's replan_lookahead_sec
:type replan_lookahead_sec: float, optional
:param vehicle_name:
- Name of the multirotor to send this command to
:type vehicle_name: str, optional
:returns: Success
:rtype: bool
.. method:: moveOnSplineVelConstraintsAsync(self, waypoints, velocity_constraints, vel_max=15.0, acc_max=7.5, add_position_constraint=True, add_velocity_constraint=True, add_acceleration_constraint=False, viz_traj=True, viz_traj_color_rgba=[1.0, 0.0, 0.0, 0.4], replan_from_lookahead=True, replan_lookahead_sec=1.0, vehicle_name='')
- Fits a minimum jerk trajectory to the list of given 3D waypoints (specified by the waypoints parameter).
- Also adds corresponding 3D velocity vector constraints (specified by the velocity_constraints parameter).
- Uses ETHZ-ASL's `mav_trajectory_generation <https://github.com/ethz-asl/mav_trajectory_generation>`_ as the trajectory planning backend.
- Tracks the references positions and velocities using a pure pursuit tracking controller.
- The gains of the pure pursuit tracking controller are set by setTrajectoryTrackerGains.
- Reference yaws are allocated along the tangent of the trajectory. Hence the drone will always look at the direction along which it is flying, behaving like a 3D car.
- Reference yaws are allocated along the tangent of the trajectory.
- Note: setTrajectoryTrackerGains() must be called once before calling moveOnSpline()
:param waypoints:
- List of 3D waypoints, defined in local NED frame of the vehicle to track.
:type waypoints: list[Vector3r]
:param velocity_constraints:
- List of 3D velocity vector constraints, defined in local NED frame of the vehicle to track.
:type velocity_constraints: list[Vector3r]
:param vel_max:
- Maximum magnitude of velocity along trajectory
:type vel_max: float, optional
:param acc_max:
:type acc_max: float, optional
:param - Maximum magnitude of acceleration along trajectory:
:param add_position_constraint:
- Add a start constraint at current position, so that the planned trajectory is smooth if the drone is already moving.
- If replan_from_lookahead is False, and add_position_constraint is False, trajectory starts from the first element of the "waypoints" list param.
- If replan_from_lookahead is False, and add_position_constraint is True, a position constraint is added at current odometry, and so the trajectory starts from current position.
- If replan_from_lookahead is True, a position constraint trajectory is always added at look-ahead point regardless of the value of "add_position_constraint", and so the trajectory starts from the lookahead point.
- See below for the definition of "look-ahead point".
:type add_position_constraint: bool, optional
:param add_velocity_constraint:
- Should only be set to True if add_position_constraint is True.
- If replan_from_lookahead is True, a velocity constraint is added at current odometry.
- If replan_from_lookahead is True, a velocity constraint is added at lookahead point.
:type add_velocity_constraint: bool, optional
:param add_acceleration_constraint:
- Should only be set to True if add_velocity_constraint (and therefore, add_position_constraint) is True.
- If replan_from_lookahead is True, an acceleration constraint is added at current odometry.
- If replan_from_lookahead is True, an acceleration constraint is added at lookahead point.
:type add_acceleration_constraint: bool, optional
:param viz_traj:
- set this to True to visualize trajectory in unreal window.
- Note that visualization would appear in the FPV image, so this should only be used for debugging.
:type viz_traj: bool, optional
:param viz_traj_color_rgba:
- list of 4 floats from 0.0 to 1.0 that determines RGBA value of trajectory visualization.
- Example: viz_traj_color_rgba=[1.0, 0.0, 0.0, 1.0] corresponds to Red
:type viz_traj_color_rgba: list, optional
:param replan_from_lookahead:
- If this is set to true, the trajectory will start from the "look-ahead point" associated with the trajectory the drone is currently following.
- The lookahead point is defined by the value of the replan_lookahead_sec paramater sent in the *previous* call to moveOnSpline.
:type replan_from_lookahead: bool, optional
:param replan_lookahead_sec:
- Defines the lookahead point by sampling the current trajectory replan_lookahead_sec number of seconds ahead.
- If replan_from_lookahead is passed as True in the *next* call to moveOnSpline, the *next* call's trajectory will start from the lookahead point defined by the *current* call's replan_lookahead_sec
:type replan_lookahead_sec: float, optional
:param vehicle_name:
- Name of the multirotor to send this command to
:type vehicle_name: str, optional
:returns: Success
:rtype: bool
.. method:: clearTrajectory(self, vehicle_name='')
Clears, and stops following the current trajectory (see moveOnSpline() or moveOnSplineVelConstraintsAsyn,c if any.
:param vehicle_name: Name of the multirotor to send this command to
:type vehicle_name: str, optional
:returns: Description
:rtype: TYPE
.. method:: setTrajectoryTrackerGains(self, gains=TrajectoryTrackerGains(), vehicle_name='')
- Sets trajectory tracker gains for moveOnSplineAsync, moveOnSplineVelConstraintsAsync.
- Must be called once before either of the moveOnSpline*() APIs is called
:param gains: Pass TrajectoryTrackerGains() to set default values. Look at TrajectoryTrackerGains to set custom gains
:type gains: TrajectoryTrackerGains
:param vehicle_name: Name of the multirotor to send this command to
:type vehicle_name: str, optional
.. method:: moveByManualAsync(self, vx_max, vy_max, z_min, duration, drivetrain=DrivetrainType.MaxDegreeOfFreedom, yaw_mode=YawMode(), vehicle_name='')
- Read current RC state and use it to control the vehicles.
Parameters sets up the constraints on velocity and minimum altitude while flying. If RC state is detected to violate these constraints
then that RC state would be ignored.
:param vx_max: max velocity allowed in x direction
:type vx_max: float
:param vy_max: max velocity allowed in y direction
:type vy_max: float
:param vz_max: max velocity allowed in z direction
:type vz_max: float
:param z_min: min z allowed for vehicle position
:type z_min: float
:param duration: after this duration vehicle would switch back to non-manual mode
:type duration: float
:param drivetrain: when ForwardOnly, vehicle rotates itself so that its front is always facing the direction of travel. If MaxDegreeOfFreedom then it doesn't do that (crab-like movement)
:type drivetrain: DrivetrainType
:param yaw_mode: Specifies if vehicle should face at given angle (is_rate=False) or should be rotating around its axis at given rate (is_rate=True)
:type yaw_mode: YawMode
:param vehicle_name: Name of the multirotor to send this command to
:type vehicle_name: str, optional
:returns: future. call .join() to wait for method to finish. Example: client.METHOD().join()
:rtype: msgpackrpc.future.Future
.. method:: hoverAsync(self, vehicle_name='')
.. method:: moveByRC(self, rcdata=RCData(), vehicle_name='')
.. method:: moveByMotorPWMsAsync(self, front_right_pwm, rear_left_pwm, front_left_pwm, rear_right_pwm, duration, vehicle_name='')
- Directly control the motors using PWM values
:param front_right_pwm: PWM value for the front right motor (between 0.0 to 1.0)
:type front_right_pwm: float
:param rear_left_pwm: PWM value for the rear left motor (between 0.0 to 1.0)
:type rear_left_pwm: float
:param front_left_pwm: PWM value for the front left motor (between 0.0 to 1.0)
:type front_left_pwm: float
:param rear_right_pwm: PWM value for the rear right motor (between 0.0 to 1.0)
:type rear_right_pwm: float
:param duration: Desired amount of time (seconds), to send this command for
:type duration: float
:param vehicle_name: Name of the multirotor to send this command to
:type vehicle_name: str, optional
:returns: future. call .join() to wait for method to finish. Example: client.METHOD().join()
:rtype: msgpackrpc.future.Future
.. method:: moveByRollPitchYawZAsync(self, roll, pitch, yaw, z, duration, vehicle_name='')
- z is given in local NED frame of the vehicle.
- Roll angle, pitch angle, and yaw angle set points are given in **radians**, in the body frame.
- The body frame follows the Front Left Up (FLU) convention, and right-handedness.
- Frame Convention:
- X axis is along the **Front** direction of the quadrotor.
| Clockwise rotation about this axis defines a positive **roll** angle.
| Hence, rolling with a positive angle is equivalent to translating in the **right** direction, w.r.t. our FLU body frame.
- Y axis is along the **Left** direction of the quadrotor.
| Clockwise rotation about this axis defines a positive **pitch** angle.
| Hence, pitching with a positive angle is equivalent to translating in the **front** direction, w.r.t. our FLU body frame.
- Z axis is along the **Up** direction.
| Clockwise rotation about this axis defines a positive **yaw** angle.
| Hence, yawing with a positive angle is equivalent to rotated towards the **left** direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane.
:param roll: Desired roll angle, in radians.
:type roll: float
:param pitch: Desired pitch angle, in radians.
:type pitch: float
:param yaw: Desired yaw angle, in radians.
:type yaw: float
:param z: Desired Z value (in local NED frame of the vehicle)
:type z: float
:param duration: Desired amount of time (seconds), to send this command for
:type duration: float
:param vehicle_name: Name of the multirotor to send this command to
:type vehicle_name: str, optional
:returns: future. call .join() to wait for method to finish. Example: client.METHOD().join()
:rtype: msgpackrpc.future.Future
.. method:: moveByRollPitchYawThrottleAsync(self, roll, pitch, yaw, throttle, duration, vehicle_name='')
- Desired throttle is between 0.0 to 1.0
- Roll angle, pitch angle, and yaw angle are given in **radians**, in the body frame.
- The body frame follows the Front Left Up (FLU) convention, and right-handedness.
- Frame Convention:
- X axis is along the **Front** direction of the quadrotor.
| Clockwise rotation about this axis defines a positive **roll** angle.
| Hence, rolling with a positive angle is equivalent to translating in the **right** direction, w.r.t. our FLU body frame.
- Y axis is along the **Left** direction of the quadrotor.
| Clockwise rotation about this axis defines a positive **pitch** angle.
| Hence, pitching with a positive angle is equivalent to translating in the **front** direction, w.r.t. our FLU body frame.
- Z axis is along the **Up** direction.
| Clockwise rotation about this axis defines a positive **yaw** angle.
| Hence, yawing with a positive angle is equivalent to rotated towards the **left** direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane.
:param roll: Desired roll angle, in radians.
:type roll: float
:param pitch: Desired pitch angle, in radians.
:type pitch: float
:param yaw: Desired yaw angle, in radians.
:type yaw: float
:param throttle: Desired throttle (between 0.0 to 1.0)
:type throttle: float
:param duration: Desired amount of time (seconds), to send this command for
:type duration: float
:param vehicle_name: Name of the multirotor to send this command to
:type vehicle_name: str, optional
:returns: future. call .join() to wait for method to finish. Example: client.METHOD().join()
:rtype: msgpackrpc.future.Future
.. method:: moveByRollPitchYawrateThrottleAsync(self, roll, pitch, yaw_rate, throttle, duration, vehicle_name='')
- Desired throttle is between 0.0 to 1.0
- Roll angle, pitch angle, and yaw rate set points are given in **radians**, in the body frame.
- The body frame follows the Front Left Up (FLU) convention, and right-handedness.
- Frame Convention:
- X axis is along the **Front** direction of the quadrotor.
| Clockwise rotation about this axis defines a positive **roll** angle.
| Hence, rolling with a positive angle is equivalent to translating in the **right** direction, w.r.t. our FLU body frame.
- Y axis is along the **Left** direction of the quadrotor.
| Clockwise rotation about this axis defines a positive **pitch** angle.
| Hence, pitching with a positive angle is equivalent to translating in the **front** direction, w.r.t. our FLU body frame.
- Z axis is along the **Up** direction.
| Clockwise rotation about this axis defines a positive **yaw** angle.
| Hence, yawing with a positive angle is equivalent to rotated towards the **left** direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane.
:param roll: Desired roll angle, in radians.
:type roll: float
:param pitch: Desired pitch angle, in radians.
:type pitch: float
:param yaw_rate: Desired yaw rate, in radian per second.
:type yaw_rate: float
:param throttle: Desired throttle (between 0.0 to 1.0)
:type throttle: float
:param duration: Desired amount of time (seconds), to send this command for
:type duration: float
:param vehicle_name: Name of the multirotor to send this command to
:type vehicle_name: str, optional
:returns: future. call .join() to wait for method to finish. Example: client.METHOD().join()
:rtype: msgpackrpc.future.Future
.. method:: moveByRollPitchYawrateZAsync(self, roll, pitch, yaw_rate, z, duration, vehicle_name='')
- z is given in local NED frame of the vehicle.
- Roll angle, pitch angle, and yaw rate set points are given in **radians**, in the body frame.
- The body frame follows the Front Left Up (FLU) convention, and right-handedness.
- Frame Convention:
- X axis is along the **Front** direction of the quadrotor.
| Clockwise rotation about this axis defines a positive **roll** angle.
| Hence, rolling with a positive angle is equivalent to translating in the **right** direction, w.r.t. our FLU body frame.
- Y axis is along the **Left** direction of the quadrotor.
| Clockwise rotation about this axis defines a positive **pitch** angle.
| Hence, pitching with a positive angle is equivalent to translating in the **front** direction, w.r.t. our FLU body frame.
- Z axis is along the **Up** direction.
| Clockwise rotation about this axis defines a positive **yaw** angle.
| Hence, yawing with a positive angle is equivalent to rotated towards the **left** direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane.
:param roll: Desired roll angle, in radians.
:type roll: float
:param pitch: Desired pitch angle, in radians.
:type pitch: float
:param yaw_rate: Desired yaw rate, in radian per second.
:type yaw_rate: float
:param z: Desired Z value (in local NED frame of the vehicle)
:type z: float
:param duration: Desired amount of time (seconds), to send this command for
:type duration: float
:param vehicle_name: Name of the multirotor to send this command to
:type vehicle_name: str, optional
:returns: future. call .join() to wait for method to finish. Example: client.METHOD().join()
:rtype: msgpackrpc.future.Future
.. method:: moveByAngleRatesZAsync(self, roll_rate, pitch_rate, yaw_rate, z, duration, vehicle_name='')
- z is given in local NED frame of the vehicle.
- Roll rate, pitch rate, and yaw rate set points are given in **radians**, in the body frame.
- The body frame follows the Front Left Up (FLU) convention, and right-handedness.
- Frame Convention:
- X axis is along the **Front** direction of the quadrotor.
| Clockwise rotation about this axis defines a positive **roll** angle.
| Hence, rolling with a positive angle is equivalent to translating in the **right** direction, w.r.t. our FLU body frame.
- Y axis is along the **Left** direction of the quadrotor.
| Clockwise rotation about this axis defines a positive **pitch** angle.
| Hence, pitching with a positive angle is equivalent to translating in the **front** direction, w.r.t. our FLU body frame.
- Z axis is along the **Up** direction.
| Clockwise rotation about this axis defines a positive **yaw** angle.
| Hence, yawing with a positive angle is equivalent to rotated towards the **left** direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane.
:param roll_rate: Desired roll rate, in radians / second
:type roll_rate: float
:param pitch_rate: Desired pitch rate, in radians / second
:type pitch_rate: float
:param yaw_rate: Desired yaw rate, in radians / second
:type yaw_rate: float
:param z: Desired Z value (in local NED frame of the vehicle)
:type z: float
:param duration: Desired amount of time (seconds), to send this command for
:type duration: float
:param vehicle_name: Name of the multirotor to send this command to
:type vehicle_name: str, optional
:returns: future. call .join() to wait for method to finish. Example: client.METHOD().join()
:rtype: msgpackrpc.future.Future
.. method:: moveByAngleRatesThrottleAsync(self, roll_rate, pitch_rate, yaw_rate, throttle, duration, vehicle_name='')
- Desired throttle is between 0.0 to 1.0
- Roll rate, pitch rate, and yaw rate set points are given in **radians**, in the body frame.
- The body frame follows the Front Left Up (FLU) convention, and right-handedness.
- Frame Convention:
- X axis is along the **Front** direction of the quadrotor.
| Clockwise rotation about this axis defines a positive **roll** angle.
| Hence, rolling with a positive angle is equivalent to translating in the **right** direction, w.r.t. our FLU body frame.
- Y axis is along the **Left** direction of the quadrotor.
| Clockwise rotation about this axis defines a positive **pitch** angle.
| Hence, pitching with a positive angle is equivalent to translating in the **front** direction, w.r.t. our FLU body frame.
- Z axis is along the **Up** direction.
| Clockwise rotation about this axis defines a positive **yaw** angle.
| Hence, yawing with a positive angle is equivalent to rotated towards the **left** direction wrt our FLU body frame. Or in an anticlockwise fashion in the body XY / FL plane.
:param roll_rate: Desired roll rate, in radians / second
:type roll_rate: float
:param pitch_rate: Desired pitch rate, in radians / second
:type pitch_rate: float
:param yaw_rate: Desired yaw rate, in radians / second
:type yaw_rate: float
:param throttle: Desired throttle (between 0.0 to 1.0)
:type throttle: float
:param duration: Desired amount of time (seconds), to send this command for
:type duration: float
:param vehicle_name: Name of the multirotor to send this command to
:type vehicle_name: str, optional
:returns: future. call .join() to wait for method to finish. Example: client.METHOD().join()
:rtype: msgpackrpc.future.Future
.. method:: setAngleRateControllerGains(self, angle_rate_gains=AngleRateControllerGains(), vehicle_name='')
- Modifying these gains will have an affect on *ALL* move*() APIs.
This is because any velocity setpoint is converted to an angle level setpoint which is tracked with an angle level controllers.
That angle level setpoint is itself tracked with and angle rate controller.
- This function should only be called if the default angle rate control PID gains need to be modified.
:param angle_rate_gains:
- Correspond to the roll, pitch, yaw axes, defined in the body frame.
- Pass AngleRateControllerGains() to reset gains to default recommended values.
:type angle_rate_gains: AngleRateControllerGains
:param vehicle_name: Name of the multirotor to send this command to
:type vehicle_name: str, optional
.. method:: setAngleLevelControllerGains(self, angle_level_gains=AngleLevelControllerGains(), vehicle_name='')
- Sets angle level controller gains (used by any API setting angle references - for ex: moveByRollPitchYawZAsync(), moveByRollPitchYawThrottleAsync(), etc)
- Modifying these gains will also affect the behaviour of moveByVelocityAsync() API.
This is because the AirSim flight controller will track velocity setpoints by converting them to angle set points.
- This function should only be called if the default angle level control PID gains need to be modified.
- Passing AngleLevelControllerGains() sets gains to default airsim values.
:param angle_level_gains:
- Correspond to the roll, pitch, yaw axes, defined in the body frame.
- Pass AngleLevelControllerGains() to reset gains to default recommended values.
:type angle_level_gains: AngleLevelControllerGains
:param vehicle_name: Name of the multirotor to send this command to
:type vehicle_name: str, optional
.. method:: setVelocityControllerGains(self, velocity_gains=VelocityControllerGains(), vehicle_name='')
- Sets velocity controller gains for moveByVelocityAsync().
- This function should only be called if the default velocity control PID gains need to be modified.
- Passing VelocityControllerGains() sets gains to default airsim values.
- Modifying the velocity controller gains will have an effect on the trajectory tracking behavior of moveOnSpline*() APIs,
as moveOnSpline*() APIs use a controller on the lines of the pure-pursuit approach, which is tracking the reference position and
velocities of the reference trajectories, while minimizing cross-track errors in both position and velocity state,
by sending velocity commands (via moveByVelocityAsync()) in the backend.
If you change this, it might be worth playing with the gains of moveOnSpline() by using setTrajectoryTrackerGains()
:param velocity_gains:
- Correspond to the world X, Y, Z axes.
- Pass VelocityControllerGains() to reset gains to default recommended values.
- Modifying velocity controller gains will have an affect on the behaviour of moveOnSplineAsync() and moveOnSplineVelConstraintsAsync(), as they both use velocity control to track the trajectory.
:type velocity_gains: VelocityControllerGains
:param vehicle_name: Name of the multirotor to send this command to
:type vehicle_name: str, optional
.. method:: setPositionControllerGains(self, position_gains=PositionControllerGains(), vehicle_name='')
Sets position controller gains for moveByPositionAsync.
This function should only be called if the default position control PID gains need to be modified.
:param position_gains:
- Correspond to the X, Y, Z axes.
- Pass PositionControllerGains() to reset gains to default recommended values.
:type position_gains: PositionControllerGains
:param vehicle_name: Name of the multirotor to send this command to
:type vehicle_name: str, optional
.. method:: getMultirotorState(self, vehicle_name='')
:param vehicle_name: Vehicle to get the state of
:type vehicle_name: str, optional
:returns:
:rtype: MultirotorState
.. method:: simLogMultirotorState(self, is_enabled, vehicle_name='')
Starts or stops high frequency logging of full multirotor state to a text file in Documents/AirSim.
Values logged: Position, orientation, linear/angular velocity, linear/angular acceleration,
body forces and torques, rotor speeds and rotor torques.
:param is_enabled: Start/stop.
:type is_enabled: bool, required
:param vehicle_name: Vehicle to start logging for
:type vehicle_name: str, optional
.. method:: simStartRace(self, tier=1)
Starts an instance of a race in your given level, if valid.
.. method:: __internalRandomGoalZone(self, gate_name)
.. method:: simResetRace(self)
Resets a current race: moves players to start positions, timer and penalties reset.
.. method:: simDisableRaceLog(self)
Disables race log
.. method:: simIsRacerDisqualified(self, vehicle_name)
:param vehicle_name: Name of the multirotor to send this command to
:type vehicle_name: str
:returns: True if vehicle_name is disqualified. False if not
:rtype: bool
.. method:: simGetLastGatePassed(self, vehicle_name)
:param vehicle_name: Name of the multirotor to send this command to
:type vehicle_name: str
:returns: index of last gate passed by vehicle_name
:rtype: int
.. function:: string_to_uint8_array(bstr)
:param bstr: Description
:type bstr: TYPE
:returns: Description
:rtype: TYPE
.. function:: string_to_float_array(bstr)
:param bstr: Description
:type bstr: TYPE
:returns: Description
:rtype: TYPE
.. function:: list_to_2d_float_array(flst, width, height)
:param flst: Description
:type flst: TYPE
:param width: Description
:type width: TYPE
:param height: Description
:type height: TYPE
:returns: Description
:rtype: TYPE
.. function:: get_pfm_array(response)
:param response: Description
:type response: TYPE
:returns: Description
:rtype: TYPE
.. function:: get_public_fields(obj)
:param obj: Description
:type obj: TYPE
:returns: Description
:rtype: TYPE
.. function:: to_dict(obj)
:param obj: Description
:type obj: TYPE
:returns: Description
:rtype: TYPE
.. function:: to_str(obj)
:param obj: Description
:type obj: TYPE
:returns: Description
:rtype: TYPE
.. function:: write_file(filename, bstr)
:param filename: Description
:type filename: TYPE
:param bstr: Description
:type bstr: TYPE
.. function:: to_eularian_angles(q)
:param q: Description
:type q: TYPE
:returns: Description
:rtype: TYPE
.. function:: to_quaternion(pitch, roll, yaw)
:param pitch: Description
:type pitch: TYPE
:param roll: Description
:type roll: TYPE
:param yaw: Description
:type yaw: TYPE
:returns: Description
:rtype: TYPE
.. function:: wait_key(message='')
Wait for a key press on the console and return it.
:param message: Description
:type message: str, optional
:returns: Description
:rtype: TYPE
.. function:: read_pfm(file)
Read a pfm file
:param file: Description
:type file: TYPE
:returns: Description
:rtype: TYPE
:raises Exception: Description
.. function:: write_pfm(file, image, scale=1)
Write a pfm file
:param file: Description
:type file: TYPE
:param image: Description
:type image: TYPE
:param scale: Description
:type scale: int, optional
:raises Exception: Description
.. function:: write_png(filename, image)
image must be numpy array H X W X channels
:param filename: Description
:type filename: TYPE
:param image: Description
:type image: TYPE
.. py:class:: MsgpackMixin
.. method:: __repr__(self)
:returns: Description
:rtype: TYPE
.. method:: to_msgpack(self, *args, **kwargs)
:param \*args: Description
:param \*\*kwargs: Description
:returns: Description
:rtype: TYPE
.. method:: from_msgpack(cls, encoded)
:classmethod:
:param encoded: Description
:type encoded: TYPE
:returns: Description
:rtype: TYPE
.. py:class:: ImageType
.. attribute:: DepthPerspective
Description
:type: int
.. attribute:: DepthPlanner
Description
:type: int
.. attribute:: DepthVis
Description
:type: int
.. attribute:: DisparityNormalized
Description
:type: int
.. attribute:: Infrared
Description
:type: int
.. attribute:: Scene
Description
:type: int
.. attribute:: Segmentation
Description
:type: int
.. attribute:: SurfaceNormals
Description
:type: int
.. attribute:: Scene
:annotation: = 0
.. attribute:: DepthPlanner
:annotation: = 1
.. attribute:: DepthPerspective
:annotation: = 2
.. attribute:: DepthVis
:annotation: = 3
.. attribute:: DisparityNormalized
:annotation: = 4
.. attribute:: Segmentation
:annotation: = 5
.. attribute:: SurfaceNormals
:annotation: = 6
.. attribute:: Infrared
:annotation: = 7
.. py:class:: DrivetrainType
Type of DrivetrainType
.. attribute:: ForwardOnly
Fixes yaw along tangent of velocity vector (atan2(vy, vx))
:type: int
.. attribute:: MaxDegreeOfFreedom
Description
:type: int
.. attribute:: MaxDegreeOfFreedom
:annotation: = 0
.. attribute:: ForwardOnly
:annotation: = 1
.. py:class:: LandedState
.. attribute:: Flying
Description
:type: int
.. attribute:: Landed
Description
:type: int
.. attribute:: Landed
:annotation: = 0
.. attribute:: Flying
:annotation: = 1
.. py:class:: WeatherParameter
.. attribute:: Rain
:annotation: = 0
.. attribute:: Roadwetness
:annotation: = 1
.. attribute:: Snow
:annotation: = 2
.. attribute:: RoadSnow
:annotation: = 3
.. attribute:: MapleLeaf
:annotation: = 4
.. attribute:: RoadLeaf
:annotation: = 5
.. attribute:: Dust
:annotation: = 6
.. attribute:: Fog
:annotation: = 7
.. attribute:: Enabled
:annotation: = 8
.. py:class:: Vector3r(x_val=0.0, y_val=0.0, z_val=0.0)
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: x_val
Description
:type: float
.. attribute:: y_val
Description
:type: float
.. attribute:: z_val
Description
:type: float
.. attribute:: x_val
:annotation: = 0.0
.. attribute:: y_val
:annotation: = 0.0
.. attribute:: z_val
:annotation: = 0.0
.. method:: nanVector3r()
:staticmethod:
:returns: Description
:rtype: TYPE
.. method:: __add__(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
.. method:: __sub__(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
.. method:: __truediv__(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
.. method:: __mul__(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
.. method:: dot(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
.. method:: cross(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
.. method:: get_length(self)
:returns: Description
:rtype: TYPE
.. method:: distance_to(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
.. method:: to_Quaternionr(self)
:returns: Description
:rtype: TYPE
.. method:: to_numpy_array(self)
:returns: Description
:rtype: TYPE
.. py:class:: Quaternionr(x_val=0.0, y_val=0.0, z_val=0.0, w_val=1.0)
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: w_val
Description
:type: float
.. attribute:: x_val
Description
:type: float
.. attribute:: y_val
Description
:type: float
.. attribute:: z_val
Description
:type: float
.. attribute:: w_val
:annotation: = 0.0
.. attribute:: x_val
:annotation: = 0.0
.. attribute:: y_val
:annotation: = 0.0
.. attribute:: z_val
:annotation: = 0.0
.. method:: nanQuaternionr()
:staticmethod:
:returns: Description
:rtype: TYPE
.. method:: __add__(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
.. method:: __mul__(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
.. method:: __truediv__(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
.. method:: dot(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
.. method:: cross(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
.. method:: outer_product(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
.. method:: rotate(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
:raises ValueError: Description
.. method:: conjugate(self)
:returns: Description
:rtype: TYPE
.. method:: star(self)
:returns: Description
:rtype: TYPE
.. method:: inverse(self)
:returns: Description
:rtype: TYPE
.. method:: sgn(self)
:returns: Description
:rtype: TYPE
.. method:: get_length(self)
:returns: norm of quaternion
:rtype: float
.. method:: to_numpy_array(self)
:returns: Description
:rtype: np.array
.. py:class:: Pose(position_val=Vector3r(), orientation_val=Quaternionr())
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: orientation
Description
:type: Quaternionr
.. attribute:: position
Description
:type: Vector3r
.. attribute:: position
.. attribute:: orientation
.. method:: nanPose()
:staticmethod:
:returns: Description
:rtype: TYPE
.. py:class:: CollisionInfo
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: has_collided
Description
:type: bool
.. attribute:: impact_point
Description
:type: TYPE
.. attribute:: normal
Description
:type: TYPE
.. attribute:: object_id
Description
:type: int
.. attribute:: object_name
Description
:type: str
.. attribute:: penetration_depth
Description
:type: float
.. attribute:: position
Description
:type: TYPE
.. attribute:: time_stamp
Description
:type: float
.. attribute:: has_collided
:annotation: = False
.. attribute:: normal
.. attribute:: impact_point
.. attribute:: position
.. attribute:: penetration_depth
:annotation: = 0.0
.. attribute:: time_stamp
:annotation: = 0.0
.. attribute:: object_name
:annotation: =
.. attribute:: object_id
.. py:class:: GeoPoint
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: altitude
Description
:type: float
.. attribute:: latitude
Description
:type: float
.. attribute:: longitude
Description
:type: float
.. attribute:: latitude
:annotation: = 0.0
.. attribute:: longitude
:annotation: = 0.0
.. attribute:: altitude
:annotation: = 0.0
.. py:class:: YawMode(is_rate=True, yaw_or_rate=0.0)
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
Struct YawMode with two fields, yaw_or_rate and is_rate.
If is_rate field is True then yaw_or_rate field is interpreted as angular velocity in **degrees/sec**,
which means you want vehicle to rotate continuously around its axis at that angular velocity while moving.
If is_rate is False then yaw_or_rate is interpreted as angle in **degrees**,
which means you want vehicle to rotate to specific angle (i.e. yaw) and keep that angle while moving.
When yaw_mode.is_rate == true, the drivetrain parameter shouldn't be set to ForwardOnly because there's a contradiction
as we're asking for the drone to keep front pointing ahead, but also rotate continuously.
However if you have yaw_mode.is_rate = false in ForwardOnly mode then you can do some funky stuff.
For example, you can have drone do circles and have yaw_or_rate set to 90 so camera is always pointed to center.
In MaxDegreeofFreedom also you can get some funky stuff by setting yaw_mode.is_rate = true and say yaw_mode.yaw_or_rate = 20.
This will cause drone to go in its path while rotating which may allow to do 360 scanning.
In most cases, you just don't want yaw to change which you can do by setting yaw rate of 0.
The shorthand for this is airsim.YawMode()
.. attribute:: is_rate
if True, yaw_or_rate is interpreted as angular velocity in **degrees/sec**,
if False, yaw_or_rate is interpreted as angles in **degrees**,
:type: bool
.. attribute:: yaw_or_rate
value of desired yaw rate, or desired yaw angle. Interpretation depends upon is_rate
:type: float
.. attribute:: is_rate
:annotation: = True
.. attribute:: yaw_or_rate
:annotation: = 0.0
.. py:class:: RCData(timestamp=0, pitch=0.0, roll=0.0, throttle=0.0, yaw=0.0, switch1=0, switch2=0, switch3=0, switch4=0, switch5=0, switch6=0, switch7=0, switch8=0, is_initialized=False, is_valid=False)
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: is_initialized
Description
:type: bool
.. attribute:: is_valid
Description
:type: bool
.. attribute:: pitch
Description
:type: TYPE
.. attribute:: roll
Description
:type: TYPE
.. attribute:: switch1
Description
:type: TYPE
.. attribute:: switch2
Description
:type: TYPE
.. attribute:: switch3
Description
:type: TYPE
.. attribute:: switch4
Description
:type: TYPE
.. attribute:: switch5
Description
:type: TYPE
.. attribute:: switch6
Description
:type: TYPE
.. attribute:: switch7
Description
:type: TYPE
.. attribute:: switch8
Description
:type: TYPE
.. attribute:: throttle
Description
:type: TYPE
.. attribute:: timestamp
Description
:type: int
.. attribute:: yaw
Description
:type: TYPE
.. attribute:: timestamp
:annotation: = 0
.. attribute:: is_initialized
:annotation: = False
.. attribute:: is_valid
:annotation: = False
.. py:class:: ImageRequest(camera_name, image_type, pixels_as_float=False, compress=True)
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: camera_name
Description
:type: str
.. attribute:: compress
Description
:type: bool
.. attribute:: image_type
Description
:type: TYPE
.. attribute:: pixels_as_float
Description
:type: bool
.. attribute:: camera_name
:annotation: = 0
.. attribute:: image_type
.. attribute:: pixels_as_float
:annotation: = False
.. attribute:: compress
:annotation: = False
.. py:class:: ImageResponse
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: camera_orientation
Description
:type: TYPE
.. attribute:: camera_position
Description
:type: TYPE
.. attribute:: compress
Description
:type: bool
.. attribute:: height
Description
:type: int
.. attribute:: image_data_float
Description
:type: float
.. attribute:: image_data_uint8
Description
:type: TYPE
.. attribute:: image_type
Description
:type: TYPE
.. attribute:: message
Description
:type: str
.. attribute:: pixels_as_float
Description
:type: float
.. attribute:: time_stamp
Description
:type: TYPE
.. attribute:: width
Description
:type: int
.. attribute:: image_data_uint8
.. attribute:: image_data_float
:annotation: = 0.0
.. attribute:: camera_position
.. attribute:: camera_orientation
.. attribute:: time_stamp
.. attribute:: message
:annotation: =
.. attribute:: pixels_as_float
:annotation: = 0.0
.. attribute:: compress
:annotation: = True
.. attribute:: width
:annotation: = 0
.. attribute:: height
:annotation: = 0
.. attribute:: image_type
.. py:class:: CarControls(throttle=0, steering=0, brake=0, handbrake=False, is_manual_gear=False, manual_gear=0, gear_immediate=True)
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: throttle
:annotation: = 0.0
.. attribute:: steering
:annotation: = 0.0
.. attribute:: brake
:annotation: = 0.0
.. attribute:: handbrake
:annotation: = False
.. attribute:: is_manual_gear
:annotation: = False
.. attribute:: manual_gear
:annotation: = 0
.. attribute:: gear_immediate
:annotation: = True
.. method:: set_throttle(self, throttle_val, forward)
.. py:class:: KinematicsState
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: angular_acceleration
Description
:type: Vector3r
.. attribute:: angular_velocity
Description
:type: Vector3r
.. attribute:: linear_acceleration
Description
:type: Vector3r
.. attribute:: linear_velocity
Description
:type: Vector3r
.. attribute:: orientation
Description
:type: Quaternionr
.. attribute:: position
Description
:type: Vector3r
.. attribute:: position
.. attribute:: orientation
.. attribute:: linear_velocity
.. attribute:: angular_velocity
.. attribute:: linear_acceleration
.. attribute:: angular_acceleration
.. py:class:: EnvironmentState
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: position
.. attribute:: geo_point
.. attribute:: gravity
.. attribute:: air_pressure
:annotation: = 0.0
.. attribute:: temperature
:annotation: = 0.0
.. attribute:: air_density
:annotation: = 0.0
.. py:class:: CarState
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: speed
:annotation: = 0.0
.. attribute:: gear
:annotation: = 0
.. attribute:: rpm
:annotation: = 0.0
.. attribute:: maxrpm
:annotation: = 0.0
.. attribute:: handbrake
:annotation: = False
.. attribute:: collision
.. attribute:: kinematics_estimated
.. attribute:: timestamp
.. py:class:: MultirotorState
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: collision
Description
:type: CollisionInfo
.. attribute:: gps_location
Description
:type: GeoPoint
.. attribute:: kinematics_estimated
Description
:type: KinematicsState
.. attribute:: landed_state
Description
:type: LandedState.Landed
.. attribute:: rc_data
Description
:type: RCData
.. attribute:: timestamp
Description
:type: np.uint64
.. attribute:: collision
.. attribute:: kinematics_estimated
.. attribute:: gps_location
.. attribute:: timestamp
.. attribute:: landed_state
.. attribute:: rc_data
.. py:class:: ProjectionMatrix
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: matrix
Description
:type: list
.. attribute:: matrix
:annotation: = []
.. py:class:: CameraInfo
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: fov
Description
:type: int
.. attribute:: pose
Description
:type: TYPE
.. attribute:: proj_mat
Description
:type: TYPE
.. attribute:: pose
.. attribute:: fov
.. attribute:: proj_mat
.. py:class:: LidarData
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: point_cloud
:annotation: = 0.0
.. attribute:: time_stamp
.. attribute:: pose
.. py:class:: ImuData
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: time_stamp
.. attribute:: orientation
.. attribute:: angular_velocity
.. attribute:: linear_acceleration
.. py:class:: BarometerData
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: time_stamp
.. attribute:: altitude
.. attribute:: pressure
.. attribute:: qnh
.. py:class:: MagnetometerData
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: time_stamp
.. attribute:: magnetic_field_body
.. attribute:: magnetic_field_covariance
:annotation: = 0.0
.. py:class:: GnssFixType
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: GNSS_FIX_NO_FIX
:annotation: = 0
.. attribute:: GNSS_FIX_TIME_ONLY
:annotation: = 1
.. attribute:: GNSS_FIX_2D_FIX
:annotation: = 2
.. attribute:: GNSS_FIX_3D_FIX
:annotation: = 3
.. py:class:: GnssReport
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: geo_point
.. attribute:: eph
:annotation: = 0.0
.. attribute:: epv
:annotation: = 0.0
.. attribute:: velocity
.. attribute:: fix_type
.. attribute:: time_utc
.. py:class:: GpsData
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: time_stamp
.. attribute:: gnss
.. attribute:: is_valid
:annotation: = False
.. py:class:: DistanceSensorData
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: time_stamp
.. attribute:: distance
.. attribute:: min_distance
.. attribute:: max_distance
.. attribute:: relative_pose
.. py:class:: PIDGains(kp, ki, kd)
Struct to store values of PID gains. Used to transmit controller gain values while instantiating
AngleLevel/AngleRate/Velocity/PositionControllerGains objects.
.. attribute:: kP
Proportional gain
:type: float
.. attribute:: kI
Integrator gain
:type: float
.. attribute:: kD
Derivative gain
:type: float
.. method:: to_list(self)
.. py:class:: AngleRateControllerGains(roll_gains=PIDGains(0.25, 0, 0), pitch_gains=PIDGains(0.25, 0, 0), yaw_gains=PIDGains(0.25, 0, 0))
Struct to contain controller gains used by angle level PID controller
.. attribute:: roll_gains
kP, kI, kD for roll axis
:type: PIDGains
.. attribute:: pitch_gains
kP, kI, kD for pitch axis
:type: PIDGains
.. attribute:: yaw_gains
kP, kI, kD for yaw axis
:type: PIDGains
.. method:: to_lists(self)
.. py:class:: AngleLevelControllerGains(roll_gains=PIDGains(2.5, 0, 0), pitch_gains=PIDGains(2.5, 0, 0), yaw_gains=PIDGains(2.5, 0, 0))
Struct to contain controller gains used by angle rate PID controller
.. attribute:: roll_gains
kP, kI, kD for roll axis
:type: PIDGains
.. attribute:: pitch_gains
kP, kI, kD for pitch axis
:type: PIDGains
.. attribute:: yaw_gains
kP, kI, kD for yaw axis
:type: PIDGains
.. method:: to_lists(self)
.. py:class:: VelocityControllerGains(x_gains=PIDGains(0.2, 0, 0), y_gains=PIDGains(0.2, 0, 0), z_gains=PIDGains(2.0, 2.0, 0))
Struct to contain controller gains used by velocity PID controller
.. attribute:: x_gains
kP, kI, kD for X axis
:type: PIDGains
.. attribute:: y_gains
kP, kI, kD for Y axis
:type: PIDGains
.. attribute:: z_gains
kP, kI, kD for Z axis
:type: PIDGains
.. method:: to_lists(self)
.. py:class:: PositionControllerGains(x_gains=PIDGains(0.25, 0, 0), y_gains=PIDGains(0.25, 0, 0), z_gains=PIDGains(0.25, 0, 0))
Struct to contain controller gains used by position PID controller
.. attribute:: x_gains
kP, kI, kD for X axis
:type: PIDGains
.. attribute:: y_gains
kP, kI, kD for Y axis
:type: PIDGains
.. attribute:: z_gains
kP, kI, kD for Z axis
:type: PIDGains
.. method:: to_lists(self)
.. py:class:: TrajectoryTrackerGains(kp_cross_track=7.5, kd_cross_track=0.0, kp_vel_cross_track=5.0, kd_vel_cross_track=0.0, kp_along_track=0.4, kd_along_track=0.0, kp_vel_along_track=0.04, kd_vel_along_track=0.0, kp_z_track=2.0, kd_z_track=0.0, kp_vel_z=0.4, kd_vel_z=0.0, kp_yaw=3.0, kd_yaw=0.1)
Struct to contain trajectory tracker gains used by the pure pursuit controller for moveBySpline and moveBySplineVelConstraints
.. attribute:: kp_cross_track
P gain for position error measured perpendicular to path tangent, or in the "cross track" direction
:type: float
.. attribute:: kd_cross_track
D gain for position error measured perpendicular to path tangent, or in the "cross track" direction
:type: float
.. attribute:: kp_vel_cross_track
P gain for velocity error measured perpendicular to path tangent, or in the "cross track" direction
:type: float
.. attribute:: kd_vel_cross_track
D gain for velocity error measured perpendicular to path tangent, or in the "cross track" direction
:type: float
.. attribute:: kp_along_track
P gain for position error measured along path tangent
:type: float
.. attribute:: kd_along_track
D gain for position error measured along path tangent
:type: float
.. attribute:: kp_vel_along_track
P gain for velocity error measured along path tangent
:type: float
.. attribute:: kd_vel_along_track
D gain for velocity error measured along path tangent
:type: float
.. attribute:: kp_z_track
P gain for position error measured along world Z axis
:type: float
.. attribute:: kd_z_track
D gain for position error measured along world Z axis
:type: float
.. attribute:: kp_vel_z
P gain for velocity error measured along world Z axis
:type: float
.. attribute:: kd_vel_z
D gain for velocity error measured along world Z axis
:type: float
.. attribute:: kp_yaw
P gain for yaw error
:type: float
.. attribute:: kd_yaw
D gain for yaw error
:type: float
.. method:: to_list(self)
Call this before sending to setTrajectoryTrackerGains
:returns: Description
:rtype: list[float]
.. py:class:: MeshPositionVertexBuffersResponse
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: position
.. attribute:: orientation
.. attribute:: vertices
:annotation: = 0.0
.. attribute:: indices
:annotation: = 0.0
.. attribute:: name
:annotation: =
.. function:: string_to_uint8_array(bstr)
:param bstr: Description
:type bstr: TYPE
:returns: Description
:rtype: TYPE
.. function:: string_to_float_array(bstr)
:param bstr: Description
:type bstr: TYPE
:returns: Description
:rtype: TYPE
.. function:: list_to_2d_float_array(flst, width, height)
:param flst: Description
:type flst: TYPE
:param width: Description
:type width: TYPE
:param height: Description
:type height: TYPE
:returns: Description
:rtype: TYPE
.. function:: get_pfm_array(response)
:param response: Description
:type response: TYPE
:returns: Description
:rtype: TYPE
.. function:: get_public_fields(obj)
:param obj: Description
:type obj: TYPE
:returns: Description
:rtype: TYPE
.. function:: to_dict(obj)
:param obj: Description
:type obj: TYPE
:returns: Description
:rtype: TYPE
.. function:: to_str(obj)
:param obj: Description
:type obj: TYPE
:returns: Description
:rtype: TYPE
.. function:: write_file(filename, bstr)
:param filename: Description
:type filename: TYPE
:param bstr: Description
:type bstr: TYPE
.. function:: to_eularian_angles(q)
:param q: Description
:type q: TYPE
:returns: Description
:rtype: TYPE
.. function:: to_quaternion(pitch, roll, yaw)
:param pitch: Description
:type pitch: TYPE
:param roll: Description
:type roll: TYPE
:param yaw: Description
:type yaw: TYPE
:returns: Description
:rtype: TYPE
.. function:: wait_key(message='')
Wait for a key press on the console and return it.
:param message: Description
:type message: str, optional
:returns: Description
:rtype: TYPE
.. function:: read_pfm(file)
Read a pfm file
:param file: Description
:type file: TYPE
:returns: Description
:rtype: TYPE
:raises Exception: Description
.. function:: write_pfm(file, image, scale=1)
Write a pfm file
:param file: Description
:type file: TYPE
:param image: Description
:type image: TYPE
:param scale: Description
:type scale: int, optional
:raises Exception: Description
.. function:: write_png(filename, image)
image must be numpy array H X W X channels
:param filename: Description
:type filename: TYPE
:param image: Description
:type image: TYPE
.. py:class:: MsgpackMixin
.. method:: __repr__(self)
:returns: Description
:rtype: TYPE
.. method:: to_msgpack(self, *args, **kwargs)
:param \*args: Description
:param \*\*kwargs: Description
:returns: Description
:rtype: TYPE
.. method:: from_msgpack(cls, encoded)
:classmethod:
:param encoded: Description
:type encoded: TYPE
:returns: Description
:rtype: TYPE
.. py:class:: ImageType
.. attribute:: DepthPerspective
Description
:type: int
.. attribute:: DepthPlanner
Description
:type: int
.. attribute:: DepthVis
Description
:type: int
.. attribute:: DisparityNormalized
Description
:type: int
.. attribute:: Infrared
Description
:type: int
.. attribute:: Scene
Description
:type: int
.. attribute:: Segmentation
Description
:type: int
.. attribute:: SurfaceNormals
Description
:type: int
.. attribute:: Scene
:annotation: = 0
.. attribute:: DepthPlanner
:annotation: = 1
.. attribute:: DepthPerspective
:annotation: = 2
.. attribute:: DepthVis
:annotation: = 3
.. attribute:: DisparityNormalized
:annotation: = 4
.. attribute:: Segmentation
:annotation: = 5
.. attribute:: SurfaceNormals
:annotation: = 6
.. attribute:: Infrared
:annotation: = 7
.. py:class:: DrivetrainType
Type of DrivetrainType
.. attribute:: ForwardOnly
Fixes yaw along tangent of velocity vector (atan2(vy, vx))
:type: int
.. attribute:: MaxDegreeOfFreedom
Description
:type: int
.. attribute:: MaxDegreeOfFreedom
:annotation: = 0
.. attribute:: ForwardOnly
:annotation: = 1
.. py:class:: LandedState
.. attribute:: Flying
Description
:type: int
.. attribute:: Landed
Description
:type: int
.. attribute:: Landed
:annotation: = 0
.. attribute:: Flying
:annotation: = 1
.. py:class:: WeatherParameter
.. attribute:: Rain
:annotation: = 0
.. attribute:: Roadwetness
:annotation: = 1
.. attribute:: Snow
:annotation: = 2
.. attribute:: RoadSnow
:annotation: = 3
.. attribute:: MapleLeaf
:annotation: = 4
.. attribute:: RoadLeaf
:annotation: = 5
.. attribute:: Dust
:annotation: = 6
.. attribute:: Fog
:annotation: = 7
.. attribute:: Enabled
:annotation: = 8
.. py:class:: Vector3r(x_val=0.0, y_val=0.0, z_val=0.0)
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: x_val
Description
:type: float
.. attribute:: y_val
Description
:type: float
.. attribute:: z_val
Description
:type: float
.. attribute:: x_val
:annotation: = 0.0
.. attribute:: y_val
:annotation: = 0.0
.. attribute:: z_val
:annotation: = 0.0
.. method:: nanVector3r()
:staticmethod:
:returns: Description
:rtype: TYPE
.. method:: __add__(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
.. method:: __sub__(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
.. method:: __truediv__(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
.. method:: __mul__(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
.. method:: dot(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
.. method:: cross(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
.. method:: get_length(self)
:returns: Description
:rtype: TYPE
.. method:: distance_to(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
.. method:: to_Quaternionr(self)
:returns: Description
:rtype: TYPE
.. method:: to_numpy_array(self)
:returns: Description
:rtype: TYPE
.. py:class:: Quaternionr(x_val=0.0, y_val=0.0, z_val=0.0, w_val=1.0)
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: w_val
Description
:type: float
.. attribute:: x_val
Description
:type: float
.. attribute:: y_val
Description
:type: float
.. attribute:: z_val
Description
:type: float
.. attribute:: w_val
:annotation: = 0.0
.. attribute:: x_val
:annotation: = 0.0
.. attribute:: y_val
:annotation: = 0.0
.. attribute:: z_val
:annotation: = 0.0
.. method:: nanQuaternionr()
:staticmethod:
:returns: Description
:rtype: TYPE
.. method:: __add__(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
.. method:: __mul__(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
.. method:: __truediv__(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
.. method:: dot(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
.. method:: cross(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
.. method:: outer_product(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
.. method:: rotate(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
:raises ValueError: Description
.. method:: conjugate(self)
:returns: Description
:rtype: TYPE
.. method:: star(self)
:returns: Description
:rtype: TYPE
.. method:: inverse(self)
:returns: Description
:rtype: TYPE
.. method:: sgn(self)
:returns: Description
:rtype: TYPE
.. method:: get_length(self)
:returns: norm of quaternion
:rtype: float
.. method:: to_numpy_array(self)
:returns: Description
:rtype: np.array
.. py:class:: Pose(position_val=Vector3r(), orientation_val=Quaternionr())
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: orientation
Description
:type: Quaternionr
.. attribute:: position
Description
:type: Vector3r
.. attribute:: position
.. attribute:: orientation
.. method:: nanPose()
:staticmethod:
:returns: Description
:rtype: TYPE
.. py:class:: CollisionInfo
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: has_collided
Description
:type: bool
.. attribute:: impact_point
Description
:type: TYPE
.. attribute:: normal
Description
:type: TYPE
.. attribute:: object_id
Description
:type: int
.. attribute:: object_name
Description
:type: str
.. attribute:: penetration_depth
Description
:type: float
.. attribute:: position
Description
:type: TYPE
.. attribute:: time_stamp
Description
:type: float
.. attribute:: has_collided
:annotation: = False
.. attribute:: normal
.. attribute:: impact_point
.. attribute:: position
.. attribute:: penetration_depth
:annotation: = 0.0
.. attribute:: time_stamp
:annotation: = 0.0
.. attribute:: object_name
:annotation: =
.. attribute:: object_id
.. py:class:: GeoPoint
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: altitude
Description
:type: float
.. attribute:: latitude
Description
:type: float
.. attribute:: longitude
Description
:type: float
.. attribute:: latitude
:annotation: = 0.0
.. attribute:: longitude
:annotation: = 0.0
.. attribute:: altitude
:annotation: = 0.0
.. py:class:: YawMode(is_rate=True, yaw_or_rate=0.0)
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
Struct YawMode with two fields, yaw_or_rate and is_rate.
If is_rate field is True then yaw_or_rate field is interpreted as angular velocity in **degrees/sec**,
which means you want vehicle to rotate continuously around its axis at that angular velocity while moving.
If is_rate is False then yaw_or_rate is interpreted as angle in **degrees**,
which means you want vehicle to rotate to specific angle (i.e. yaw) and keep that angle while moving.
When yaw_mode.is_rate == true, the drivetrain parameter shouldn't be set to ForwardOnly because there's a contradiction
as we're asking for the drone to keep front pointing ahead, but also rotate continuously.
However if you have yaw_mode.is_rate = false in ForwardOnly mode then you can do some funky stuff.
For example, you can have drone do circles and have yaw_or_rate set to 90 so camera is always pointed to center.
In MaxDegreeofFreedom also you can get some funky stuff by setting yaw_mode.is_rate = true and say yaw_mode.yaw_or_rate = 20.
This will cause drone to go in its path while rotating which may allow to do 360 scanning.
In most cases, you just don't want yaw to change which you can do by setting yaw rate of 0.
The shorthand for this is airsim.YawMode()
.. attribute:: is_rate
if True, yaw_or_rate is interpreted as angular velocity in **degrees/sec**,
if False, yaw_or_rate is interpreted as angles in **degrees**,
:type: bool
.. attribute:: yaw_or_rate
value of desired yaw rate, or desired yaw angle. Interpretation depends upon is_rate
:type: float
.. attribute:: is_rate
:annotation: = True
.. attribute:: yaw_or_rate
:annotation: = 0.0
.. py:class:: RCData(timestamp=0, pitch=0.0, roll=0.0, throttle=0.0, yaw=0.0, switch1=0, switch2=0, switch3=0, switch4=0, switch5=0, switch6=0, switch7=0, switch8=0, is_initialized=False, is_valid=False)
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: is_initialized
Description
:type: bool
.. attribute:: is_valid
Description
:type: bool
.. attribute:: pitch
Description
:type: TYPE
.. attribute:: roll
Description
:type: TYPE
.. attribute:: switch1
Description
:type: TYPE
.. attribute:: switch2
Description
:type: TYPE
.. attribute:: switch3
Description
:type: TYPE
.. attribute:: switch4
Description
:type: TYPE
.. attribute:: switch5
Description
:type: TYPE
.. attribute:: switch6
Description
:type: TYPE
.. attribute:: switch7
Description
:type: TYPE
.. attribute:: switch8
Description
:type: TYPE
.. attribute:: throttle
Description
:type: TYPE
.. attribute:: timestamp
Description
:type: int
.. attribute:: yaw
Description
:type: TYPE
.. attribute:: timestamp
:annotation: = 0
.. attribute:: is_initialized
:annotation: = False
.. attribute:: is_valid
:annotation: = False
.. py:class:: ImageRequest(camera_name, image_type, pixels_as_float=False, compress=True)
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: camera_name
Description
:type: str
.. attribute:: compress
Description
:type: bool
.. attribute:: image_type
Description
:type: TYPE
.. attribute:: pixels_as_float
Description
:type: bool
.. attribute:: camera_name
:annotation: = 0
.. attribute:: image_type
.. attribute:: pixels_as_float
:annotation: = False
.. attribute:: compress
:annotation: = False
.. py:class:: ImageResponse
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: camera_orientation
Description
:type: TYPE
.. attribute:: camera_position
Description
:type: TYPE
.. attribute:: compress
Description
:type: bool
.. attribute:: height
Description
:type: int
.. attribute:: image_data_float
Description
:type: float
.. attribute:: image_data_uint8
Description
:type: TYPE
.. attribute:: image_type
Description
:type: TYPE
.. attribute:: message
Description
:type: str
.. attribute:: pixels_as_float
Description
:type: float
.. attribute:: time_stamp
Description
:type: TYPE
.. attribute:: width
Description
:type: int
.. attribute:: image_data_uint8
.. attribute:: image_data_float
:annotation: = 0.0
.. attribute:: camera_position
.. attribute:: camera_orientation
.. attribute:: time_stamp
.. attribute:: message
:annotation: =
.. attribute:: pixels_as_float
:annotation: = 0.0
.. attribute:: compress
:annotation: = True
.. attribute:: width
:annotation: = 0
.. attribute:: height
:annotation: = 0
.. attribute:: image_type
.. py:class:: CarControls(throttle=0, steering=0, brake=0, handbrake=False, is_manual_gear=False, manual_gear=0, gear_immediate=True)
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: throttle
:annotation: = 0.0
.. attribute:: steering
:annotation: = 0.0
.. attribute:: brake
:annotation: = 0.0
.. attribute:: handbrake
:annotation: = False
.. attribute:: is_manual_gear
:annotation: = False
.. attribute:: manual_gear
:annotation: = 0
.. attribute:: gear_immediate
:annotation: = True
.. method:: set_throttle(self, throttle_val, forward)
.. py:class:: KinematicsState
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: angular_acceleration
Description
:type: Vector3r
.. attribute:: angular_velocity
Description
:type: Vector3r
.. attribute:: linear_acceleration
Description
:type: Vector3r
.. attribute:: linear_velocity
Description
:type: Vector3r
.. attribute:: orientation
Description
:type: Quaternionr
.. attribute:: position
Description
:type: Vector3r
.. attribute:: position
.. attribute:: orientation
.. attribute:: linear_velocity
.. attribute:: angular_velocity
.. attribute:: linear_acceleration
.. attribute:: angular_acceleration
.. py:class:: EnvironmentState
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: position
.. attribute:: geo_point
.. attribute:: gravity
.. attribute:: air_pressure
:annotation: = 0.0
.. attribute:: temperature
:annotation: = 0.0
.. attribute:: air_density
:annotation: = 0.0
.. py:class:: CarState
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: speed
:annotation: = 0.0
.. attribute:: gear
:annotation: = 0
.. attribute:: rpm
:annotation: = 0.0
.. attribute:: maxrpm
:annotation: = 0.0
.. attribute:: handbrake
:annotation: = False
.. attribute:: collision
.. attribute:: kinematics_estimated
.. attribute:: timestamp
.. py:class:: MultirotorState
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: collision
Description
:type: CollisionInfo
.. attribute:: gps_location
Description
:type: GeoPoint
.. attribute:: kinematics_estimated
Description
:type: KinematicsState
.. attribute:: landed_state
Description
:type: LandedState.Landed
.. attribute:: rc_data
Description
:type: RCData
.. attribute:: timestamp
Description
:type: np.uint64
.. attribute:: collision
.. attribute:: kinematics_estimated
.. attribute:: gps_location
.. attribute:: timestamp
.. attribute:: landed_state
.. attribute:: rc_data
.. py:class:: ProjectionMatrix
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: matrix
Description
:type: list
.. attribute:: matrix
:annotation: = []
.. py:class:: CameraInfo
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: fov
Description
:type: int
.. attribute:: pose
Description
:type: TYPE
.. attribute:: proj_mat
Description
:type: TYPE
.. attribute:: pose
.. attribute:: fov
.. attribute:: proj_mat
.. py:class:: LidarData
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: point_cloud
:annotation: = 0.0
.. attribute:: time_stamp
.. attribute:: pose
.. py:class:: ImuData
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: time_stamp
.. attribute:: orientation
.. attribute:: angular_velocity
.. attribute:: linear_acceleration
.. py:class:: BarometerData
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: time_stamp
.. attribute:: altitude
.. attribute:: pressure
.. attribute:: qnh
.. py:class:: MagnetometerData
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: time_stamp
.. attribute:: magnetic_field_body
.. attribute:: magnetic_field_covariance
:annotation: = 0.0
.. py:class:: GnssFixType
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: GNSS_FIX_NO_FIX
:annotation: = 0
.. attribute:: GNSS_FIX_TIME_ONLY
:annotation: = 1
.. attribute:: GNSS_FIX_2D_FIX
:annotation: = 2
.. attribute:: GNSS_FIX_3D_FIX
:annotation: = 3
.. py:class:: GnssReport
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: geo_point
.. attribute:: eph
:annotation: = 0.0
.. attribute:: epv
:annotation: = 0.0
.. attribute:: velocity
.. attribute:: fix_type
.. attribute:: time_utc
.. py:class:: GpsData
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: time_stamp
.. attribute:: gnss
.. attribute:: is_valid
:annotation: = False
.. py:class:: DistanceSensorData
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: time_stamp
.. attribute:: distance
.. attribute:: min_distance
.. attribute:: max_distance
.. attribute:: relative_pose
.. py:class:: PIDGains(kp, ki, kd)
Struct to store values of PID gains. Used to transmit controller gain values while instantiating
AngleLevel/AngleRate/Velocity/PositionControllerGains objects.
.. attribute:: kP
Proportional gain
:type: float
.. attribute:: kI
Integrator gain
:type: float
.. attribute:: kD
Derivative gain
:type: float
.. method:: to_list(self)
.. py:class:: AngleRateControllerGains(roll_gains=PIDGains(0.25, 0, 0), pitch_gains=PIDGains(0.25, 0, 0), yaw_gains=PIDGains(0.25, 0, 0))
Struct to contain controller gains used by angle level PID controller
.. attribute:: roll_gains
kP, kI, kD for roll axis
:type: PIDGains
.. attribute:: pitch_gains
kP, kI, kD for pitch axis
:type: PIDGains
.. attribute:: yaw_gains
kP, kI, kD for yaw axis
:type: PIDGains
.. method:: to_lists(self)
.. py:class:: AngleLevelControllerGains(roll_gains=PIDGains(2.5, 0, 0), pitch_gains=PIDGains(2.5, 0, 0), yaw_gains=PIDGains(2.5, 0, 0))
Struct to contain controller gains used by angle rate PID controller
.. attribute:: roll_gains
kP, kI, kD for roll axis
:type: PIDGains
.. attribute:: pitch_gains
kP, kI, kD for pitch axis
:type: PIDGains
.. attribute:: yaw_gains
kP, kI, kD for yaw axis
:type: PIDGains
.. method:: to_lists(self)
.. py:class:: VelocityControllerGains(x_gains=PIDGains(0.2, 0, 0), y_gains=PIDGains(0.2, 0, 0), z_gains=PIDGains(2.0, 2.0, 0))
Struct to contain controller gains used by velocity PID controller
.. attribute:: x_gains
kP, kI, kD for X axis
:type: PIDGains
.. attribute:: y_gains
kP, kI, kD for Y axis
:type: PIDGains
.. attribute:: z_gains
kP, kI, kD for Z axis
:type: PIDGains
.. method:: to_lists(self)
.. py:class:: PositionControllerGains(x_gains=PIDGains(0.25, 0, 0), y_gains=PIDGains(0.25, 0, 0), z_gains=PIDGains(0.25, 0, 0))
Struct to contain controller gains used by position PID controller
.. attribute:: x_gains
kP, kI, kD for X axis
:type: PIDGains
.. attribute:: y_gains
kP, kI, kD for Y axis
:type: PIDGains
.. attribute:: z_gains
kP, kI, kD for Z axis
:type: PIDGains
.. method:: to_lists(self)
.. py:class:: TrajectoryTrackerGains(kp_cross_track=7.5, kd_cross_track=0.0, kp_vel_cross_track=5.0, kd_vel_cross_track=0.0, kp_along_track=0.4, kd_along_track=0.0, kp_vel_along_track=0.04, kd_vel_along_track=0.0, kp_z_track=2.0, kd_z_track=0.0, kp_vel_z=0.4, kd_vel_z=0.0, kp_yaw=3.0, kd_yaw=0.1)
Struct to contain trajectory tracker gains used by the pure pursuit controller for moveBySpline and moveBySplineVelConstraints
.. attribute:: kp_cross_track
P gain for position error measured perpendicular to path tangent, or in the "cross track" direction
:type: float
.. attribute:: kd_cross_track
D gain for position error measured perpendicular to path tangent, or in the "cross track" direction
:type: float
.. attribute:: kp_vel_cross_track
P gain for velocity error measured perpendicular to path tangent, or in the "cross track" direction
:type: float
.. attribute:: kd_vel_cross_track
D gain for velocity error measured perpendicular to path tangent, or in the "cross track" direction
:type: float
.. attribute:: kp_along_track
P gain for position error measured along path tangent
:type: float
.. attribute:: kd_along_track
D gain for position error measured along path tangent
:type: float
.. attribute:: kp_vel_along_track
P gain for velocity error measured along path tangent
:type: float
.. attribute:: kd_vel_along_track
D gain for velocity error measured along path tangent
:type: float
.. attribute:: kp_z_track
P gain for position error measured along world Z axis
:type: float
.. attribute:: kd_z_track
D gain for position error measured along world Z axis
:type: float
.. attribute:: kp_vel_z
P gain for velocity error measured along world Z axis
:type: float
.. attribute:: kd_vel_z
D gain for velocity error measured along world Z axis
:type: float
.. attribute:: kp_yaw
P gain for yaw error
:type: float
.. attribute:: kd_yaw
D gain for yaw error
:type: float
.. method:: to_list(self)
Call this before sending to setTrajectoryTrackerGains
:returns: Description
:rtype: list[float]
.. py:class:: MeshPositionVertexBuffersResponse
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: position
.. attribute:: orientation
.. attribute:: vertices
:annotation: = 0.0
.. attribute:: indices
:annotation: = 0.0
.. attribute:: name
:annotation: =
.. py:class:: MsgpackMixin
.. method:: __repr__(self)
:returns: Description
:rtype: TYPE
.. method:: to_msgpack(self, *args, **kwargs)
:param \*args: Description
:param \*\*kwargs: Description
:returns: Description
:rtype: TYPE
.. method:: from_msgpack(cls, encoded)
:classmethod:
:param encoded: Description
:type encoded: TYPE
:returns: Description
:rtype: TYPE
.. py:class:: ImageType
.. attribute:: DepthPerspective
Description
:type: int
.. attribute:: DepthPlanner
Description
:type: int
.. attribute:: DepthVis
Description
:type: int
.. attribute:: DisparityNormalized
Description
:type: int
.. attribute:: Infrared
Description
:type: int
.. attribute:: Scene
Description
:type: int
.. attribute:: Segmentation
Description
:type: int
.. attribute:: SurfaceNormals
Description
:type: int
.. attribute:: Scene
:annotation: = 0
.. attribute:: DepthPlanner
:annotation: = 1
.. attribute:: DepthPerspective
:annotation: = 2
.. attribute:: DepthVis
:annotation: = 3
.. attribute:: DisparityNormalized
:annotation: = 4
.. attribute:: Segmentation
:annotation: = 5
.. attribute:: SurfaceNormals
:annotation: = 6
.. attribute:: Infrared
:annotation: = 7
.. py:class:: DrivetrainType
Type of DrivetrainType
.. attribute:: ForwardOnly
Fixes yaw along tangent of velocity vector (atan2(vy, vx))
:type: int
.. attribute:: MaxDegreeOfFreedom
Description
:type: int
.. attribute:: MaxDegreeOfFreedom
:annotation: = 0
.. attribute:: ForwardOnly
:annotation: = 1
.. py:class:: LandedState
.. attribute:: Flying
Description
:type: int
.. attribute:: Landed
Description
:type: int
.. attribute:: Landed
:annotation: = 0
.. attribute:: Flying
:annotation: = 1
.. py:class:: WeatherParameter
.. attribute:: Rain
:annotation: = 0
.. attribute:: Roadwetness
:annotation: = 1
.. attribute:: Snow
:annotation: = 2
.. attribute:: RoadSnow
:annotation: = 3
.. attribute:: MapleLeaf
:annotation: = 4
.. attribute:: RoadLeaf
:annotation: = 5
.. attribute:: Dust
:annotation: = 6
.. attribute:: Fog
:annotation: = 7
.. attribute:: Enabled
:annotation: = 8
.. py:class:: Vector3r(x_val=0.0, y_val=0.0, z_val=0.0)
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: x_val
Description
:type: float
.. attribute:: y_val
Description
:type: float
.. attribute:: z_val
Description
:type: float
.. attribute:: x_val
:annotation: = 0.0
.. attribute:: y_val
:annotation: = 0.0
.. attribute:: z_val
:annotation: = 0.0
.. method:: nanVector3r()
:staticmethod:
:returns: Description
:rtype: TYPE
.. method:: __add__(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
.. method:: __sub__(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
.. method:: __truediv__(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
.. method:: __mul__(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
.. method:: dot(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
.. method:: cross(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
.. method:: get_length(self)
:returns: Description
:rtype: TYPE
.. method:: distance_to(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
.. method:: to_Quaternionr(self)
:returns: Description
:rtype: TYPE
.. method:: to_numpy_array(self)
:returns: Description
:rtype: TYPE
.. py:class:: Quaternionr(x_val=0.0, y_val=0.0, z_val=0.0, w_val=1.0)
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: w_val
Description
:type: float
.. attribute:: x_val
Description
:type: float
.. attribute:: y_val
Description
:type: float
.. attribute:: z_val
Description
:type: float
.. attribute:: w_val
:annotation: = 0.0
.. attribute:: x_val
:annotation: = 0.0
.. attribute:: y_val
:annotation: = 0.0
.. attribute:: z_val
:annotation: = 0.0
.. method:: nanQuaternionr()
:staticmethod:
:returns: Description
:rtype: TYPE
.. method:: __add__(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
.. method:: __mul__(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
.. method:: __truediv__(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
.. method:: dot(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
.. method:: cross(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
.. method:: outer_product(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
.. method:: rotate(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
:raises ValueError: Description
.. method:: conjugate(self)
:returns: Description
:rtype: TYPE
.. method:: star(self)
:returns: Description
:rtype: TYPE
.. method:: inverse(self)
:returns: Description
:rtype: TYPE
.. method:: sgn(self)
:returns: Description
:rtype: TYPE
.. method:: get_length(self)
:returns: norm of quaternion
:rtype: float
.. method:: to_numpy_array(self)
:returns: Description
:rtype: np.array
.. py:class:: Pose(position_val=Vector3r(), orientation_val=Quaternionr())
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: orientation
Description
:type: Quaternionr
.. attribute:: position
Description
:type: Vector3r
.. attribute:: position
.. attribute:: orientation
.. method:: nanPose()
:staticmethod:
:returns: Description
:rtype: TYPE
.. py:class:: CollisionInfo
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: has_collided
Description
:type: bool
.. attribute:: impact_point
Description
:type: TYPE
.. attribute:: normal
Description
:type: TYPE
.. attribute:: object_id
Description
:type: int
.. attribute:: object_name
Description
:type: str
.. attribute:: penetration_depth
Description
:type: float
.. attribute:: position
Description
:type: TYPE
.. attribute:: time_stamp
Description
:type: float
.. attribute:: has_collided
:annotation: = False
.. attribute:: normal
.. attribute:: impact_point
.. attribute:: position
.. attribute:: penetration_depth
:annotation: = 0.0
.. attribute:: time_stamp
:annotation: = 0.0
.. attribute:: object_name
:annotation: =
.. attribute:: object_id
.. py:class:: GeoPoint
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: altitude
Description
:type: float
.. attribute:: latitude
Description
:type: float
.. attribute:: longitude
Description
:type: float
.. attribute:: latitude
:annotation: = 0.0
.. attribute:: longitude
:annotation: = 0.0
.. attribute:: altitude
:annotation: = 0.0
.. py:class:: YawMode(is_rate=True, yaw_or_rate=0.0)
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
Struct YawMode with two fields, yaw_or_rate and is_rate.
If is_rate field is True then yaw_or_rate field is interpreted as angular velocity in **degrees/sec**,
which means you want vehicle to rotate continuously around its axis at that angular velocity while moving.
If is_rate is False then yaw_or_rate is interpreted as angle in **degrees**,
which means you want vehicle to rotate to specific angle (i.e. yaw) and keep that angle while moving.
When yaw_mode.is_rate == true, the drivetrain parameter shouldn't be set to ForwardOnly because there's a contradiction
as we're asking for the drone to keep front pointing ahead, but also rotate continuously.
However if you have yaw_mode.is_rate = false in ForwardOnly mode then you can do some funky stuff.
For example, you can have drone do circles and have yaw_or_rate set to 90 so camera is always pointed to center.
In MaxDegreeofFreedom also you can get some funky stuff by setting yaw_mode.is_rate = true and say yaw_mode.yaw_or_rate = 20.
This will cause drone to go in its path while rotating which may allow to do 360 scanning.
In most cases, you just don't want yaw to change which you can do by setting yaw rate of 0.
The shorthand for this is airsim.YawMode()
.. attribute:: is_rate
if True, yaw_or_rate is interpreted as angular velocity in **degrees/sec**,
if False, yaw_or_rate is interpreted as angles in **degrees**,
:type: bool
.. attribute:: yaw_or_rate
value of desired yaw rate, or desired yaw angle. Interpretation depends upon is_rate
:type: float
.. attribute:: is_rate
:annotation: = True
.. attribute:: yaw_or_rate
:annotation: = 0.0
.. py:class:: RCData(timestamp=0, pitch=0.0, roll=0.0, throttle=0.0, yaw=0.0, switch1=0, switch2=0, switch3=0, switch4=0, switch5=0, switch6=0, switch7=0, switch8=0, is_initialized=False, is_valid=False)
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: is_initialized
Description
:type: bool
.. attribute:: is_valid
Description
:type: bool
.. attribute:: pitch
Description
:type: TYPE
.. attribute:: roll
Description
:type: TYPE
.. attribute:: switch1
Description
:type: TYPE
.. attribute:: switch2
Description
:type: TYPE
.. attribute:: switch3
Description
:type: TYPE
.. attribute:: switch4
Description
:type: TYPE
.. attribute:: switch5
Description
:type: TYPE
.. attribute:: switch6
Description
:type: TYPE
.. attribute:: switch7
Description
:type: TYPE
.. attribute:: switch8
Description
:type: TYPE
.. attribute:: throttle
Description
:type: TYPE
.. attribute:: timestamp
Description
:type: int
.. attribute:: yaw
Description
:type: TYPE
.. attribute:: timestamp
:annotation: = 0
.. attribute:: is_initialized
:annotation: = False
.. attribute:: is_valid
:annotation: = False
.. py:class:: ImageRequest(camera_name, image_type, pixels_as_float=False, compress=True)
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: camera_name
Description
:type: str
.. attribute:: compress
Description
:type: bool
.. attribute:: image_type
Description
:type: TYPE
.. attribute:: pixels_as_float
Description
:type: bool
.. attribute:: camera_name
:annotation: = 0
.. attribute:: image_type
.. attribute:: pixels_as_float
:annotation: = False
.. attribute:: compress
:annotation: = False
.. py:class:: ImageResponse
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: camera_orientation
Description
:type: TYPE
.. attribute:: camera_position
Description
:type: TYPE
.. attribute:: compress
Description
:type: bool
.. attribute:: height
Description
:type: int
.. attribute:: image_data_float
Description
:type: float
.. attribute:: image_data_uint8
Description
:type: TYPE
.. attribute:: image_type
Description
:type: TYPE
.. attribute:: message
Description
:type: str
.. attribute:: pixels_as_float
Description
:type: float
.. attribute:: time_stamp
Description
:type: TYPE
.. attribute:: width
Description
:type: int
.. attribute:: image_data_uint8
.. attribute:: image_data_float
:annotation: = 0.0
.. attribute:: camera_position
.. attribute:: camera_orientation
.. attribute:: time_stamp
.. attribute:: message
:annotation: =
.. attribute:: pixels_as_float
:annotation: = 0.0
.. attribute:: compress
:annotation: = True
.. attribute:: width
:annotation: = 0
.. attribute:: height
:annotation: = 0
.. attribute:: image_type
.. py:class:: CarControls(throttle=0, steering=0, brake=0, handbrake=False, is_manual_gear=False, manual_gear=0, gear_immediate=True)
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: throttle
:annotation: = 0.0
.. attribute:: steering
:annotation: = 0.0
.. attribute:: brake
:annotation: = 0.0
.. attribute:: handbrake
:annotation: = False
.. attribute:: is_manual_gear
:annotation: = False
.. attribute:: manual_gear
:annotation: = 0
.. attribute:: gear_immediate
:annotation: = True
.. method:: set_throttle(self, throttle_val, forward)
.. py:class:: KinematicsState
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: angular_acceleration
Description
:type: Vector3r
.. attribute:: angular_velocity
Description
:type: Vector3r
.. attribute:: linear_acceleration
Description
:type: Vector3r
.. attribute:: linear_velocity
Description
:type: Vector3r
.. attribute:: orientation
Description
:type: Quaternionr
.. attribute:: position
Description
:type: Vector3r
.. attribute:: position
.. attribute:: orientation
.. attribute:: linear_velocity
.. attribute:: angular_velocity
.. attribute:: linear_acceleration
.. attribute:: angular_acceleration
.. py:class:: EnvironmentState
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: position
.. attribute:: geo_point
.. attribute:: gravity
.. attribute:: air_pressure
:annotation: = 0.0
.. attribute:: temperature
:annotation: = 0.0
.. attribute:: air_density
:annotation: = 0.0
.. py:class:: CarState
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: speed
:annotation: = 0.0
.. attribute:: gear
:annotation: = 0
.. attribute:: rpm
:annotation: = 0.0
.. attribute:: maxrpm
:annotation: = 0.0
.. attribute:: handbrake
:annotation: = False
.. attribute:: collision
.. attribute:: kinematics_estimated
.. attribute:: timestamp
.. py:class:: MultirotorState
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: collision
Description
:type: CollisionInfo
.. attribute:: gps_location
Description
:type: GeoPoint
.. attribute:: kinematics_estimated
Description
:type: KinematicsState
.. attribute:: landed_state
Description
:type: LandedState.Landed
.. attribute:: rc_data
Description
:type: RCData
.. attribute:: timestamp
Description
:type: np.uint64
.. attribute:: collision
.. attribute:: kinematics_estimated
.. attribute:: gps_location
.. attribute:: timestamp
.. attribute:: landed_state
.. attribute:: rc_data
.. py:class:: ProjectionMatrix
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: matrix
Description
:type: list
.. attribute:: matrix
:annotation: = []
.. py:class:: CameraInfo
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: fov
Description
:type: int
.. attribute:: pose
Description
:type: TYPE
.. attribute:: proj_mat
Description
:type: TYPE
.. attribute:: pose
.. attribute:: fov
.. attribute:: proj_mat
.. py:class:: LidarData
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: point_cloud
:annotation: = 0.0
.. attribute:: time_stamp
.. attribute:: pose
.. py:class:: ImuData
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: time_stamp
.. attribute:: orientation
.. attribute:: angular_velocity
.. attribute:: linear_acceleration
.. py:class:: BarometerData
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: time_stamp
.. attribute:: altitude
.. attribute:: pressure
.. attribute:: qnh
.. py:class:: MagnetometerData
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: time_stamp
.. attribute:: magnetic_field_body
.. attribute:: magnetic_field_covariance
:annotation: = 0.0
.. py:class:: GnssFixType
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: GNSS_FIX_NO_FIX
:annotation: = 0
.. attribute:: GNSS_FIX_TIME_ONLY
:annotation: = 1
.. attribute:: GNSS_FIX_2D_FIX
:annotation: = 2
.. attribute:: GNSS_FIX_3D_FIX
:annotation: = 3
.. py:class:: GnssReport
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: geo_point
.. attribute:: eph
:annotation: = 0.0
.. attribute:: epv
:annotation: = 0.0
.. attribute:: velocity
.. attribute:: fix_type
.. attribute:: time_utc
.. py:class:: GpsData
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: time_stamp
.. attribute:: gnss
.. attribute:: is_valid
:annotation: = False
.. py:class:: DistanceSensorData
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: time_stamp
.. attribute:: distance
.. attribute:: min_distance
.. attribute:: max_distance
.. attribute:: relative_pose
.. py:class:: PIDGains(kp, ki, kd)
Struct to store values of PID gains. Used to transmit controller gain values while instantiating
AngleLevel/AngleRate/Velocity/PositionControllerGains objects.
.. attribute:: kP
Proportional gain
:type: float
.. attribute:: kI
Integrator gain
:type: float
.. attribute:: kD
Derivative gain
:type: float
.. method:: to_list(self)
.. py:class:: AngleRateControllerGains(roll_gains=PIDGains(0.25, 0, 0), pitch_gains=PIDGains(0.25, 0, 0), yaw_gains=PIDGains(0.25, 0, 0))
Struct to contain controller gains used by angle level PID controller
.. attribute:: roll_gains
kP, kI, kD for roll axis
:type: PIDGains
.. attribute:: pitch_gains
kP, kI, kD for pitch axis
:type: PIDGains
.. attribute:: yaw_gains
kP, kI, kD for yaw axis
:type: PIDGains
.. method:: to_lists(self)
.. py:class:: AngleLevelControllerGains(roll_gains=PIDGains(2.5, 0, 0), pitch_gains=PIDGains(2.5, 0, 0), yaw_gains=PIDGains(2.5, 0, 0))
Struct to contain controller gains used by angle rate PID controller
.. attribute:: roll_gains
kP, kI, kD for roll axis
:type: PIDGains
.. attribute:: pitch_gains
kP, kI, kD for pitch axis
:type: PIDGains
.. attribute:: yaw_gains
kP, kI, kD for yaw axis
:type: PIDGains
.. method:: to_lists(self)
.. py:class:: VelocityControllerGains(x_gains=PIDGains(0.2, 0, 0), y_gains=PIDGains(0.2, 0, 0), z_gains=PIDGains(2.0, 2.0, 0))
Struct to contain controller gains used by velocity PID controller
.. attribute:: x_gains
kP, kI, kD for X axis
:type: PIDGains
.. attribute:: y_gains
kP, kI, kD for Y axis
:type: PIDGains
.. attribute:: z_gains
kP, kI, kD for Z axis
:type: PIDGains
.. method:: to_lists(self)
.. py:class:: PositionControllerGains(x_gains=PIDGains(0.25, 0, 0), y_gains=PIDGains(0.25, 0, 0), z_gains=PIDGains(0.25, 0, 0))
Struct to contain controller gains used by position PID controller
.. attribute:: x_gains
kP, kI, kD for X axis
:type: PIDGains
.. attribute:: y_gains
kP, kI, kD for Y axis
:type: PIDGains
.. attribute:: z_gains
kP, kI, kD for Z axis
:type: PIDGains
.. method:: to_lists(self)
.. py:class:: TrajectoryTrackerGains(kp_cross_track=7.5, kd_cross_track=0.0, kp_vel_cross_track=5.0, kd_vel_cross_track=0.0, kp_along_track=0.4, kd_along_track=0.0, kp_vel_along_track=0.04, kd_vel_along_track=0.0, kp_z_track=2.0, kd_z_track=0.0, kp_vel_z=0.4, kd_vel_z=0.0, kp_yaw=3.0, kd_yaw=0.1)
Struct to contain trajectory tracker gains used by the pure pursuit controller for moveBySpline and moveBySplineVelConstraints
.. attribute:: kp_cross_track
P gain for position error measured perpendicular to path tangent, or in the "cross track" direction
:type: float
.. attribute:: kd_cross_track
D gain for position error measured perpendicular to path tangent, or in the "cross track" direction
:type: float
.. attribute:: kp_vel_cross_track
P gain for velocity error measured perpendicular to path tangent, or in the "cross track" direction
:type: float
.. attribute:: kd_vel_cross_track
D gain for velocity error measured perpendicular to path tangent, or in the "cross track" direction
:type: float
.. attribute:: kp_along_track
P gain for position error measured along path tangent
:type: float
.. attribute:: kd_along_track
D gain for position error measured along path tangent
:type: float
.. attribute:: kp_vel_along_track
P gain for velocity error measured along path tangent
:type: float
.. attribute:: kd_vel_along_track
D gain for velocity error measured along path tangent
:type: float
.. attribute:: kp_z_track
P gain for position error measured along world Z axis
:type: float
.. attribute:: kd_z_track
D gain for position error measured along world Z axis
:type: float
.. attribute:: kp_vel_z
P gain for velocity error measured along world Z axis
:type: float
.. attribute:: kd_vel_z
D gain for velocity error measured along world Z axis
:type: float
.. attribute:: kp_yaw
P gain for yaw error
:type: float
.. attribute:: kd_yaw
D gain for yaw error
:type: float
.. method:: to_list(self)
Call this before sending to setTrajectoryTrackerGains
:returns: Description
:rtype: list[float]
.. py:class:: MeshPositionVertexBuffersResponse
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: position
.. attribute:: orientation
.. attribute:: vertices
:annotation: = 0.0
.. attribute:: indices
:annotation: = 0.0
.. attribute:: name
:annotation: =
.. py:class:: BaselineRacer(client, viz_traj=True, viz_traj_color_rgba=[1.0, 0.0, 0.0, 1.0])
Bases: :class:`object`
Class for drone_2, which flies through gates using moveOnSpline when simStartRace is called.
.. method:: initialize_drone(self)
.. method:: takeoffAsync(self)
.. method:: takeoff_with_moveOnSpline(self, takeoff_height=0.1)
.. method:: get_ground_truth_gate_poses(self)
.. method:: fly_through_all_gates_at_once_with_moveOnSpline(self)
.. method:: takeoff_and_fly_through_all_gates_at_once_with_moveOnSpline(self)
.. method:: run_in_thread(self)
.. function:: string_to_uint8_array(bstr)
:param bstr: Description
:type bstr: TYPE
:returns: Description
:rtype: TYPE
.. function:: string_to_float_array(bstr)
:param bstr: Description
:type bstr: TYPE
:returns: Description
:rtype: TYPE
.. function:: list_to_2d_float_array(flst, width, height)
:param flst: Description
:type flst: TYPE
:param width: Description
:type width: TYPE
:param height: Description
:type height: TYPE
:returns: Description
:rtype: TYPE
.. function:: get_pfm_array(response)
:param response: Description
:type response: TYPE
:returns: Description
:rtype: TYPE
.. function:: get_public_fields(obj)
:param obj: Description
:type obj: TYPE
:returns: Description
:rtype: TYPE
.. function:: to_dict(obj)
:param obj: Description
:type obj: TYPE
:returns: Description
:rtype: TYPE
.. function:: to_str(obj)
:param obj: Description
:type obj: TYPE
:returns: Description
:rtype: TYPE
.. function:: write_file(filename, bstr)
:param filename: Description
:type filename: TYPE
:param bstr: Description
:type bstr: TYPE
.. function:: to_eularian_angles(q)
:param q: Description
:type q: TYPE
:returns: Description
:rtype: TYPE
.. function:: to_quaternion(pitch, roll, yaw)
:param pitch: Description
:type pitch: TYPE
:param roll: Description
:type roll: TYPE
:param yaw: Description
:type yaw: TYPE
:returns: Description
:rtype: TYPE
.. function:: wait_key(message='')
Wait for a key press on the console and return it.
:param message: Description
:type message: str, optional
:returns: Description
:rtype: TYPE
.. function:: read_pfm(file)
Read a pfm file
:param file: Description
:type file: TYPE
:returns: Description
:rtype: TYPE
:raises Exception: Description
.. function:: write_pfm(file, image, scale=1)
Write a pfm file
:param file: Description
:type file: TYPE
:param image: Description
:type image: TYPE
:param scale: Description
:type scale: int, optional
:raises Exception: Description
.. function:: write_png(filename, image)
image must be numpy array H X W X channels
:param filename: Description
:type filename: TYPE
:param image: Description
:type image: TYPE
.. py:class:: MsgpackMixin
.. method:: __repr__(self)
:returns: Description
:rtype: TYPE
.. method:: to_msgpack(self, *args, **kwargs)
:param \*args: Description
:param \*\*kwargs: Description
:returns: Description
:rtype: TYPE
.. method:: from_msgpack(cls, encoded)
:classmethod:
:param encoded: Description
:type encoded: TYPE
:returns: Description
:rtype: TYPE
.. py:class:: ImageType
.. attribute:: DepthPerspective
Description
:type: int
.. attribute:: DepthPlanner
Description
:type: int
.. attribute:: DepthVis
Description
:type: int
.. attribute:: DisparityNormalized
Description
:type: int
.. attribute:: Infrared
Description
:type: int
.. attribute:: Scene
Description
:type: int
.. attribute:: Segmentation
Description
:type: int
.. attribute:: SurfaceNormals
Description
:type: int
.. attribute:: Scene
:annotation: = 0
.. attribute:: DepthPlanner
:annotation: = 1
.. attribute:: DepthPerspective
:annotation: = 2
.. attribute:: DepthVis
:annotation: = 3
.. attribute:: DisparityNormalized
:annotation: = 4
.. attribute:: Segmentation
:annotation: = 5
.. attribute:: SurfaceNormals
:annotation: = 6
.. attribute:: Infrared
:annotation: = 7
.. py:class:: DrivetrainType
Type of DrivetrainType
.. attribute:: ForwardOnly
Fixes yaw along tangent of velocity vector (atan2(vy, vx))
:type: int
.. attribute:: MaxDegreeOfFreedom
Description
:type: int
.. attribute:: MaxDegreeOfFreedom
:annotation: = 0
.. attribute:: ForwardOnly
:annotation: = 1
.. py:class:: LandedState
.. attribute:: Flying
Description
:type: int
.. attribute:: Landed
Description
:type: int
.. attribute:: Landed
:annotation: = 0
.. attribute:: Flying
:annotation: = 1
.. py:class:: WeatherParameter
.. attribute:: Rain
:annotation: = 0
.. attribute:: Roadwetness
:annotation: = 1
.. attribute:: Snow
:annotation: = 2
.. attribute:: RoadSnow
:annotation: = 3
.. attribute:: MapleLeaf
:annotation: = 4
.. attribute:: RoadLeaf
:annotation: = 5
.. attribute:: Dust
:annotation: = 6
.. attribute:: Fog
:annotation: = 7
.. attribute:: Enabled
:annotation: = 8
.. py:class:: Vector3r(x_val=0.0, y_val=0.0, z_val=0.0)
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: x_val
Description
:type: float
.. attribute:: y_val
Description
:type: float
.. attribute:: z_val
Description
:type: float
.. attribute:: x_val
:annotation: = 0.0
.. attribute:: y_val
:annotation: = 0.0
.. attribute:: z_val
:annotation: = 0.0
.. method:: nanVector3r()
:staticmethod:
:returns: Description
:rtype: TYPE
.. method:: __add__(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
.. method:: __sub__(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
.. method:: __truediv__(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
.. method:: __mul__(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
.. method:: dot(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
.. method:: cross(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
.. method:: get_length(self)
:returns: Description
:rtype: TYPE
.. method:: distance_to(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
.. method:: to_Quaternionr(self)
:returns: Description
:rtype: TYPE
.. method:: to_numpy_array(self)
:returns: Description
:rtype: TYPE
.. py:class:: Quaternionr(x_val=0.0, y_val=0.0, z_val=0.0, w_val=1.0)
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: w_val
Description
:type: float
.. attribute:: x_val
Description
:type: float
.. attribute:: y_val
Description
:type: float
.. attribute:: z_val
Description
:type: float
.. attribute:: w_val
:annotation: = 0.0
.. attribute:: x_val
:annotation: = 0.0
.. attribute:: y_val
:annotation: = 0.0
.. attribute:: z_val
:annotation: = 0.0
.. method:: nanQuaternionr()
:staticmethod:
:returns: Description
:rtype: TYPE
.. method:: __add__(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
.. method:: __mul__(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
.. method:: __truediv__(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
.. method:: dot(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
.. method:: cross(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
.. method:: outer_product(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
.. method:: rotate(self, other)
:param other: Description
:type other: TYPE
:returns: Description
:rtype: TYPE
:raises TypeError: Description
:raises ValueError: Description
.. method:: conjugate(self)
:returns: Description
:rtype: TYPE
.. method:: star(self)
:returns: Description
:rtype: TYPE
.. method:: inverse(self)
:returns: Description
:rtype: TYPE
.. method:: sgn(self)
:returns: Description
:rtype: TYPE
.. method:: get_length(self)
:returns: norm of quaternion
:rtype: float
.. method:: to_numpy_array(self)
:returns: Description
:rtype: np.array
.. py:class:: Pose(position_val=Vector3r(), orientation_val=Quaternionr())
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: orientation
Description
:type: Quaternionr
.. attribute:: position
Description
:type: Vector3r
.. attribute:: position
.. attribute:: orientation
.. method:: nanPose()
:staticmethod:
:returns: Description
:rtype: TYPE
.. py:class:: CollisionInfo
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: has_collided
Description
:type: bool
.. attribute:: impact_point
Description
:type: TYPE
.. attribute:: normal
Description
:type: TYPE
.. attribute:: object_id
Description
:type: int
.. attribute:: object_name
Description
:type: str
.. attribute:: penetration_depth
Description
:type: float
.. attribute:: position
Description
:type: TYPE
.. attribute:: time_stamp
Description
:type: float
.. attribute:: has_collided
:annotation: = False
.. attribute:: normal
.. attribute:: impact_point
.. attribute:: position
.. attribute:: penetration_depth
:annotation: = 0.0
.. attribute:: time_stamp
:annotation: = 0.0
.. attribute:: object_name
:annotation: =
.. attribute:: object_id
.. py:class:: GeoPoint
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: altitude
Description
:type: float
.. attribute:: latitude
Description
:type: float
.. attribute:: longitude
Description
:type: float
.. attribute:: latitude
:annotation: = 0.0
.. attribute:: longitude
:annotation: = 0.0
.. attribute:: altitude
:annotation: = 0.0
.. py:class:: YawMode(is_rate=True, yaw_or_rate=0.0)
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
Struct YawMode with two fields, yaw_or_rate and is_rate.
If is_rate field is True then yaw_or_rate field is interpreted as angular velocity in **degrees/sec**,
which means you want vehicle to rotate continuously around its axis at that angular velocity while moving.
If is_rate is False then yaw_or_rate is interpreted as angle in **degrees**,
which means you want vehicle to rotate to specific angle (i.e. yaw) and keep that angle while moving.
When yaw_mode.is_rate == true, the drivetrain parameter shouldn't be set to ForwardOnly because there's a contradiction
as we're asking for the drone to keep front pointing ahead, but also rotate continuously.
However if you have yaw_mode.is_rate = false in ForwardOnly mode then you can do some funky stuff.
For example, you can have drone do circles and have yaw_or_rate set to 90 so camera is always pointed to center.
In MaxDegreeofFreedom also you can get some funky stuff by setting yaw_mode.is_rate = true and say yaw_mode.yaw_or_rate = 20.
This will cause drone to go in its path while rotating which may allow to do 360 scanning.
In most cases, you just don't want yaw to change which you can do by setting yaw rate of 0.
The shorthand for this is airsim.YawMode()
.. attribute:: is_rate
if True, yaw_or_rate is interpreted as angular velocity in **degrees/sec**,
if False, yaw_or_rate is interpreted as angles in **degrees**,
:type: bool
.. attribute:: yaw_or_rate
value of desired yaw rate, or desired yaw angle. Interpretation depends upon is_rate
:type: float
.. attribute:: is_rate
:annotation: = True
.. attribute:: yaw_or_rate
:annotation: = 0.0
.. py:class:: RCData(timestamp=0, pitch=0.0, roll=0.0, throttle=0.0, yaw=0.0, switch1=0, switch2=0, switch3=0, switch4=0, switch5=0, switch6=0, switch7=0, switch8=0, is_initialized=False, is_valid=False)
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: is_initialized
Description
:type: bool
.. attribute:: is_valid
Description
:type: bool
.. attribute:: pitch
Description
:type: TYPE
.. attribute:: roll
Description
:type: TYPE
.. attribute:: switch1
Description
:type: TYPE
.. attribute:: switch2
Description
:type: TYPE
.. attribute:: switch3
Description
:type: TYPE
.. attribute:: switch4
Description
:type: TYPE
.. attribute:: switch5
Description
:type: TYPE
.. attribute:: switch6
Description
:type: TYPE
.. attribute:: switch7
Description
:type: TYPE
.. attribute:: switch8
Description
:type: TYPE
.. attribute:: throttle
Description
:type: TYPE
.. attribute:: timestamp
Description
:type: int
.. attribute:: yaw
Description
:type: TYPE
.. attribute:: timestamp
:annotation: = 0
.. attribute:: is_initialized
:annotation: = False
.. attribute:: is_valid
:annotation: = False
.. py:class:: ImageRequest(camera_name, image_type, pixels_as_float=False, compress=True)
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: camera_name
Description
:type: str
.. attribute:: compress
Description
:type: bool
.. attribute:: image_type
Description
:type: TYPE
.. attribute:: pixels_as_float
Description
:type: bool
.. attribute:: camera_name
:annotation: = 0
.. attribute:: image_type
.. attribute:: pixels_as_float
:annotation: = False
.. attribute:: compress
:annotation: = False
.. py:class:: ImageResponse
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: camera_orientation
Description
:type: TYPE
.. attribute:: camera_position
Description
:type: TYPE
.. attribute:: compress
Description
:type: bool
.. attribute:: height
Description
:type: int
.. attribute:: image_data_float
Description
:type: float
.. attribute:: image_data_uint8
Description
:type: TYPE
.. attribute:: image_type
Description
:type: TYPE
.. attribute:: message
Description
:type: str
.. attribute:: pixels_as_float
Description
:type: float
.. attribute:: time_stamp
Description
:type: TYPE
.. attribute:: width
Description
:type: int
.. attribute:: image_data_uint8
.. attribute:: image_data_float
:annotation: = 0.0
.. attribute:: camera_position
.. attribute:: camera_orientation
.. attribute:: time_stamp
.. attribute:: message
:annotation: =
.. attribute:: pixels_as_float
:annotation: = 0.0
.. attribute:: compress
:annotation: = True
.. attribute:: width
:annotation: = 0
.. attribute:: height
:annotation: = 0
.. attribute:: image_type
.. py:class:: CarControls(throttle=0, steering=0, brake=0, handbrake=False, is_manual_gear=False, manual_gear=0, gear_immediate=True)
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: throttle
:annotation: = 0.0
.. attribute:: steering
:annotation: = 0.0
.. attribute:: brake
:annotation: = 0.0
.. attribute:: handbrake
:annotation: = False
.. attribute:: is_manual_gear
:annotation: = False
.. attribute:: manual_gear
:annotation: = 0
.. attribute:: gear_immediate
:annotation: = True
.. method:: set_throttle(self, throttle_val, forward)
.. py:class:: KinematicsState
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: angular_acceleration
Description
:type: Vector3r
.. attribute:: angular_velocity
Description
:type: Vector3r
.. attribute:: linear_acceleration
Description
:type: Vector3r
.. attribute:: linear_velocity
Description
:type: Vector3r
.. attribute:: orientation
Description
:type: Quaternionr
.. attribute:: position
Description
:type: Vector3r
.. attribute:: position
.. attribute:: orientation
.. attribute:: linear_velocity
.. attribute:: angular_velocity
.. attribute:: linear_acceleration
.. attribute:: angular_acceleration
.. py:class:: EnvironmentState
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: position
.. attribute:: geo_point
.. attribute:: gravity
.. attribute:: air_pressure
:annotation: = 0.0
.. attribute:: temperature
:annotation: = 0.0
.. attribute:: air_density
:annotation: = 0.0
.. py:class:: CarState
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: speed
:annotation: = 0.0
.. attribute:: gear
:annotation: = 0
.. attribute:: rpm
:annotation: = 0.0
.. attribute:: maxrpm
:annotation: = 0.0
.. attribute:: handbrake
:annotation: = False
.. attribute:: collision
.. attribute:: kinematics_estimated
.. attribute:: timestamp
.. py:class:: MultirotorState
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: collision
Description
:type: CollisionInfo
.. attribute:: gps_location
Description
:type: GeoPoint
.. attribute:: kinematics_estimated
Description
:type: KinematicsState
.. attribute:: landed_state
Description
:type: LandedState.Landed
.. attribute:: rc_data
Description
:type: RCData
.. attribute:: timestamp
Description
:type: np.uint64
.. attribute:: collision
.. attribute:: kinematics_estimated
.. attribute:: gps_location
.. attribute:: timestamp
.. attribute:: landed_state
.. attribute:: rc_data
.. py:class:: ProjectionMatrix
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: matrix
Description
:type: list
.. attribute:: matrix
:annotation: = []
.. py:class:: CameraInfo
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: fov
Description
:type: int
.. attribute:: pose
Description
:type: TYPE
.. attribute:: proj_mat
Description
:type: TYPE
.. attribute:: pose
.. attribute:: fov
.. attribute:: proj_mat
.. py:class:: LidarData
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: point_cloud
:annotation: = 0.0
.. attribute:: time_stamp
.. attribute:: pose
.. py:class:: ImuData
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: time_stamp
.. attribute:: orientation
.. attribute:: angular_velocity
.. attribute:: linear_acceleration
.. py:class:: BarometerData
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: time_stamp
.. attribute:: altitude
.. attribute:: pressure
.. attribute:: qnh
.. py:class:: MagnetometerData
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: time_stamp
.. attribute:: magnetic_field_body
.. attribute:: magnetic_field_covariance
:annotation: = 0.0
.. py:class:: GnssFixType
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: GNSS_FIX_NO_FIX
:annotation: = 0
.. attribute:: GNSS_FIX_TIME_ONLY
:annotation: = 1
.. attribute:: GNSS_FIX_2D_FIX
:annotation: = 2
.. attribute:: GNSS_FIX_3D_FIX
:annotation: = 3
.. py:class:: GnssReport
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: geo_point
.. attribute:: eph
:annotation: = 0.0
.. attribute:: epv
:annotation: = 0.0
.. attribute:: velocity
.. attribute:: fix_type
.. attribute:: time_utc
.. py:class:: GpsData
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: time_stamp
.. attribute:: gnss
.. attribute:: is_valid
:annotation: = False
.. py:class:: DistanceSensorData
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: time_stamp
.. attribute:: distance
.. attribute:: min_distance
.. attribute:: max_distance
.. attribute:: relative_pose
.. py:class:: PIDGains(kp, ki, kd)
Struct to store values of PID gains. Used to transmit controller gain values while instantiating
AngleLevel/AngleRate/Velocity/PositionControllerGains objects.
.. attribute:: kP
Proportional gain
:type: float
.. attribute:: kI
Integrator gain
:type: float
.. attribute:: kD
Derivative gain
:type: float
.. method:: to_list(self)
.. py:class:: AngleRateControllerGains(roll_gains=PIDGains(0.25, 0, 0), pitch_gains=PIDGains(0.25, 0, 0), yaw_gains=PIDGains(0.25, 0, 0))
Struct to contain controller gains used by angle level PID controller
.. attribute:: roll_gains
kP, kI, kD for roll axis
:type: PIDGains
.. attribute:: pitch_gains
kP, kI, kD for pitch axis
:type: PIDGains
.. attribute:: yaw_gains
kP, kI, kD for yaw axis
:type: PIDGains
.. method:: to_lists(self)
.. py:class:: AngleLevelControllerGains(roll_gains=PIDGains(2.5, 0, 0), pitch_gains=PIDGains(2.5, 0, 0), yaw_gains=PIDGains(2.5, 0, 0))
Struct to contain controller gains used by angle rate PID controller
.. attribute:: roll_gains
kP, kI, kD for roll axis
:type: PIDGains
.. attribute:: pitch_gains
kP, kI, kD for pitch axis
:type: PIDGains
.. attribute:: yaw_gains
kP, kI, kD for yaw axis
:type: PIDGains
.. method:: to_lists(self)
.. py:class:: VelocityControllerGains(x_gains=PIDGains(0.2, 0, 0), y_gains=PIDGains(0.2, 0, 0), z_gains=PIDGains(2.0, 2.0, 0))
Struct to contain controller gains used by velocity PID controller
.. attribute:: x_gains
kP, kI, kD for X axis
:type: PIDGains
.. attribute:: y_gains
kP, kI, kD for Y axis
:type: PIDGains
.. attribute:: z_gains
kP, kI, kD for Z axis
:type: PIDGains
.. method:: to_lists(self)
.. py:class:: PositionControllerGains(x_gains=PIDGains(0.25, 0, 0), y_gains=PIDGains(0.25, 0, 0), z_gains=PIDGains(0.25, 0, 0))
Struct to contain controller gains used by position PID controller
.. attribute:: x_gains
kP, kI, kD for X axis
:type: PIDGains
.. attribute:: y_gains
kP, kI, kD for Y axis
:type: PIDGains
.. attribute:: z_gains
kP, kI, kD for Z axis
:type: PIDGains
.. method:: to_lists(self)
.. py:class:: TrajectoryTrackerGains(kp_cross_track=7.5, kd_cross_track=0.0, kp_vel_cross_track=5.0, kd_vel_cross_track=0.0, kp_along_track=0.4, kd_along_track=0.0, kp_vel_along_track=0.04, kd_vel_along_track=0.0, kp_z_track=2.0, kd_z_track=0.0, kp_vel_z=0.4, kd_vel_z=0.0, kp_yaw=3.0, kd_yaw=0.1)
Struct to contain trajectory tracker gains used by the pure pursuit controller for moveBySpline and moveBySplineVelConstraints
.. attribute:: kp_cross_track
P gain for position error measured perpendicular to path tangent, or in the "cross track" direction
:type: float
.. attribute:: kd_cross_track
D gain for position error measured perpendicular to path tangent, or in the "cross track" direction
:type: float
.. attribute:: kp_vel_cross_track
P gain for velocity error measured perpendicular to path tangent, or in the "cross track" direction
:type: float
.. attribute:: kd_vel_cross_track
D gain for velocity error measured perpendicular to path tangent, or in the "cross track" direction
:type: float
.. attribute:: kp_along_track
P gain for position error measured along path tangent
:type: float
.. attribute:: kd_along_track
D gain for position error measured along path tangent
:type: float
.. attribute:: kp_vel_along_track
P gain for velocity error measured along path tangent
:type: float
.. attribute:: kd_vel_along_track
D gain for velocity error measured along path tangent
:type: float
.. attribute:: kp_z_track
P gain for position error measured along world Z axis
:type: float
.. attribute:: kd_z_track
D gain for position error measured along world Z axis
:type: float
.. attribute:: kp_vel_z
P gain for velocity error measured along world Z axis
:type: float
.. attribute:: kd_vel_z
D gain for velocity error measured along world Z axis
:type: float
.. attribute:: kp_yaw
P gain for yaw error
:type: float
.. attribute:: kd_yaw
D gain for yaw error
:type: float
.. method:: to_list(self)
Call this before sending to setTrajectoryTrackerGains
:returns: Description
:rtype: list[float]
.. py:class:: MeshPositionVertexBuffersResponse
Bases: :class:`airsimdroneracinglab.types.MsgpackMixin`
.. attribute:: position
.. attribute:: orientation
.. attribute:: vertices
:annotation: = 0.0
.. attribute:: indices
:annotation: = 0.0
.. attribute:: name
:annotation: =