:mod:`airsimdroneracinglab.types`
=================================
.. py:module:: airsimdroneracinglab.types
Module Contents
---------------
Classes
~~~~~~~
.. autoapisummary::
airsimdroneracinglab.types.MsgpackMixin
airsimdroneracinglab.types.ImageType
airsimdroneracinglab.types.DrivetrainType
airsimdroneracinglab.types.LandedState
airsimdroneracinglab.types.WeatherParameter
airsimdroneracinglab.types.Vector3r
airsimdroneracinglab.types.Quaternionr
airsimdroneracinglab.types.Pose
airsimdroneracinglab.types.CollisionInfo
airsimdroneracinglab.types.GeoPoint
airsimdroneracinglab.types.YawMode
airsimdroneracinglab.types.RCData
airsimdroneracinglab.types.ImageRequest
airsimdroneracinglab.types.ImageResponse
airsimdroneracinglab.types.CarControls
airsimdroneracinglab.types.KinematicsState
airsimdroneracinglab.types.EnvironmentState
airsimdroneracinglab.types.CarState
airsimdroneracinglab.types.MultirotorState
airsimdroneracinglab.types.ProjectionMatrix
airsimdroneracinglab.types.CameraInfo
airsimdroneracinglab.types.LidarData
airsimdroneracinglab.types.ImuData
airsimdroneracinglab.types.BarometerData
airsimdroneracinglab.types.MagnetometerData
airsimdroneracinglab.types.GnssFixType
airsimdroneracinglab.types.GnssReport
airsimdroneracinglab.types.GpsData
airsimdroneracinglab.types.DistanceSensorData
airsimdroneracinglab.types.PIDGains
airsimdroneracinglab.types.AngleRateControllerGains
airsimdroneracinglab.types.AngleLevelControllerGains
airsimdroneracinglab.types.VelocityControllerGains
airsimdroneracinglab.types.PositionControllerGains
airsimdroneracinglab.types.TrajectoryTrackerGains
airsimdroneracinglab.types.MeshPositionVertexBuffersResponse
.. 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: =