airsimdroneracinglab

Package Contents

Classes

VehicleClient(ip='', port=41451, timeout_value=3600)

MultirotorClient(ip='', port=41451, timeout_value=3600)

MsgpackMixin()

ImageType()

airsimdroneracinglab.DepthPerspective

DrivetrainType()

Type of DrivetrainType

LandedState()

airsimdroneracinglab.Flying

WeatherParameter()

Vector3r(x_val=0.0, y_val=0.0, z_val=0.0)

airsimdroneracinglab.x_val

Quaternionr(x_val=0.0, y_val=0.0, z_val=0.0, w_val=1.0)

airsimdroneracinglab.w_val

Pose(position_val=Vector3r(), orientation_val=Quaternionr())

airsimdroneracinglab.orientation

CollisionInfo()

airsimdroneracinglab.has_collided

GeoPoint()

airsimdroneracinglab.altitude

YawMode(is_rate=True, yaw_or_rate=0.0)

Struct YawMode with two fields, yaw_or_rate and is_rate.

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)

airsimdroneracinglab.is_initialized

ImageRequest(camera_name, image_type, pixels_as_float=False, compress=True)

airsimdroneracinglab.camera_name

ImageResponse()

airsimdroneracinglab.camera_orientation

CarControls(throttle=0, steering=0, brake=0, handbrake=False, is_manual_gear=False, manual_gear=0, gear_immediate=True)

KinematicsState()

airsimdroneracinglab.angular_acceleration

EnvironmentState()

CarState()

MultirotorState()

airsimdroneracinglab.collision

ProjectionMatrix()

airsimdroneracinglab.matrix

CameraInfo()

airsimdroneracinglab.fov

LidarData()

ImuData()

BarometerData()

MagnetometerData()

GnssFixType()

GnssReport()

GpsData()

DistanceSensorData()

PIDGains(kp, ki, kd)

Struct to store values of PID gains. Used to transmit controller gain values while instantiating

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

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

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

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

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

MeshPositionVertexBuffersResponse()

MsgpackMixin()

ImageType()

airsimdroneracinglab.DepthPerspective

DrivetrainType()

Type of DrivetrainType

LandedState()

airsimdroneracinglab.Flying

WeatherParameter()

Vector3r(x_val=0.0, y_val=0.0, z_val=0.0)

airsimdroneracinglab.x_val

Quaternionr(x_val=0.0, y_val=0.0, z_val=0.0, w_val=1.0)

airsimdroneracinglab.w_val

Pose(position_val=Vector3r(), orientation_val=Quaternionr())

airsimdroneracinglab.orientation

CollisionInfo()

airsimdroneracinglab.has_collided

GeoPoint()

airsimdroneracinglab.altitude

YawMode(is_rate=True, yaw_or_rate=0.0)

Struct YawMode with two fields, yaw_or_rate and is_rate.

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)

airsimdroneracinglab.is_initialized

ImageRequest(camera_name, image_type, pixels_as_float=False, compress=True)

airsimdroneracinglab.camera_name

ImageResponse()

airsimdroneracinglab.camera_orientation

CarControls(throttle=0, steering=0, brake=0, handbrake=False, is_manual_gear=False, manual_gear=0, gear_immediate=True)

KinematicsState()

airsimdroneracinglab.angular_acceleration

EnvironmentState()

CarState()

MultirotorState()

airsimdroneracinglab.collision

ProjectionMatrix()

airsimdroneracinglab.matrix

CameraInfo()

airsimdroneracinglab.fov

LidarData()

ImuData()

BarometerData()

MagnetometerData()

GnssFixType()

GnssReport()

GpsData()

DistanceSensorData()

PIDGains(kp, ki, kd)

Struct to store values of PID gains. Used to transmit controller gain values while instantiating

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

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

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

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

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

MeshPositionVertexBuffersResponse()

MsgpackMixin()

ImageType()

airsimdroneracinglab.DepthPerspective

DrivetrainType()

Type of DrivetrainType

LandedState()

airsimdroneracinglab.Flying

WeatherParameter()

Vector3r(x_val=0.0, y_val=0.0, z_val=0.0)

airsimdroneracinglab.x_val

Quaternionr(x_val=0.0, y_val=0.0, z_val=0.0, w_val=1.0)

airsimdroneracinglab.w_val

Pose(position_val=Vector3r(), orientation_val=Quaternionr())

airsimdroneracinglab.orientation

CollisionInfo()

airsimdroneracinglab.has_collided

GeoPoint()

airsimdroneracinglab.altitude

YawMode(is_rate=True, yaw_or_rate=0.0)

Struct YawMode with two fields, yaw_or_rate and is_rate.

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)

airsimdroneracinglab.is_initialized

ImageRequest(camera_name, image_type, pixels_as_float=False, compress=True)

airsimdroneracinglab.camera_name

ImageResponse()

airsimdroneracinglab.camera_orientation

CarControls(throttle=0, steering=0, brake=0, handbrake=False, is_manual_gear=False, manual_gear=0, gear_immediate=True)

KinematicsState()

airsimdroneracinglab.angular_acceleration

EnvironmentState()

CarState()

MultirotorState()

airsimdroneracinglab.collision

ProjectionMatrix()

airsimdroneracinglab.matrix

CameraInfo()

airsimdroneracinglab.fov

LidarData()

ImuData()

BarometerData()

MagnetometerData()

GnssFixType()

GnssReport()

GpsData()

DistanceSensorData()

PIDGains(kp, ki, kd)

Struct to store values of PID gains. Used to transmit controller gain values while instantiating

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

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

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

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

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

MeshPositionVertexBuffersResponse()

BaselineRacer(client, viz_traj=True, viz_traj_color_rgba=[1.0, 0.0, 0.0, 1.0])

Class for drone_2, which flies through gates using moveOnSpline when simStartRace is called.

MsgpackMixin()

ImageType()

airsimdroneracinglab.DepthPerspective

DrivetrainType()

Type of DrivetrainType

LandedState()

airsimdroneracinglab.Flying

WeatherParameter()

Vector3r(x_val=0.0, y_val=0.0, z_val=0.0)

airsimdroneracinglab.x_val

Quaternionr(x_val=0.0, y_val=0.0, z_val=0.0, w_val=1.0)

airsimdroneracinglab.w_val

Pose(position_val=Vector3r(), orientation_val=Quaternionr())

airsimdroneracinglab.orientation

CollisionInfo()

airsimdroneracinglab.has_collided

GeoPoint()

airsimdroneracinglab.altitude

YawMode(is_rate=True, yaw_or_rate=0.0)

Struct YawMode with two fields, yaw_or_rate and is_rate.

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)

airsimdroneracinglab.is_initialized

ImageRequest(camera_name, image_type, pixels_as_float=False, compress=True)

airsimdroneracinglab.camera_name

ImageResponse()

airsimdroneracinglab.camera_orientation

CarControls(throttle=0, steering=0, brake=0, handbrake=False, is_manual_gear=False, manual_gear=0, gear_immediate=True)

KinematicsState()

airsimdroneracinglab.angular_acceleration

EnvironmentState()

CarState()

MultirotorState()

airsimdroneracinglab.collision

ProjectionMatrix()

airsimdroneracinglab.matrix

CameraInfo()

airsimdroneracinglab.fov

LidarData()

ImuData()

BarometerData()

MagnetometerData()

GnssFixType()

GnssReport()

GpsData()

DistanceSensorData()

PIDGains(kp, ki, kd)

Struct to store values of PID gains. Used to transmit controller gain values while instantiating

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

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

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

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

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

MeshPositionVertexBuffersResponse()

Functions

string_to_uint8_array(bstr)

param bstr

Description

string_to_float_array(bstr)

param bstr

Description

list_to_2d_float_array(flst, width, height)

param flst

Description

get_pfm_array(response)

param response

Description

get_public_fields(obj)

param obj

Description

to_dict(obj)

param obj

Description

to_str(obj)

param obj

Description

write_file(filename, bstr)

param filename

Description

to_eularian_angles(q)

param q

Description

to_quaternion(pitch, roll, yaw)

param pitch

Description

wait_key(message='')

Wait for a key press on the console and return it.

read_pfm(file)

Read a pfm file

write_pfm(file, image, scale=1)

Write a pfm file

write_png(filename, image)

image must be numpy array H X W X channels

string_to_uint8_array(bstr)

param bstr

Description

string_to_float_array(bstr)

param bstr

Description

list_to_2d_float_array(flst, width, height)

param flst

Description

get_pfm_array(response)

param response

Description

get_public_fields(obj)

param obj

Description

to_dict(obj)

param obj

Description

to_str(obj)

param obj

Description

write_file(filename, bstr)

param filename

Description

to_eularian_angles(q)

param q

Description

to_quaternion(pitch, roll, yaw)

param pitch

Description

wait_key(message='')

Wait for a key press on the console and return it.

read_pfm(file)

Read a pfm file

write_pfm(file, image, scale=1)

Write a pfm file

write_png(filename, image)

image must be numpy array H X W X channels

string_to_uint8_array(bstr)

param bstr

Description

string_to_float_array(bstr)

param bstr

Description

list_to_2d_float_array(flst, width, height)

param flst

Description

get_pfm_array(response)

param response

Description

get_public_fields(obj)

param obj

Description

to_dict(obj)

param obj

Description

to_str(obj)

param obj

Description

write_file(filename, bstr)

param filename

Description

to_eularian_angles(q)

param q

Description

to_quaternion(pitch, roll, yaw)

param pitch

Description

wait_key(message='')

Wait for a key press on the console and return it.

read_pfm(file)

Read a pfm file

write_pfm(file, image, scale=1)

Write a pfm file

write_png(filename, image)

image must be numpy array H X W X channels
class airsimdroneracinglab.VehicleClient(ip='', port=41451, timeout_value=3600)
__annotations__
reset(self)

Reset the vehicle to its original starting state

Note that you must call enableApiControl and armDisarm again after the call to reset

ping(self)

If connection is established then this call will return true otherwise it will be blocked until timeout

Returns

Return type

bool

getClientVersion(self)
getServerVersion(self)
getMinRequiredServerVersion(self)
getMinRequiredClientVersion(self)
enableApiControl(self, vehicle_name='')

Enables API control for vehicle with name vehicle_name

Parameters

vehicle_name (str, optional) – Name of vehicle to enable API control for

Returns

Success

Return type

bool

disableApiControl(self, vehicle_name='')

Disables API control for vehicle with name vehicle_name

Parameters

vehicle_name (str, optional) – Name of vehicle to disable API control for

Returns

Success

Return type

bool

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.

Parameters

vehicle_name (str, optional) – Name of the vehicle

Returns

If API control is enabled

Return type

bool

arm(self, vehicle_name='')

Arms vehicle corresponding to vehicle_name

Parameters

vehicle_name (str) – Name of vehicle

Returns

Success

Return type

bool

disarm(self, vehicle_name='')

Disarms vehicle corresponding to vehicle_name.

Parameters

vehicle_name (str) – Name of vehicle

Returns

Success

Return type

bool

simPause(self, is_paused)

Pauses simulation

Parameters

is_paused (bool) – True to pause the simulation, False to release

simIsPause(self)

Returns true if the simulation is paused

Returns

If the simulation is paused

Return type

bool

simContinueForTime(self, seconds)

Continue the simulation for the specified number of seconds

Parameters

seconds (float) – Time to run the simulation for

getHomeGeoPoint(self, vehicle_name='')

Get the Home location of the vehicle

Parameters

vehicle_name (str, optional) – Name of vehicle to get home location of

Returns

Home location of the vehicle

Return type

GeoPoint

confirmConnection(self)

Checks state of connection every 1 sec and reports it in Console so user can see the progress for connection.

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

Parameters

  • tags (str) – string of “,” or “, ” delimited tags to identify on which actors to perform the swap

  • tex_id (int, optional) –

    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

  • component_id (int, optional) –

  • material_id (int, optional) –

Returns

List of objects which matched the provided tags and had the texture swap perfomed

Return type

list[str]

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

Parameters

  • is_enabled (bool) – True to enable time-of-day effect, False to reset the position to original

  • start_datetime (str, optional) – Date & Time in %Y-%m-%d %H:%M:%S format, e.g. 2018-02-12 15:20:00

  • is_start_datetime_dst (bool, optional) – True to adjust for Daylight Savings Time

  • celestial_clock_speed (float, optional) – 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

  • update_interval_secs (float, optional) – Interval to update the Sun’s position

  • move_sun (bool, optional) – Whether or not to move the Sun

simEnableWeather(self, enable)

Enable Weather effects. Needs to be called before using simSetWeatherParameter API

Parameters

enable (bool) – True to enable, False to disable

simSetWeatherParameter(self, param, val)

Enable various weather effects

Parameters

  • param (WeatherParameter) – Weather effect to be enabled

  • val (float) – Intensity of the effect, Range 0-1

simSetTextureFromUrl(self, object_name, url)

Set texture of an object from a URL resource.

Parameters

  • object_name (string) – Name of object for which the texture is to be set

  • url (string) – URL of texture file

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

Parameters

  • camera_name (str) – Name of the camera, for backwards compatibility, ID numbers such as 0,1,etc. can also be used

  • image_type (ImageType) – Type of image required

  • vehicle_name (str, optional) – Name of the vehicle with the camera

Returns

Binary string literal of compressed png image

simGetImages(self, requests, vehicle_name='')

Get multiple images

See https://microsoft.github.io/AirSim/image_apis/ for details and examples

Parameters

  • requests (list[ImageRequest]) – Images required

  • vehicle_name (str, optional) – Name of vehicle associated with the camera

Returns

Return type

list[ImageResponse]

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

Return type

list[MeshPositionVertexBuffersResponse]

simGetCollisionInfo(self, vehicle_name='')
Parameters

vehicle_name (str, optional) – Name of the Vehicle to get the info of

Returns

Return type

CollisionInfo

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

Parameters

  • pose (Pose) – Desired Pose pf the vehicle

  • ignore_collision (bool) – Whether to ignore any collision or not

  • vehicle_name (str, optional) – Name of the vehicle to move

simGetVehiclePose(self, vehicle_name='')
Parameters

vehicle_name (str, optional) – Name of the vehicle to get the Pose of

Returns

Return type

Pose

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

Parameters

  • color_rgba (list) – desired RGBA values from 0.0 to 1.0

  • thickness (float, optional) – Thickness of the line

  • vehicle_name (string, optional) – Name of the vehicle to set Trace line values for

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

Parameters

object_name (str) – Name of the object to get pose for

Returns

pose of desired object, NanPose if object not found

Return type

Pose

__internalGetObjectPose(self, object_name)
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

Parameters

  • object_name (str) – Name of the object(actor) to move

  • pose (Pose) – Desired Pose of the object

  • teleport (bool, optional) – Whether to move the object immediately without affecting their velocity

Returns

If the move was successful

Return type

bool

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

Return type

Vector3r

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

Return type

Vector3r

simGetObjectScale(self, object_name)
Parameters

object_name (str) – Name of the object to poll

Returns

scale vector of desired object

Return type

Vector3r

simGetObjectScaleInternal(self, object_name)
simSetObjectScale(self, object_name, scale_vector)
Parameters

  • object_name (str) – Name of the object to poll

  • scale (Vector3r) – desired scale of the object

simLoadLevel(self, level_name)

Loads desired level

Parameters

level_name (str) – Description

Returns

Description

Return type

TYPE

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

Parameters

name_regex (str, optional) – String to match actor names against, e.g. “Cylinder.*”

Returns

List containing all the names

Return type

list[str]

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

Parameters
Returns

If the mesh was found

Return type

bool

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

Parameters

mesh_name (str) – Name of the mesh to get the ID of

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.

Parameters

  • message (str) – Message to be printed

  • message_param (str, optional) – Parameter to be printed next to the message

  • severity (int, optional) – Range 0-3, inclusive, corresponding to the severity of the message

simGetCameraInfo(self, camera_name, vehicle_name='')

Get details about the camera

Parameters

  • camera_name (str) – Name of the camera, for backwards compatibility, ID numbers such as 0,1,etc. can also be used

  • vehicle_name (str, optional) – Vehicle which the camera is associated with

Returns

Return type

CameraInfo

simSetCameraOrientation(self, camera_name, orientation, vehicle_name='')

  • Control the orientation of a selected camera

Parameters

  • camera_name (str) – Name of the camera to be controlled

  • orientation (Quaternionr) – Quaternion representing the desired orientation of the camera

  • vehicle_name (str, optional) – Name of vehicle which the camera corresponds to

simSetCameraFov(self, camera_name, fov_degrees, vehicle_name='')

  • Control the field of view of a selected camera

Parameters

  • camera_name (str) – Name of the camera to be controlled

  • fov_degrees (float) – Value of field of view in degrees

  • vehicle_name (str, optional) – Name of vehicle which the camera corresponds to

simGetGroundTruthKinematics(self, vehicle_name='')

Get Ground truth kinematics of the vehicle

Parameters

vehicle_name (str, optional) – Name of the vehicle

Returns

Ground truth of the vehicle

Return type

KinematicsState

simGetGroundTruthEnvironment(self, vehicle_name='')

Get ground truth environment state

Parameters

vehicle_name (str, optional) – Name of the vehicle

Returns

Ground truth environment state

Return type

EnvironmentState

getImuData(self, imu_name='', vehicle_name='')
Parameters

  • imu_name (str, optional) – Name of IMU to get data from, specified in settings.json

  • vehicle_name (str, optional) – Name of vehicle to which the sensor corresponds to

Returns

Return type

ImuData

getBarometerData(self, barometer_name='', vehicle_name='')
Parameters

  • barometer_name (str, optional) – Name of Barometer to get data from, specified in settings.json

  • vehicle_name (str, optional) – Name of vehicle to which the sensor corresponds to

Returns

Return type

BarometerData

getMagnetometerData(self, magnetometer_name='', vehicle_name='')
Parameters

  • magnetometer_name (str, optional) – Name of Magnetometer to get data from, specified in settings.json

  • vehicle_name (str, optional) – Name of vehicle to which the sensor corresponds to

Returns

Return type

MagnetometerData

getGpsData(self, gps_name='', vehicle_name='')
Parameters

  • gps_name (str, optional) – Name of GPS to get data from, specified in settings.json

  • vehicle_name (str, optional) – Name of vehicle to which the sensor corresponds to

Returns

Return type

GpsData

getDistanceSensorData(self, distance_sensor_name='', vehicle_name='')
Parameters

  • distance_sensor_name (str, optional) – Name of Distance Sensor to get data from, specified in settings.json

  • vehicle_name (str, optional) – Name of vehicle to which the sensor corresponds to

Returns

Return type

DistanceSensorData

getLidarData(self, lidar_name='', vehicle_name='')
Parameters

  • lidar_name (str, optional) – Name of Lidar to get data from, specified in settings.json

  • vehicle_name (str, optional) – Name of vehicle to which the sensor corresponds to

Returns

Return type

LidarData

simGetLidarSegmentation(self, lidar_name='', vehicle_name='')

Returns Segmentation ID of each point’s collided object in the last Lidar update

Parameters

  • lidar_name (str, optional) – Name of Lidar sensor

  • vehicle_name (str, optional) – Name of the vehicle wth the sensor

Returns

Segmentation IDs of the objects

Return type

list[int]

simFlushPersistentMarkers(self)

Clear any persistent markers - those plotted with setting is_persistent=True in the APIs below

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

Parameters

  • points (list[Vector3r]) – List of Vector3r objects

  • color_rgba (list, optional) – desired RGBA values from 0.0 to 1.0

  • size (float, optional) – Size of plotted point

  • duration (float, optional) – Duration (seconds) to plot for

  • is_persistent (bool, optional) – If set to True, the desired object will be plotted for infinite time.

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]

Parameters

  • points (list[Vector3r]) – List of 3D locations of line start and end points, specified as Vector3r objects

  • color_rgba (list, optional) – desired RGBA values from 0.0 to 1.0

  • thickness (float, optional) – Thickness of line

  • duration (float, optional) – Duration (seconds) to plot for

  • is_persistent (bool, optional) – If set to True, the desired object will be plotted for infinite time.

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]

Parameters

  • points (list[Vector3r]) – List of 3D locations of line start and end points, specified as Vector3r objects. Must be even

  • color_rgba (list, optional) – desired RGBA values from 0.0 to 1.0

  • thickness (float, optional) – Thickness of line

  • duration (float, optional) – Duration (seconds) to plot for

  • is_persistent (bool, optional) – If set to True, the desired object will be plotted for infinite time.

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]

Parameters

  • points_start (list[Vector3r]) – List of 3D start positions of arrow start positions, specified as Vector3r objects

  • points_end (list[Vector3r]) – List of 3D end positions of arrow start positions, specified as Vector3r objects

  • color_rgba (list, optional) – desired RGBA values from 0.0 to 1.0

  • thickness (float, optional) – Thickness of line

  • arrow_size (float, optional) – Size of arrow head

  • duration (float, optional) – Duration (seconds) to plot for

  • is_persistent (bool, optional) – If set to True, the desired object will be plotted for infinite time.

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.

Parameters

  • strings (list[String], optional) – List of strings to plot

  • positions (list[Vector3r]) – List of positions where the strings should be plotted. Should be in one-to-one correspondence with the strings’ list

  • scale (float, optional) – Font scale of transform name

  • color_rgba (list, optional) – desired RGBA values from 0.0 to 1.0

  • duration (float, optional) – Duration (seconds) to plot for

simPlotTransforms(self, poses, scale=5.0, thickness=5.0, duration=- 1.0, is_persistent=False)

Plots a list of transforms in World NED frame.

Parameters

  • poses (list[Pose]) – List of Pose objects representing the transforms to plot

  • scale (float, optional) – Length of transforms’ axes

  • thickness (float, optional) – Thickness of transforms’ axes

  • duration (float, optional) – Duration (seconds) to plot for

  • is_persistent (bool, optional) – If set to True, the desired object will be plotted for infinite time.

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.

Parameters

  • poses (list[Pose]) – List of Pose objects representing the transforms to plot

  • names (list[string]) – List of strings with one-to-one correspondence to list of poses

  • tf_scale (float, optional) – Length of transforms’ axes

  • tf_thickness (float, optional) – Thickness of transforms’ axes

  • text_scale (float, optional) – Font scale of transform name

  • text_color_rgba (list, optional) – desired RGBA values from 0.0 to 1.0 for the transform name

  • duration (float, optional) – Duration (seconds) to plot for

cancelLastTask(self, vehicle_name='')

Cancel previous Async task

Parameters

vehicle_name (str, optional) – Name of the vehicle

waitOnLastTask(self, timeout_sec=float('nan'))

Wait for the last Async task to complete

Parameters

timeout_sec (float, optional) – Time for the task to complete

Returns

Result of the last task

True if the task completed without cancellation or timeout

Return type

bool

class airsimdroneracinglab.MultirotorClient(ip='', port=41451, timeout_value=3600)

Bases: airsimdroneracinglab.client.VehicleClient, object

__annotations__
takeoffAsync(self, timeout_sec=20, vehicle_name='')

Takeoff vehicle to 3m above ground. Vehicle should not be moving when this API is used

Parameters

  • timeout_sec (int, optional) – Timeout for the vehicle to reach desired altitude

  • vehicle_name (str, optional) – Name of the vehicle to send this command to

Returns

future. call .join() to wait for method to finish. Example: client.METHOD().join()

Return type

msgpackrpc.future.Future

landAsync(self, timeout_sec=60, vehicle_name='')

Land the vehicle

Parameters

  • timeout_sec (int, optional) – Timeout for the vehicle to land

  • vehicle_name (str, optional) – Name of the vehicle to send this command to

Returns

future. call .join() to wait for method to finish. Example: client.METHOD().join()

Return type

msgpackrpc.future.Future

goHomeAsync(self, timeout_sec=3e+38, vehicle_name='')

Return vehicle to Home i.e. Launch location

Parameters

  • timeout_sec (int, optional) – Timeout for the vehicle to reach desired altitude

  • vehicle_name (str, optional) – Name of the vehicle to send this command to

Returns

future. call .join() to wait for method to finish. Example: client.METHOD().join()

Return type

msgpackrpc.future.Future

moveByAngleZAsync(self, pitch, roll, z, yaw, duration, vehicle_name='')
moveByAngleThrottleAsync(self, pitch, roll, throttle, yaw_rate, duration, vehicle_name='')
moveByVelocityAsync(self, vx, vy, vz, duration, drivetrain=DrivetrainType.MaxDegreeOfFreedom, yaw_mode=YawMode(), vehicle_name='')
Parameters

  • vx (float) – desired velocity in world (NED) X axis

  • vy (float) – desired velocity in world (NED) Y axis

  • vz (float) – desired velocity in world (NED) Z axis

  • duration (float) – Desired amount of time (seconds), to send this command for

  • drivetrain (DrivetrainType, optional) –

  • yaw_mode (YawMode, optional) –

  • vehicle_name (str, optional) – Name of the multirotor to send this command to

Returns

future. call .join() to wait for method to finish. Example: client.METHOD().join()

Return type

msgpackrpc.future.Future

moveByVelocityZAsync(self, vx, vy, z, duration, drivetrain=DrivetrainType.MaxDegreeOfFreedom, yaw_mode=YawMode(), vehicle_name='')
Parameters

  • vx (float) – desired velocity in world (NED) X axis

  • vy (float) – desired velocity in world (NED) Y axis

  • z (float) – desired altitude in world (NED) Z axis

  • duration (float) – Desired amount of time (seconds), to send this command for

  • drivetrain (DrivetrainType, optional) – Description

  • yaw_mode (YawMode, optional) – Description

  • vehicle_name (str, optional) – Name of the multirotor to send this command to

Returns

future. call .join() to wait for method to finish. Example: client.METHOD().join()

Return type

msgpackrpc.future.Future

moveOnPathAsync(self, path, velocity, timeout_sec=3e+38, drivetrain=DrivetrainType.MaxDegreeOfFreedom, yaw_mode=YawMode(), lookahead=- 1, adaptive_lookahead=1, vehicle_name='')
Parameters

  • path (TYPE) – Description

  • velocity (TYPE) – Description

  • timeout_sec (float, optional) – Description

  • drivetrain (TYPE, optional) – Description

  • yaw_mode (TYPE, optional) – Description

  • lookahead (TYPE, optional) – Description

  • adaptive_lookahead (int, optional) – Description

  • vehicle_name (str, optional) – Name of the multirotor to send this command to

Returns

Description

Return type

TYPE

moveToPositionAsync(self, x, y, z, velocity, timeout_sec=3e+38, drivetrain=DrivetrainType.MaxDegreeOfFreedom, yaw_mode=YawMode(), lookahead=- 1, adaptive_lookahead=1, vehicle_name='')
Parameters

  • x (float) – Description

  • y (float) – Description

  • z (float) – Description

  • velocity (float) – Description

  • timeout_sec (float, optional) – Description

  • drivetrain (DrivetrainType, optional) – Description

  • yaw_mode (YawMode, optional) – Description

  • lookahead (float, optional) – Description

  • adaptive_lookahead (int, optional) – Description

  • vehicle_name (str, optional) – Name of the multirotor to send this command to

Returns

Success

Return type

bool

moveToZAsync(self, z, velocity, timeout_sec=3e+38, yaw_mode=YawMode(), lookahead=- 1, adaptive_lookahead=1, vehicle_name='')
Parameters

  • z (float) – Description

  • velocity (float) – Description

  • timeout_sec (float, optional) – Description

  • yaw_mode (YawMode, optional) – Description

  • lookahead (float, optional) – Description

  • adaptive_lookahead (int, optional) – Description

  • vehicle_name (str, optional) – Name of the multirotor to send this command to

Returns

Success

Return type

bool

moveToYawAsync(self, yaw, timeout_sec=3e+38, margin=5, vehicle_name='')
Parameters

  • yaw_rate (float) – Desired yaw angle, in degrees per second.

  • timeout_sec (float, optional) – Description

  • margin (int, optional) – Description

  • vehicle_name (str, optional) – Name of the multirotor to send this command to

Returns

Success

Return type

bool

moveByYawRateAsync(self, yaw_rate, duration, vehicle_name='')
Parameters

  • yaw_rate (float) – Desired yaw rate, in degrees per second.

  • duration (float) – Description

  • vehicle_name (str, optional) – Name of the multirotor to send this command to

Returns

Success

Return type

bool

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 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()

Parameters

  • waypoints (list[Vector3r]) –

    • List of 3D waypoints, defined in local NED frame of the vehicle to track.

  • vel_max (float, optional) –

    • Maximum magnitude of velocity along trajectory

  • acc_max (float, optional) –

    • Maximum magnitude of acceleration along trajectory

  • add_position_constraint (bool, optional) –

    • 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”.

  • add_velocity_constraint (bool, optional) –

    • 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.

  • add_acceleration_constraint (bool, optional) –

    • 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.

  • viz_traj (bool, optional) –

    • 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.

  • viz_traj_color_rgba (list, optional) –

    • 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

  • replan_from_lookahead (bool, optional) –

    • 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.

  • replan_lookahead_sec (float, optional) –

    • 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

  • vehicle_name (str, optional) –

    • Name of the multirotor to send this command to

Returns

Success

Return type

bool

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 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()

Parameters

  • waypoints (list[Vector3r]) –

    • List of 3D waypoints, defined in local NED frame of the vehicle to track.

  • velocity_constraints (list[Vector3r]) –

    • List of 3D velocity vector constraints, defined in local NED frame of the vehicle to track.

  • vel_max (float, optional) –

    • Maximum magnitude of velocity along trajectory

  • acc_max (float, optional) –

  • Maximum magnitude of acceleration along trajectory (-) –

  • add_position_constraint (bool, optional) –

    • 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”.

  • add_velocity_constraint (bool, optional) –

    • 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.

  • add_acceleration_constraint (bool, optional) –

    • 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.

  • viz_traj (bool, optional) –

    • 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.

  • viz_traj_color_rgba (list, optional) –

    • 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

  • replan_from_lookahead (bool, optional) –

    • 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.

  • replan_lookahead_sec (float, optional) –

    • 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

  • vehicle_name (str, optional) –

    • Name of the multirotor to send this command to

Returns

Success

Return type

bool

clearTrajectory(self, vehicle_name='')

Clears, and stops following the current trajectory (see moveOnSpline() or moveOnSplineVelConstraintsAsyn,c if any.

Parameters

vehicle_name (str, optional) – Name of the multirotor to send this command to

Returns

Description

Return type

TYPE

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

Parameters

  • gains (TrajectoryTrackerGains) – Pass TrajectoryTrackerGains() to set default values. Look at TrajectoryTrackerGains to set custom gains

  • vehicle_name (str, optional) – Name of the multirotor to send this command to

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.

Parameters

  • vx_max (float) – max velocity allowed in x direction

  • vy_max (float) – max velocity allowed in y direction

  • vz_max (float) – max velocity allowed in z direction

  • z_min (float) – min z allowed for vehicle position

  • duration (float) – after this duration vehicle would switch back to non-manual mode

  • drivetrain (DrivetrainType) – 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)

  • yaw_mode (YawMode) – Specifies if vehicle should face at given angle (is_rate=False) or should be rotating around its axis at given rate (is_rate=True)

  • vehicle_name (str, optional) – Name of the multirotor to send this command to

Returns

future. call .join() to wait for method to finish. Example: client.METHOD().join()

Return type

msgpackrpc.future.Future

hoverAsync(self, vehicle_name='')
moveByRC(self, rcdata=RCData(), vehicle_name='')
moveByMotorPWMsAsync(self, front_right_pwm, rear_left_pwm, front_left_pwm, rear_right_pwm, duration, vehicle_name='')

  • Directly control the motors using PWM values

Parameters

  • front_right_pwm (float) – PWM value for the front right motor (between 0.0 to 1.0)

  • rear_left_pwm (float) – PWM value for the rear left motor (between 0.0 to 1.0)

  • front_left_pwm (float) – PWM value for the front left motor (between 0.0 to 1.0)

  • rear_right_pwm (float) – PWM value for the rear right motor (between 0.0 to 1.0)

  • duration (float) – Desired amount of time (seconds), to send this command for

  • vehicle_name (str, optional) – Name of the multirotor to send this command to

Returns

future. call .join() to wait for method to finish. Example: client.METHOD().join()

Return type

msgpackrpc.future.Future

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.
Parameters

  • roll (float) – Desired roll angle, in radians.

  • pitch (float) – Desired pitch angle, in radians.

  • yaw (float) – Desired yaw angle, in radians.

  • z (float) – Desired Z value (in local NED frame of the vehicle)

  • duration (float) – Desired amount of time (seconds), to send this command for

  • vehicle_name (str, optional) – Name of the multirotor to send this command to

Returns

future. call .join() to wait for method to finish. Example: client.METHOD().join()

Return type

msgpackrpc.future.Future

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.
Parameters

  • roll (float) – Desired roll angle, in radians.

  • pitch (float) – Desired pitch angle, in radians.

  • yaw (float) – Desired yaw angle, in radians.

  • throttle (float) – Desired throttle (between 0.0 to 1.0)

  • duration (float) – Desired amount of time (seconds), to send this command for

  • vehicle_name (str, optional) – Name of the multirotor to send this command to

Returns

future. call .join() to wait for method to finish. Example: client.METHOD().join()

Return type

msgpackrpc.future.Future

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.
Parameters

  • roll (float) – Desired roll angle, in radians.

  • pitch (float) – Desired pitch angle, in radians.

  • yaw_rate (float) – Desired yaw rate, in radian per second.

  • throttle (float) – Desired throttle (between 0.0 to 1.0)

  • duration (float) – Desired amount of time (seconds), to send this command for

  • vehicle_name (str, optional) – Name of the multirotor to send this command to

Returns

future. call .join() to wait for method to finish. Example: client.METHOD().join()

Return type

msgpackrpc.future.Future

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.
Parameters

  • roll (float) – Desired roll angle, in radians.

  • pitch (float) – Desired pitch angle, in radians.

  • yaw_rate (float) – Desired yaw rate, in radian per second.

  • z (float) – Desired Z value (in local NED frame of the vehicle)

  • duration (float) – Desired amount of time (seconds), to send this command for

  • vehicle_name (str, optional) – Name of the multirotor to send this command to

Returns

future. call .join() to wait for method to finish. Example: client.METHOD().join()

Return type

msgpackrpc.future.Future

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.
Parameters

  • roll_rate (float) – Desired roll rate, in radians / second

  • pitch_rate (float) – Desired pitch rate, in radians / second

  • yaw_rate (float) – Desired yaw rate, in radians / second

  • z (float) – Desired Z value (in local NED frame of the vehicle)

  • duration (float) – Desired amount of time (seconds), to send this command for

  • vehicle_name (str, optional) – Name of the multirotor to send this command to

Returns

future. call .join() to wait for method to finish. Example: client.METHOD().join()

Return type

msgpackrpc.future.Future

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.
Parameters

  • roll_rate (float) – Desired roll rate, in radians / second

  • pitch_rate (float) – Desired pitch rate, in radians / second

  • yaw_rate (float) – Desired yaw rate, in radians / second

  • throttle (float) – Desired throttle (between 0.0 to 1.0)

  • duration (float) – Desired amount of time (seconds), to send this command for

  • vehicle_name (str, optional) – Name of the multirotor to send this command to

Returns

future. call .join() to wait for method to finish. Example: client.METHOD().join()

Return type

msgpackrpc.future.Future

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.

Parameters

  • angle_rate_gains (AngleRateControllerGains) –

    • Correspond to the roll, pitch, yaw axes, defined in the body frame.

    • Pass AngleRateControllerGains() to reset gains to default recommended values.

  • vehicle_name (str, optional) – Name of the multirotor to send this command to

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.

Parameters

  • angle_level_gains (AngleLevelControllerGains) –

    • Correspond to the roll, pitch, yaw axes, defined in the body frame.

    • Pass AngleLevelControllerGains() to reset gains to default recommended values.

  • vehicle_name (str, optional) – Name of the multirotor to send this command to

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()

Parameters

  • velocity_gains (VelocityControllerGains) –

    • 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.

  • vehicle_name (str, optional) – Name of the multirotor to send this command to

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.

Parameters

  • position_gains (PositionControllerGains) –

    • Correspond to the X, Y, Z axes.

    • Pass PositionControllerGains() to reset gains to default recommended values.

  • vehicle_name (str, optional) – Name of the multirotor to send this command to

getMultirotorState(self, vehicle_name='')
Parameters

vehicle_name (str, optional) – Vehicle to get the state of

Returns

Return type

MultirotorState

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.

Parameters

  • is_enabled (bool, required) – Start/stop.

  • vehicle_name (str, optional) – Vehicle to start logging for

simStartRace(self, tier=1)

Starts an instance of a race in your given level, if valid.

__internalRandomGoalZone(self, gate_name)
simResetRace(self)

Resets a current race: moves players to start positions, timer and penalties reset.

simDisableRaceLog(self)

Disables race log

simIsRacerDisqualified(self, vehicle_name)
Parameters

vehicle_name (str) – Name of the multirotor to send this command to

Returns

True if vehicle_name is disqualified. False if not

Return type

bool

simGetLastGatePassed(self, vehicle_name)
Parameters

vehicle_name (str) – Name of the multirotor to send this command to

Returns

index of last gate passed by vehicle_name

Return type

int

airsimdroneracinglab.string_to_uint8_array(bstr)
Parameters

bstr (TYPE) – Description

Returns

Description

Return type

TYPE

airsimdroneracinglab.string_to_float_array(bstr)
Parameters

bstr (TYPE) – Description

Returns

Description

Return type

TYPE

airsimdroneracinglab.list_to_2d_float_array(flst, width, height)
Parameters

  • flst (TYPE) – Description

  • width (TYPE) – Description

  • height (TYPE) – Description

Returns

Description

Return type

TYPE

airsimdroneracinglab.get_pfm_array(response)
Parameters

response (TYPE) – Description

Returns

Description

Return type

TYPE

airsimdroneracinglab.get_public_fields(obj)
Parameters

obj (TYPE) – Description

Returns

Description

Return type

TYPE

airsimdroneracinglab.to_dict(obj)
Parameters

obj (TYPE) – Description

Returns

Description

Return type

TYPE

airsimdroneracinglab.to_str(obj)
Parameters

obj (TYPE) – Description

Returns

Description

Return type

TYPE

airsimdroneracinglab.write_file(filename, bstr)
Parameters

  • filename (TYPE) – Description

  • bstr (TYPE) – Description

airsimdroneracinglab.to_eularian_angles(q)
Parameters

q (TYPE) – Description

Returns

Description

Return type

TYPE

airsimdroneracinglab.to_quaternion(pitch, roll, yaw)
Parameters

  • pitch (TYPE) – Description

  • roll (TYPE) – Description

  • yaw (TYPE) – Description

Returns

Description

Return type

TYPE

airsimdroneracinglab.wait_key(message='')

Wait for a key press on the console and return it.

Parameters

message (str, optional) – Description

Returns

Description

Return type

TYPE

airsimdroneracinglab.read_pfm(file)

Read a pfm file

Parameters

file (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

Exception – Description

airsimdroneracinglab.write_pfm(file, image, scale=1)

Write a pfm file

Parameters

  • file (TYPE) – Description

  • image (TYPE) – Description

  • scale (int, optional) – Description

Raises

Exception – Description

airsimdroneracinglab.write_png(filename, image)

image must be numpy array H X W X channels

Parameters

  • filename (TYPE) – Description

  • image (TYPE) – Description

class airsimdroneracinglab.MsgpackMixin
__repr__(self)
Returns

Description

Return type

TYPE

to_msgpack(self, *args, **kwargs)
Parameters

  • *args – Description

  • **kwargs – Description

Returns

Description

Return type

TYPE

classmethod from_msgpack(cls, encoded)
Parameters

encoded (TYPE) – Description

Returns

Description

Return type

TYPE

class airsimdroneracinglab.ImageType
DepthPerspective

Description

Type

int

DepthPlanner

Description

Type

int

DepthVis

Description

Type

int

DisparityNormalized

Description

Type

int

Infrared

Description

Type

int

Scene

Description

Type

int

Segmentation

Description

Type

int

SurfaceNormals

Description

Type

int

Scene = 0
DepthPlanner = 1
DepthPerspective = 2
DepthVis = 3
DisparityNormalized = 4
Segmentation = 5
SurfaceNormals = 6
Infrared = 7
class airsimdroneracinglab.DrivetrainType

Type of DrivetrainType

ForwardOnly

Fixes yaw along tangent of velocity vector (atan2(vy, vx))

Type

int

MaxDegreeOfFreedom

Description

Type

int

MaxDegreeOfFreedom = 0
ForwardOnly = 1
class airsimdroneracinglab.LandedState
Flying

Description

Type

int

Landed

Description

Type

int

Landed = 0
Flying = 1
class airsimdroneracinglab.WeatherParameter
Rain = 0
Roadwetness = 1
Snow = 2
RoadSnow = 3
MapleLeaf = 4
RoadLeaf = 5
Dust = 6
Fog = 7
Enabled = 8
class airsimdroneracinglab.Vector3r(x_val=0.0, y_val=0.0, z_val=0.0)

Bases: airsimdroneracinglab.types.MsgpackMixin

x_val

Description

Type

float

y_val

Description

Type

float

z_val

Description

Type

float

x_val = 0.0
y_val = 0.0
z_val = 0.0
static nanVector3r()
Returns

Description

Return type

TYPE

__add__(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

__sub__(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

__truediv__(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

TypeError – Description

__mul__(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

TypeError – Description

dot(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

TypeError – Description

cross(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

TypeError – Description

get_length(self)
Returns

Description

Return type

TYPE

distance_to(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

to_Quaternionr(self)
Returns

Description

Return type

TYPE

to_numpy_array(self)
Returns

Description

Return type

TYPE

class airsimdroneracinglab.Quaternionr(x_val=0.0, y_val=0.0, z_val=0.0, w_val=1.0)

Bases: airsimdroneracinglab.types.MsgpackMixin

w_val

Description

Type

float

x_val

Description

Type

float

y_val

Description

Type

float

z_val

Description

Type

float

w_val = 0.0
x_val = 0.0
y_val = 0.0
z_val = 0.0
static nanQuaternionr()
Returns

Description

Return type

TYPE

__add__(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

TypeError – Description

__mul__(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

TypeError – Description

__truediv__(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

TypeError – Description

dot(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

TypeError – Description

cross(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

TypeError – Description

outer_product(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

TypeError – Description

rotate(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises
conjugate(self)
Returns

Description

Return type

TYPE

star(self)
Returns

Description

Return type

TYPE

inverse(self)
Returns

Description

Return type

TYPE

sgn(self)
Returns

Description

Return type

TYPE

get_length(self)
Returns

norm of quaternion

Return type

float

to_numpy_array(self)
Returns

Description

Return type

np.array

class airsimdroneracinglab.Pose(position_val=Vector3r(), orientation_val=Quaternionr())

Bases: airsimdroneracinglab.types.MsgpackMixin

orientation

Description

Type

Quaternionr

position

Description

Type

Vector3r

position
orientation
static nanPose()
Returns

Description

Return type

TYPE

class airsimdroneracinglab.CollisionInfo

Bases: airsimdroneracinglab.types.MsgpackMixin

has_collided

Description

Type

bool

impact_point

Description

Type

TYPE

normal

Description

Type

TYPE

object_id

Description

Type

int

object_name

Description

Type

str

penetration_depth

Description

Type

float

position

Description

Type

TYPE

time_stamp

Description

Type

float

has_collided = False
normal
impact_point
position
penetration_depth = 0.0
time_stamp = 0.0
object_name =
object_id
class airsimdroneracinglab.GeoPoint

Bases: airsimdroneracinglab.types.MsgpackMixin

altitude

Description

Type

float

latitude

Description

Type

float

longitude

Description

Type

float

latitude = 0.0
longitude = 0.0
altitude = 0.0
class airsimdroneracinglab.YawMode(is_rate=True, yaw_or_rate=0.0)

Bases: 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()

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

yaw_or_rate

value of desired yaw rate, or desired yaw angle. Interpretation depends upon is_rate

Type

float

is_rate = True
yaw_or_rate = 0.0
class airsimdroneracinglab.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: airsimdroneracinglab.types.MsgpackMixin

is_initialized

Description

Type

bool

is_valid

Description

Type

bool

pitch

Description

Type

TYPE

roll

Description

Type

TYPE

switch1

Description

Type

TYPE

switch2

Description

Type

TYPE

switch3

Description

Type

TYPE

switch4

Description

Type

TYPE

switch5

Description

Type

TYPE

switch6

Description

Type

TYPE

switch7

Description

Type

TYPE

switch8

Description

Type

TYPE

throttle

Description

Type

TYPE

timestamp

Description

Type

int

yaw

Description

Type

TYPE

timestamp = 0
is_initialized = False
is_valid = False
class airsimdroneracinglab.ImageRequest(camera_name, image_type, pixels_as_float=False, compress=True)

Bases: airsimdroneracinglab.types.MsgpackMixin

camera_name

Description

Type

str

compress

Description

Type

bool

image_type

Description

Type

TYPE

pixels_as_float

Description

Type

bool

camera_name = 0
image_type
pixels_as_float = False
compress = False
class airsimdroneracinglab.ImageResponse

Bases: airsimdroneracinglab.types.MsgpackMixin

camera_orientation

Description

Type

TYPE

camera_position

Description

Type

TYPE

compress

Description

Type

bool

height

Description

Type

int

image_data_float

Description

Type

float

image_data_uint8

Description

Type

TYPE

image_type

Description

Type

TYPE

message

Description

Type

str

pixels_as_float

Description

Type

float

time_stamp

Description

Type

TYPE

width

Description

Type

int

image_data_uint8
image_data_float = 0.0
camera_position
camera_orientation
time_stamp
message =
pixels_as_float = 0.0
compress = True
width = 0
height = 0
image_type
class airsimdroneracinglab.CarControls(throttle=0, steering=0, brake=0, handbrake=False, is_manual_gear=False, manual_gear=0, gear_immediate=True)

Bases: airsimdroneracinglab.types.MsgpackMixin

throttle = 0.0
steering = 0.0
brake = 0.0
handbrake = False
is_manual_gear = False
manual_gear = 0
gear_immediate = True
set_throttle(self, throttle_val, forward)
class airsimdroneracinglab.KinematicsState

Bases: airsimdroneracinglab.types.MsgpackMixin

angular_acceleration

Description

Type

Vector3r

angular_velocity

Description

Type

Vector3r

linear_acceleration

Description

Type

Vector3r

linear_velocity

Description

Type

Vector3r

orientation

Description

Type

Quaternionr

position

Description

Type

Vector3r

position
orientation
linear_velocity
angular_velocity
linear_acceleration
angular_acceleration
class airsimdroneracinglab.EnvironmentState

Bases: airsimdroneracinglab.types.MsgpackMixin

position
geo_point
gravity
air_pressure = 0.0
temperature = 0.0
air_density = 0.0
class airsimdroneracinglab.CarState

Bases: airsimdroneracinglab.types.MsgpackMixin

speed = 0.0
gear = 0
rpm = 0.0
maxrpm = 0.0
handbrake = False
collision
kinematics_estimated
timestamp
class airsimdroneracinglab.MultirotorState

Bases: airsimdroneracinglab.types.MsgpackMixin

collision

Description

Type

CollisionInfo

gps_location

Description

Type

GeoPoint

kinematics_estimated

Description

Type

KinematicsState

landed_state

Description

Type

LandedState.Landed

rc_data

Description

Type

RCData

timestamp

Description

Type

np.uint64

collision
kinematics_estimated
gps_location
timestamp
landed_state
rc_data
class airsimdroneracinglab.ProjectionMatrix

Bases: airsimdroneracinglab.types.MsgpackMixin

matrix

Description

Type

list

matrix = []
class airsimdroneracinglab.CameraInfo

Bases: airsimdroneracinglab.types.MsgpackMixin

fov

Description

Type

int

pose

Description

Type

TYPE

proj_mat

Description

Type

TYPE

pose
fov
proj_mat
class airsimdroneracinglab.LidarData

Bases: airsimdroneracinglab.types.MsgpackMixin

point_cloud = 0.0
time_stamp
pose
class airsimdroneracinglab.ImuData

Bases: airsimdroneracinglab.types.MsgpackMixin

time_stamp
orientation
angular_velocity
linear_acceleration
class airsimdroneracinglab.BarometerData

Bases: airsimdroneracinglab.types.MsgpackMixin

time_stamp
altitude
pressure
qnh
class airsimdroneracinglab.MagnetometerData

Bases: airsimdroneracinglab.types.MsgpackMixin

time_stamp
magnetic_field_body
magnetic_field_covariance = 0.0
class airsimdroneracinglab.GnssFixType

Bases: airsimdroneracinglab.types.MsgpackMixin

GNSS_FIX_NO_FIX = 0
GNSS_FIX_TIME_ONLY = 1
GNSS_FIX_2D_FIX = 2
GNSS_FIX_3D_FIX = 3
class airsimdroneracinglab.GnssReport

Bases: airsimdroneracinglab.types.MsgpackMixin

geo_point
eph = 0.0
epv = 0.0
velocity
fix_type
time_utc
class airsimdroneracinglab.GpsData

Bases: airsimdroneracinglab.types.MsgpackMixin

time_stamp
gnss
is_valid = False
class airsimdroneracinglab.DistanceSensorData

Bases: airsimdroneracinglab.types.MsgpackMixin

time_stamp
distance
min_distance
max_distance
relative_pose
class airsimdroneracinglab.PIDGains(kp, ki, kd)

Struct to store values of PID gains. Used to transmit controller gain values while instantiating AngleLevel/AngleRate/Velocity/PositionControllerGains objects.

kP

Proportional gain

Type

float

kI

Integrator gain

Type

float

kD

Derivative gain

Type

float

to_list(self)
class airsimdroneracinglab.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

roll_gains

kP, kI, kD for roll axis

Type

PIDGains

pitch_gains

kP, kI, kD for pitch axis

Type

PIDGains

yaw_gains

kP, kI, kD for yaw axis

Type

PIDGains

to_lists(self)
class airsimdroneracinglab.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

roll_gains

kP, kI, kD for roll axis

Type

PIDGains

pitch_gains

kP, kI, kD for pitch axis

Type

PIDGains

yaw_gains

kP, kI, kD for yaw axis

Type

PIDGains

to_lists(self)
class airsimdroneracinglab.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

x_gains

kP, kI, kD for X axis

Type

PIDGains

y_gains

kP, kI, kD for Y axis

Type

PIDGains

z_gains

kP, kI, kD for Z axis

Type

PIDGains

to_lists(self)
class airsimdroneracinglab.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

x_gains

kP, kI, kD for X axis

Type

PIDGains

y_gains

kP, kI, kD for Y axis

Type

PIDGains

z_gains

kP, kI, kD for Z axis

Type

PIDGains

to_lists(self)
class airsimdroneracinglab.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

kp_cross_track

P gain for position error measured perpendicular to path tangent, or in the “cross track” direction

Type

float

kd_cross_track

D gain for position error measured perpendicular to path tangent, or in the “cross track” direction

Type

float

kp_vel_cross_track

P gain for velocity error measured perpendicular to path tangent, or in the “cross track” direction

Type

float

kd_vel_cross_track

D gain for velocity error measured perpendicular to path tangent, or in the “cross track” direction

Type

float

kp_along_track

P gain for position error measured along path tangent

Type

float

kd_along_track

D gain for position error measured along path tangent

Type

float

kp_vel_along_track

P gain for velocity error measured along path tangent

Type

float

kd_vel_along_track

D gain for velocity error measured along path tangent

Type

float

kp_z_track

P gain for position error measured along world Z axis

Type

float

kd_z_track

D gain for position error measured along world Z axis

Type

float

kp_vel_z

P gain for velocity error measured along world Z axis

Type

float

kd_vel_z

D gain for velocity error measured along world Z axis

Type

float

kp_yaw

P gain for yaw error

Type

float

kd_yaw

D gain for yaw error

Type

float

to_list(self)

Call this before sending to setTrajectoryTrackerGains

Returns

Description

Return type

list[float]

class airsimdroneracinglab.MeshPositionVertexBuffersResponse

Bases: airsimdroneracinglab.types.MsgpackMixin

position
orientation
vertices = 0.0
indices = 0.0
name =
airsimdroneracinglab.string_to_uint8_array(bstr)
Parameters

bstr (TYPE) – Description

Returns

Description

Return type

TYPE

airsimdroneracinglab.string_to_float_array(bstr)
Parameters

bstr (TYPE) – Description

Returns

Description

Return type

TYPE

airsimdroneracinglab.list_to_2d_float_array(flst, width, height)
Parameters

  • flst (TYPE) – Description

  • width (TYPE) – Description

  • height (TYPE) – Description

Returns

Description

Return type

TYPE

airsimdroneracinglab.get_pfm_array(response)
Parameters

response (TYPE) – Description

Returns

Description

Return type

TYPE

airsimdroneracinglab.get_public_fields(obj)
Parameters

obj (TYPE) – Description

Returns

Description

Return type

TYPE

airsimdroneracinglab.to_dict(obj)
Parameters

obj (TYPE) – Description

Returns

Description

Return type

TYPE

airsimdroneracinglab.to_str(obj)
Parameters

obj (TYPE) – Description

Returns

Description

Return type

TYPE

airsimdroneracinglab.write_file(filename, bstr)
Parameters

  • filename (TYPE) – Description

  • bstr (TYPE) – Description

airsimdroneracinglab.to_eularian_angles(q)
Parameters

q (TYPE) – Description

Returns

Description

Return type

TYPE

airsimdroneracinglab.to_quaternion(pitch, roll, yaw)
Parameters

  • pitch (TYPE) – Description

  • roll (TYPE) – Description

  • yaw (TYPE) – Description

Returns

Description

Return type

TYPE

airsimdroneracinglab.wait_key(message='')

Wait for a key press on the console and return it.

Parameters

message (str, optional) – Description

Returns

Description

Return type

TYPE

airsimdroneracinglab.read_pfm(file)

Read a pfm file

Parameters

file (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

Exception – Description

airsimdroneracinglab.write_pfm(file, image, scale=1)

Write a pfm file

Parameters

  • file (TYPE) – Description

  • image (TYPE) – Description

  • scale (int, optional) – Description

Raises

Exception – Description

airsimdroneracinglab.write_png(filename, image)

image must be numpy array H X W X channels

Parameters

  • filename (TYPE) – Description

  • image (TYPE) – Description

class airsimdroneracinglab.MsgpackMixin
__repr__(self)
Returns

Description

Return type

TYPE

to_msgpack(self, *args, **kwargs)
Parameters

  • *args – Description

  • **kwargs – Description

Returns

Description

Return type

TYPE

classmethod from_msgpack(cls, encoded)
Parameters

encoded (TYPE) – Description

Returns

Description

Return type

TYPE

class airsimdroneracinglab.ImageType
DepthPerspective

Description

Type

int

DepthPlanner

Description

Type

int

DepthVis

Description

Type

int

DisparityNormalized

Description

Type

int

Infrared

Description

Type

int

Scene

Description

Type

int

Segmentation

Description

Type

int

SurfaceNormals

Description

Type

int

Scene = 0
DepthPlanner = 1
DepthPerspective = 2
DepthVis = 3
DisparityNormalized = 4
Segmentation = 5
SurfaceNormals = 6
Infrared = 7
class airsimdroneracinglab.DrivetrainType

Type of DrivetrainType

ForwardOnly

Fixes yaw along tangent of velocity vector (atan2(vy, vx))

Type

int

MaxDegreeOfFreedom

Description

Type

int

MaxDegreeOfFreedom = 0
ForwardOnly = 1
class airsimdroneracinglab.LandedState
Flying

Description

Type

int

Landed

Description

Type

int

Landed = 0
Flying = 1
class airsimdroneracinglab.WeatherParameter
Rain = 0
Roadwetness = 1
Snow = 2
RoadSnow = 3
MapleLeaf = 4
RoadLeaf = 5
Dust = 6
Fog = 7
Enabled = 8
class airsimdroneracinglab.Vector3r(x_val=0.0, y_val=0.0, z_val=0.0)

Bases: airsimdroneracinglab.types.MsgpackMixin

x_val

Description

Type

float

y_val

Description

Type

float

z_val

Description

Type

float

x_val = 0.0
y_val = 0.0
z_val = 0.0
static nanVector3r()
Returns

Description

Return type

TYPE

__add__(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

__sub__(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

__truediv__(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

TypeError – Description

__mul__(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

TypeError – Description

dot(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

TypeError – Description

cross(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

TypeError – Description

get_length(self)
Returns

Description

Return type

TYPE

distance_to(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

to_Quaternionr(self)
Returns

Description

Return type

TYPE

to_numpy_array(self)
Returns

Description

Return type

TYPE

class airsimdroneracinglab.Quaternionr(x_val=0.0, y_val=0.0, z_val=0.0, w_val=1.0)

Bases: airsimdroneracinglab.types.MsgpackMixin

w_val

Description

Type

float

x_val

Description

Type

float

y_val

Description

Type

float

z_val

Description

Type

float

w_val = 0.0
x_val = 0.0
y_val = 0.0
z_val = 0.0
static nanQuaternionr()
Returns

Description

Return type

TYPE

__add__(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

TypeError – Description

__mul__(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

TypeError – Description

__truediv__(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

TypeError – Description

dot(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

TypeError – Description

cross(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

TypeError – Description

outer_product(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

TypeError – Description

rotate(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises
conjugate(self)
Returns

Description

Return type

TYPE

star(self)
Returns

Description

Return type

TYPE

inverse(self)
Returns

Description

Return type

TYPE

sgn(self)
Returns

Description

Return type

TYPE

get_length(self)
Returns

norm of quaternion

Return type

float

to_numpy_array(self)
Returns

Description

Return type

np.array

class airsimdroneracinglab.Pose(position_val=Vector3r(), orientation_val=Quaternionr())

Bases: airsimdroneracinglab.types.MsgpackMixin

orientation

Description

Type

Quaternionr

position

Description

Type

Vector3r

position
orientation
static nanPose()
Returns

Description

Return type

TYPE

class airsimdroneracinglab.CollisionInfo

Bases: airsimdroneracinglab.types.MsgpackMixin

has_collided

Description

Type

bool

impact_point

Description

Type

TYPE

normal

Description

Type

TYPE

object_id

Description

Type

int

object_name

Description

Type

str

penetration_depth

Description

Type

float

position

Description

Type

TYPE

time_stamp

Description

Type

float

has_collided = False
normal
impact_point
position
penetration_depth = 0.0
time_stamp = 0.0
object_name =
object_id
class airsimdroneracinglab.GeoPoint

Bases: airsimdroneracinglab.types.MsgpackMixin

altitude

Description

Type

float

latitude

Description

Type

float

longitude

Description

Type

float

latitude = 0.0
longitude = 0.0
altitude = 0.0
class airsimdroneracinglab.YawMode(is_rate=True, yaw_or_rate=0.0)

Bases: 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()

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

yaw_or_rate

value of desired yaw rate, or desired yaw angle. Interpretation depends upon is_rate

Type

float

is_rate = True
yaw_or_rate = 0.0
class airsimdroneracinglab.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: airsimdroneracinglab.types.MsgpackMixin

is_initialized

Description

Type

bool

is_valid

Description

Type

bool

pitch

Description

Type

TYPE

roll

Description

Type

TYPE

switch1

Description

Type

TYPE

switch2

Description

Type

TYPE

switch3

Description

Type

TYPE

switch4

Description

Type

TYPE

switch5

Description

Type

TYPE

switch6

Description

Type

TYPE

switch7

Description

Type

TYPE

switch8

Description

Type

TYPE

throttle

Description

Type

TYPE

timestamp

Description

Type

int

yaw

Description

Type

TYPE

timestamp = 0
is_initialized = False
is_valid = False
class airsimdroneracinglab.ImageRequest(camera_name, image_type, pixels_as_float=False, compress=True)

Bases: airsimdroneracinglab.types.MsgpackMixin

camera_name

Description

Type

str

compress

Description

Type

bool

image_type

Description

Type

TYPE

pixels_as_float

Description

Type

bool

camera_name = 0
image_type
pixels_as_float = False
compress = False
class airsimdroneracinglab.ImageResponse

Bases: airsimdroneracinglab.types.MsgpackMixin

camera_orientation

Description

Type

TYPE

camera_position

Description

Type

TYPE

compress

Description

Type

bool

height

Description

Type

int

image_data_float

Description

Type

float

image_data_uint8

Description

Type

TYPE

image_type

Description

Type

TYPE

message

Description

Type

str

pixels_as_float

Description

Type

float

time_stamp

Description

Type

TYPE

width

Description

Type

int

image_data_uint8
image_data_float = 0.0
camera_position
camera_orientation
time_stamp
message =
pixels_as_float = 0.0
compress = True
width = 0
height = 0
image_type
class airsimdroneracinglab.CarControls(throttle=0, steering=0, brake=0, handbrake=False, is_manual_gear=False, manual_gear=0, gear_immediate=True)

Bases: airsimdroneracinglab.types.MsgpackMixin

throttle = 0.0
steering = 0.0
brake = 0.0
handbrake = False
is_manual_gear = False
manual_gear = 0
gear_immediate = True
set_throttle(self, throttle_val, forward)
class airsimdroneracinglab.KinematicsState

Bases: airsimdroneracinglab.types.MsgpackMixin

angular_acceleration

Description

Type

Vector3r

angular_velocity

Description

Type

Vector3r

linear_acceleration

Description

Type

Vector3r

linear_velocity

Description

Type

Vector3r

orientation

Description

Type

Quaternionr

position

Description

Type

Vector3r

position
orientation
linear_velocity
angular_velocity
linear_acceleration
angular_acceleration
class airsimdroneracinglab.EnvironmentState

Bases: airsimdroneracinglab.types.MsgpackMixin

position
geo_point
gravity
air_pressure = 0.0
temperature = 0.0
air_density = 0.0
class airsimdroneracinglab.CarState

Bases: airsimdroneracinglab.types.MsgpackMixin

speed = 0.0
gear = 0
rpm = 0.0
maxrpm = 0.0
handbrake = False
collision
kinematics_estimated
timestamp
class airsimdroneracinglab.MultirotorState

Bases: airsimdroneracinglab.types.MsgpackMixin

collision

Description

Type

CollisionInfo

gps_location

Description

Type

GeoPoint

kinematics_estimated

Description

Type

KinematicsState

landed_state

Description

Type

LandedState.Landed

rc_data

Description

Type

RCData

timestamp

Description

Type

np.uint64

collision
kinematics_estimated
gps_location
timestamp
landed_state
rc_data
class airsimdroneracinglab.ProjectionMatrix

Bases: airsimdroneracinglab.types.MsgpackMixin

matrix

Description

Type

list

matrix = []
class airsimdroneracinglab.CameraInfo

Bases: airsimdroneracinglab.types.MsgpackMixin

fov

Description

Type

int

pose

Description

Type

TYPE

proj_mat

Description

Type

TYPE

pose
fov
proj_mat
class airsimdroneracinglab.LidarData

Bases: airsimdroneracinglab.types.MsgpackMixin

point_cloud = 0.0
time_stamp
pose
class airsimdroneracinglab.ImuData

Bases: airsimdroneracinglab.types.MsgpackMixin

time_stamp
orientation
angular_velocity
linear_acceleration
class airsimdroneracinglab.BarometerData

Bases: airsimdroneracinglab.types.MsgpackMixin

time_stamp
altitude
pressure
qnh
class airsimdroneracinglab.MagnetometerData

Bases: airsimdroneracinglab.types.MsgpackMixin

time_stamp
magnetic_field_body
magnetic_field_covariance = 0.0
class airsimdroneracinglab.GnssFixType

Bases: airsimdroneracinglab.types.MsgpackMixin

GNSS_FIX_NO_FIX = 0
GNSS_FIX_TIME_ONLY = 1
GNSS_FIX_2D_FIX = 2
GNSS_FIX_3D_FIX = 3
class airsimdroneracinglab.GnssReport

Bases: airsimdroneracinglab.types.MsgpackMixin

geo_point
eph = 0.0
epv = 0.0
velocity
fix_type
time_utc
class airsimdroneracinglab.GpsData

Bases: airsimdroneracinglab.types.MsgpackMixin

time_stamp
gnss
is_valid = False
class airsimdroneracinglab.DistanceSensorData

Bases: airsimdroneracinglab.types.MsgpackMixin

time_stamp
distance
min_distance
max_distance
relative_pose
class airsimdroneracinglab.PIDGains(kp, ki, kd)

Struct to store values of PID gains. Used to transmit controller gain values while instantiating AngleLevel/AngleRate/Velocity/PositionControllerGains objects.

kP

Proportional gain

Type

float

kI

Integrator gain

Type

float

kD

Derivative gain

Type

float

to_list(self)
class airsimdroneracinglab.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

roll_gains

kP, kI, kD for roll axis

Type

PIDGains

pitch_gains

kP, kI, kD for pitch axis

Type

PIDGains

yaw_gains

kP, kI, kD for yaw axis

Type

PIDGains

to_lists(self)
class airsimdroneracinglab.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

roll_gains

kP, kI, kD for roll axis

Type

PIDGains

pitch_gains

kP, kI, kD for pitch axis

Type

PIDGains

yaw_gains

kP, kI, kD for yaw axis

Type

PIDGains

to_lists(self)
class airsimdroneracinglab.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

x_gains

kP, kI, kD for X axis

Type

PIDGains

y_gains

kP, kI, kD for Y axis

Type

PIDGains

z_gains

kP, kI, kD for Z axis

Type

PIDGains

to_lists(self)
class airsimdroneracinglab.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

x_gains

kP, kI, kD for X axis

Type

PIDGains

y_gains

kP, kI, kD for Y axis

Type

PIDGains

z_gains

kP, kI, kD for Z axis

Type

PIDGains

to_lists(self)
class airsimdroneracinglab.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

kp_cross_track

P gain for position error measured perpendicular to path tangent, or in the “cross track” direction

Type

float

kd_cross_track

D gain for position error measured perpendicular to path tangent, or in the “cross track” direction

Type

float

kp_vel_cross_track

P gain for velocity error measured perpendicular to path tangent, or in the “cross track” direction

Type

float

kd_vel_cross_track

D gain for velocity error measured perpendicular to path tangent, or in the “cross track” direction

Type

float

kp_along_track

P gain for position error measured along path tangent

Type

float

kd_along_track

D gain for position error measured along path tangent

Type

float

kp_vel_along_track

P gain for velocity error measured along path tangent

Type

float

kd_vel_along_track

D gain for velocity error measured along path tangent

Type

float

kp_z_track

P gain for position error measured along world Z axis

Type

float

kd_z_track

D gain for position error measured along world Z axis

Type

float

kp_vel_z

P gain for velocity error measured along world Z axis

Type

float

kd_vel_z

D gain for velocity error measured along world Z axis

Type

float

kp_yaw

P gain for yaw error

Type

float

kd_yaw

D gain for yaw error

Type

float

to_list(self)

Call this before sending to setTrajectoryTrackerGains

Returns

Description

Return type

list[float]

class airsimdroneracinglab.MeshPositionVertexBuffersResponse

Bases: airsimdroneracinglab.types.MsgpackMixin

position
orientation
vertices = 0.0
indices = 0.0
name =
class airsimdroneracinglab.MsgpackMixin
__repr__(self)
Returns

Description

Return type

TYPE

to_msgpack(self, *args, **kwargs)
Parameters

  • *args – Description

  • **kwargs – Description

Returns

Description

Return type

TYPE

classmethod from_msgpack(cls, encoded)
Parameters

encoded (TYPE) – Description

Returns

Description

Return type

TYPE

class airsimdroneracinglab.ImageType
DepthPerspective

Description

Type

int

DepthPlanner

Description

Type

int

DepthVis

Description

Type

int

DisparityNormalized

Description

Type

int

Infrared

Description

Type

int

Scene

Description

Type

int

Segmentation

Description

Type

int

SurfaceNormals

Description

Type

int

Scene = 0
DepthPlanner = 1
DepthPerspective = 2
DepthVis = 3
DisparityNormalized = 4
Segmentation = 5
SurfaceNormals = 6
Infrared = 7
class airsimdroneracinglab.DrivetrainType

Type of DrivetrainType

ForwardOnly

Fixes yaw along tangent of velocity vector (atan2(vy, vx))

Type

int

MaxDegreeOfFreedom

Description

Type

int

MaxDegreeOfFreedom = 0
ForwardOnly = 1
class airsimdroneracinglab.LandedState
Flying

Description

Type

int

Landed

Description

Type

int

Landed = 0
Flying = 1
class airsimdroneracinglab.WeatherParameter
Rain = 0
Roadwetness = 1
Snow = 2
RoadSnow = 3
MapleLeaf = 4
RoadLeaf = 5
Dust = 6
Fog = 7
Enabled = 8
class airsimdroneracinglab.Vector3r(x_val=0.0, y_val=0.0, z_val=0.0)

Bases: airsimdroneracinglab.types.MsgpackMixin

x_val

Description

Type

float

y_val

Description

Type

float

z_val

Description

Type

float

x_val = 0.0
y_val = 0.0
z_val = 0.0
static nanVector3r()
Returns

Description

Return type

TYPE

__add__(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

__sub__(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

__truediv__(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

TypeError – Description

__mul__(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

TypeError – Description

dot(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

TypeError – Description

cross(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

TypeError – Description

get_length(self)
Returns

Description

Return type

TYPE

distance_to(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

to_Quaternionr(self)
Returns

Description

Return type

TYPE

to_numpy_array(self)
Returns

Description

Return type

TYPE

class airsimdroneracinglab.Quaternionr(x_val=0.0, y_val=0.0, z_val=0.0, w_val=1.0)

Bases: airsimdroneracinglab.types.MsgpackMixin

w_val

Description

Type

float

x_val

Description

Type

float

y_val

Description

Type

float

z_val

Description

Type

float

w_val = 0.0
x_val = 0.0
y_val = 0.0
z_val = 0.0
static nanQuaternionr()
Returns

Description

Return type

TYPE

__add__(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

TypeError – Description

__mul__(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

TypeError – Description

__truediv__(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

TypeError – Description

dot(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

TypeError – Description

cross(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

TypeError – Description

outer_product(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

TypeError – Description

rotate(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises
conjugate(self)
Returns

Description

Return type

TYPE

star(self)
Returns

Description

Return type

TYPE

inverse(self)
Returns

Description

Return type

TYPE

sgn(self)
Returns

Description

Return type

TYPE

get_length(self)
Returns

norm of quaternion

Return type

float

to_numpy_array(self)
Returns

Description

Return type

np.array

class airsimdroneracinglab.Pose(position_val=Vector3r(), orientation_val=Quaternionr())

Bases: airsimdroneracinglab.types.MsgpackMixin

orientation

Description

Type

Quaternionr

position

Description

Type

Vector3r

position
orientation
static nanPose()
Returns

Description

Return type

TYPE

class airsimdroneracinglab.CollisionInfo

Bases: airsimdroneracinglab.types.MsgpackMixin

has_collided

Description

Type

bool

impact_point

Description

Type

TYPE

normal

Description

Type

TYPE

object_id

Description

Type

int

object_name

Description

Type

str

penetration_depth

Description

Type

float

position

Description

Type

TYPE

time_stamp

Description

Type

float

has_collided = False
normal
impact_point
position
penetration_depth = 0.0
time_stamp = 0.0
object_name =
object_id
class airsimdroneracinglab.GeoPoint

Bases: airsimdroneracinglab.types.MsgpackMixin

altitude

Description

Type

float

latitude

Description

Type

float

longitude

Description

Type

float

latitude = 0.0
longitude = 0.0
altitude = 0.0
class airsimdroneracinglab.YawMode(is_rate=True, yaw_or_rate=0.0)

Bases: 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()

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

yaw_or_rate

value of desired yaw rate, or desired yaw angle. Interpretation depends upon is_rate

Type

float

is_rate = True
yaw_or_rate = 0.0
class airsimdroneracinglab.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: airsimdroneracinglab.types.MsgpackMixin

is_initialized

Description

Type

bool

is_valid

Description

Type

bool

pitch

Description

Type

TYPE

roll

Description

Type

TYPE

switch1

Description

Type

TYPE

switch2

Description

Type

TYPE

switch3

Description

Type

TYPE

switch4

Description

Type

TYPE

switch5

Description

Type

TYPE

switch6

Description

Type

TYPE

switch7

Description

Type

TYPE

switch8

Description

Type

TYPE

throttle

Description

Type

TYPE

timestamp

Description

Type

int

yaw

Description

Type

TYPE

timestamp = 0
is_initialized = False
is_valid = False
class airsimdroneracinglab.ImageRequest(camera_name, image_type, pixels_as_float=False, compress=True)

Bases: airsimdroneracinglab.types.MsgpackMixin

camera_name

Description

Type

str

compress

Description

Type

bool

image_type

Description

Type

TYPE

pixels_as_float

Description

Type

bool

camera_name = 0
image_type
pixels_as_float = False
compress = False
class airsimdroneracinglab.ImageResponse

Bases: airsimdroneracinglab.types.MsgpackMixin

camera_orientation

Description

Type

TYPE

camera_position

Description

Type

TYPE

compress

Description

Type

bool

height

Description

Type

int

image_data_float

Description

Type

float

image_data_uint8

Description

Type

TYPE

image_type

Description

Type

TYPE

message

Description

Type

str

pixels_as_float

Description

Type

float

time_stamp

Description

Type

TYPE

width

Description

Type

int

image_data_uint8
image_data_float = 0.0
camera_position
camera_orientation
time_stamp
message =
pixels_as_float = 0.0
compress = True
width = 0
height = 0
image_type
class airsimdroneracinglab.CarControls(throttle=0, steering=0, brake=0, handbrake=False, is_manual_gear=False, manual_gear=0, gear_immediate=True)

Bases: airsimdroneracinglab.types.MsgpackMixin

throttle = 0.0
steering = 0.0
brake = 0.0
handbrake = False
is_manual_gear = False
manual_gear = 0
gear_immediate = True
set_throttle(self, throttle_val, forward)
class airsimdroneracinglab.KinematicsState

Bases: airsimdroneracinglab.types.MsgpackMixin

angular_acceleration

Description

Type

Vector3r

angular_velocity

Description

Type

Vector3r

linear_acceleration

Description

Type

Vector3r

linear_velocity

Description

Type

Vector3r

orientation

Description

Type

Quaternionr

position

Description

Type

Vector3r

position
orientation
linear_velocity
angular_velocity
linear_acceleration
angular_acceleration
class airsimdroneracinglab.EnvironmentState

Bases: airsimdroneracinglab.types.MsgpackMixin

position
geo_point
gravity
air_pressure = 0.0
temperature = 0.0
air_density = 0.0
class airsimdroneracinglab.CarState

Bases: airsimdroneracinglab.types.MsgpackMixin

speed = 0.0
gear = 0
rpm = 0.0
maxrpm = 0.0
handbrake = False
collision
kinematics_estimated
timestamp
class airsimdroneracinglab.MultirotorState

Bases: airsimdroneracinglab.types.MsgpackMixin

collision

Description

Type

CollisionInfo

gps_location

Description

Type

GeoPoint

kinematics_estimated

Description

Type

KinematicsState

landed_state

Description

Type

LandedState.Landed

rc_data

Description

Type

RCData

timestamp

Description

Type

np.uint64

collision
kinematics_estimated
gps_location
timestamp
landed_state
rc_data
class airsimdroneracinglab.ProjectionMatrix

Bases: airsimdroneracinglab.types.MsgpackMixin

matrix

Description

Type

list

matrix = []
class airsimdroneracinglab.CameraInfo

Bases: airsimdroneracinglab.types.MsgpackMixin

fov

Description

Type

int

pose

Description

Type

TYPE

proj_mat

Description

Type

TYPE

pose
fov
proj_mat
class airsimdroneracinglab.LidarData

Bases: airsimdroneracinglab.types.MsgpackMixin

point_cloud = 0.0
time_stamp
pose
class airsimdroneracinglab.ImuData

Bases: airsimdroneracinglab.types.MsgpackMixin

time_stamp
orientation
angular_velocity
linear_acceleration
class airsimdroneracinglab.BarometerData

Bases: airsimdroneracinglab.types.MsgpackMixin

time_stamp
altitude
pressure
qnh
class airsimdroneracinglab.MagnetometerData

Bases: airsimdroneracinglab.types.MsgpackMixin

time_stamp
magnetic_field_body
magnetic_field_covariance = 0.0
class airsimdroneracinglab.GnssFixType

Bases: airsimdroneracinglab.types.MsgpackMixin

GNSS_FIX_NO_FIX = 0
GNSS_FIX_TIME_ONLY = 1
GNSS_FIX_2D_FIX = 2
GNSS_FIX_3D_FIX = 3
class airsimdroneracinglab.GnssReport

Bases: airsimdroneracinglab.types.MsgpackMixin

geo_point
eph = 0.0
epv = 0.0
velocity
fix_type
time_utc
class airsimdroneracinglab.GpsData

Bases: airsimdroneracinglab.types.MsgpackMixin

time_stamp
gnss
is_valid = False
class airsimdroneracinglab.DistanceSensorData

Bases: airsimdroneracinglab.types.MsgpackMixin

time_stamp
distance
min_distance
max_distance
relative_pose
class airsimdroneracinglab.PIDGains(kp, ki, kd)

Struct to store values of PID gains. Used to transmit controller gain values while instantiating AngleLevel/AngleRate/Velocity/PositionControllerGains objects.

kP

Proportional gain

Type

float

kI

Integrator gain

Type

float

kD

Derivative gain

Type

float

to_list(self)
class airsimdroneracinglab.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

roll_gains

kP, kI, kD for roll axis

Type

PIDGains

pitch_gains

kP, kI, kD for pitch axis

Type

PIDGains

yaw_gains

kP, kI, kD for yaw axis

Type

PIDGains

to_lists(self)
class airsimdroneracinglab.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

roll_gains

kP, kI, kD for roll axis

Type

PIDGains

pitch_gains

kP, kI, kD for pitch axis

Type

PIDGains

yaw_gains

kP, kI, kD for yaw axis

Type

PIDGains

to_lists(self)
class airsimdroneracinglab.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

x_gains

kP, kI, kD for X axis

Type

PIDGains

y_gains

kP, kI, kD for Y axis

Type

PIDGains

z_gains

kP, kI, kD for Z axis

Type

PIDGains

to_lists(self)
class airsimdroneracinglab.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

x_gains

kP, kI, kD for X axis

Type

PIDGains

y_gains

kP, kI, kD for Y axis

Type

PIDGains

z_gains

kP, kI, kD for Z axis

Type

PIDGains

to_lists(self)
class airsimdroneracinglab.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

kp_cross_track

P gain for position error measured perpendicular to path tangent, or in the “cross track” direction

Type

float

kd_cross_track

D gain for position error measured perpendicular to path tangent, or in the “cross track” direction

Type

float

kp_vel_cross_track

P gain for velocity error measured perpendicular to path tangent, or in the “cross track” direction

Type

float

kd_vel_cross_track

D gain for velocity error measured perpendicular to path tangent, or in the “cross track” direction

Type

float

kp_along_track

P gain for position error measured along path tangent

Type

float

kd_along_track

D gain for position error measured along path tangent

Type

float

kp_vel_along_track

P gain for velocity error measured along path tangent

Type

float

kd_vel_along_track

D gain for velocity error measured along path tangent

Type

float

kp_z_track

P gain for position error measured along world Z axis

Type

float

kd_z_track

D gain for position error measured along world Z axis

Type

float

kp_vel_z

P gain for velocity error measured along world Z axis

Type

float

kd_vel_z

D gain for velocity error measured along world Z axis

Type

float

kp_yaw

P gain for yaw error

Type

float

kd_yaw

D gain for yaw error

Type

float

to_list(self)

Call this before sending to setTrajectoryTrackerGains

Returns

Description

Return type

list[float]

class airsimdroneracinglab.MeshPositionVertexBuffersResponse

Bases: airsimdroneracinglab.types.MsgpackMixin

position
orientation
vertices = 0.0
indices = 0.0
name =
class airsimdroneracinglab.BaselineRacer(client, viz_traj=True, viz_traj_color_rgba=[1.0, 0.0, 0.0, 1.0])

Bases: object

Class for drone_2, which flies through gates using moveOnSpline when simStartRace is called.

initialize_drone(self)
takeoffAsync(self)
takeoff_with_moveOnSpline(self, takeoff_height=0.1)
get_ground_truth_gate_poses(self)
fly_through_all_gates_at_once_with_moveOnSpline(self)
takeoff_and_fly_through_all_gates_at_once_with_moveOnSpline(self)
run_in_thread(self)
airsimdroneracinglab.string_to_uint8_array(bstr)
Parameters

bstr (TYPE) – Description

Returns

Description

Return type

TYPE

airsimdroneracinglab.string_to_float_array(bstr)
Parameters

bstr (TYPE) – Description

Returns

Description

Return type

TYPE

airsimdroneracinglab.list_to_2d_float_array(flst, width, height)
Parameters

  • flst (TYPE) – Description

  • width (TYPE) – Description

  • height (TYPE) – Description

Returns

Description

Return type

TYPE

airsimdroneracinglab.get_pfm_array(response)
Parameters

response (TYPE) – Description

Returns

Description

Return type

TYPE

airsimdroneracinglab.get_public_fields(obj)
Parameters

obj (TYPE) – Description

Returns

Description

Return type

TYPE

airsimdroneracinglab.to_dict(obj)
Parameters

obj (TYPE) – Description

Returns

Description

Return type

TYPE

airsimdroneracinglab.to_str(obj)
Parameters

obj (TYPE) – Description

Returns

Description

Return type

TYPE

airsimdroneracinglab.write_file(filename, bstr)
Parameters

  • filename (TYPE) – Description

  • bstr (TYPE) – Description

airsimdroneracinglab.to_eularian_angles(q)
Parameters

q (TYPE) – Description

Returns

Description

Return type

TYPE

airsimdroneracinglab.to_quaternion(pitch, roll, yaw)
Parameters

  • pitch (TYPE) – Description

  • roll (TYPE) – Description

  • yaw (TYPE) – Description

Returns

Description

Return type

TYPE

airsimdroneracinglab.wait_key(message='')

Wait for a key press on the console and return it.

Parameters

message (str, optional) – Description

Returns

Description

Return type

TYPE

airsimdroneracinglab.read_pfm(file)

Read a pfm file

Parameters

file (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

Exception – Description

airsimdroneracinglab.write_pfm(file, image, scale=1)

Write a pfm file

Parameters

  • file (TYPE) – Description

  • image (TYPE) – Description

  • scale (int, optional) – Description

Raises

Exception – Description

airsimdroneracinglab.write_png(filename, image)

image must be numpy array H X W X channels

Parameters

  • filename (TYPE) – Description

  • image (TYPE) – Description

class airsimdroneracinglab.MsgpackMixin
__repr__(self)
Returns

Description

Return type

TYPE

to_msgpack(self, *args, **kwargs)
Parameters

  • *args – Description

  • **kwargs – Description

Returns

Description

Return type

TYPE

classmethod from_msgpack(cls, encoded)
Parameters

encoded (TYPE) – Description

Returns

Description

Return type

TYPE

class airsimdroneracinglab.ImageType
DepthPerspective

Description

Type

int

DepthPlanner

Description

Type

int

DepthVis

Description

Type

int

DisparityNormalized

Description

Type

int

Infrared

Description

Type

int

Scene

Description

Type

int

Segmentation

Description

Type

int

SurfaceNormals

Description

Type

int

Scene = 0
DepthPlanner = 1
DepthPerspective = 2
DepthVis = 3
DisparityNormalized = 4
Segmentation = 5
SurfaceNormals = 6
Infrared = 7
class airsimdroneracinglab.DrivetrainType

Type of DrivetrainType

ForwardOnly

Fixes yaw along tangent of velocity vector (atan2(vy, vx))

Type

int

MaxDegreeOfFreedom

Description

Type

int

MaxDegreeOfFreedom = 0
ForwardOnly = 1
class airsimdroneracinglab.LandedState
Flying

Description

Type

int

Landed

Description

Type

int

Landed = 0
Flying = 1
class airsimdroneracinglab.WeatherParameter
Rain = 0
Roadwetness = 1
Snow = 2
RoadSnow = 3
MapleLeaf = 4
RoadLeaf = 5
Dust = 6
Fog = 7
Enabled = 8
class airsimdroneracinglab.Vector3r(x_val=0.0, y_val=0.0, z_val=0.0)

Bases: airsimdroneracinglab.types.MsgpackMixin

x_val

Description

Type

float

y_val

Description

Type

float

z_val

Description

Type

float

x_val = 0.0
y_val = 0.0
z_val = 0.0
static nanVector3r()
Returns

Description

Return type

TYPE

__add__(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

__sub__(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

__truediv__(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

TypeError – Description

__mul__(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

TypeError – Description

dot(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

TypeError – Description

cross(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

TypeError – Description

get_length(self)
Returns

Description

Return type

TYPE

distance_to(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

to_Quaternionr(self)
Returns

Description

Return type

TYPE

to_numpy_array(self)
Returns

Description

Return type

TYPE

class airsimdroneracinglab.Quaternionr(x_val=0.0, y_val=0.0, z_val=0.0, w_val=1.0)

Bases: airsimdroneracinglab.types.MsgpackMixin

w_val

Description

Type

float

x_val

Description

Type

float

y_val

Description

Type

float

z_val

Description

Type

float

w_val = 0.0
x_val = 0.0
y_val = 0.0
z_val = 0.0
static nanQuaternionr()
Returns

Description

Return type

TYPE

__add__(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

TypeError – Description

__mul__(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

TypeError – Description

__truediv__(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

TypeError – Description

dot(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

TypeError – Description

cross(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

TypeError – Description

outer_product(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises

TypeError – Description

rotate(self, other)
Parameters

other (TYPE) – Description

Returns

Description

Return type

TYPE

Raises
conjugate(self)
Returns

Description

Return type

TYPE

star(self)
Returns

Description

Return type

TYPE

inverse(self)
Returns

Description

Return type

TYPE

sgn(self)
Returns

Description

Return type

TYPE

get_length(self)
Returns

norm of quaternion

Return type

float

to_numpy_array(self)
Returns

Description

Return type

np.array

class airsimdroneracinglab.Pose(position_val=Vector3r(), orientation_val=Quaternionr())

Bases: airsimdroneracinglab.types.MsgpackMixin

orientation

Description

Type

Quaternionr

position

Description

Type

Vector3r

position
orientation
static nanPose()
Returns

Description

Return type

TYPE

class airsimdroneracinglab.CollisionInfo

Bases: airsimdroneracinglab.types.MsgpackMixin

has_collided

Description

Type

bool

impact_point

Description

Type

TYPE

normal

Description

Type

TYPE

object_id

Description

Type

int

object_name

Description

Type

str

penetration_depth

Description

Type

float

position

Description

Type

TYPE

time_stamp

Description

Type

float

has_collided = False
normal
impact_point
position
penetration_depth = 0.0
time_stamp = 0.0
object_name =
object_id
class airsimdroneracinglab.GeoPoint

Bases: airsimdroneracinglab.types.MsgpackMixin

altitude

Description

Type

float

latitude

Description

Type

float

longitude

Description

Type

float

latitude = 0.0
longitude = 0.0
altitude = 0.0
class airsimdroneracinglab.YawMode(is_rate=True, yaw_or_rate=0.0)

Bases: 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()

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

yaw_or_rate

value of desired yaw rate, or desired yaw angle. Interpretation depends upon is_rate

Type

float

is_rate = True
yaw_or_rate = 0.0
class airsimdroneracinglab.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: airsimdroneracinglab.types.MsgpackMixin

is_initialized

Description

Type

bool

is_valid

Description

Type

bool

pitch

Description

Type

TYPE

roll

Description

Type

TYPE

switch1

Description

Type

TYPE

switch2

Description

Type

TYPE

switch3

Description

Type

TYPE

switch4

Description

Type

TYPE

switch5

Description

Type

TYPE

switch6

Description

Type

TYPE

switch7

Description

Type

TYPE

switch8

Description

Type

TYPE

throttle

Description

Type

TYPE

timestamp

Description

Type

int

yaw

Description

Type

TYPE

timestamp = 0
is_initialized = False
is_valid = False
class airsimdroneracinglab.ImageRequest(camera_name, image_type, pixels_as_float=False, compress=True)

Bases: airsimdroneracinglab.types.MsgpackMixin

camera_name

Description

Type

str

compress

Description

Type

bool

image_type

Description

Type

TYPE

pixels_as_float

Description

Type

bool

camera_name = 0
image_type
pixels_as_float = False
compress = False
class airsimdroneracinglab.ImageResponse

Bases: airsimdroneracinglab.types.MsgpackMixin

camera_orientation

Description

Type

TYPE

camera_position

Description

Type

TYPE

compress

Description

Type

bool

height

Description

Type

int

image_data_float

Description

Type

float

image_data_uint8

Description

Type

TYPE

image_type

Description

Type

TYPE

message

Description

Type

str

pixels_as_float

Description

Type

float

time_stamp

Description

Type

TYPE

width

Description

Type

int

image_data_uint8
image_data_float = 0.0
camera_position
camera_orientation
time_stamp
message =
pixels_as_float = 0.0
compress = True
width = 0
height = 0
image_type
class airsimdroneracinglab.CarControls(throttle=0, steering=0, brake=0, handbrake=False, is_manual_gear=False, manual_gear=0, gear_immediate=True)

Bases: airsimdroneracinglab.types.MsgpackMixin

throttle = 0.0
steering = 0.0
brake = 0.0
handbrake = False
is_manual_gear = False
manual_gear = 0
gear_immediate = True
set_throttle(self, throttle_val, forward)
class airsimdroneracinglab.KinematicsState

Bases: airsimdroneracinglab.types.MsgpackMixin

angular_acceleration

Description

Type

Vector3r

angular_velocity

Description

Type

Vector3r

linear_acceleration

Description

Type

Vector3r

linear_velocity

Description

Type

Vector3r

orientation

Description

Type

Quaternionr

position

Description

Type

Vector3r

position
orientation
linear_velocity
angular_velocity
linear_acceleration
angular_acceleration
class airsimdroneracinglab.EnvironmentState

Bases: airsimdroneracinglab.types.MsgpackMixin

position
geo_point
gravity
air_pressure = 0.0
temperature = 0.0
air_density = 0.0
class airsimdroneracinglab.CarState

Bases: airsimdroneracinglab.types.MsgpackMixin

speed = 0.0
gear = 0
rpm = 0.0
maxrpm = 0.0
handbrake = False
collision
kinematics_estimated
timestamp
class airsimdroneracinglab.MultirotorState

Bases: airsimdroneracinglab.types.MsgpackMixin

collision

Description

Type

CollisionInfo

gps_location

Description

Type

GeoPoint

kinematics_estimated

Description

Type

KinematicsState

landed_state

Description

Type

LandedState.Landed

rc_data

Description

Type

RCData

timestamp

Description

Type

np.uint64

collision
kinematics_estimated
gps_location
timestamp
landed_state
rc_data
class airsimdroneracinglab.ProjectionMatrix

Bases: airsimdroneracinglab.types.MsgpackMixin

matrix

Description

Type

list

matrix = []
class airsimdroneracinglab.CameraInfo

Bases: airsimdroneracinglab.types.MsgpackMixin

fov

Description

Type

int

pose

Description

Type

TYPE

proj_mat

Description

Type

TYPE

pose
fov
proj_mat
class airsimdroneracinglab.LidarData

Bases: airsimdroneracinglab.types.MsgpackMixin

point_cloud = 0.0
time_stamp
pose
class airsimdroneracinglab.ImuData

Bases: airsimdroneracinglab.types.MsgpackMixin

time_stamp
orientation
angular_velocity
linear_acceleration
class airsimdroneracinglab.BarometerData

Bases: airsimdroneracinglab.types.MsgpackMixin

time_stamp
altitude
pressure
qnh
class airsimdroneracinglab.MagnetometerData

Bases: airsimdroneracinglab.types.MsgpackMixin

time_stamp
magnetic_field_body
magnetic_field_covariance = 0.0
class airsimdroneracinglab.GnssFixType

Bases: airsimdroneracinglab.types.MsgpackMixin

GNSS_FIX_NO_FIX = 0
GNSS_FIX_TIME_ONLY = 1
GNSS_FIX_2D_FIX = 2
GNSS_FIX_3D_FIX = 3
class airsimdroneracinglab.GnssReport

Bases: airsimdroneracinglab.types.MsgpackMixin

geo_point
eph = 0.0
epv = 0.0
velocity
fix_type
time_utc
class airsimdroneracinglab.GpsData

Bases: airsimdroneracinglab.types.MsgpackMixin

time_stamp
gnss
is_valid = False
class airsimdroneracinglab.DistanceSensorData

Bases: airsimdroneracinglab.types.MsgpackMixin

time_stamp
distance
min_distance
max_distance
relative_pose
class airsimdroneracinglab.PIDGains(kp, ki, kd)

Struct to store values of PID gains. Used to transmit controller gain values while instantiating AngleLevel/AngleRate/Velocity/PositionControllerGains objects.

kP

Proportional gain

Type

float

kI

Integrator gain

Type

float

kD

Derivative gain

Type

float

to_list(self)
class airsimdroneracinglab.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

roll_gains

kP, kI, kD for roll axis

Type

PIDGains

pitch_gains

kP, kI, kD for pitch axis

Type

PIDGains

yaw_gains

kP, kI, kD for yaw axis

Type

PIDGains

to_lists(self)
class airsimdroneracinglab.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

roll_gains

kP, kI, kD for roll axis

Type

PIDGains

pitch_gains

kP, kI, kD for pitch axis

Type

PIDGains

yaw_gains

kP, kI, kD for yaw axis

Type

PIDGains

to_lists(self)
class airsimdroneracinglab.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

x_gains

kP, kI, kD for X axis

Type

PIDGains

y_gains

kP, kI, kD for Y axis

Type

PIDGains

z_gains

kP, kI, kD for Z axis

Type

PIDGains

to_lists(self)
class airsimdroneracinglab.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

x_gains

kP, kI, kD for X axis

Type

PIDGains

y_gains

kP, kI, kD for Y axis

Type

PIDGains

z_gains

kP, kI, kD for Z axis

Type

PIDGains

to_lists(self)
class airsimdroneracinglab.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

kp_cross_track

P gain for position error measured perpendicular to path tangent, or in the “cross track” direction

Type

float

kd_cross_track

D gain for position error measured perpendicular to path tangent, or in the “cross track” direction

Type

float

kp_vel_cross_track

P gain for velocity error measured perpendicular to path tangent, or in the “cross track” direction

Type

float

kd_vel_cross_track

D gain for velocity error measured perpendicular to path tangent, or in the “cross track” direction

Type

float

kp_along_track

P gain for position error measured along path tangent

Type

float

kd_along_track

D gain for position error measured along path tangent

Type

float

kp_vel_along_track

P gain for velocity error measured along path tangent

Type

float

kd_vel_along_track

D gain for velocity error measured along path tangent

Type

float

kp_z_track

P gain for position error measured along world Z axis

Type

float

kd_z_track

D gain for position error measured along world Z axis

Type

float

kp_vel_z

P gain for velocity error measured along world Z axis

Type

float

kd_vel_z

D gain for velocity error measured along world Z axis

Type

float

kp_yaw

P gain for yaw error

Type

float

kd_yaw

D gain for yaw error

Type

float

to_list(self)

Call this before sending to setTrajectoryTrackerGains

Returns

Description

Return type

list[float]

class airsimdroneracinglab.MeshPositionVertexBuffersResponse

Bases: airsimdroneracinglab.types.MsgpackMixin

position
orientation
vertices = 0.0
indices = 0.0
name =